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Bosch Rexroth IndraMotion MLD Series Applications Manual

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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
The Drive & Control Company
Application Manual
R911338914
Edition 02

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   Summary of Contents for Bosch Rexroth IndraMotion MLD Series

  • Page 1 The Drive & Control Company Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Application Manual Edition 02 R911338914 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 2 © Bosch Rexroth AG 2014 This 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.
  • Page 3: Table Of Contents

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG I/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Table of Contents Table of Contents Page Introduction........................5 About this documentation........................5 Structure of the documentation....................... 8 Documentations............................8 1.3.1 Overview.............................. 8 1.3.2 Drive systems, system components....................9 1.3.3...
  • Page 4: Table Of Contents

    II/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Table of Contents Page Basic functions of Rexroth IndraMotion MLD............... 41 Overview............................... 41 Definition of terms..........................41 Device control............................42 4.3.1 General information........................... 42 4.3.2 Master communication........................42 4.3.3...
  • Page 5: Table Of Contents

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG III/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Table of Contents Page Connecting IndraControl (VCP/VE*)....................138 6.3.1 Introduction and overview........................ 138 6.3.2 Configuring the symbols for variable/parameter access..............140 6.3.3 Notes on utilization for IndraControl VCP..................143 6.3.4...
  • Page 6: Table Of Contents

    IV/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Table of Contents Page 8.5.8 Instance identifiers........................... 226 8.5.9 Definition of standard interfaces in function blocks................. 228 8.5.10 Error handling..........................232 8.5.11 Versioning libraries.......................... 232 8.5.12 Code optimization..........................
  • Page 7: Introduction

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 5/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Introduction About this documentation Editions of this documentation Edition Release date Notes DOK-INDRV*-MLD2-2G*VRS-AP01-EN-P 2014-01 First edition ● Corrections – Information on available memory ● Amendments: –...
  • Page 8 6/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Please include the following information so we can process your feedback: ● The number indicated on the back of the front page under "Internal File Reference"...
  • Page 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...
  • Page 10: Structure Of The Documentation

    8/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Structure of the documentation This documentation is structured for various audiences to make navigation as quick and easy as possible. It is divided into the following main chapters, each of which are tailored to a defined audience or use: ●...
  • Page 11: Drive Systems, System Components

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 9/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Explains how to get started when using Rexroth IndraMotion MLD for the first time (preparation and setup, commissioning, programming) ● Library for Rexroth IndraMotion MLD-2G –...
  • Page 12: Cables

    10/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Title Kind of documentation Material number Document typecode Rexroth IndraDyn … R911… DOK-MOTOR*-… S Synchronous Motors QSK Project Planning Manual QSK********-PRxx-EN-P 330321 T Synchronous Torque Motors...
  • Page 13: Reference Documentations

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 11/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Title Kind of documentation Material number Document typecode Rexroth IndraDrive Commissioning Manual DOK-INDRV*-MLD3-F*STEP-COxx-EN-P R911341708 Rexroth IndraMotion MLD (2G) as of MPx-18 Rexroth IndraMotion Reference Book...
  • Page 14: Brief Description

    12/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction IndraMotion MLD (drive-integrated PLC) IndraMotion MLD-S: IndraMotion MLD-M: Single-axis "Motion Logic Control" Multi-axis "Motion Logic Control" ("MPC" firmware only) "IndraDrive C" / "IndraDrive M" (with Cxx02 control sec‐...
  • Page 15: Indramotion Mld-s

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 13/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction 1.5.3 IndraMotion MLD-S Connection Please refer to the appropriate Project Planning Manual for the interfaces used to interconnect the components Fig. 1-2: "IndraMotion MLD-S" basic system structure "IndraMotion MLD-S"...
  • Page 16: Indramotion Mld-m

    14/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction ● Motion Control functionality for 1 axis by commanding the local axis with a corresponding PLCopen-based Motion Control library 1.5.4 IndraMotion MLD-M "IndraMotion MLD-M" not only controls the local axis but also remote axes (so-called "CCD slaves").
  • Page 17: Digital And Analog I/o Extensions

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 15/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Max. 9 slaves (T=500 µs with 1 slave, T=1000 μs with 2 slaves up to T=4000 μs with 9 slaves) – Cyclic data channel (MDT, AT) with maximum 48 bytes and 16 pa‐...
  • Page 18 16/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Documentation: "Rexroth Inline Block IO for sercos III With Digital Inputs and Outputs", DOK-CONTRL-S3DI16DIO16-KB, R911170500 ● Inline Block IO with 4 analog inputs and 2 analog outputs (R-ILB S3 24 AI4 AO2) Documentation: "Rexroth Inline Block IO for sercos III With Analog...
  • Page 19: Terms, Basic Principles

    A technology function or technology package is a self-contained, com‐ prehensive functionality (e.g., preventive diagnostic system). ● Based on technology function blocks and packages, Bosch Rexroth also provides ready-made, application-specific complete solutions (so-called "turnkey solutions"), such as "IndraMotion for Metalforming" and "IndraMotion for Handling".
  • Page 20: Function Overview And System Properties

