Rexroth IndraMotion MLD
Commissioning and Parameterization
5-31
DOK-IM*MLD-F*STEP**V**-KB01-EN-P
During commissioning, the scaling of the axes is carried out in the
corresponding dialogs of the parameterization interface IndraWorks. At
the motion function blocks the preset values are set via the function block
inputs as physical values according to standard.
Other settings, such as jerk, are not parameterized at the function blocks,
but in the parameterization interface IndraWorks. If such values are to be
changed, they can be set at runtime via the parameter channel (e.g.
"MC_WriteParameter").
Configuration of Cyclic Data in MLD-M System Mode
In the MLD-M system mode, the cyclic parameters of the axes are
automatically configured from the fixed parameters for the motion channel
and other parameters. The resulting cyclic parameters are only displayed.
According to their function, there are different dialogs for parameterizing
the cyclic data.
Summary of all cyclic numerical data:
•
Motion
data
The parameters of the motion channel are automatically added to the
cyclic parameters. There are no inputs for this purpose.
•
MLD-M
I/O
The parameters required for exchanging data with remote I/Os are
entered. There is the dialog for MLD-M I/O configuration for this
purpose.
•
AxisData
The parameters required for the user data are defined in AxisData.
See dialog "AxisData Fig. 5-21"
•
Free process data
Other freely selectable cyclic parameters can be entered for specific
communication. See dialog for definition of CCD free process data.
•
Signal status and signal control bits
The signal control or signal status word is permanently cyclically
configured in the motion data. Thereby, 12 bits of the 16 possible bits
have been defined or reserved. The remaining 4 bits (bit #12…bit #15)
can be used via AxisData as actual value or command value bits. This
is set in the dialog for AxisData. The CCD configuration includes the
dialog in which all cyclic parameters are summarized.
Scaling
Other Settings
