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4.3.3 

Axis control

Axis  control  is  the  primary  management  framework  for  all  drive  functions,

such as axis or integrated PLC. It comes with initialization, parameter mode

and operating mode states.
With sercos master communication, the axis control state machine is linked

to  this  master  communication,  i.e.,  initializing  the  sercos  ring  (switching  to

communication phase 4) automatically switches the axis control to the ope‐

rating  mode  [see  (A)  in 

chapter  4.1    "Overview"  on  page  41

].  With  the

sercos III interface, the run-up mode allows the linking between communica‐

tion phase and device state machine to be removed.
If master communication is not available or for all master communication in‐

terfaces except sercos III, the axis can be controlled independently of the bus

system. Run-up mode allows the device status after boot-up (operating mode

or parameter mode) to be defined for the axis. As of firmware version MPx17,

this is also possible for sercos with the commands "S-0-0420, C0400 Activate

parameterization level 1 procedure command" and "S-0-0422, C0200 Exit pa‐

rameterization level procedure command".
See also Functional Description of firmware "Device-internal state machine".

4.3.4 

Axis

The (local) axis is responsible for generating or processing the axis command

values  and  for  drive  control.  Implementation  is  in  accordance  with  sercos

specification.  The  primary  external  control  information  for  commanding  the

axis is as follows:
●

"Drive on"

●

"Drive enable"

●

"Drive Halt"

●

Command operation mode input

These signals control the state machine of the axis.
The control information only takes effect when axis control is in the "operating

mode"  state.  This  means  the  axis  control  state  machine  is  superimposed

over the axis state machine (see [D] in 

chapter 4.1  "Overview" on page 41

).

The axis cannot be commanded when axis control is in parameter

mode. The axis is then also in the parameter mode!

4.3.5 

PLC runtime

The  runtime  system  of  the  drive-integrated  PLC  has  the  primary  states

"STOP" and "RUN". Switching from "STOP" to "RUN" during system initializa‐

tion  takes  place  depending  on  the  device  control  (see  [B]  in 

chapter  4.1 

"Overview"  on  page  41

).  Several  options  can  be  set  via  "P-0-1367,  PLC

configuration" (bits 1, 0) or the IndraWorks dialog:
●

"00" / /"Default start behavior": The PLC starts when axis control transi‐

tions  from  initialization  mode  to  parameter  mode,  provided  it  was  in

RUN  when  the  drive  was  powered  off.  Otherwise  it  remains  in  STOP

(default start behavior).

●

"01"/ / "Start when booting": Same as "00", but independent of the last

state (goes to RUN).

●

"10"/ / "Stop": The PLC remains in the STOP state.

●

"11"/ / "Start in operating mode": The PLC starts when axis control tran‐

sitions from parameter mode to operating mode.

DOK-INDRV*-MLD3-**VRS*-AP02-EN-P 

Bosch Rexroth AG

43/267

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  

Содержание Rexroth IndraMotion MLD Series

Страница 1: ...he Drive Control Company Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Edition 02 Application Manual R911338914 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 2: ... document as well as the data specifications and other information set forth in it are the exclusive property of Bosch Rexroth AG It may not be re produced or given to third parties without its consent Liability The specified data is intended for product description purposes only and shall not be deemed to be a guaranteed characteristic unless expressly stipulated in the contract All rights are re...

Страница 3: ... terms 31 3 2 General information 32 3 2 1 Using the Safety instructions and passing them on to others 32 3 2 2 Requirements for safe use 32 3 2 3 Hazards by improper use 33 3 3 Instructions with regard to specific dangers 34 3 3 1 Protection against contact with electrical parts and housings 34 3 3 2 Protective extra low voltage as protection against electric shock 35 3 3 3 Protection against dan...

Страница 4: ...ask cycle times and timing 69 4 6 IndraMotion MLD error handling 70 4 6 1 IndraMotion MLD operating behavior 70 4 6 2 General for MLD S and MLD M 71 4 6 3 Configuring the error reaction in MLD S 76 4 6 4 MLD M error handling and reaction 77 5 MLD communication interfaces and data channels 83 5 1 Introduction and overview 83 5 2 IndraMotion MLD data channels 85 5 2 1 Cyclic data channels 85 5 2 2 A...

Страница 5: ...ive M range 208 7 4 1 Introduction 208 7 4 2 Physical interfaces 208 7 4 3 Byte order 208 7 4 4 MLD performance comparison 212 8 Programming information 213 8 1 Industrial standards for programming 213 8 1 1 General information 213 8 1 2 IEC 61131 213 8 1 3 PLCopen 213 8 2 Libraries for Rexroth IndraMotion MLD 214 8 2 1 General properties of the libraries 214 8 2 2 Libraries 215 8 3 Accessing file...

Страница 6: ...ic functions 241 9 3 2 MLD diagnostic functions 242 9 4 Service functions 245 9 4 1 Service functions of the PLC IndraMotion MLD 245 9 4 2 Changing firmware 246 9 4 3 Firmware version upgrade 248 9 4 4 Replacing the Controller 250 10 Converting projects 255 10 1 Introduction 255 10 2 Requirements in MLD 1G 255 10 3 Adding to MLD 2G 256 10 3 1 Adding a project 256 10 3 2 Compiling errors after conv...

Страница 7: ... names diagnostic message names function designations Quotation marks In the I O configuration IndraWorks the inputs were linked to parameter P 0 1390 PLC input WORD0 Tab 1 2 Conventions of notation Helpful information and tips are highlighted in the text A symbol tells you what kind of information is used in the text This box contains important information that should be taken into consideration ...

Страница 8: ...ndicated on the back of the front page under Internal File Reference The page number Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 6 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Introduction LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 9: ...DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 7 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 10: ...255 This chapter describes how to convert IndraLogic 1 x projects MLD 1G to IndraLogic 2G projects MLD 2G 1 3 Documentations 1 3 1 Overview The following chart illustrates the relationships between the individual docu ments for Rexroth IndraDrive as of MPx 18 Fig 1 1 Overview of documentations for Rexroth IndraDrive as of MPx 18 The description of the functionality of IndraMotion MLD is divided as...

Страница 11: ...e Reference Book of diagnostic messages 1 3 2 Drive systems system components Title Kind of documentation Document typecode1 Material number R911 Automation Terminals Of The Rexroth Inline Product Range Application Manual DOK CONTRL ILSYSINS AWxx EN P 317021 1 In the document typecodes xx is a placeholder for the current edition of the documentation e g AW01 is the first edition of an Application ...

Страница 12: ...exroth IndraDrive MPx 18 Functions Application Manual DOK INDRV MP 18VRS APxx EN P R911338673 Rexroth IndraDrive MPx 18 Version Notes Release Notes DOK INDRV MP 18VRS RNxx EN P R911338658 Rexroth IndraDrive MPx 16 to MPx 18 Parameters Reference Book DOK INDRV GEN1 PARA RExx EN P R911328651 Rexroth IndraDrive MPx 16 to MPx 18 Diagnostic Messages Reference Book DOK INDRV GEN1 DIAG RExx EN P R9113267...

Страница 13: ...Reference Book Tab 1 7 Reference documentations 1 5 Product presentation 1 5 1 Introduction and overview IndraMotion MLD Motion Logic Drive based is a PLC integrated in the drive provided as a functional firmware package for the Rexroth IndraDrive range IndraMotion MLD combines motion and PLC functions in a modern open automation platform for modular machine designs The decentralized control archi...

Страница 14: ...ong as the general requirements are met see Programming information Main features of IndraMotion MLD These are the main features of IndraMotion MLD IndraMotion MLD is perfect for efficiently executing motion and logic tasks with drive firmware functions no additional hardware required Open drive i e direct and transparent access to all drive functions and parameters Programming functional extensio...

Страница 15: ...drive s device control Direct access to all drive parameters using system wide PLC variables functions function blocks or a configurable synchronous channel Direct access to the drive s digital inputs outputs and analog input local axis Connection of other inputs outputs Rexroth Inline Block IO Rexroth Inline Modular IO using the MLD M system mode Also included in the stand alone single axis Motio...

Страница 16: ... MPC firmware Motion Control functionality for up to 10 axes by corresponding PLCopen based Motion Control library CCD cross communication interface to remote axes based on sercos III For commanding local and remote axis motion For connecting additional inputs outputs Rexroth Inline or option al modules in the remote axes Direct access to the drives digital and analog inputs outputs local and remo...

Страница 17: ...parameters of the I O modules can be read via the service channel for diagnostics however it is not possible to apply the process data of the I O modules to the cyclic communi cation of the master communication In cyclic mode the I O mod ules can only be read written via the MLD The signals applied to the Inline Block I O digital fast I O mod ules are typically read written via a CCD synchronous t...

Страница 18: ...erature sensors It also provides the option of outputting analog current and voltage signals R ILB S3 24 AI4 AO2 features 4 analog inputs and 2 ana log outputs R ILB S3 24 AI6 AO4 F features 6 analog inputs and 2 analog outputs With its quick signal processing it is suitable for use in time critical applications R ILB S3 24 AI6 AO4 F is scheduled for release in the 4th quarter of 2014 For general ...

Страница 19: ...lity similar to an oscilloscope with memory function PLC data variable values can be recorded and traced The PLC configuration makes it possible to configure the PLC hardware IndraMotion MLD S does not require a PLC configura tion since the device inputs outputs can be distributed between drive and PLC and addressed with the commissioning software It is possible but not required to control the pro...

Страница 20: ...ccording to the standard developed by PLCopen PLCopen Motion Control Profile a set of IEC 61131 3 function blocks are independent of the executing hard ware and therefore can be reused beyond platform limits IEC 61131 As is common in IEC 61131 libraries are provided with the IndraWorks packages of IndraMotion MLD They contain ready made functions function blocks and variables which are used as bla...

Страница 21: ...using the following programming lan guages Instruction List IL Structured Text ST Ladder Diagram LD Function Block Diagram FBD Sequential Function Chart SFC Continuous Function Chart CFC See Programming languages The IndraLogic 2G programming environment that has been integrated in IndraWorks can be used for programming see IndraLogic 2G Programming Guide Supported libraries The libraries supporte...

Страница 22: ...mory About 10 of the memory resource indicated here are reserved for the Online Change function i e about 90 are available MPB 3 MB MPC 9 MB There are several data areas with different uses instances are varia bles Global Memory for global variables 2048 kB Note The instance data are mapped via global variables All func tion data are not stored in this segment but in the stack Memory All flag vari...

Страница 23: ...he boot proj ect is stored on the MicroSD card because the code memory sets the limit The following example can be used as a guideline in prac tice 10 000 symbol variables require approx 1 5 MB of code mem ory Parameters for general purpose 32 bit parameters 32 buffered parameters P 0 1316 to P 0 1331 and P 0 1370 to P 0 1385 32 unbuffered parameters P 0 1270 to P 0 1301 32 bit list parameters P 0...

Страница 24: ...oad Performance data IndraMotion MLD has the following performance specifications Number of function blocks The value is permanently set to the maxi mum value 2 048 POUs possible Data types Single bits up to 32 bits float as well as specific types and structures The minimum PLC cycle time does not depend on the control section and is 1 ms See also Functional Description of firmware Performance dat...