    18/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction – A function can be called in textual languages as an operand used in expressions. – A function has no "memory", i.e., the contents of variables are not stored.
  • Page 21 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 19/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction ● Defining basic data types from BOOL to DINT (32-bit integer) or REAL (32-bit float), as well as arrays and structures ● Defining function blocks that can be instantiated ●...
  • Page 22 20/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Amount of resources (memory) "IndraMotion MLD" has the following resources: ● Internal code memory (RAM in control section): About 33% of the memory resource indicated here are reserved for the "Online Change"...
  • Page 23 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 21/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Retain variables and persistent variables can only be declared in a "Global Persistent Variable List" which belongs to an applica‐ tion. Only one such list can be added per application.
  • Page 24 22/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction – "P-0-1390, PLC input WORD0 AT %IB0" to "P-0-1397, PLC input WORD7 AT %IB14" – "P-0-1398, PLC input WORD8 AT %IB16" to "P-0-1409, PLC input WORD19 AT %IB38"...
  • Page 25 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 23/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction ● The time slice available for the PLC depends on the control and work‐ load of the drive caused by the operation modes. ● For "Online Change", there is a short delay in the PLC because the cache is dumped and has to be reloaded.
  • Page 26 24/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Firmware Requirements Using the drive-integrated PLC (Rexroth IndraMotion MLD) requires the base package of the firmware and a functional firmware package (optional expan‐ sion package). The functional firmware package must be enabled / licensed...
  • Page 27 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 25/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction See also Functional Description of firmware "Enabling of Functional Packages" Software requirements The "IndraWorks MLD" engineering tool is required for parameterizing, com‐ missioning and programming a drive with integrated PLC.
  • Page 28 Using IndraMotion MLD Freely programmable PLC in accordance with IEC 61131 Fig. 1-5: Options for creating a user program and using "IndraMotion MLD" Bosch Rexroth provides support for the following when creating user pro‐ grams: ● Function libraries LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 29 Basic IEC function blocks – PLCopen function blocks ● Technology libraries Bosch Rexroth develops sector- and application-based technology func‐ tion blocks and provides them in the form of technology libraries (e.g., programmable return motion, cross cutter function, etc.): – Motion functions (Tech_Motion.library) –...
  • Page 30 28/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P 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...
  • Page 31: Important Directions For Use

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 29/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Important directions for use Important directions for use Appropriate use 2.1.1 Introduction Rexroth products are developed and manufactured to the state-of-the-art. They are tested before delivery to ensure operational safety and reliability.
  • Page 32: Inappropriate Use

    30/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Important directions for use Device types with different drive power and interfaces are available for using the Drive controllers in specific applications. Typical applications include, for example: ●...
  • Page 33: Safety Instructions For Electric Drives And Controls

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 31/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Safety instructions for electric drives and controls Safety instructions for electric drives and controls Definitions of terms Application Documentation Application documentation comprises the entire documentation used to in‐...
  • Page 34: General Information

    32/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Safety instructions for electric drives and controls requires. To comply with these qualifications, it is necessary, among other things, ● to be trained, instructed or authorized to switch electric circuits and devi‐...
  • Page 35: Hazards By Improper Use

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 33/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Safety instructions for electric drives and controls ● Applications for functional safety are only allowed if clearly and explicitly specified in the application documentation "Integrated Safety Technolo‐...
  • Page 36: Instructions With Regard To Specific Dangers

    34/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Safety instructions for electric drives and controls ● Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electric drive systems! ●...
  • Page 37: Protective Extra-low Voltage As Protection Against Electric Shock

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 35/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Safety instructions for electric drives and controls ● Secure built-in devices from penetrating foreign objects and water, as well as from direct contact, by providing an external housing, for exam‐...
  • Page 38: Protection Against Dangerous Movements

    36/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Safety instructions for electric drives and controls Danger to life, risk of injury by electric shock! High electrical voltage by incor‐ rect connection! If extra-low voltage circuits of devices containing voltages and circuits of more than 50 volts (e.g., the mains connection) are connected to Rexroth...
  • Page 39: Protection Against Electromagnetic And Magnetic Fields During Operation And Mounting

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 37/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Safety instructions for electric drives and controls ment works. Do not operate the machine if the emergency stopping switch is not working. ● Prevent unintended start-up. Isolate the drive power connection by means of OFF switches/OFF buttons or use a safe starting lockout.
  • Page 40: Protection Against Contact With Hot Parts

    38/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Safety instructions for electric drives and controls tric drive and control system and the associated current-carrying con‐ ductors. 3.3.5 Protection against contact with hot parts Hot surfaces of components of the electric drive and control system. Risk of burns! ●...
  • Page 41: Protection Against Pressurized Systems

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 39/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Safety instructions for electric drives and controls ● Do not throw batteries into open flames. ● Do not dismantle batteries. ● When replacing the battery/batteries, do not damage the electrical parts installed in the devices.
  • Page 42: Explanation Of Signal Words And The Safety Alert Symbol

    40/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Safety instructions for electric drives and controls Explanation of signal words and the Safety alert symbol The Safety Instructions in the available application documentation contain specific signal words (DANGER, WARNING, CAUTION or NOTICE) and,...
  • Page 43: Basic Functions Of Rexroth Indramotion Mld

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 41/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Basic functions of Rexroth IndraMotion MLD Overview The runtime system of the drive-integrated PLC in its MLD-S and MLD-M de‐...
  • Page 44: Device Control

    42/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD "CCD" is the abbreviation of Cross Communication Drives, the interface for cross communication based sercos III. Devices "Rexroth IndraDrive" range can be configured with the "CCD" option to allow electronic (digital) coupling of drives and I/O devices.
  • Page 45: Axis Control

    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 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.
  • Page 46: Mld Options For Influencing Axis Control

    44/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Fig. 4-2: Setting the start behavior of the PLC runtime 4.3.6 MLD options for influencing axis control General information The initialization state of the local axis control and with it the local axis itself can be influenced in the PLC user program by using the "MX_SetDevice‐...
  • Page 47 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 to switch CCD communication to phase 2 in order to write parame‐ ters in the CCD group. Fig. 4-3: Overview of MLD‑M device control and axis commanding...
  • Page 48: Commanding Axes

    46/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD ● MX_AXISDATA AxisData[<Axis>].dwDriveStatus_i, bits 15,14: Displays the primary operating state of axis and axis control (see marginal note "Structure of AxisData")
  • Page 49 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 47/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Application Axis control configuration in Configuration (no MLD Additional notes MLD device ("P-0-1367, PLC active) or axis control in CCD configuration", bit 4)
  • Page 50 48/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Fig. 4-5: Configuring MLD with IndraWorks, selecting CCD setting "MLD‑M sys‐ tem mode" MLD-S as "intelligent servo axis" When MLD-S is used as an "intelligent servo axis", the external control unit has control over the (local) axis (6) by default.
  • Page 51 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 49/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD MLD-S as "stand-alone single-axis "Motion Logic Control"" When MLD-S is used as "stand-alone single-axis "Motion Logic Control"", MLD has permanent axis control and thereby can completely replace external motion commanding (7).
  • Page 52: Implementing Motion Commanding In The Axis

