instead of
DV_P_0_1411
The corresponding access to the process image must be changed to writing
PLC outputs.
Assigning Different Data Types
When different data types are used, a warning is generated during the compi‐
lation run - the project is operable after the compilation.
Example:
Program:
diLagesollwert2 :DINT;
rLageistwert2 :REAL;
rLagedifferenz2 :REAL;
Warning is generated:
rLagedifferenz2 := diLagesollwert2
‑
rLageistwert2;
Correct:
rLagedifferenz2 :=
DINT_TO_REAL(diLagesollwert2)
‑
rLageistwert2;
Remove the warning by converting data types, e.g.
●
INT_TO_WORD
●
DINT_TO_REAL etc.
Calling function blocks or their
methods with the function block
type
If function blocks or their methods are called with the function block type, an
error is generated during the compilation run.
Instance the function block or call it without a prefix within the function block
to correct 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. IndraLogic
MLD-2G supports different task systems:
●
Freewheeling task
Behavior as in MLD-1G
●
Event task
It is impossible in MLD-2G to create a project with only event-controlled
tasks. At least one cyclic or freewheeling task has to be created.
●
System events
MLD-2G supports the following system events:
–
EVENT_START - when the PLC is started
–
EVENT_STOP - when the PLC is stopped
–
EVENT_BEFORE_RESET - before a reset
–
EVENT_AFTER_RESET - after a reset
Bosch Rexroth AG
DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
258/267
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
Converting projects
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01