Страница 25: ... IndraDrive M with CSH02 3 control section Note CSH02 x control sec tions are only supported by power sections produced from 2007 on as of MPC18VRS ML MA ML MA IndraDrive Mi KMS02 KSM02 as of MPB18VRS ML MA ML Freely programmable PLC IEC61131 MA Freely programmable PLC IEC61131 for complex tasks Tab 1 8 System requirements for using IndraMotion MLD Hardware Requirements Using the drive integrated ...

Страница 26: ...e firmware and the available designs of the optional expansion package IndraMotion MLD Firmware version Characteristic MLD S MLD M Option ML MA ML MA FWA INDRV MP 18VRS MPB X X MPC X X X X MPE MPM X Optional expansion package possible for this firmware Optional expansion package not possible for this firmware Tab 1 9 Overview of Base Packages of Firmware and Available Designs of Optional Expansion...

Страница 27: ...s characteristic comes with the following features The drive is managed or controlled by a higher level control unit NC PLC The higher level control unit generates the cyclic command values and determines the operation mode The IndraWorks MLD engineering tool allows a function to be loaded from the macro libraries to the drive The customer can then parameter ize the loaded function like a normal f...

Страница 28: ... unit PLC The integrated control takes over command of the axis axes and can set the cyclic command values and operation mode Independent motion programs can be created Apart from the standard function blocks there are corresponding manu facturer function blocks available for programming The manufacturer function blocks are compiled into libraries Using IndraMotion MLD Freely programmable PLC in a...

Страница 29: ...unction Compiled PLC project which is loaded to the drive as a self contained spj file parameter file The technology function is operated like a nor mal firmware function via P parameters and does not require any pro gramming knowledge There are the following types Motion functions e g process controller winding computation cross cutter etc Extended drive functions e g event functions programmable...

Страница 30: ...Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 28 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 31: ...ter their source codes Do not mount damaged or faulty products or use them in operation Make sure that the products have been installed in the manner descri bed in the relevant documentation 2 1 2 Areas of use and application Drive controllers by Rexroth are designed to control electric motors and moni tor their operation Controlling and monitoring the Drive controllers may require additional sen ...

Страница 32: ...uld not be used in applications that have not been expressly authorized by Rexroth Please carefully follow the speci fications outlined in the general Safety Instructions Components of the Rexroth IndraDrive system are products of category C3 with limited availability according to IEC 61800 3 To ensure that this category limit values is maintained suitable line filters must be used in the drive sy...

Страница 33: ...onsists of several devices or systems interconnected for a defined purpose and on a defined site which however are not intended to be placed on the market as a single functional unit Machine A machine is the entirety of interconnected parts or units at least one of which is movable Thus a machine consists of the appropriate machine drive elements as well as control and power circuits which have be...

Страница 34: ...operty damage injury electric shock or even death 3 2 2 Requirements for safe use Read the following instructions before initial commissioning of the compo nents of the electric drive and control system in order to eliminate the risk of injury and or property damage You must follow these safety instructions Rexroth is not liable for damages resulting from failure to observe the safety instructions...

Страница 35: ...installation in accordance with EMC requirements can be found in the section on EMC in the respective application docu mentation The machine or installation manufacturer is responsible for compliance with the limit values as prescribed in the national regulations The technical data connection and installation conditions of the compo nents are specified in the respective application documentations ...

Страница 36: ...to all electric components in accordance with the connection diagram Even for brief measurements or tests operation is only allowed if the equipment grounding conductor has been permanently connected to the points of the components provided for this purpose Before accessing electrical parts with voltage potentials higher than 50 V you must disconnect electric components from the mains or from the ...

Страница 37: ...ipment grounding conductor Leakage current 3 5 mA 1 equipment grounding conductor 2 equipment grounding conductors 1 5 mm2 16 AWG 10 mm2 8 AWG 2 1 5 mm2 16 AWG 2 5 mm2 14 AWG 2 2 5 mm2 14 AWG 4 mm2 12 AWG 2 4 mm2 12 AWG 6 mm2 10 AWG 2 6 mm2 10 AWG 10 mm2 8 AWG 16 mm2 6 AWG 16 mm2 6 AWG 25 mm2 4 AWG 35 mm2 2 AWG 50 mm2 1 0 AWG 25 mm2 4 AWG 70 mm2 2 0 AWG 35 mm2 2 AWG Tab 3 1 Minimum cross section o...

Страница 38: ...movements depends upon the type of control and the state of opera tion Dangerous movements Danger to life risk of injury serious injury or property damage A risk assessment must be prepared for the installation or machine with its specific conditions in which the components of the electric drive and control system are installed As a result of the risk assessment the user must provide for monitorin...

Страница 39: ...rating such high fre quency remote control and radio equipment in its possible positions of normal use It might possibly be necessary to perform a special electro magnetic compatibility EMC test 3 3 4 Protection against electromagnetic and magnetic fields during opera tion and mounting Electromagnetic and magnetic fields Hazards for persons with active medical implants or passive metallic im plant...

Страница 40: ...ple Warnings at the machine or in stallation guards shieldings or barriers or safety instructions in the ap plication documentation 3 3 6 Protection during handling and mounting Risk of injury by improper handling Injury by crushing shearing cutting hit ting Observe the relevant statutory regulations of accident prevention Use suitable equipment for mounting and transport Avoid jamming and crushin...

Страница 41: ...ts Improper handling of the connected supply systems supply lines or connections can cause injuries or property damage Risk of injury by improper handling of pressurized lines Do not attempt to disconnect open or cut pressurized lines risk of ex plosion Observe the respective manufacturer s operating instructions Before dismounting lines relieve pressure and empty medium Use suitable protective eq...

Страница 42: ...and CAUTION is used to alert the reader to personal injury hazards DANGER In case of non compliance with this safety instruction death or serious injury will occur WARNING In case of non compliance with this safety instruction death or serious injury could occur CAUTION In case of non compliance with this safety instruction minor or moderate in jury could occur NOTICE In case of non compliance wit...

Страница 43: ... is available in different variants The variant for single axis applications is called MLD S In this case the control options of the PLC in the device are limited to the local axis and the virtual master axis generator If drives with sercos III 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 ...

Страница 44: ... in the PII This information then is transmitted to the control program and processed POI POI is the abbreviation of Process Output Image The states in the POI are transmitted to the physical outputs at the end of the task after the pro gram code has been processed Run up mode For drives with sercos III interface as master communication the run up mode allows decoupling the connection between comm...

Страница 45: ... primary external control information for commanding the axis is as follows Drive on Drive enable Drive Halt Command operation mode input These signals control the state machine of the axis The control information only takes effect when axis control is in the operating mode state This means the axis control state machine is superimposed over the axis state machine see D in chapter 4 1 Overview on ...

Страница 46: ...axis control parameter mode in the CCD master does not switch the CCD group to communication phase 2 In the linked mode P 0 1800 0 1 bit 5 1 the state machine of the sercos III master interface is specified by the axis control in the CCD master E i e axis control parameter mode in the CCD master translates to communication phase 2 in the CCD group or axis control operating mode the CCD master tran...

Страница 47: ...variable for axis control Function block MX_SetDeviceMode Firmware function block for axis control uses S 0 0420 S 0 0422 S 0 0424 System wide variable DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 45 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Basic functions of Rexroth IndraMotion MLD LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 48: ...s for device control master communication state switching axis control and axis C0100 C0200 C0400 C5200 C7400 C7500 Device control command errors C01xx C02xx C04xx C52xx C74xx C75xx 4 4 Commanding axes 4 4 1 Basics on axis control General information The operating state of the axis is defined by external and internal control sig nals error under power etc The primary external control information f...

Страница 49: ...t control No MLD active or 0 No permanent control P 0 1800 0 1 CCD configuration bits 3 4 01 MLD M system mode required Tab 4 1 Specifying the external control signals Configuring MLD with IndraWorks MLD is configured via IndraWorks in the following dialog Fig 4 4 Configuring MLD with IndraWorks When MLD M is used for multi axis control the MLD M system mode is acti vated so that the connected axe...

Страница 50: ... temporarily give itself axis control using the firmware function block MX_SetControl 7 This can be necessary e g for an intelli gent decentralized error reaction This means MLD is able to temporarily control the axis via motion function blocks in conformity with PLCopen Fig 4 6 Commanding axes with MLD S as intelligent servo axis Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 48 267 Rexroth IndraD...

Страница 51: ... 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 st...

Страница 52: ...otion function blocks in the PLC user program By specifying control signals and command value parameters the motion function blocks implement the activation of sercos based operation modes in the axis The applications are as follows Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 50 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Basic functions of Rexroth IndraMotion MLD LSA Control ...

Страница 53: ...on modes 1 through 7 S 0 0032 to S 0 0035 S 0 0284 with the preset operation modes ve locity control torque control position synchronization drive control led positioning and velocity synchronization and with it the parameters used in these modes for details see Motion command channel 4 4 3 Basic functional principle of motion function blocks in conformity with PLCopen Timing The timing diagram il...

Страница 54: ...igger the function block with different input values in the same instance Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 52 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Basic functions of Rexroth IndraMotion MLD LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 55: ...ion block as information For this purpose PLCopen has defined an input output called Axis AXIS_REF da ta type In addition to function blocks for discrete positioning and infinite trav el there are motion function blocks for synchronous running synchronous motion cam control motion profile of a slave axis with a master axis In ad dition to the slave axis which in this case is the target axis of the...

Страница 56: ...l axis of MLD S or in CCD master of MLD M X X X X Axis2 CntrlNo LOCAL_CNTRL AxisNo AXIS_2 Real axis in a CCD slave of MLD M X X X Axis10 CntrlNo LOCAL_CNTRL AxisNo AXIS_10 Real axis in a CCD slave of MLD M X X X VmAxisInt CntrlNo LOCAL_CNTRL AxisNo VMA_INT Internal virtual master axis in each drive for local use only X X X VmAxisExt CntrlNo LOCAL_CNTRL AxisNo VMA_EXT Virtual master axis used as ma...

Страница 57: ...ionProfile SlaveAxis SlaveAxis MasterAxis MasterAxis MasterAxis MasterAxis MB_SetPositionControlMode X X MB_GearInPos SlaveAxis SlaveAxis SlaveAxis MasterAxis MasterAxis MasterAxis MasterAxis MB_PhasingSlave X X MB_PreSetMode X X MB_Stop X X X MC_CamIn SlaveAxis SlaveAxis MasterAxis MasterAxis MasterAxis MasterAxis MC_CamOut X X MC_GearIn SlaveAxis SlaveAxis MasterAxis MasterAxis MasterAxis Master...

Страница 58: ... used for pro gramming in the PLC user program This gives a maximum of 10 real axes with the logical numbers 1 to 10 in an MLD M system The sercos addresses are assigned to logical axis numbers 1 to 10 in MLD M through the sercos address setting for the CCD master and for the CCD slaves via the order of sercos addresses of the remote drives in parameter P 0 1601 CCD Addresses of projected drives o...