    50/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD gent servo axis". Commands are triggered by MLD-M in the CCD master by default. Fig. 4-8: Commanding axes with MLD‑M as "stand-alone multi-axis "Motion Logic Control"...
  • Page 53: Basic Functional Principle Of Motion Function Blocks In Conformity With Plcopen

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 51/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Application Operation modes for implementing motion function blocks in conformity with PLCopen MLD-S as "intelligent servo axis" Uses internal operation modes "torque control", "velocity control" and "drive-controlled positioning"...
  • Page 54 52/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Figure name DK000241 Fig. 4-9: Function block timing behavior (edge control) Instantiation "Execute" edges retrigger the function block with different input values in the same instance.
  • Page 55: Axis Addressing

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 53/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Figure name DK000242 Fig. 4-10: Function block instantiation (same instance) The figure below illustrates how different instances are instantiated. Each in‐...
  • Page 56 54/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Fig. 4-12: Examples of axis reference at axis-related function blocks According to PLCopen, variables of the structure data type "AXIS_REF" have to be used as "VAR_IN_OUT", which for all BRC systems consists of the con‐...
  • Page 57 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 55/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD The variables can be applied directly to the user program from the library using the input assistant. <F2> opens the dialog box for selecting possible entries at the current cursor position in the edi‐...
  • Page 58 56/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Availability for axis Name Axis1 (local "Axis2" to "Axis10" VmAxisInt VmAxisExt RmAxis LinkAxis1 axis) (remote axes) MX_Command MX_SetControl MX_SetDeviceMode MX_SynchronControl...
  • Page 59: Notes On Application And Programming

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 57/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Parameter "P-0-4031, Overview of device addresses" shows the overall con‐ figuration of all available real MLD-M axes and their sercos addresses.
  • Page 60 58/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD ● "MC_MoveAbsolute"/"MX_MoveAbsolute", "MC_MoveRela‐ tive"/"MX_MoveRelative", "MC_MoveAdditive"/"MX_MoveAdditive": "Po‐ sitioning" operation mode ● "MC_Jog": "Positioning (jog +/-)" operation mode ● "MC_GearIn", "MC_GearOut": "Velocity synchronization " operation mode ●...
  • Page 61: Task System

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 59/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD The retain data can be read or written at once using P-0-1359. The list length (MaxLen) of P-0-1359 depends on the size of the retain memory (126 or 7934 elements of 4 bytes each).
  • Page 62 60/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Fig. 4-14: (Task) configuration Rexroth IndraMotion MLD supports system events. Task system and priorities The internal timing or the sequence of the processing of the individual tasks is managed via what is called the task system: ●...
  • Page 63: Task Properties

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 61/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD 4.5.3 Task properties Periodic (cyclic) tasks Periodic ("cyclic") tasks have the following features: ● Constant cycle time ● The cyclic task is started exactly once per specified period, i.e., the code...
  • Page 64 62/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD The NC cycle time is specified by the higher-level master commu‐ nication master only if the sercos III master communications is used.
  • Page 65 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 63/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD CCD in MLD-M system mode currently supports CCD cycle times of 1 ms, 2 ms and 4 ms. Application The time a periodic PLC task (motion task) is called in the CCD master axis should be linked to the CCD cycle (MS channel).
  • Page 66: Task Monitoring (watchdog)

    There can only be one freewheeling task and it has to be created with the lowest priority. ● A freewheeling task restarts immediately after the end of the task. Bosch Rexroth provides sample configurations for the different characteristics so the user can create suitable task concepts. 4.5.5 Task monitoring (watchdog) Monitoring each task can generally be set individually.
  • Page 67: Runtime Measurements

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 65/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Sensitivity Exception in cycle... 0, 1, 2 One-time timeout: Exception when the cycle time of the current cycle is longer than "time × sen‐...
  • Page 68 66/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD ● If a one-time timeout is tolerated, higher maximum runtimes can be al‐ lowed for the task. In this case, the ratio of average calculating time to watchdog time is the one that is decisive.
  • Page 69 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 67/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD low priority tasks are increased, since their available calculating time is re‐ duced. Interrupts, such as current or velocity controllers, are not taken into account.
  • Page 70 68/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Position controller PLC communication task rLoad Used calculating time rFreeTime Remaining unused calculating time Fig. 4-18: Task runtime measurement, "underload"...
  • Page 71: Task Configuration

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 69/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD The above figure shows a measurement of a task with a periodic time of t#1ms. In this case, the task uses more than the specified interval time. The 100% mark again corresponds to the net time intended for the task within one millisecond.
  • Page 72: Indramotion Mld Error Handling

    70/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD XREG Position controller All PLC tasks (IEC tasks) (freewheeling tasks, periodic tasks, event tasks) Drive/Com Communication and management task Fig. 4-20: Advanced performance (position controller every 250 µs)
  • Page 73: General (for Mld-s And Mld-m)

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 71/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD MLD(-M) behavior When a program is modified or downloaded, the local axis is switched to "AH" or "AB" when using MLD-M, as long as the PLC has control. Remote axes are also switched to "AH"...
  • Page 74 72/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD – Seven freely definable PLC warnings (E2011 .. E2017) – Seven freely definable PLC errors (F2011 .. F2017) Pertinent function blocks/functions The following function blocks are used in conjunction with error handling: ●...
  • Page 75 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 73/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD ● The affected task is immediately aborted. ● All PLC variables in the affected task remain frozen to facilitate debug‐...
  • Page 76 74/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD ErrorID Cause of error ACCESS Access not allowed: Writing to specific parameters in phase 4 or incorrect phase, no enable signal, etc.
  • Page 77 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 75/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD ● If the functional package "Motion Logic" (drive PLC and technology functions) has been enabled, the display reads "PLC ?".
  • Page 78: Configuring The Error Reaction In Mld-s

