MLD-S as "stand-alone single-axis "Motion Logic Control""
When MLD-S is used as "stand-alone single-axis "Motion Logic Control"",
MLD has permanent axis control and thereby can completely replace external
motion commanding (7). If available, master communication is usually only
used to exchange process data with the drive or MLD, and a control word for
commanding the axis is not transmitted. If, however, a control word has been
applied, only the "drive enable" signal will take effect, provided it supports the
bus-specific control word (only with sercos).
The external control signals "drive on", "Drive Halt" and the command opera‐
tion mode input are indirectly controlled by the PLCopen motion function
blocks called in the PLC user program.
Fig. 4-7:
Commanding axes with MLD‑S as "stand-alone "Motion Logic
Control""
MLD-M as "stand-alone multi-axis "Motion Logic Control""
When MLD-M is used as "stand-alone multi-axis "Motion Logic Control"", the
integrated PLC in the CCD master (MLD-M) commands up to 9 remote axes
in the CCD slaves in addition to the local axis. For these CCD slaves, MLD-M
in the CCD master is an external control unit that controls their axes via
sercos III master communication.
This makes this structure a mixture of MLD-S as "intelligent servo axis" and
MLD-S as "stand-alone single-axis "Motion Logic Control"". While the local
axis in the CCD master is under the permanent control of MLD-M available in
the same device, the programmable logic controllers integrated in the CCD
slaves are only optional and, at most, are used for implementing an "intelli‐
DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Bosch Rexroth AG
49/267
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
Basic functions of Rexroth IndraMotion MLD
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01