Страница 59: ... LOCAL_CNTRL AxisNo AXIS_1 PortalY AXIS_REF CntrlNo LOCAL_CNTRL AxisNo AXIS_4 AuxiliaryAxis AXIS_REF CntrlNo LOCAL_CNTRL Ax isNo AXIS_2 Tool AXIS_REF CntrlNo LOCAL_CNTRL AxisNo AX IS_3 MasterAxis AXIS_REF CntrlNo LOCAL_CNTRL Axis No VMA_EXT END_VAR Addressing is therefore as follows instMX_MoveAbsolute Axis AuxiliaryAxis or instMX_MoveAbsolute Axis MasterAxis MLD function blocks and parameters for...

Страница 60: ... value ac ceptance P 0 1455 PLC setting up mode positioning command value ac knowledge P 0 1460 PLC setting up mode velocity command value P 0 1461 PLC setting up mode Ramp pitch P 0 1463 PLC setting up mode Deceleration ramp P 0 1465 PLC setting up mode Torque force command value Working with retain variables Retain variables are designated by the keyword RETAIN These variables keep their value a...

Страница 61: ...tes the impression of simultaneity Scheduler A scheduler is an important element of a multitasking ope rating system According to a given strategy it determines the order in which ready tasks are processed The term scheduling refers to the corresponding strategies and methods with which the processing order of the task is realized 4 5 2 Brief description Supported task types Rexroth IndraMotion ML...

Страница 62: ...y task is started it may start running with a delay The IEC tasks are not permanently assigned to any axis or task This means there is no dedicated motion task The existing configuration op tions can be used for the various tasks An error message is output when a task interval value is set too high in the task configuration You should generally create as few tasks as possible in order to keep the ...

Страница 63: ... FKM_SYNCHRONIZED_TASK CCD_SYNCHRONIZED_TASK The external event task allows a motion task synchronized to the NC cycle or a motion task synchronized to the CCD cycle to be implemented 4 5 4 Motion task General information A motion task is a task synchronous to the NC or CCD cycle the motion function blocks and technology functions are normally processed in this task The real time data of AxisData ...

Страница 64: ...rnal event task with the system event CCD_SYNCHRONIZED_TASK If the axis is a CCD master axis and CCD is active the motion task in synchronism with CCD is only allowed in the MLD M sys tem mode If CCD is not active or the axis is not a CCD master axis a motion task in synchronism with CCD configured in the PLC project is handled like a motion task in synchronism with master communi cation In this c...

Страница 65: ...runs between CCD AT processing and CCD MDT processing The real time data of the AxisData structure are updated before the start of the task and after the end of the task The actual values are read after CCD AT processing and the command values are written before CCD MDT pro cessing This way consistent data can always be accessed or written using the AxisData structure within the motion task in syn...

Страница 66: ...the number of network channels and other communication the runtime can increase by a few milliseconds Rapidly running tasks with a sensitive watchdog are not suitable for trans mitting network variables We recommend using network variables in slow or separate tasks with a tolerant watchdog Watchdog function Rexroth IndraDrive supports the following watchdog function Time Sensitivity number of over...

Страница 67: ...and statistically evaluates the task runtimes In addi tion the remaining time is measured in every PLC time slot Measuring task runtimes in milli seconds The task runtimes can be evaluated using a function in the PLC program This function is SysTaskGetInfo with the SYS_TASK_INFO structure in the SysTask library This provides the runtime of the desired task as a structure with statistics Include th...

Страница 68: ...s the reserve is about 45 Measuring idle time P 0 1364 The PLC function MX_fGetFreeTicks or parameter P 0 1364 can be used to read the PLC idle time The PLC idle time displays the unused calculating time in the PLC time slot In a typical group of rapid and slow time controlled tasks without freewheel ing task the cyclic display of the idle time e g with the oscilloscope pro vides a rough overview ...

Страница 69: ... When another project is loaded that does not contain the function block the function is deactivated In the figures below the runtimes and maximum runtimes of three tasks as above were measured using the function block MX_IECTaskGetLoad and shown as bars yellow current load red below maximum load Figure name DB000346 Fig 4 16 Example of a runtime measurement Figure name DB000347 Fig 4 17 Bar chart...

Страница 70: ...ing time actually used is compared to the 100 time and dis played as percentage value at the rLoad output The remaining unused cal culating time is displayed as a time value at the rFreeTime output in µs X Position controller Com PLC communication task rLoad Used calculating time rFreeTime Remaining unused calculating time Fig 4 19 Task runtime measurement overload Bosch Rexroth AG DOK INDRV MLD3 ...

Страница 71: ...C tasks run in the context of PLC time slices Minimum PLC cycle time The minimum PLC cycle time TPLC min is one PLC time slice it also defines the reaction time of the event tasks The minimum PLC cycle time TPLC min does not depend on the control unit and is 1 ms The maximum configurable cycle time is 2000 s or 33 minutes See also Functional Description of firmware Performance data Event task reac...

Страница 72: ...sks freewheeling tasks periodic tasks event tasks Drive Com Communication and management task Fig 4 21 Basic performance position controller every 500μs 4 6 IndraMotion MLD error handling 4 6 1 IndraMotion MLD operating behavior Behavior when program is modified or during downloads MLD S behavior A PLC program can be loaded even if the axis is running For this purpose the axis is switched to AH fo...

Страница 73: ...rovided in the section Error reference lists in the Library Description of MLD 2G Functional features MLD has been integrated in the error handling of the drive firmware Fatal system errors are handled by the drive firmware In this case the drive imple ments a defined handling method Other system errors caused by PLC pro gramming are handled in the PLC Errors handled in the drive The drive reacts ...

Страница 74: ...g Errors that can be caused by faulty programming are so called PLC excep tion errors Exceptions The following errors are handled Field access outside of the limits for arrays Incorrect access to subrange types Division by zero Watchdog see Task configuration in IndraLogic Incorrect pointer access The reaction to these errors is defined Drive error F6010 is generated shutting down the axis accordi...

Страница 75: ...unction blocks The individual function blocks have outputs which can be used for error han dling Error An error bit BOOL ErrorID An error number ENUM type few values ErrorIdent An error code with extended error information Error The Error output is BOOL type The rising edge of Error signals that an error has occurred while processing the function block ErrorID The ErrorID output is ERROR_CODE type...

Страница 76: ...g the error that has occurred Additional2 DWORD Additional2 contains additional information if available Tab 4 8 Output structure ErrorIdent of ERROR_STRUCT type The structure and its elements have been defined in the Com monTypes library and have the default value of 0 Notes on application and programming Resetting errors in MLD Errors can be reset in MLD as follows Via the function block MC_Rese...

Страница 77: ...ning no 3 E2014 PLC Warning no 4 E2015 PLC Warning no 5 E2016 PLC Warning no 6 E2017 PLC Warning no 7 Fig 4 23 Structure of MX_fSetDriveWarning The active PLC warnings can be read by calling the MX_fGetDriveWarning function Fig 4 24 Structure of MX_fGetDriveWarning Defining a text for PLC warnings A freely selectable text can be defined for the transmitted PLC warnings by calling the MX_fSetDriveW...

Страница 78: ...rorText function Switching the drive off sets the diag nostic texts to their default values again Fig 4 27 Structure of MX_fSetDriveErrorText 4 6 3 Configuring the error reaction in MLD S Brief description An automatic error reaction can be activated for errors detected by motion function blocks Configuring the error reaction for MLD S The automatic reaction to function block errors can be activat...

Страница 79: ...ected and coordinated with one another The following instances generally occur With the stand alone axis related error reaction all axes in the group re act to the error independently if no package reaction or CCD error reac tion has been activated Axis group package reaction DC linking The axes operated in the axis group at a DC bus are interconnected via the module bus and execute a coordinated ...

Страница 80: ...ate Configuring the error reaction for MLD M The following causes result in a function block commanding error Motion interpreter motion handler Axis is in Stopping and is to be commanded MX_SetOpMode attempts to switch to an invalid operation mode index free profile Commanding without enabling of functional package Commanding without torque Commanding without control Motion function block Concurre...

Страница 81: ...aster for all axes local or remote by deleting bit 15 in the control word cf S 0 0134 Error F2140 is displayed in the CCD master and error Fxxxx in each slave axis All axes are shut down with the ramp parameterized locally cf P 0 0119 When the master is not in control e g Ab warning E2140 is generated in the master instead of error F2140 Notes on application and programming MLD and CCD error react...

Страница 82: ...ror reaction Configuring via direct parameter access Independent of the dialog it is also possible to directly edit parameter P 0 1367 PLC configuration and use bit 7 deactivate function block error reaction to select the reaction to a commanding error Bit7 0 Function block commanding errors are ignored Bit7 1 Function block commanding errors are handled according to the table below Bosch Rexroth ...

Страница 83: ...XX AF Slave2 FnXXX Fn140 E2140 AF FnXXX Bit7 1 Bit8 1 Only with MLD Master FB error F2150 E2140 RfAus RfAus Automatic immediate shutdown All axes are shut down with RfAus in the case of any errors except for F axis errors This means that each axis di rectly carries ou its error reaction The error is displayed by a warning in the master For non synchronous multi axis applica tions with automatic co...

Страница 84: ...e g Gantry axes with CCD slave fol low actual position value of master etc 1 When this error reaction is active parameter P 0 170x CCD Diag nostic message number slave x is cyclically evaluated For this purpose P 0 170x has to be con figured in P 0 1805 x 2 for each slave S 0 0390 has to be en tered at the appropriate location in P 0 1805 x 4 2 Bit 10 can be used to select whether or not P 0 179x ...

Страница 85: ... O modules sercos III block I O modules sercos III modular I O modules an external control unit e g field bus interfaced PLC via a master communication interface sercos field bus etc an external control panel HMI a third party device via Ethernet by programming socket communica tion DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 83 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 MLD ...

Страница 86: ...nication between IndraMotion MLD and axes For connecting IndraMotion MLD to a third party device via a defined communications protocol external control panels HMIs or to external control units Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 84 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 MLD communication interfaces and data channels LSA Control S L www lsa control com comercial ls...

Страница 87: ...l variables and parameters or inputs outputs and sensors evalu ated by the drive or other drive interfaces Rexroth IndraMotion MLD sup ports the following data channels I O channel PII POI Access to analog and digital inputs outputs of the drive using a process image AxisData cyclic axis data DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 85 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of M...

Страница 88: ... PII is read in every task cycle at the beginning i e the PII is read to MLD See also Amount of re sources memory Performance data Access to outputs The process image of the outputs POI is written in every task cy cle at the end i e the PLC output parameters P 0 1410 P 0 1411 are changed by the PLC Writing data to the parameters of the process images is not al lowed does not make sense The digital...

Страница 89: ... INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 87 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 MLD communication interfaces and data channels LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 90: ...ESET or if applicable Watch dog states Reset of all inputs in case the communication is interrupted Update of process input images PII max TPLC 2 500 µs for ADVANCED before the PLC task If inputs are read via the master communication or via CCD the update of the process input images is additionally delayed by the corresponding bus cycle time Update of process output images POI max TPLC 2 500 µs fo...