    76/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Fig. 4-25: Structure of "MX_fSetDriveWarningText" Triggering PLC errors The following drive errors can be triggered by calling the "MX_fSetDriveError" function: ●...
  • Page 79: Mld-m Error Handling And Reaction

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 77/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD Fig. 4-28: Activating/deactivating automatic reaction to "function block errors" Error Reaction (P-0-1367, bit 7="0") Function block error F2150 Tab. 4-9: MLD‑S error reaction...
  • Page 80 78/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD in the CCD master. This makes it possible to select a CCD error reac‐ tion in the CCD master, if necessary.
  • Page 81 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 79/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD ● P-0-1800.0.1, bit8="0", bit7="1": Error reaction for function block errors – When an axis or function block commanding error occurs, only the affected axis carries out its selective error reaction, while all other axes remain in control.
  • Page 82 80/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD ● In CCD basic mode or CCD system mode, the error number can be se‐ lectively configured in the AT (drive telegram) in order to exclude specif‐...
  • Page 83 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 81/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD P-0-1800.0.1 P-0-1367, Error site Error event Master Slave1 Slave2 bit7="0" Bit7="0" Only with Master FB error No reaction Bit8="0" No automatic reaction to errors. Any de‐...
  • Page 84 82/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Basic functions of Rexroth IndraMotion MLD ● When the master is not in control ("Ab"), warning E2140 is generated in the master instead of error F2140.
  • Page 85: Mld Communication Interfaces And Data Channels

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 83/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels MLD communication interfaces and data channels Introduction and overview MLD communication interfaces The PLC integrated in the drive (Rexroth IndraMotion MLD) has communica‐...
  • Page 86 84/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Fig. 5-1: MLD-M logic structure and communication interfaces IndraMotion MLD data channels IndraMotion MLD comes with a variety of data channels: ●...
  • Page 87: Indramotion Mld Data Channels

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 85/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Fig. 5-2: IndraMotion MLD data channels for accessing local and remote axes The illustration above shows the data channels from the MLD (PLC) using a simplified device model.
  • Page 88 86/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Cyclic actual and command values are provided using a data structure. This structure is specially suitable for use with single-axis and multi-axis control.
  • Page 89 DOK-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 Fig. 5-3: I/O Channel (PII, POI) LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 90 88/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels IndraMotion MLD allows accessing all local inputs and outputs of the drive controller. With IndraMotion MLD, cyclic command values and actual values of a master control unit can be used as inputs and outputs.
  • Page 91 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 89/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels For users switching from MLD-1G to MLD-2G: In MLD-2G, the list parameters P-0-1470.0.x / P-0-1471.0.x are no longer contained in the process images.
  • Page 92 90/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels PII: Process input image POI: Process output image Fig. 5-4: Example of Using the Device Inputs and Outputs Available Device Inputs/Outputs "IndraDrive Cs"...
  • Page 93 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 91/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels If an input is used in a task and this task is then interrupted by a higher-priori‐ ty task using the same input, the process image at this point of time is upda‐...
  • Page 94 92/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Virtual CCD slave (local axis) for ● In order to achieve synchronized (optimized for dead-time) command dead-time compensation value processing for all axes in the MLD-M system mode, the local axis is commanded in the CCD master via CCD (sercos III) along with the re‐...
  • Page 95 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 93/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Element name Data type Direction Parameter in MLD master Parameter in axis Significance Configurable command value bits wUserCmdDataBitA_q WORD Cmd value P-0-172x.12...
  • Page 96 94/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Element name Data type Direction Parameter in MLD master Parameter in axis Significance dwUserActualDataD_i SM_TYPES Act. value 32-bit source parameter:...
  • Page 97 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 95/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Element name Data type Direction Parameter in MLD master Parameter in axis Significance Axis_Error Act. value P-0-166x.13 S-0-0135 (bit13=1) Drive error, error in...
  • Page 98 96/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels It is possible to read in up to four freely configurable parameters from each real axis with the elements "dwUserActualDataA_i" to "dwUserAc‐...
  • Page 99 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 97/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Program: TYPE SM_TYPES : STRUCT REAL_ :REAL; (* REAL (32 bits) *) DINT_ :DINT; (* DINT (32 bits) UDINT_ :UDINT;...
  • Page 100 98/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels ● wDriveExtStatus_i The actual value "wDriveExtStatus_i" contains bit combinations from pa‐ rameters "S-0-0135, Drive status word" and "S-0-0134, Master control word"...
  • Page 101 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 99/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels ● Once the higher-level drive function has been terminated, the motion function block remains in the "CommandAborted" state ● Once the higher-level drive function has been terminated, the last com‐...
  • Page 102 100/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels The data of the "AxisData" structure are only fully available if the drive is in phase 4. Otherwise, "Axis_Error" is the only element that is set for error diagnostics, provided an error is pending at the corresponding axis.
  • Page 103 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 101/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels The command values of the "AxisData" structure are written directly before the master data telegram (MDT ) is transmitted to all CCD slave axes and therefore are part of the MDT.
  • Page 104 102/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Fig. 5-6: Activating "AxisData" Please note the following for activating "AxisData": ● "Permanent control" of the local axis has to be activated if the "AxisData"...
  • Page 105: Acyclic Data Channels / Interfaces

