Absolute position function block
The absolute position can also be set in the "AH" state. Thus the command
for setting absolute position can be directly transmitted. When axis motion is
running, the command does not work. Only when the drive goes to "AH" or is
without power can the command take effect.
"MB_Stop"
Observe the following points when using function block "MB_Stop":
●
The control input is called "ExecuteLock."
●
As long as "ExecuteLock" is TRUE, no other function block may set the
drive in motion, but must be refused.
●
If the state is "Active" and "ExecuteLock" = FALSE, "MB_Stop" can be
aborted by means of a motion function block.
●
The user should only use one instance of "MB_Stop" to make the pro‐
gram clearly structured and safe.
●
If there are several instances of "MB_Stop", the last instance automati‐
cally dominates; the last instance has higher priority.
"MC_Stop"
Observe the following points when using "MC_Stop":
●
As long as "Execute" is TRUE, no other function block may set the drive
in motion, but must be refused.
●
The user should only use one instance of "MC_Stop" to make the pro‐
gram clearly structured and safe.
●
If there are several instances of "MC_Stop", the last instance automati‐
cally dominates; the last instance has higher priority.
"MC_Power"
Observe the following points when using "MC_Power":
●
When switching on, the axis goes to "AH" unless motion was precom‐
manded before (with "MB_PreSetMode" and motion function block).
●
In case motion was precommanded, the axis goes directly to the prese‐
lected operation mode.
Encoder switching, lag error
switching
For encoder switching and switching with/without lag error, the function
blocks have separate inputs.
Commissioning information
Lethal injury and/or property damage due to
axis moving unintentionally!
DANGER
⇒ In case of stand-alone operation (internal PLC has control over the drive),
the drive can be freely moved via the MC command interface; it is therefore
absolutely necessary to ensure that accidental axis motion cannot be trig‐
gered.
5.2.3
Configuring the inputs and outputs (I/O configuration of MLD)
Introduction
IndraMotion MLD theoretically allows accessing all inputs and outputs with a
sercos interface, e.g.:
●
All inputs and outputs of the control section (including remote axes)
●
All inputs and outputs of the optional module "DA"
●
Inputs and outputs of "Rexroth Inline Block IO"
●
Inputs and outputs of "Rexroth Inline Modular IO"
Bosch Rexroth AG
DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
116/267
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
MLD communication interfaces and data channels
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01