Страница 91: ...nge starting with IB132 for Rexroth Inline I Os sercos IO Process Output Images POIs The address range QB0 to QB38 is reserved for the POI of the local inputs outputs The address range cannot be changed and is always existing Parameters P 0 1410 to P 0 1429 please observe the availability specified in the parameter description The address range starting with QB40 for Rexroth Inline I Os A total of...

Страница 92: ...e to be configured accordingly See Functional description of firmware Digital Inputs Outputs Analog In puts and Analog Outputs If access takes place via MLD the physical inputs and outputs are connected to the process images PII and POI via the logic circuit of the drive Common Use of Input Output Vari ables A process image is existing for the inputs and outputs PII and POI In case variables are u...

Страница 93: ...s possible with all digital inputs outputs byte by byte processing is only possible with the digital inputs outputs on the control sec tion and the parallel interface Multitasking If access is made to bits which belong to a byte it is possible to safely access individual bits in spite of preemptive multitasking read modify write Setting and clearing of bits by the PLC cannot be interrupted and the...

Страница 94: ...IndraMotion MLD section chapter 4 5 Task system on page 59 the AxisData structure is pro cessed synchronously to task processing This means the actual values of the AxisData structure are updated at the beginning of the task and the command values are written at the end of the task With all other tasks the axis data are not processed syn chronously to the task this has to be ensured using correspo...

Страница 95: ...parameter P 0 176x 16 bit target parameter P 0 185x configurable Command value for free use Configurable actual value bits wUserActualDataBitA_i WORD Act value P 0 171x 12 configurable Actual value bit for free use wUserActualDataBitB_i WORD Act value P 0 171x 13 configurable Actual value bit for free use wUserActualDataBitC_i WORD Act value P 0 171x 14 configurable Actual value bit for free use w...

Страница 96: ...it 0 Axis_CamTab_1 BIT Act value P 0 181x 1 P 0 0089 1 Active cam shaft bit 1 Axis_CamTab_2 BIT Act value P 0 181x 2 P 0 0089 2 Active cam shaft bit 2 Axis_CamSwitching BIT Act value P 0 181x 5 P 0 0089 5 Status distance switching Axis_CmdValueReached BIT Act value P 0 171x 0 P 0 0115 12 Command value reached Axis_Standstill BIT Act value P 0 171x 1 S 0 0331 0 Standstill message Axis_InSynchron BI...

Страница 97: ...able Parameter in axis Source or target parameter on the respective axis A fixed parameter can be contained here The pa rameter can be set for the configurable elements For the other elements there is no parameter on the axis Tab 5 2 Structure of AxisData Configurable contents The following elements can be assigned to different axis parameters by con figuring them accordingly The AxisData dialog i...

Страница 98: ... Structure of AxisDa ta The desired interesting axis information is parameterized in parameter P 0 1626 SM_TYPES The structure SM_TYPES MX_Base library is used for the configurable actual values and command values The corresponding element from SM_TYPES is used depending on the format of the configured parameter There are different components for the corresponding data type of the param eter Param...

Страница 99: ...trol encoder sercos III Status of control encoder 5 Not sercos III master communication Command status change bit Not sercos III master communication Command status change bit 7 6 Not used Real time status bits 1 and 2 10 8 Operation mode Actual operation mode 000 Primary operation mode active 001 Secondary operation mode 1 active 010 Secondary operation mode 2 active etc 11 Not used 12 Not used 1...

Страница 100: ...upted The IndraDrive firmware provides higher level drive functions which can inter rupt motion commanding by a higher level PLC but normally cannot stop the command from being issued The bit access Axis_Interrupted is intended to help detect interruptions in motion commanding so that the desired reaction can be executed afterwards This does not affect function blocks MC_Stop and MB_Stop Example E...

Страница 101: ...ructure of AxisData dwDiagNumber_i The actual value dwDiagNumber_i corresponds to parameter S 0 0390 Diagnostic message number of the specified axis This pa rameter provides the current diagnostic drive message dwDeviceStatus_i The actual value dwDeviveStatus_i contains the essential information from parameter S 0 1045 sercos III Device Status S Dev Fixed state bits Some important axis states as w...

Страница 102: ...n the NC cycle interval The NC cycle time is set via the parameter S 0 0001 This does not change the generation of the axis data structure Consistent data from the AxisData structure are available within the motion task in synchronism with master communication If other tasks access the axis data structure the actual values and command values should be read or written at the beginning of the task i...

Страница 103: ...a structure cannot be guaranteed In this case it is rec ommended to read or write the actual values and command values at the be ginning of the task The consistency of individual structure elements is achieved by the hardware architecture max 32 bits Accessing elements in AxisData These are some examples of code for accessing the elements of AxisData Declaration in MX_Base Program AxisData ARRAY 1...

Страница 104: ... ele ments for the internal virtual axis Configuring user data in AxisDa ta If user specific command values and actual values are to be transmitted in addition to the preset actual values AxisData has to be configured in the following dialog Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 102 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 MLD communication interfaces and data channel...

Страница 105: ...ode Parameter channel for acyclic access read and write to axis parame ters in the local and remote axes using ready made functions or function blocks This allows access to all S and P parameters in the drive in cluding the PLC register parameters via function blocks and functions PLC parameters for general purpose PLC registers Drive parameters that can be used as desired in the PLC program e g f...

Страница 106: ...e is very simple and clearly structured As with processing cyclic master communication data the data in this case are neither stored nor are the limit values checked nor are errors processed Features Accessing via direct variables allows all cyclically configurable parameters in the drive to be directly accessed cf S 0 0187 List of configurable data in the AT and S 0 0188 List of configurable data...

Страница 107: ...ic read and write access to all S and P parameters of the drive The parameters are directly accessed i e the duration of a read or write process is very short for the local axis Access to parameters of remote axes is possible and uses the CCD service channel in sercos III As a result the function blocks have to be called several times in the service channel and signal Done when the transmission is...

Страница 108: ... in detail how accessing drive parameters from a PLC program works Addressing The parameters are addressed via constants from the Base library FP_ The constants used in this library contain the sercos compatible address for P S parameters For the function blocks of the Base library the Ident or ParameterNumber input is provided with these constants Fig 5 8 Addressing parameters via constants Bosch...

Страница 109: ...meter For the function blocks that access parameters the Parameter Number input was changed from DINT to MB_IDN as of MPx06 MB_IDN is available for all IndraMotion variants With IndraMotion MLD MB_IDN corresponds to the sercos III defi nition giving it a data width of 32 bits Both DINT type and MB_IDN type constants can be used at the ParameterNumber input PLC programs created before MPx06 are sti...

Страница 110: ...efined as desired Buffered and unbuffered registers are available Registers with list structure are availa ble for transmitting large data volumes 32 unbuffered global registers for parameterizing PLC functions or func tion blocks 32 buffered global registers for voltage failure safe configuration of PLC functions or function blocks 2 global text registers as text parameters that can be freely use...

Страница 111: ...gister GL2 To configure the display format of the registers P 0 1386 PLC display format Global Register Function Adjusting global register format The display formats of the global registers can be individually adjusted with P 0 1386 PLC display format Global Register It is possible to define the display format e g BIN Dec Hex etc and the number of decimal places The content of the global registers...

Страница 112: ...eter with 68 elements and the following assignment Element no Affected parameter 1 16 P 0 1370 to P 0 1385 Global Register G0 to G15 17 P 0 1389 PLC Global Register GL0 18 P 0 1368 PLC Global Register AL0 19 34 P 0 1316 to P 0 1331 Global Register G16 to G31 35 66 P 0 1270 to P 0 1301 Global Register A0 to A31 67 68 P 0 1311 to P 0 1312 Global Register GL1 to GL2 Tab 5 5 P 0 1386 PLC display forma...

Страница 113: ...ion function blocks Fig 5 10 PLC configuration permanent control PLCopen Motion is controlled via the PLC program using PLCopen based function blocks For this purpose PLCopen has defined several IEC 61131 function blocks with which the axes can be controlled Aside from the function blocks already defined by PLCopen there are other function blocks based on this standard that provide additional func...

Страница 114: ...1 Motion state diagram Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 112 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 MLD communication interfaces and data channels LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 115: ...y documentation Libraries The MX_PLCopen library contains function blocks for motion control such as MC_MoveAbsolute or MC_Stop as well as function blocks for axis con trol such as MC_Power and MC_Reset which are used to bring the axis in control or clear an error Settings After the local axis has activated permanent control the required operation modes of the axes are parameterized automatically ...

Страница 116: ... function blocks In fact it is additional information on how the function blocks use the drive with its operation modes and parameters With this information it is possible to diagnose the input of the motion function blocks on the drive side Operation modes used The following operation modes are set when the motion channel is activated Operation mode Setting Primary operation mode Velocity control...

Страница 117: ... same cycle for the same drive are initially stored in a FIFO memory and then processed by the command interpreter It is possible to buffer 3 commands When too many commands are transmitted and an overflow oc curs an error is signaled When a task transmits a command it overwrites a command which the interpreter possibly has not fetched yet The command thus overwritten signals CommandAborted in its...

Страница 118: ...ce 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 functi...

Страница 119: ...lock IO digital Min 16 max 32 1 2 Rexroth Inline Modular IO digital 8 on board 3 Extendable Digital outputs Rexroth Inline Block IO digital Min 0 max 16 1 2 Rexroth Inline Modular IO digital 4 on board 3 Extendable Analog inputs Rexroth Inline Block IO analog 42 Rexroth Inline Modular IO analog Depending on extension3 Analog outputs Rexroth Inline Block IO analog 22 Rexroth Inline Modular IO analo...

Страница 120: ...422 P 0 0427 P 0 0139 P 0 0140 Optional module DA HCS01 1 21 CDB02 1B CSB02 1B CSH02 1B 2 P 0 0428 P 0 0459 P 0 0463 P 0 0429 P 0 0462 P 0 0464 P 0 0414 P 0 0415 1 Not with HCS01 Economy 2 Parameters for displaying reading the analog value Tab 5 10 Overview of analog inputs outputs Local inputs outputs Master Axis1 Based on IndraWorks dialogs the paragraphs below describe examples of configuration...

Страница 121: ...input 1 see also Functional Description of firmware Analog inputs Fig 5 15 Configuring an analog input in IndraWorks Inputs outputs of the optional module DA The digital and analog inputs outputs are accessed via defined parameters Each digital input output is accordingly preset via a configuration menu DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 119 267 Rexroth IndraDrive Rexroth IndraMotion ML...

Страница 122: ...n settings real time input AT Fig 5 17 Master communication settings real time output MDT Remote axes and Rexroth Inline I O modules Including drives or sercos III devices in the bus Drives or sercos III devices in this case Rexroth Inline I O modules can be included in the sercos configuration CCD Basic settings both in online and Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 120 267 Rexroth Indr...

Страница 123: ...ction Projecting of SERCOS slaves to the device the Apply button must be pressed The drives and Rexroth Inline I O modules are then displayed in the project tree under the SERCOS III CCD branch as drives or IO DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 121 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 MLD communication interfaces and data channels LSA Control S L www lsa contro...