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 103/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Fig. 5-7: Dialog for setting the configurable AxisData elements The parameters input in the dialog box are automatically entered in the CCD configuration.
  • Page 106 104/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels ● Motion command channel Internal data channel for transmitting consistent input from motion func‐ tion blocks. This channel is not visible to the user and cannot be directly accessed, but is used by the motion control of IndraMotion MLD.
  • Page 107 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 105/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels ● Access to cyclically configurable parameters only ● No access to parameters of remote axes ● Direct variables cannot be triggers for a PLC event task ●...
  • Page 108 106/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels ● For a single-axis system, the axis number "Axis1" always has to be indi‐ cated. The "RIL_SercosIII" library is also available as an interface be‐...
  • Page 109 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 107/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Due to its width of 16 bits, the input does not accept any other pa‐ rameter types (such as "A" or "Y"). This means the range of val‐...
  • Page 110 108/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Fig. 5-9: Functions and function blocks for accessing parameters PLC parameters for general purpose (global registers) Brief description Access via "parameters for general purpose" (global registers) can be used to exchange data between MLD and a neighboring drive (as of MP*04VRS via CCD) or a higher-level control unit or an external operator terminal (e.g.,...
  • Page 111 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 109/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels ● 1 unbuffered list register with 8192 4-byte values Pertinent parameters The registers are represented by the following parameters: ●...
  • Page 112 110/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels When the global registers are used as command values (com‐ mand values from the higher-level control unit), note that the val‐...
  • Page 113 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 111/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Features ● The motion function blocks have a logical axis address for selecting the axis. In the MLD-S single-axis system, this allows the local axis and the master axis generator to be controlled.
  • Page 114 112/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Note x See table below for explanation on the notes Fig. 5-11: Motion state diagram LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 115 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 113/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels In this status ("ErrorStop" or "Stopping"), all function blocks can be called, although they cannot be executed Note 1 except for "MC_Reset" and "Error(?)", which respectively trigger a transition to "StandStill" or "ErrorStop"...
  • Page 116 114/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Fig. 5-12: Activating the master axis generator in IndraWorks The virtual master axis can be controlled via the axis input "VmAxisint".
  • Page 117 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 115/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Operation mode Setting Secondary operation mode 3 Drive-controlled positioning Secondary operation mode 4 Velocity synchronization Requires enabling of functional packages Tab.
  • Page 118: Configuring The Inputs And Outputs (i/o Configuration Of Mld)

    116/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Absolute position function block The absolute position can also be set in the "AH" state. Thus the command for setting absolute position can be directly transmitted. When axis motion is running, the command does not work.
  • Page 119 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 117/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Digital inputs, digital output Analog input R-ILB S3 24 AI4 AO2 Inline block IO with 4 analog inputs and 2 analog outputs R-ILB S3 24 DI16 DIO16 Inline block IO with 16 digital inputs and 16 config‐...
  • Page 120 118/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Basic device (on board) Optional module "DA" Standard inputs Switchable in‐ Inputs Outputs Switchable inputs/ Drive system / control section...
  • Page 121 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 119/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Fig. 5-14: Configuring the digital inputs/outputs in IndraWorks Configuring the analog input of the Reading in analog voltage values requires configuring the respective PLC pa‐...
  • Page 122 120/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Inputs/outputs from a master control unit In the "Master communication settings" dialog, the MLD process image pa‐ rameters can be entered under the process data in order to establish a con‐...
  • Page 123 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 offline mode. To achieve this, a sercos address and a logical drive number, or the number of the sercos III device must be assigned.
  • Page 124 122/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Fig. 5-19: Project explorer with sercos III devices MLD inputs coming from a sercos III slave are set to zero in case the connection is interrupted.
  • Page 125 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 123/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels In addition, input word 1 (P-0-1391) was assigned to analog input 1 of slave #4 via P-0-0210. Fig. 5-20: Assigning inputs...
  • Page 126 124/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Fig. 5-21: Assigning outputs Example 3 In the third example, the digital inputs of the local axis are read in via CCD by means of P-0-1441 and the digital outputs are read out by means of P-0-1413.
  • Page 127: Cyclic Data In Mld-m System Mode

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 125/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Inputs/outputs of "Rexroth Inline" The context menu SERCOS (CCD master) ▶ SERCOS node configuration is available in project explorer for parameterizing inputs/outputs on "Rexroth In‐...
  • Page 128 126/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Fig. 5-23: Dialog box displaying all cyclic data Fig. 5-24: Dialog displaying the resulting signal control word configuration LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 129 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 Fig. 5-25: Dialog displaying the signal status word The example below shows how the cyclic data of "Motion", "AxisData", "I/O configuration"...
  • Page 130 128/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels Figure name DC000049 Fig. 5-26: Summary of cyclic data Pertinent parameters The following parameters are used in conjunction with the data exchange be‐...
  • Page 131 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 129/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels ● P-0-1625, CCD: Configuration list slave command values ● P-0-1626, CCD: Configuration list actual slave values In the MLD-M master, the following parameters are available as data contain‐...
  • Page 132: Sercos I/o

    130/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels ● "P-0-1820, CCD: Command value data container 1.0 2Byte" to "P-0-1829, CCD: Command value data container 1.9 2Byte" ● "P-0-1830, CCD: Command value data container 2.0 2Byte" to "P-0-1839, CCD: Command value data container 2.9 2Byte"...
  • Page 133 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 131/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 MLD communication interfaces and data channels IndraWorks, or by directly writing the corresponding parameters of the I/O modules. Interaction of the sercos configuration in MLD (IO) and the CCD configura‐...
  • Page 134 132/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P 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...
  • Page 135: Visualization And Engineering Interfaces

    Reading and writing PLC variables Interfaces for connecting operator terminals Apart 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.
  • Page 136 134/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Fig. 6-1: Interfaces for HMI connection The following communication interfaces are supported to communicate with HMIs (e.g., Rexroth BTV 06 or VEP or VCP), external inputs/outputs or sen‐...
  • Page 137: Interfaces For Connecting Communication Partners

    (for accessing parameters and variables). To commission the HMIs of Bosch Rexroth, the following components have to be installed when IndraWorks is installed. (It is possible to subsequently in‐ stall a component by restarting the installation; in this case, select "Change installation"...
  • Page 138 136/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Setting IP address, network mask IP address, network mask and default gateway can be parameterized via the and default gateway via standard control panel at the drive controller;...
  • Page 139: Master Communication Interface

