Bosch REXROTH IndraMotion MLD, Начало работы

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Commissioning and Parameterization Rexroth IndraMotion MLD
DOK-IM*MLD-F*STEP**V**-KB01-EN-P
Motion Command Channel
The motion command channel is an internal data channel for transmitting
consistent inputs of ready-made motion function blocks. These ready-
made motion function blocks can be called directly from the PLC
program. The motion command channel internally is mainly used for
realizing Motion Control tasks or for technology functions. The available
motion function blocks conform to PLCopen; i.e. programs created with
the motion function blocks can be transferred to other targets.
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The motion function blocks have a logic axis address for selecting the
axis. In the single-axis system MLD-S, this allows controlling the local
axis and the master axis generator.
In the multi-axis system MLD-M, the axes connected via CCD can be
additionally controlled.
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The most important inputs during motion control take place via the
corresponding inputs at the motion function blocks. Other specific
settings, such a scaling, jerk etc., are parameterized. This in normally
done during the commissioning of the axes with the parameterization
interface IndraWorks. By means of parameter access it is also
possible to change other settings (e.g. the jerk).
•
Axis motion via a motion function block can only be carried out when
MLD has control over the drive. This can be done either "permanently"
by activating the "permanent control" (see Fig. 5-4) or "temporarily" by
the function block MX_SetControl.
Motion control via the PLC program is carried out by means of function
blocks according to PLCopen. For this purpose, PLCopen has defined
several IEC1131 function blocks by means of which the axes can be
controlled. Apart from the function blocks defined by PLCopen, there are
additional function blocks which are based on the standard.
Programming takes place with the function blocks of the "MX_Base.lib"
and "MX_PLCopen.lib" libraries. The function blocks have been designed
in such a way that they are cyclically called. They are predominantly
activated by an input edge and provide information on status outputs. The
exact functional principles are described in the respective library
documentation.
The library "MX_Base.lib" contains function blocks for axis control, such
as "MC_Power" and "MC_Reset", which are used to bring the axis in
control or clear an error.
The library "MX_PLCopen.lib" contains function blocks for motion control,
such as "MC_MoveAbsolute" or "MC_Stop".
After the permanent control has been activated for the local axis, or the
MLD-M system mode for control of remote axes, the required operating
modes of the axes are automatically parameterized. The operating mode
is thereby automatically selected. Normally it is not necessary to make
further settings.
Features
PLCopen
Programming
Libraries
Settings