Страница 124: ...ster of the I O module has to be entered The parameters set in this dialog are automatically added to the cyclic command values or actual values of the respective axis A list of all cyclic parameters can be seen in the CCD dialog The following examples show how to configure remote inputs outputs for MLD M Example 1 In the first example the input double word 25 P 0 1440 was assigned to the digital ...

Страница 125: ...ich bits the corresponding terminals take ef fect It is possible that digital outputs of the slave control section are controlled by the PLC in the master and others by the slave drive itself In addition output word 2 P 0 1412 was assigned to analog output 1 of slave via P 0 0139 DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 123 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 MLD co...

Страница 126: ...nd the I Os of remote axes are simultaneously updated i e the digital inputs outputs of the local axis are read in or out via sercos III at the same time as the inputs outputs of remote axes The same applies analogously to outputs on the local axis which have been configured via the CCD mechanism Fig 5 22 Accessing local inputs outputs via CCD virtual slave Bosch Rexroth AG DOK INDRV MLD3 VRS AP02...

Страница 127: ... configuration The parameters required for exchanging data with remote I Os can be entered in the I O configuration dialog AxisData The parameters required for the user data can be defined in the Axis Data dialog Free process data Other freely selectable cyclic parameters for specific requirements can be entered in the Free process data dialog Signal status bits and signal control bits The signal ...

Страница 128: ...esulting signal control word configuration Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 126 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 MLD communication interfaces and data channels LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 129: ...d side shows all cyclic data When data are entered in the individual dialogs the configurations of the MDT AT data of the slave axes are auto matically created DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 127 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 MLD communication interfaces and data channels LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 130: ...11 CCD Configuration list signal status word P 0 1612 CCD Configuration list signal control word P 0 1613 CCD Assignment list signal status word P 0 1614 CCD Assignment list signal control word P 0 1623 CCD Master command values configuration list P 0 1624 CCD Configuration list actual master values Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 128 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G...

Страница 131: ...rol word slave 1 to P 0 1729 CCD Sig nal control word slave 9 P 0 1810 CCD Status word synchronous operation modes master P 0 1811 CCD Status word synchronous operation modes slave 1 to P 0 1819 CCD Status word synchronous operation modes slave 9 P 0 1730 CCD Command value data container 1 0 4Byte to P 0 1739 CCD Command value data container 1 9 4Byte P 0 1740 CCD Command value data container 2 0 ...

Страница 132: ...upported by a sercos III master integrated in IndraMotion MLD 2G i e the nodes I O modules are both configured and automatically integrated in the process im ages of the inputs outputs This leads to fundamental changes in comparison to use with MLD 1G The integrated sercos III master is a component used in all control systems i e the IndraMotion MLD 2G control system generally supports all Inline ...

Страница 133: ...reserved by the local in puts outputs therefore the addresses from the unassigned range after the local I Os are consecutively assigned when the sercos I O modules are cre ated With the I O mapping it is possible to assign e g project varia bles used by the application to the input output and memory ad dresses of the control device Furthermore address values can be changed and fixed In the firmwar...

Страница 134: ...Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 132 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 135: ... from Bosch Rexroth operator terminals HMIs it is possible to connect HMIs of other manufacturers to IndraDrive controllers this documentation only describes how to connect the HMIs of Bosch Rexroth The figure below contains an overview of the basic possibilities for connect ing HMIs DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 133 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Vi...

Страница 136: ...cess to external inputs outputs or sensors that are connected to the higher level control unit via the master communication Digital and analog inputs outputs Access to external inputs outputs or sensors that are connected to the drive The following hardware requirements are necessary for connecting an opera tor terminal HMI Communication interface for connecting an HMI Bosch Rexroth AG DOK INDRV M...

Страница 137: ...n Therefore the time behavior is not deterministic The reaction times depend on the network structure and the data volume For an estimation of the velocities please contact your network administrator Pertinent parameters The following parameters are used in conjunction with TCP IP communica tion P 0 1530 Engineering MAC address P 0 1531 Engineering IP address P 0 1532 Engineering Network mask P 0 ...

Страница 138: ...ual octets bytes are applied by pressing the Enter key This procedure can be aborted with Esc 7 The network mask can be set under 2 3 2 P 0 1532 8 The default gateway can be set under 2 3 3 P 0 1533 In order that the parameter setting of desired IP address network mask and default gateway takes effect the control voltage of the drive controller must be switched off and on again Setting IP address ...

Страница 139: ...it has control IndraMotion MLD as stand alone Motion Logic Control internal PLC takes over control Pertinent parameters The following parameters are used in conjunction with the master communi cation P 0 1368 PLC Global Register AL0 P 0 1389 PLC Global Register GL0 P 0 1370 PLC Global Register G0 P 0 1371 PLC Global Register G1 P 0 1385 PLC Global Register G15 P 0 1390 PLC input WORD0 AT IB0 P 0 1...

Страница 140: ...mpact operator terminals feature two USB in terfaces and depending on the version either Two serial standard interfaces RS232 and RS485 RS232c or A field bus interface Ethernet DeviceNet or PROFIBUS DP these interfaces allow an IndraControl VCP to connect to IndraDrive controllers Depending on the version the IndraControl VCP compact operator ter minals are equipped with various operating keys Ind...

Страница 141: ...plug in cards depending on the type All IndraControl VEP devices are suitable for the food industry The embedded terminals are available in different variants They mainly differ in their display size IndraControl VEP 30 2 40 2 and 50 2 devices come with a touchscreen IndraControl VEH 30 2 is operated via touchscreen and keys Available interfaces for IndraControl VEP devices 1 external VGA port 15 ...

Страница 142: ...n for accessing drive parameters S and P pa rameters depends on the firmware and is made available by Bosch Rexroth A symbol configuration for accessing PLC variables of MLD has to be generated by the user by means of the symbol configuration The symbol configuration allows the variables of IndraMotion MLD and the drive parameters to be accessed using the variable name or the direct varia bles Req...

Страница 143: ...he VI Composer component integrated in IndraWorks 1 To include a symbol configuration for accessing drive parameters a project with the communication protocol BRC Symbolic protocol of the Com Server has to have been created in VI Composer DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 141 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Visualization and engineering interfaces LSA Con...

Страница 144: ...l config uration to be included 3 When you have made the connection settings and included a symbol configuration a window opens on the right side when you double click BRC Symbolic in the Project folder in this window the communica tion parameters included via a symbol configuration are listed Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 142 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of...

Страница 145: ...rresponding error message is output If the memory space is insufficient symbols that are not required should be deleted 6 3 3 Notes on utilization for IndraControl VCP Connecting IndraControl VCP via Ethernet To establish the connection between a drive and IndraControl VCP the fol lowing steps are required 1 Set the IP address of the drive controller see Setting the IP address 2 Start VI Composer ...

Страница 146: ... be entered directly or the directory can be selected by clicking the button next to the edit field At the VI Composer set the filter to XML If you want to access both PLC variables in drive and sercos pa rameters include several symbol configurations 8 Enter control unit and axis address e g controller address 0 axis ad dress 1 for Ethernet communication with drive these entries are obli gatory 9...

Страница 147: ...e data of several drives via an operator terminal When multiple drives are connected to a VCP via Ethernet this is called an Ethernet network Fig 6 9 Ethernet Network via the MultiEthernet interface of IndraDrive Cs Requirements for an Ethernet network An Ethernet network between the drives can only be established via the MultiEthernet interfaces of the connected drive controllers in combination w...

Страница 148: ... MLD or whether the same PLC project is running in all drive integrated PLCs different or identical symbol configurations have to be included Figure name DB000195 Fig 6 10 Connection settings for communication with multiple drive controllers and their MLDs Ethernet In the Interface settings ethernet protocol dialog an IP address has to be entered for each connection Figure name DB000196 Fig 6 11 C...

Страница 149: ...of all configured connections drives distinguished by connection names Figure name DB000197 Fig 6 12 Configuring variables with multiple control units Configuring IndraControl VCP The overview below shows the steps which are required to configure IndraControl VCP DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 147 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Visualization and engin...

Страница 150: ...he Registry Touch calibration for devices with touch screen operation Setting of the contrast Navigating and operating When operator terminals with keypads are used the arrow keys allow navi gating within Setup Main The desired menu item can be selected with the Enter key Numeric and alphanumeric characters have to be entered via the front keyboard With VCP 02 2 the plus and minus keys have to be ...

Страница 151: ... menu of Setup Main for devices with touchscreen operation Step 2 Calling IP Settings Clicking the IP Settings button opens the following menu Fig 6 15 IP Settings IP Settings allows you to define a fixed IP address in the device activate the DHCP service assign a device name or display the currently entered IP address and the device name When entering the Fix Settings DHCP Gateway and De vice Nam...

Страница 152: ...y Save Registry To flash is displayed The settings will only be saved after you have confirmed the query Save Registry To flash with OK Reading drive parameters The following sections describe the steps required to read drive parameters with the IndraControl VCP operator terminal Please make sure that all configurations and settings have been made at the IndraControl VCP operator terminal 1 In the...

Страница 153: ...Select screen object Variable and draw a rectangle in the new screen The Screen element variable dialog is opened DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 151 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Visualization and engineering interfaces LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 154: ...ion feedback 1 value This parameter now shows a red flag 6 Select representation type Floating point number 7 Select font Arial Unicode MS 8 ANSI 8 Click Edit type button The dialog for editing the representation type opens Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 152 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Visualization and engineering interfaces LSA Control S L www ls...

Страница 155: ...c Text A dialog opens in this dialog box enter F1 back to main screen se lect the font and confirm the dialog with OK Fig 6 22 Screen Read drive 2 Key F1 is intended to allow calling screen Read drive 2 via the main screen or jumping back to the main screen 1 To define the function of F1 key click Function keys on the bottom left side of the dialog and then click Edit DOK INDRV MLD3 VRS AP02 EN P ...

Страница 156: ...function of F1 key in screen Read drive 2 has been defined Fig 6 24 Dialog link with screen direct To call the screen Read drive 2 from the main screen proceed as follows Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 154 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Visualization and engineering interfaces LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 ...

Страница 157: ...ive 2 to the operator terminal the following steps are required 1 Save compile and compress project by clicking this symbol Fig 6 27 Compilation results of the project 2 Click the following symbol to generate the INI file and transfer the proj ect The following dialog opens DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 155 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Visualizatio...

Страница 158: ...sfer loading of project is started and a protocol is written Fig 6 29 Protocol of FTP transfer Upon successful transfer the operator terminal is restarted with the cre ated user interface Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 156 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Visualization and engineering interfaces LSA Control S L www lsa control com comercial lsa control ...

Страница 159: ...red to the operator terminal the data of drive parameters can be entered on the display of the operator terminal and transmitted to the drive 1 Click the data release button on the operator terminal The first upper value is marked with black and the cursor flashes under the last decimal place 2 Modify the number above the cursor with keys or change the input digit with left key DOK INDRV MLD3 VRS ...