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 137/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Fig. 6-3: sercos III settings with IndraWorks Now parameterize the IP address, the network mask and the default gateway in the "TCP/IP Engineering Port" area.
  • Page 140: Connecting Indracontrol (vcp/ve*)

    138/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Function Access via the master communication interface is basically identical to ac‐ cess via digital inputs/outputs at the control section or access via an optional module for digital inputs/outputs.
  • Page 141 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 139/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Title of documentation Kind of documentation Mat. no. Type code Rexroth IndraControl VCP 11.2 Project Planning Man‐ R911311480 DOK-SUPPL*-VCP*11.2***-PRxx-DE-P R911311481 DOK-SUPPL*-VCP*11.2***-PRxx-EN-P Rexroth IndraControl VCP 20.2 Project Planning Man‐...
  • Page 142: Configuring The Symbols For Variable/parameter Access

    (HMI). ● The symbol configuration 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.
  • Page 143 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 Fig. 6-4: Generating the symbol configuration for accessing PLC variables of Including the symbol configuration Symbol configuration for access‐ The symbol configuration for accessing drive parameters (S- and P-parame‐...
  • Page 144 142/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Figure name DB000192 Fig. 6-5: Selecting "BRC-Symbolic" for the communication protocol of the com server To include a symbol configuration, click the Edit... button in the "Properties"...
  • Page 145: Notes On Utilization For Indracontrol Vcp

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 143/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Figure name DB000202 Fig. 6-6: "BRC-Symbolic" project with symbol configuration included Symbol configuration for access‐ A symbol configuration for accessing PLC variables of MLD has to be gener‐...
  • Page 146 144/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces The connection settings can also be changed later: Open the project folder and select the "Parameters" menu item of the con‐ text menu (right-click) on "BRC-Symbolic".
  • Page 147 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 145/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Figure name DB000194 Fig. 6-8: Advanced connection settings for communication with a drive controller (and its MLD) (Ethernet) 10. Enter IP address of drive (e.g., 192.168.0.32).
  • Page 148 146/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces The "ML" functional package has to be enabled in the drive. Connection in VI Composer Both the drive parameters and the PLC variables of the IndraMotion MLD can be accessed even if multiple drives are visualized.
  • Page 149 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 147/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Drive configuration in VI Compos‐ The variables of the different drives have to be configured by means of the "Variable" tool and the corresponding selection of the desired control varia‐...
  • Page 150 148/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Figure name DC000048 Fig. 6-13: Overview – configuring IndraControl VCP Functions of "Setup-Main" "Setup-Main" (Launch) is used to administrate and configure the IndraControl VCP xx.2 devices.
  • Page 151 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 149/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces For devices with touchscreen operation, an input panel appears on the dis‐ play whenever input is required. It is also possible to connect a keyboard or mouse to the "IndraControl VCP"...
  • Page 152 150/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Fig. 6-16: "Fix Settings" Step 4: Calling "IP Address" The configuration dialog for setting a fixed IP address is called via "IP Ad‐...
  • Page 153 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 Fig. 6-18: Project folder with empty screen 2. Left-click in the screen. This activates several symbols on the right side. Fig. 6-19: Screen objects 3.
  • Page 154 152/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Fig. 6-20: Dialog "Screen element variable" 4. Open folder "Indradrive" in the "Variable" panel of the "Screen element variable" dialog. The drive parameters of the included reduced symbol configuration are displayed.
  • Page 155 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 153/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Fig. 6-21: Editing the representation type "Floating point number" 9. In the dialog for editing representation type "Floating point number", make the following settings: Field type: "Cyclical", Fractional digits: "4", and exit the dialog with "OK".
  • Page 156 154/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Fig. 6-23: Defining the functions of the function keys 2. Left-click to select box "F1"-"Image". Dialog "link with screen (direct)" opens. 3. Select "Main screen" from the combo box and confirm the dialog with "OK".
  • Page 157 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 155/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces 1. Open the main screen. Fig. 6-25: Main screen 2. Modify the main screen as illustrated below by including screen object "Static Text" with designation "left" and linking this screen object to func‐...
  • Page 158 156/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Fig. 6-28: "Create INI file and transfer files" dialog 3. In the dialog area "Transfer to FTP server of operating terminal", click the "Start"...
  • Page 159 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 157/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Writing drive parameters 1. To write drive parameters with the "IndraControl VCP" operator terminal, create a new screen according to the example described in "Reading drive parameters"...
  • Page 160 158/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Exit edit mode by pressing the "Enter" key ( The modified parameter value is transmitted to the drive and the system jumps to the next input parameter on the user interface of the operator terminal.
  • Page 161 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 159/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces Fig. 6-33: Selecting the "communication driver" "BR_WS" 5. Use the context menu of the driver that was just added to call the "Prop‐...
  • Page 162: Handling/diagnostics And Service Functions

    Visualization and engineering interfaces Fig. 6-35: Properties dialog of "BR_WS" The IndraWorks online help contains more information on the communication driver "BR_WS" (Bosch Rexroth WinStudio driver) (e.g., configuring the driver sheets, supported data types, etc.). 6.3.4 Handling/diagnostics and service functions "Update"...
  • Page 163 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 161/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces The configuration dialog for activating the DHCP service is called via "DHCP". After the password has been entered, "DHCP" is activated. When a fixed IP address is entered, "DHCP"...
  • Page 164 162/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Visualization and engineering interfaces "Start Calibration" (only for devi‐ Calibration of the touch display can be started by touching the "Start Calibra‐ ces with touchscreen operation) tion"...
  • Page 165 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 When you enter "Setup-Main", the default value for the contrast is initially set; the contrast then has to be permanently set via this dialog.
  • Page 166 164/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P 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...
  • Page 167: Notes On Commissioning And Application

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 165/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Notes on commissioning and application Requirements for using Rexroth IndraMotion MLD 7.1.1 Firmware and hardware requirements See "System overview", "Firmware Requirements" or "Hardware Require‐...
  • Page 168: Programming In Indraworks Mld

