Rexroth IndraMotion MLD
Glossary
9-1
DOK-IM*MLD-F*STEP**V**-KB01-EN-P
Glossary
Explanation of Terms
The drive-integrated PLC "Rexroth
IndraMotion
MLD" is available in
different variants.
The variant for single-axis applications is called "MLD-S". The control
possibilities of the PLC in this case are device-internally limited to the
"local axis" and the virtual master axis generator.
If drives with SERCOSIII slave interface are connected via the "CCD"
option (SERCOS III master interface), the PLC can control these axes.
This variant is called "MLD-M".
The general short form "MLD" is used when independent functionalities
are described.
"CCD" is the abbreviation of
C
ross
C
ommunication
D
rives, the interface
for cross communication based on SERCOS
III. Devices of the
"Rexroth IndraDrive" range can be configured with the "CCD" option to
allow electronic (digital) interconnection of drives and I/O devices.
The "CCD master" is a drive with "CCD" option (SERCOS III master
interface) which acts like an external control unit for the "CCD slaves"
[drives with "CCD" option (SERCOS III slave interface)] of a CCD group.
"Local axis" for MLD-S is the axis of the drive and for MLD-M it is the axis
in the drive with the "CCD" option (SERCOS III master interface).
For MLD-M, "remote axes" are the axes in the CCD slaves.
The drive contains a master axis generator. It can be controlled similarly
to a real axis and then simulates an axis motion. The position of this
master axis can be used as input for the local and remote axis. MLD can
control this master axis via the motion function blocks.
"AT" is the abbreviation of "
A
ntriebs
t
elegramm" (drive telegram). The
drive telegram is sent from the slave to the master via the real time data
channel.
"MDT" is the abbreviation of
M
aster
D
ata
T
elegram. The master data
telegram is sent from the master to the slave via the real-time data
channel.
"PII" is the abbreviation of "
p
rocess
i
nput
i
mage". In the task cycle, the
switch states are read at the inputs before the program code is called and
stored in the PII. This information then is transmitted to the control
program and processed.
"POI" is the abbreviation of "
p
rocess
o
utput
i
mage". The states in the POI
are transmitted to the physical outputs at the end of the task after the
program code has been processed.
MLD-S, MLD-M, MLD
CCD
CCD Master /CCD Slave
Local Axis
Remote Axes
Virtual Master Axis
AT
MDT
PII
POI