Страница 160: ...rive and IndraControl VE the fol lowing steps are required 1 Set the IP address of the drive controller see Setting the IP address 2 Add an IndraControl VE to the project 3 Call the context menu as shown in the screenshot and select Add driv er Fig 6 32 Adding a communication driver The Communication driver dialog opens 4 Select BR_WS to use Com Server services Bosch Rexroth AG DOK INDRV MLD3 VRS ...

Страница 161: ...onitor for the communication con nection Recommended value for a communication connection to the drive controller 1000 ms IP address TCP IP address of target control unit No connection check CE 0 the communication connection should also be monitored in devices designated CE DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 159 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Visualizatio...

Страница 162: ...r and image nk bin have to be stored on a USB stick in a specific folder structure Bootloader and image should only be updated by specially trained service staff The power supply of the device cannot be interrupted during an update Fig 6 36 Update menu DHCP menu If VCP xx 2 is operated in a network with DHCP server DHCP has to be activated in the terminal so that an IP address can be automatically...

Страница 163: ...e Registry If Windows CE is used as the operating system settings made in the Regis try are not automatically stored The storage of the Registry has to be man ually activated The Registry settings are stored via menu item Save Regis try When Setup Main is exited the system asks whether the set tings made should be applied to the Registry If you finish the dia log with Yes the Registry settings are...

Страница 164: ...t format and not in horizontal format land scape format To do this the Change Display Mode button has to be touched Select the desired mode and confirm with OK In this screen it is also possible to switch the LCD saver on and off After the display mode has been changed touch calibration must be repeated Since the calibration of the old mode is still active and the user interface of Setup Main has ...

Страница 165: ...ntrast then has to be permanently set via this dialog DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 163 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Visualization and engineering interfaces LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 166: ...Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 164 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 167: ...ver is used for communication between IndraWorks and IndraLogic and as the server for source code management The device supports IW packages can also be separately installed subse quently This can be necessary during the introduction of new product ver sions in their prototype phase The corresponding dialog can be called in the Project Explorer via the context menu MLD Change IndraLogic device ver...

Страница 168: ...in IndraWorks MLD In IndraWorks MLD the drive functionality is represented in a device tree The dialogs required to parameterize the drive and MLD can be accessed via the MLD branch Fig 7 1 Project Explorer with enabled MLD The MLD specific branches in the project tree are only visible when the functional package has been enabled Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 166 267 Rexroth IndraD...

Страница 169: ...jects an IndraWorks MLD project contains a PLC project 7 3 Applications for Rexroth IndraMotion MLD 7 3 1 Overview This section describes the steps required for commissioning and using Rexroth IndraMotion MLD There are two different instances You want to use ready made technology functions for Rexroth IndraMotion MLD You want to create your own programs for Rexroth IndraMotion MLD free programming...

Страница 170: ...program administration data P 0 1353 PLC user program area 0 P 0 1354 PLC user program area 1 P 0 1355 PLC user program area 2 P 0 1356 PLC user program area 3 P 0 1357 PLC user program area 4 P 0 1358 PLC user program area 5 P 0 1360 PLC program identifier P 0 1361 PLC program name P 0 1367 PLC configuration possibly other register parameters of the PLC Notes on commissioning and programming Load...

Страница 171: ... the case they can be activated via P 0 1350 PLC control word after the project was loaded Parameterization and commissioning The technology function can be parameterized in different ways Via commissioning software e g IndraWorks MLD using dialogs spe cifically made for the technology function e g Productivity Agent Via the visualization option in IndraLogic see also Visualization and engineering...

Страница 172: ...th Scan for devices for exam ple the connection can be automatically set IndraLogic is started from IndraWorks MLD by double clicking the Logic branch in Project Explorer IndraLogic automatically applies the communica tion setting from IndraWorks MLD the IndraLogic dialog for setting the com munication parameters is not required You should only start IndraLogic from IndraWorks MLD operation of Ind...

Страница 173: ...31 P 0 1532 and P 0 1533 MLD settings in IndraWorks Requirements The drive should have been fully commissioned before programming MLD Settings The settings for the IndraMotion MLD function can be configured under the MLD branch The screenshot below shows the options provided in the IndraWorks Project Explorer DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 171 267 Rexroth IndraDrive Rexroth IndraMot...

Страница 174: ...n to the drive has been established or offline simulation was started in IndraLogic Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 172 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and application LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 175: ... image of MLD regardless of its use in the program Diagnostics PLC outputs In this dialog the state of the process image of the outputs can be controlled Outputs assigned to the PLC are displayed in this dialog Diagnostics PLC registers Ax This dialog displays the contents of the PLC registers A0 to A31 as well as PLC registers AT0 and AT1 The contents of PLC registers A0 to A31 are dis DOK INDRV ...

Страница 176: ...ts are retained in case voltage fails Change IndraLogic device version The Change IndraLogic device version function can be used to change the device version IndraWorks package or add a new device version Device versions IndraWorks packages can only be changed once any critical errors have been corrected In general changed device versions are included with IndraWorks releases Export Import PLC pro...

Страница 177: ... mode The PLC only starts after the drive is in operating mode With PLC has permanent control over the drive the drive can be con figured with MLD as a stand alone motion controller for control tasks check box selected or as an intelligent servo axis for extending the drive functionality check box not selected If PLC has permanent control over the drive is selected the storage mode is also automat...

Страница 178: ...gisters Gx Double clicking Display format registers Gx opens a dialog of the same name This dialog can be used to set the display format and decimal places of the global PLC registers G0 to G31 P 0 1370 to P 0 1385 P 0 1316 to P 0 1331 and of the list parameters global PLC registers GL0 to GL2 P 0 1389 P 0 1311 P 0 1312 When selecting formats SIGNED_DEC and UNSIGNED_DEC the number of decimal place...

Страница 179: ...o be added to MLD 2G The 2nd and 3rd menu items in this context menu change dynamically Login Logout or Start Stop appear depending on the state of the opened IndraLogic project DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 177 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and application LSA Control S L www lsa control com comercial lsa control com 34 960 6...

Страница 180: ...d file Print allows all of the components in the IndraLogic project to be selec ted Once the components have been selected Next goes to the next dialog where the printout can be set up From here Finish is used to automatically start the print job on the default printer Other print settings such as selecting another printer can be configured by going to File Print settings New view displays the sel...

Страница 181: ...og Cross Communication Drive active Cross communication can be acti vated and deactivated here DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 179 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and application LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 182: ... ninth configured slave Control panel The control panel can be used to check whether or not the optional ML MA expansion package has been enabled in the drive and whether or not the PLC functionality can be used After control voltage has been switched on the drive boots up During the booting process messages will appear on the display Before the Boot 2 9 message appears the Esc and Enter keys have...

Страница 183: ...ving inadvertently or dropping sud denly DANGER Using functions with large data volumes can have unforeseeable conse quences The stack requirement for function blocks is minimal as their data are stored in the PLC data Functions however have no instance and store all data in the stack Avoid using big data structures or fields or create func tion blocks Array access exceeding the range Lethal injur...

Страница 184: ...ero see also documentation IndraLogic 2G Programming Guide this can have undesired effects in the PLC program When the divisor is 0 incorrect access can have unforeseeable consequences For new projects created with version MPx18 the corresponding check function is contained in the automatically loaded CheckRtv library Access to variables via program ming system or interface is only byte consistent...

Страница 185: ...of structure information an optional parameter backup and an optional PLC project The PLC project is contained in a subdirectory and con tains all files created by IndraLogic The most important of these files is the one with the project extension which contains the PLC source code and project settings The PLC directory contains a subdirectory called LIB When a new project is created the system cop...

Страница 186: ... the drive In this case the boot project and the symbol configuration are contained in the parameter file on the external memory card Boot project The boot project can be loaded and saved with IndraWorks MLD as parame ters P 0 1352 to P 0 1358 This means a backup of the parameters con tains the boot project i e the binary code but not the source code The boot project of the PLC has the following p...

Страница 187: ...Documentation directory the user can store their own files for docu menting their system machine Medium Directory File Type Contents Access Parameter P 0 1352 Application sts PLC system file PLC status Logic context menu Start Stop Application crc PLC system file P 0 1367 0 8 0 Boot application checksum Logic context menu Cre ate boot project Parameters P 0 1353 to P 0 1358 IndraDrive only Applica...

Страница 188: ...ol configuration can be used to symbolically access PLC variables via the communication interface This is necessary for displaying PLC project variables on the comfort control panel or an external operator terminal Via the symbol configuration it is possible to set whether and which symbols are to be stored Generally you should only select the required symbols to reduce the loading times download ...

Страница 189: ...here are two possibilities to in clude a drive in the project To include a drive in the project in offline mode left click to select a drive IndraDrive from the device library Keep mouse button pressed and drag the drive to the top branch in the Project Explorer When you drop the selected drive the configuration wizard for the drive starts If the drive is already available it can be directly conne...

Страница 190: ...s project 2 Initialize the control unit in the Project Explorer by double clicking the logic branch 3 Use the context menu to select Application Data import Fig 7 15 Project tree with logic branch 4 In the Select project dialog box select the desired project file 5 Clicking the Open button starts the import process Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 188 267 Rexroth IndraDrive Rexroth In...

Страница 191: ...m is only available in the context menu when the IndraLogic project has already been stored in the IndraWorks project 3 Assign a file name to the IndraLogic project The device version is not exported together with the IndraLogic project Make sure that the right device version is available when the exported IndraLogic project is to be used Loading the IndraLogic project to the drive While the progr...

Страница 192: ...the size of the boot project there are approx 650 kB availa ble in parameters and 8 MB on the external memory card which allows storing big programs and filing the PLC sources and user files in parameters If a boot project is too big it cannot be stored and an error message is gener ated while it is loading However the loading process is not immediately aborted after a while an other error message...

Страница 193: ... log in establish an online connection to a running installation without having to re compile the MLD project It is recommended to generate a package with all required com ponents e g in the form of a CD or DVD to make any PC which meets the system requirements a programming system for IndraMotion MLD The package should contain the following com ponents The same or higher version of IndraWorks MLD...

Страница 194: ...ct can be archived in online and offline mode In offline mode the MLD project is archived with the offline data Before archiving starts the Archiving of Drive Parameters dialog provides the possibility of updating the offline data The following steps must be carried out for archiving the IndraWorks MLD project 1 Start IndraWorks MLD 2 Select Project Archive 3 Define archive name and comment for th...

Страница 195: ...ive target settings store the ar chive on a file system and or on an FTP server device or computer connected via a network DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 193 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and application LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 196: ...ess OR 2 Host name of the target device OR 3 Selection via the selection list It contains all FTP compatible devices of the active project and the last five target devices used for archiving device name IP address or host name OR 4 With the button the target device can be selected from a list of all FTP compatible devices of the active project 6 Click Next A connection to the device that has been ...

Страница 197: ...e all elements should be selected Fig 7 19 Selecting the Archive Components 8 Click Next 9 In the following dialog the inputs can be checked DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 195 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and application LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 198: ...ve address P 0 4089 0 3 and if necessary selec tion of functional packages P 0 2003 CCD master If necessary selection of functional packages P 0 2003 and setting of TCP IP communication P 0 1531 P 0 1533 Changes in the enabling of functional packages and in the TCP IP communication settings only take effect at the next restart of the drive 2 In IndraWorks MLD set desired type of communication seri...