    166/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application IndraWorks MLD supports the establishment of a connection to connected devices. The selection is made via the menu bar Project ▶ Scan for devi‐...
  • Page 169: Applications For Rexroth Indramotion Mld

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 167/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Using technology functions The following functions with which technology functions can be used are available in IndraWorks MLD; it is not necessary to start IndraLogic: ●...
  • Page 170 168/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Technology functions can be used in various ways: The technology function can be loaded as a parameter file via commissioning software (e.g., IndraWorks) ●...
  • Page 171 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 169/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-2: Technology functions The technology functions are supplied as a prepared package. It mainly con‐ sists of a file with the extension "*.spj". This file contains a complete PLC project in compiled form;...
  • Page 172: Free Programming Of Rexroth Indramotion Mld

    170/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Diagnostic and status information The following parameters are used for running diagnostics on PLC projects (technology function): ● P-0-1360, PLC program identifier ●...
  • Page 173 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 171/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-3: Communication with the programming interface Ethernet interface (TCP/IP) At the drive, the Ethernet Engineering Port (HCS01) is used. An Ethernet in‐...
  • Page 174 172/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-4: Excerpt from the IndraWorks Project Explorer The "Configuration" dialog can only be called if a connection to the drive has been established or offline simulation was started in IndraLogic.
  • Page 175 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 173/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application "MLD" context menu Fig. 7-5: "MLD" context menu MLD axis status Fig. 7-6: Axis status of an MLD-M CCD group Diagnostics for PLC inputs In this dialog, the state of the process image of the inputs can be controlled.
  • Page 176 174/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application played in the format configured under "Display format registers Ax". The con‐ tents of the PLC registers can be edited from the dialog.
  • Page 177 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 175/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-7: Dialog for Configuration - Indradrive ● With "Start behavior of PLC", you have to define the behavior of the drive-integrated PLC during the start-up sequence: –...
  • Page 178 176/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application ● With "Motion errors at FB do not trigger any (axis) errors", you can have the drive error F2150 generated in the case of errors which are detected by the corresponding PLC function blocks when commanding the axes (check box selected).
  • Page 179 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 Fig. 7-8: Application branch context menu (IndraLogic offline) Fig. 7-9: Application branch context menu (IndraLogic online) ● Data import adds an IndraLogic project to this project. Projects created in MLD-1G can also be added to MLD-2G.
  • Page 180 178/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application – With Login, a connection between IndraLogic and the drive is es‐ tablished (or the simulation program starts) and the system switches to online mode.
  • Page 181 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 Fig. 7-10: "SERCOS III" branch context menu ● "CCD: Basic settings" opens a dialog of the same name: Fig. 7-11: "CCD: Basic settings" dialog ●...
  • Page 182: Control Panel

    180/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application ● "Commanding master": Selecting "MLD-M in CCD master (MLD-M sys‐ tem mode)" runs MLD as a multi-axis control: ● "Communication phase": Shows the current sercos III phase.
  • Page 183 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 181/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application ● The "Retain forcing" functionality is not supported. ● The task runtimes are not displayed in IndraLogic 2G. Instead, the run‐...
  • Page 184: Plc Project Structure

    182/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Lethal injury or property damage from vertical DANGER axes moving inadvertently or dropping sud‐ denly! ⇒ If there is no "CheckRangeSigned" or "CheckRangeUnsigned" function in the project, access to subrange types is not checked (see also documenta‐...
  • Page 185 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 183/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-12: Essential PLC project files in the context of the IndraWorks project The left side of the above figure shows the IW packages and libraries instal‐...
  • Page 186 184/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-13: Saving projects in the drive The "program download" only loads the PLC program to the RAM of the drive. When the boot project is transmitted to the drive with the Load boot project menu item, IndraLogic first transmits several files that, by default, are stored in the drive in coded and compressed form as a set of several param‐...
  • Page 187 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 185/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application ● In the drive, the system files: – ... are distributed to list parameters P-0-1352 to P-0-1358 and stor‐ – ... are stored on the external memory card as a file, which requires that a memory card be used and the corresponding "MLD configu‐...
  • Page 188 186/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application External memory card as storage medium When you use MLD, the external memory card is particularly important. The memory card is permanently plugged and works as an active parameter memory.
  • Page 189: Programming And Commissioning Steps

