MotionPLC GEL 8241
The controllers have an integrated PLC, field bus systems
and multi-axis control with a maximum of 11 controlled axes
(max 3 with ± 10 V and max. 8 with CAN bus). 64 axes altogether
can be controlled via the CAN bus (without feedback).
Additional inputs and outputs permit several CAN
REMOTE I/Os with up to 64 inputs or outputs per node and
up to 64 node addresses.
The standard CoDeSys programming environment runs in parallel with the multi-axis control and offers full transparency for all parameters. Parametrization of all 7 axes is effected by a PC tool and offers menu-guidance for comfortable setting of the usual parameters.
The standard programming environment in acc. with IEC 61131-3 includes a library of ready-made and powerful technology functions for terminal programming and automatic motion control.
Up to four different communication channels are available with one interface enabling all conventional field bus systems (PROFIBUS-DP, DeviceNet,...) to be used.
The field bus modules can be retrofitted or replaced at any time without the need to modify the PLC program.
Characteristics of MotionPLCs
- RAM: 1 MByte in total
- NVRAM: 8 kBytes in total
- Flash: 1 MByte in total
- free memory space for PLC applications: 256 kBytes
2 CAN bus-interfaces (servoconverter,
CAN REMOTE I/O module)
2 asynchronous interfaces (one optionally RS 232 or RS
485, one RS 422)
High noise immunity due to electrically isolated digital and analogue inputs and outputs 3 encoder inputs (SSI, incremental, 5 V / 24 V) Short projecting times due to ready-made functional
blocks and pre-configured inputs and outputs
MotionPLC - Description
In- and outputs
|GEL 8240||GEL 8241|
|GEL 8240||GEL 8241|
|Supply voltage||19 to 30 V DC|
|Current consumption||1 A max. (depending on interface)|
(communication or programming)
|2 with adjustable baud rate
COM1: RS232C or RS422/485 COM2: RS232C
|CAN bus interfaces||2 (CANopen, CANlink)|
|Field bus interface||1 extension slot for PROFIBUS-DP, InterBus-S or
DeviceNet (other ones upon request)
|Encoder inputs (actual value inputs, galvanically separated)|
|Encoder inputs||3 incremental or absolute (5 V or 24 V, SSI)
|Max. input frequency||200 kHz|
|Encoder supply loading||24 V, 900 mA / 5 V, 600 mA in total|
|Outputs (galvanically separated)|
|Digital outputs||Red LED status indicator
9 x 24 V, 30 mA,
6 x 24 V, 500 mA;
|Analogue outputs||3 x ± 10 V, max. 10 mA, resolution 2 mV|
|Inputs (galvanically separated)||Digital Inputs||Green LED status indicator
22 x 24 V | 30 x 24 V
|Analogue inputs (max. 10 bit resolution)||1, switchable (0 to 10 V
or 0 to 20 mA)
|3, switchable (0 ... 10 V
or 0 ... 20 mA)
|PT100 inputs||—||4 (- 40 ºC to + 350 ºC)|
|Working temperature||0 ºC to + 50 ºC|
|Operating temperature||-20 ºC to + 50 ºC|
|Storage temperature||-20 ºC to + 70 ºC|
|Rel. atmospheric humidity||≤ 95%, no condensation|
|Protection class||frontside IP 65
backside IP 20
|EMC||EN 61000-6-2 and 4(1)|
|Housing material||Stahlblech, verzinkt
front panel: aluminium with edge protection
|Anzeige||LC display, 240 x 64 pixesl with LED background
(visible area: 133 mm x 39 mm)
|Weight||Approx. 1.7 kg|
PLC programming environment
IEC 1131-3 is an international standard for programming languages adapted to stored-program control units. The programming languages realized in CoDeSys are in conformity with the requirements of the standard. They can be mixed whenever needed and are partially convertible.
Instruction list (IL)
An instruction list (German: Anweisungsliste AWL) is composed of a sequence of instructions. Each instruction begins in a new line and consists of an operator and - depending on the type of operation - of one or several operands separated by
Ladder diagram (LD)
The ladder diagram (German: Kontaktplan KOP), too, is a graphics-oriented programming language which is basically similar to an electrical circuit. It consists of a series of networks. A network is limited on the right and left side of the plan by a vertical current path. In between, there is a circuit comprising contacts, inductances and connecting lines.
Function block diagram (FBD)
The function block diagram (German Funktionsplan FUP) is another graphics-oriented programming language. It is organized by lines and uses a list of networks, each containing a structure representing respectively a logical or an arithmetical expression, the recall of a function block, a jump or a return instruction.
Structured text (ST)
The structured text is a series of instructions which can be executed - as in the higher programming languages - depending on a condition ( „IF..THEN..ELSE “) or iteratively (WHILE..DO).
Sequential function chart (SFC)
The sequential function chart (German: Ablaufsprache AS) is a graphics-oriented language to describe the sequential execution of different actions in a program.
Continuous Function Chart Editor (CFC)
The essential difference with regard to the FBD is the free arrangement of function blocks. CFC is a useful enlargement of the IEC 1131-3 standard.
Technological cam-plate function
Curve modification without set-up times Reduced jerking during movements due to harmonic and
cycloid curve shapes
Engagement and disengagement of the slave axis Virtual master function:
permits displacement of the curve drive
Dynamic adaptation of curve shapes:
lengthening, shortening, etc.
Within the scope of supply
BB2100K operating software
The BB2100K operating software can be used to define the desired curve characteristics on a PC. The PC is connected to the MotionCard via the serial interface. The parameter editor for the servo-converter LD 2000 can also be started out of this program. Other program characteristics:
System parameter editor Oscilloscope function Setting of range signals via mouse-click
Curve editor example
Individual programming due to free editing of program texts Assistance with the analysis of curves (position, speed, acceleration and torque) Graphics-aided editing of parameters for special applications (e.g. rotating cutter and flying saw)
|Available on our homepage www.lenord.de:|
|bb2100k.exe||Curve editor BB2100K for operation and monitoring of
servo-converter LD 2000 with cam-plate module.
|ld2000.exe||Start-up software for servo-converter LogiDrive LD
Application of adhesive on a car door
An glue dispenser with a three-axis portal equipped with servo drives and amplifiers is controlled by the MotionPLC in such a way that the tool follows a trajectory in three dimensions which has been fixed beforehand by a small number of essential tool center points in the teach-in mode.
Control components communication interlink
The PC tool for contour tracking
Control panel cut out
Control panel cut out
Accessories (included in scope of supply)
|GEL 89042||Counterplug set (only for GEL 8240)|
|GEL 89043||Counterplug set (only for GEL 8241)|
|BG 4622||14 hex screws M3 x 10, 14 cable bride, 2 earting terminals, 14 toothed lock washers|
|BG 4623||6 hex screws M4, 6 washers, 6 spring washers, 2 earthing terminals|
|CD GEL 824||CD-ROM GEL GEL 824 (inklusive Handbuch als pdf-Datei)|
|GEL 89022||Connection cable RS 232 C between PC and MotionController|
|GEL 89130||Fieldbus module (PROFIBUS-DP)|
|GEL 89131||Fieldbus module (InterBus-S)|
|GEL 89132||Fieldbus module (DeviceNet)|
|GEL 89133||Fieldbus module (Ethernet)|
|GK 2063||Mounting frame: 6 hex screws M3 x 10 and 6 toothed lock washers|
|DS-12-824x||Manual GEL 824x (printed)|