Страница 199: ...restoring type is opened Fig 7 22 Select the Restoring Type 2 Select Restore from file system or Restore from FTP server device or computer 3 Click Next 4 a When Restore from file system was selected the archive must be selected in the following dialog DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 197 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and applica...

Страница 200: ...hed Fig 7 24 Restoring an Archive from an FTP Server There are four options to do this 4 1 IP address OR 4 2 Host name of the target device Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 198 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and application LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 201: ... the target device is established via Connect 5 After the connection has been established all archives available on the device are displayed in the Archive overview list Select the archive to be restored 6 Click Next 7 Select the target directory in which the project is to be restored Fig 7 25 Selecting the Target Directory 8 Click Next 9 In the following dialog the inputs can be checked DOK INDRV...

Страница 202: ...ve 12 The Summary dialog provides the option of selecting Open project when closing the wizard If this option is selected the restored project is opened after you have clicked Close Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 200 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and application LSA Control S L www lsa control com comercial lsa control com 34 9...

Страница 203: ... is restored 1 Set the following parameters according to configuration of installation CCD slave Drive address P 0 4089 0 3 and if necessary selec tion of functional packages P 0 2003 CCD master If necessary selection of functional packages P 0 2003 and setting TCP IP communication P 0 1531 to P 0 1533 Changes to enabled functional packages and the TCP IP commu nication settings only take effect o...

Страница 204: ... opens Fig 7 29 Selecting restoring type 2 Select Restore from file system or Restore from FTP server device or computer 3 Click Next 4 a When Restore from file system was selected the archive has to be selected in the following dialog Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 202 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and application LSA Control ...

Страница 205: ...shed Fig 7 31 Restoring an archive from an FTP server There are four options to do this 4 1 IP address OR 4 2 Host name of the target device DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 203 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and application LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 206: ... the target device is established via Connect 5 After the connection has been established all archives available on the device are displayed in the Archive overview list Select the archive to be restored 6 Click Next 7 Select the target directory in which the project is to be restored Fig 7 32 Selecting the target directory 8 Click Next 9 The inputs can be checked in the following dialog Bosch Rex...

Страница 207: ...ive 12 The Summary dialog provides the option of selecting Open project when closing the wizard If this option is selected the restored project is opened after you have clicked Close DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 205 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Notes on commissioning and application LSA Control S L www lsa control com comercial lsa control com 34 ...

Страница 208: ...e Change IndraLogic device version dialog IndraWorks packages can be subsequently installed by clicking the Install IW package link In case IndraWorks is updated all existing libraries remain availa ble on the computer It is not necessary to install an older IndraWorks package again Changing the libraries valid for a PLC project When a PLC project is created the libraries current at this time are ...

Страница 209: ... 7 The cleaned project has to be recompiled From the main menu go to Build Rebuild all The cleaned and recompiled project will be loaded to the control unit with the next Login Adapting PLC project to a different IndraLogic device version If a PLC project has to be adapted to a different firmware release or a differ ent firmware is to be selected the device version has to be changed the pro cedure...

Страница 210: ...onnected Engineering interface IndraDrive Cs features an Ethernet interface This interface is used for programming and downloads Memory card The standard control panel does not feature any option of using a mem ory card The Advanced control panel features a slot for a microSD memory card 7 4 3 Byte order Big Endian Little Endian The firmware up to MPx08 used the Little Endian byte order as of MPx1...

Страница 211: ...IW0 IW1 IW2 ID0 Tab 7 3 Process input image Big Endian as of MPx17 P 0 1410 P 0 1411 P 0 1412 QB0 Bit15 bit 8 QB1 Bit7 bit0 QB2 Bit15 bit 8 QB3 Bit7 bit0 QB4 Bit15 bit 8 QB5 Bit7 bit0 QW0 QW1 QW2 QD0 Tab 7 4 Process output image Big Endian as of MPx17 Network communication If it is intended to establish network communication with other devices using the MLD e g via TCP IP the conversion functions ...

Страница 212: ...re below variable ardiBuffer 32 bit values is used to write ASCII characters to a text file Test txt The characters are stored differently on systems with different byte orders Especially when user programs are ported between systems with differing byte order a check must be run to verify whether the data are still consistent after the porting If this is not the case either the order has to be exc...

Страница 213: ...ags must simply be adjusted in the variable declaration Fig 7 41 Adjusting the addressing of the byte flags in the variable declaration Access via pointers In a test program values are assigned to the arWORD field of the WORD type A pointer initialized with the start address of the field is to be used to read a value of the DWORD type This value is checked in an IF query De pending on the result a...

Страница 214: ...CTaskGetLoad function block of the MX_Base library should be used for the performance comparison measurement The MX_IECTaskGetLoad function block is used to activate the extended run time measurement It displays information on the task load The task load is the percentage ratio of the calculating time tused used for the PLC program to the maximum available calculating time in a task cycle tcycle T...

Страница 215: ... from dif ferent suppliers programs conforming to standard can run on all automation devices The programming languages defined in the standard improve exchange of control programs from different manufacturers According to standard control programs can be written in the following languages Instruction List IL Ladder Diagram LD Function Block Diagram FBD Structured Text ST and Sequential Function Ch...

Страница 216: ...ss optimal than hard coding Due to this standardization should not be expected to offer maximum performance but can get very close to the maximum function ality meaning that the bottom of the triangle is very short Figure name DF000146 Fig 8 1 Objectives of PLCopen The trend towards transferring PLC programs from one target to the other as easily and quickly as possible is intensified by the offic...

Страница 217: ...r handling outputs Error ErrorID and ErrorIdent Unassigned inputs Cascading of function blocks 8 2 2 Libraries Supported libraries Property damage caused when non suppor ted libraries are included NOTICE Only the libraries listed below are allowed to be included The following functions data types and structures are combined in libraries available to the user When a project is created with an Indra...

Страница 218: ...Functions for synchronously accessing files SysFileAsync SysFileAsync23 1 Functions for asynchronously accessing files SysIecTasks23 Supports the SysIECTaskGetConfig function with which the task configuration can be read SysMem SysMem23 1 Functions for memory management NetVarUdp For program internal use only Functions for processing network variables Standard Functions and function blocks that ar...

Страница 219: ...d synchronously and asynchronously Synchronous access to the file system In the case of synchronous access to the file system a function is called which only returns after the output has been completed This is disadvanta geous for a typical PLC task as this task waits for the function during this time It is therefore recommended that these tasks be executed in a low prior ity task without watchdog...

Страница 220: ...e User folder and any sub folders it contains are displayed The User directory itself is not displayed as if User were a separate partition From the user s point of view the root branch can be accessed without indicating the directory with a single and with a double Windows compatible File access The Open functions do not open the files exclusively so that other access to the same file is possible...

Страница 221: ...e sequence of Rexroth IndraMotion MLD Figure name DF000133 Fig 8 3 Rexroth IndraMotion MLD run up Pertinent parameters The following parameters are used in this context P 0 1367 PLC configuration S 0 0127 C0100 Communication phase 3 transition check S 0 0128 C0200 Communication phase 4 transition check Pertinent diagnostic messages The following diagnostic messages are generated during the run up ...

Страница 222: ...k place via Parameter Write i e not by IndraLogic If yes the PLC is de initialized and reinitialized It thereby starts the boot project which has just been loaded When does the PLC run The PLC starts running during the booting process after the system tasks have been enabled that is in phase 2 When you switch between phases 2 and 4 the PLC keeps running It is only stopped for a short time between ...

Страница 223: ...am technology This provides a high degree of flexibility as regards the calling and controlling of further function blocks In addition the order within the re spective main program is therefore unequivocal It is possible to assign several programs to any task the process ing of the programs corresponds to the order assigned However further control of these programs is then only possible within the...

Страница 224: ...lock itself Information on PLC programming IEC steps should be used as often as possible Tools Use IEC steps At an IEC step it is possible to program a maximum of 9 actions and one input and output action each The order in which actions are processed per step is alphanumer ic and is not based on the graphical order in the SFC sequence The following applies Details in the actions can only be seen v...

Страница 225: ...pieces of information Function intended use of the PLC program in a few words Current version Name of the programmer Date of last change Company for which the programmer works IndraLogic targets on which the PLC program can run Detailed description of the function intended use of the PLC program as well as information on specific preparations or handling The header should be written in English Usi...

Страница 226: ...es in the declaration If Declaration in table form has been selected in the IndraLogic editor you have to paste the content of the clipboard under the Info tab page directly after the header History template Program Modification History Version Name Date Comment Version Name Date Comment Version Name Date Comment 8 5 7 Type identifiers General information Standardized naming of types increases the...

Страница 227: ...ystem dependent Assignment Description Example MC No PLCopen 100 PLCopen function blocks MC_MoveAbsolute MB No Motion oriented as per PLCopen Function blocks with motion oriented functionali ties that are not PLCopen certified but based on PLCopen MB_WriteParameter MH Yes MLC Hydraulic functions only available for MLC MH_HydrControl IL No All system independent functions and function blocks that a...

Страница 228: ...contain prefixes System Prefix Example MLC ML ML_ReadParameterBool Synax MS MS_ReadSingleParameter Synax VisualMotion MSV MSV_ReadMaxValue MTX MT MT_NcBlk VisualMotion MV MV_Hysteresis MLD MX MX_SetDeviceMode Tab 8 2 Prefixes for system dependent types 8 5 8 Instance identifiers General information It is possible to generate copies instances of data types Instance identifiers are case sensitive th...

Страница 229: ...rmat of quad ruple length USINT usi usiVar 8 bits UnsignedShort Integer Unsigned integral format of ab breviated length UINT ui uiVar 16 bits Unsigned Integer Unsigned integral format of sin gle length UDINT udi udiVar 32 bits Unsigned Double Inte ger Unsigned integral format of double length ULINT uli uliVar 64 bits Unsigned Long Integer Unsigned integral format of quadruple length REAL r rVar 32...

Страница 230: ...ed naming and identical behavior of these standard interfaces in crease comprehension reduce the time required to become acquainted with the code and so relieve the support department Function blocks can be used to encapsulate complex tasks such that they can be reused and to address them via defined interfaces Processing can take place in either state controlled or edge controlled form State cont...

Страница 231: ...ed via the Active output Any preprocessing is not signaled with this output If the processing of a task could not be successfully completed this is signaled by the Error output DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 229 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Programming information LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 232: ...ate controlled function block processing interrupted Fig 8 4 Signal time behavior of state controlled function blocks with Enable input for single axes the Active output is not set Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 230 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Programming information LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 233: ...e controlled function block processing interrupted Fig 8 5 Signal time behavior of edge controlled function blocks with Execute input for single axes the Active output is not set DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 231 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 Programming information LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 234: ... POE for an external library is linked dur ing download via the POE identifier can be used for linking the POE and thereby the library to a specific IW package The version assignment the IW package linking and the keeping of a history are made available for Bosch Rexroth libraries by a standardized version function in a consistent folder structure Storage location and name In the folder _Version i...

Страница 235: ...oad POE linking and version protection might possibly not have been implemented on all targets If one or more functions cannot be linked the download is aborted with an error message Fig 8 7 Message of a failed version check The error message contains a list indicating which functions function blocks from which library could not be linked A reference list e g from the Firm DOK INDRV MLD3 VRS AP02 ...

Страница 236: ... relatively few actions must be processed very quickly and other actions run in a slower task e g a task with t 1ms and a task with t 10ms Besides it is necessary to consider whether a watchdog must already be trig gered when a task is exceeded once or whether the watchdog can be more tolerant As an alternative to a multi task system all fast actions can at first be carried out in a task and then ...

Страница 237: ...heck function The check function detects and avoids incorrect access The checks are run for pointer access array access range limits division by 0 When the fre quently processed code has been sufficiently checked this automatic check implicit check function can be switched off Example Switching off the implicit check function In this case runtime checks are not run within the POU attribute no chec...

Страница 238: ...Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 236 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 239: ...plorer via the context menu entry Open of a control unit e g drive controller with integrated PLC IndraMotion MLD When IndraMotion MLD is used the following tab pages are contained Files Log PLC settings PLC shell Information The Log and PLC shell tab pages can be switched on and off Tools Options IndraLogic 2G General Settings 9 2 2 Status The Status tab page shows status information of the respe...

Страница 240: ...nable PLC logger These events are displayed Events when starting and stopping the system loaded components with versions Application download and loading of the boot project Customer specific entries Log entries of I O drivers Log entries of the DataServer Fig 9 3 Device Editor Log A logbook entry is displayed with the following pieces of information Severity There are four categories for the seve...

Страница 241: ...gbook entries is stored in the selected directory with the specified file name When the Offline Logging option has been activated the actions which do not refer to the connection to the control unit are recorded too Currently this has only been implemented for the Safety version of the programming system 9 2 5 PLC Settings The PLC settings tab page is used to specify how the PLC behaves in the sto...

Страница 242: ...on e g MotionTask PlcTask etc Check the data of the tasks of your application and then enter the desired task Select a specific task which is to control the bus cycle or select the unspe cified setting when the task with the shortest cycle time i e the fastest task is to be used for this purpose 9 2 6 PLC Shell The PLC shell function is used for diagnostic and debugging purposes If you need to use...

Страница 243: ...ding With Single Shot the recorded measured values are transmitted to the oscilloscope subsequent to the measurement The Trending measuring mode is the typical oscilloscope operation mode In this mode the measured values recorded by the device are continuously transmitted to the oscilloscope Related documentations about the oscilloscope function Functional Description of firmware Oscilloscope func...

Страница 244: ...nostic functions available for detailed descriptions of the functions see the appropriate section in PLC program development with Rexroth IndraLogic 1 0 Flow control When flow control has been activated parts of the program executed during the last control cycle are highlighted Sampling trace Sampling trace allows exactly tracing the time flow of PLC variables Watch and recipe manager The watch re...

Страница 245: ...aLogic user interface e g when the inputs have only been wired in part To illustrate project vari ables IndraLogic makes available the option of visualization this allows gen erating convenient user and display dialog boxes for PLC projects also see PLC program development with Rexroth IndraLogic 1 0 Monitoring functions In Rexroth IndraMotion MLD both the runtime and the available resources are m...

Страница 246: ...he range it is advantageous to be able to quickly find the corresponding point in the PLC source code Debugging after start up After start up the error F6010 PLC runtime error is generated when a PLC exception occurs In this case the programming interface jumps to the faulty program code and highlights it with a color The parameter P 0 1365 contains information on the cause of error and on the aff...

Страница 247: ...her offset line 10 in this case With this line number you can retrieve the point in IndraLogic ZeroDiff bpl compile file Program MYFB1 0 201 0010 0134 Breakpoints 0001 0010 215 0002 001C 215 0003 0028 215 0004 0034 215 0005 0040 215 0018 217 0006 0064 215 0018 217 0007 0092 215 0018 217 0008 00BE 215 0009 00CA 215 The affected line numbers 9 and 10 can be recognized 0010 0124 215 0012 0134 215 9 4...

Страница 248: ...tarted or loaded 9 4 2 Changing firmware Overview and introduction There is a difference between a firmware release update and a firmware ver sion upgrade when changing the firmware Note the following when changing the firmware For firmware release updates the device version is updated if necessa ry it contains the libraries of old releases Each new firmware does not contain new or modified librar...

Страница 249: ... a distinc tion is also made with regard to compatibility Binary upward compatibility As soon as the firmware is in general sales the PLC programs which were created with an old release still can be used in unchanged form their binary is upward compatible Downward compatibility Within a version the binary of compiled proj ects is normally downward compatible as well It is thereby possible to load ...

Страница 250: ...between versions A firmware version upgrade contains a new IndraWorks package and new or possibly incompatible function blocks For this reason an existing project must be recompiled before the download In some cases it is necessary to adjust the PLC project Usage information Note the following when changing the firmware Any new firmware version or different characteristic always includes a new pac...

Страница 251: ... i e the device version is contained in the New device version drop down list of the Change IndraLogic Device Version dialog If a device is not available it can be subsequently installed via the installation of an IW package The current IW package is made available via the installa tion of a new IndraWorks version In special cases bug fixing in a version the IW package can be procured from the ser...

Страница 252: ...d and rebuilt project will be loaded to the control unit with the next Login 9 4 4 Replacing the Controller Overview A controller of the IndraDrive range consists of the components power sec tion control section and programming module control panel incl firmware The control section can be configured with additional components e g op tional safety technology module The control section and power sec...

Страница 253: ...rive components loading parameters or updating upgrading the drive firmware IndraMotion Service Tool IMST additionally analyzes drive systems connected via cross communication CCD Further in formation on IndraMotion Service Tool IMST and IndraDrive Service Tool IDST is described in the separate documentation Rexroth IndraDrive Service Tools IMST IDST DOK IM MLD IM STIDSTV13 RE EN P mat no R9113426...

Страница 254: ...l type Only in this way is it ensured that the originally configured func tions can be used in unchanged form 9 Connect device according to machine circuit diagram Putting Controller and Machine In to Ready For Operation State 1 Restore control voltage 2 Put machine into ready for operation state again according to the ma chine manufacturer s instructions 3 Activate safety technology only for acti...

Страница 255: ... documented accordingly and checked for correctness they can be queried via the control panel in the SMO Info menu for IndraDrive Mi the data must be read by means of the IndraDrive Service Tool IDST for example because IndraDrive Mi does not fea ture a control panel P 0 3230 SMO Password level P 0 3235 0 1 SMO Active axis identifier P 0 3234 0 1 SMO Configuration checksum P 0 3234 0 2 SMO Operati...

Страница 256: ...lues according to list parame ters S 0 0192 IDN list of all backup operation data and P 0 0195 IDN list of retain data replacement of devices saved after initial commissioning With active Safe Motion the initial commissioning or serial com missioning of the controller is required after the programming module has been replaced In the case of drives with absolute value encoder and modulo for mat the...

Страница 257: ...uld be smaller than 70 After MLD 1G has been replaced by MLD 2G check again if the unused cal culating time suffices to process the MLD program With IndraMotion MLD 2G the load should be smaller than 90 The easiest way to check the calculating time is by means of P 0 1364 The parameter is available in both versions and shows the unused calculating time The MX_IECTaskGetLoad function block provides...

Страница 258: ...hat were already developed in MLD 1G can be imported as follows 1 In the IndraWorks Project Explorer select the project to which you would like to import the MLD 1G project 2 Expand the MLD Logic project tree and right click on Application 3 Select Import data from the context menu The standard Windows dialog box for opening a file appears 4 If necessary set the file filter to IndraLogic project f...

Страница 259: ...1 P_0_1371 Better DV_Axis AXIS_1 P_0_1370 DV_Axis AXIS_1 P_0_1371 Write Protection of Parameters P 0 1410 to P 0 1429 If the parameters P 0 1410 to P 0 1429 had been write accessed in a project of MLD 1G PLC outputs must instead be defined and written in MLD 2G Example MyOutput0 WORD AT QB0 instead of DV_P_0_1410 MyOutput1 WORD AT QB2 DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 257 267 Rexroth I...

Страница 260: ...rrect this Example MX_PID_ControllerPL Init_Regler generates error Init_Regler no error Functions with Dummy Arguments With MLD 1G Functions cannot be programmed without parameter a pa rameter must be set but is not used With MLD 2G Functions can be programmed without parameter 10 3 3 Adjustments in MLD 2G Checking the task system The task system has to be checked after the program is imported Ind...

Страница 261: ... MLD package without the PositionLoop Event I O variables cannot be accessed with the PositionLoop Event I O variables can be indirectly accessed in two ways Reading the I Os in the cyclic task and copying them to the flag Accessing the flag in the PositionLoop Event Directly accessing parameters in the PositionLoop Event when this has to be done quickly DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth ...

Страница 262: ...Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 260 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 263: ...es and training can be found on our internet sites Service worldwide Outside Germany please contact your local service office first For hotline numbers refer to the sales office addresses on the internet Preparing information To be able to help you more quickly and efficiently please have the following information ready Detailed description of malfunction and circumstances resulting in the malfunc...

Страница 264: ...Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 262 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 265: ...vice model number 240 Device name 240 Device type 240 Device version 240 Direct variables 104 Display defective 253 Documentation Additional documentations 8 Overview 8 Reference documentations 8 Documentation structure 8 Drive controller Replace 251 Drive errors 76 Drive system 31 E Electric drive system 31 Event logging 238 Event tasks 61 69 External event task 61 F Firmware requirements 24 Free...

Страница 266: ...iers 224 PLC runtime 43 PLC settings 239 PLC shell 240 PLC warnings 75 PLCopen 18 213 POI 42 Program 18 Programming languages 19 Information on PLC programming 222 Overview 222 Recommended basic programming lan guages 222 Programming module defective 253 Protective extra low voltage 35 R Real time channel See AxisData cyclic axis data 86 Reference documentations 8 Remote axes 42 Replace Drive cont...

Страница 267: ...ning 169 Technology libraries 27 Technology packages 27 Terms 17 Timing 51 Turnkey solutions 27 Type identifiers For programs function blocks and func tions 225 For structures arrays enumerators and IEC data types 226 U Updating the IndraLogic device version 206 Usage information and applications 23 Use Appropriate use 29 Inappropriate use 30 User program 27 V Vendor name 240 Version function 232 ...

Страница 268: ...Notes Bosch Rexroth AG DOK INDRV MLD3 VRS AP02 EN P 266 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 269: ...Notes DOK INDRV MLD3 VRS AP02 EN P Bosch Rexroth AG 267 267 Rexroth IndraDrive Rexroth IndraMotion MLD 2G as of MPx 18 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Страница 270: ... and Controls P O Box 13 57 97803 Lohr Germany Bgm Dr Nebel Str 2 97816 Lohr Germany Tel 49 9352 18 0 Fax 49 9352 18 8400 www boschrexroth com electrics DOK INDRV MLD3 VRS AP02 EN P LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

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