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 187/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Libraries Functionalities and resources (variables, data types, etc.) are provided via li‐ braries. There are different categories of libraries: Fig. 7-14: Library categories IndraWorks includes a collection of libraries.
  • Page 190 188/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Double-clicking the logic branch creates an empty PLC project. Afterwards, the PLC configuration can be started by double-clicking again or via the con‐...
  • Page 191 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 189/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Observe the following points when importing PLC projects: ● The trace configuration and sampling trace contained in the source project are not imported. Workaround: Store the sampling trace in a *.trc file and the trace configuration in a...
  • Page 192 190/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Even programs using the real-time channel can be changed in online mode. The system automatically modifies the configuration of cyclic data exchange.
  • Page 193 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 191/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Loading the source code After login, IndraLogic allows all PLC project information to be packed in a file with Online ▶ Load source code. If an external memory card has been plug‐...
  • Page 194 192/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-16: Check the PLC Compiler Version 2. Execute Build ▶ Clean all. 3. Execute Build ▶ Generate code. 4. Execute Debug ▶ Login.
  • Page 195 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 Fig. 7-17: Assigning the Archive Properties The archive can optionally be protected with a password. 4. Click Next>>. 5. In the following dialog, make the archive target settings [store the ar‐...
  • Page 196 194/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-18: Making the Archive Target Settings ● Filing on file system If you would like to store the archive on the file system, tick the Store archive on file system check box;...
  • Page 197 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 For each archivable element or device shown in the left navigation zone, select the scope of the archiving options to be carried out in the right zone.
  • Page 198 196/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-20: Checking the User Inputs for the Archiving Options 10. To create the archive, click the Finish button. Importing an Archived MLD Project The following steps describe what to do to restore an archived MLD project.
  • Page 199 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 application Fig. 7-21: "Switch Online" for the Drive 3. In the function tree, call the context menu of sercos, select CCD: Basic Settings and configure the CCD group.
  • Page 200 198/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-23: Restoring an Archive from the File System b.) When "Restore from FTP server (device or computer)" was selected, a connection to the respective device must be established.
  • Page 201 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 199/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Selection via the selection list. It contains all FTP-compatible de‐ vices of the active project and the last five target devices used for restoring (device name, IP address or host name).
  • Page 202 200/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-26: Checking the Inputs 10. To restore the archive, click the Finish button. 11. If the archive has been protected with a password, the password must now be entered.
  • Page 203 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 201/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-28: Summary of the Restored MLD Project Possible changes in the enabling of functional packages only take effect at the next restart of the drive.
  • Page 204 202/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application 3. In the function tree, open the context menu for sercos, then select CCD: Basic settings and configure the CCD group.
  • Page 205 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 Fig. 7-30: Restoring an archive from the file system b) When "Restore from FTP server (device or computer)" was selected, a connection to the respective device has to be established.
  • Page 206 204/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Selection via the selection list. It contains all FTP-compatible de‐ vices of the active project and the last five target devices used for restoring (device name, IP address or host name).
  • Page 207 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 Fig. 7-33: Checking the inputs 10. To restore the archive, click the Finish button. 11. If the archive has been protected with a password, the password has to be entered now.
  • Page 208 Due to bug fixes, additional libraries, etc., it may be necessary to subse‐ quently install an IndraLogic device version (IndraWorks packages). IndraWorks packages normally are provided by Bosch Rexroth support or supplied with a new IndraWorks MLD version. The dialog for subsequently installing IndraWorks packages can be opened in the Project Explorer via the context menu MLD ▶...
  • Page 209 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 207/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Installing the IW package In the Project Explorer, open the context menu at the MLD branch and select Change IndraLogic device version.
  • Page 210: Comparing The "indradrive Cs" Range With The "indradrive C"/"indradrive M" Range

    208/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application 3. Select Import libraries…. The "Import an IndraLogic library file" dialog opens. 4. Select the library to be imported and confirm with "Open".
  • Page 211 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 209/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application %QX7.5 and %Q7.5: Output bit 7.5 %IW215: Input word 215 %QB7: Output byte 7 %MD48: Double word at memory location 48 in the flag Tab.
  • Page 212 210/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application The following data types must be converted for transmission via a network: Data type Control unit to network Network to control unit...
  • Page 213 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 211/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-39: Writing byte by byte Address access with different data types Access via flags The "Merker_LByte" and "Merker_HByte" flags are used to write the bytes no.
  • Page 214: Mld Performance Comparison

    212/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes on commissioning and application Fig. 7-42: Value with Little Endian (up to MPx08) When the exemplary program is ported to the "IndraDrive Cs" range, a differ‐...
  • Page 215: Programming Information

    General information To allow PLC programs to be transferred easily and quickly from one target to the other, industrial standards for programming were established. All function blocks made available by Bosch Rexroth have been programmed according to the standards. 8.1.2...
  • Page 216: Libraries For Rexroth Indramotion Mld

    214/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information these motion control solutions is less hardware-dependent. The reusability of the application software is increased and the time and effort involved in train‐ ing and project planning are reduced.
  • Page 217: Libraries

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 215/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Other function blocks that are required but not specified in PLCopen have the same syntax and semantics and some basic properties: ● The function blocks normally are called cyclically and provide informa‐...
  • Page 218 216/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Library Description ● Functions for diagnostics ● Function blocks/functions for drive control MX_PLCopen ● Function blocks/functions for parameters ● Functions for scaling ● General functions The axis interface bundles and enhances PLCopen motion function blocks and provides an easy-to-use interface for drive functionality.
  • Page 219: Accessing Files On The Optional Memory Card

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 217/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Hierarchic structure of the libraries The figure below uses the "IndraDrive MP18" target to illustrate how the libra‐ ries build on one another. In principle, the user does not have to include any library, but can use the automatically included libraries.
  • Page 220 218/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Asynchronous access to the file In the case of asynchronous access to the file system, cyclically-oriented system function blocks are used. As is the case with the motion function blocks, the tasks are activated with an edge at the input.
  • Page 221: Start Behavior And Boot Project

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 219/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Start behavior and boot project 8.4.1 General information As the drive-integrated control unit runs in parallel as a task, it is initialized together with the drive. As regards the different communication phases, the drive-integrated control is also subject to the conventions determined for the drive firmware.
  • Page 222: Notes On Usage And Programming

    220/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information C0100 Communication phase 3 In the transition command from communication phase 2 to communication transition check phase 3 (also see "C0100 Communication phase 3 transition check"), the fol‐...
  • Page 223: Structuring Plc Projects

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 221/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information The description includes suggestions and recommendations for PLC pro‐ gramming in the form of basic guidelines. They are intended to allow consis‐ tent use of software structures.
  • Page 224: Programming Languages

    222/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information 8.5.3 Programming languages Overview A total of "5+1" programming languages are available in IndraLogic: ● Instruction List (IL) ● Structured Text (ST) ● Ladder Diagram (LD) ●...
  • Page 225: Global Data

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 223/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information 8.5.4 Global data Access to global data is possible in all function blocks. Global data is normally used for cross communication between function blocks and can therefore relieve the call interface of function blocks. In addi‐...
  • Page 226: History

    224/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information (* *) (* *) (* *) (* *) (* *) (*--------------------------------------------------*) (*##################################################*) (*##################################################*) 8.5.6 History The history documents changes in the code. The completely filled history contains the following pieces of information: ●...
  • Page 227 Type identifiers for programs have no underscores, prefixes or suffixes. Example: "MainProgram" Functions and function blocks Abbreviations for system-specific and system-independent functions and function blocks were defined for Bosch Rexroth. They have to be added to the type identifier as a prefix with underscore. Prefix System-...
  • Page 228: Instance Identifiers

    226/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Function blocks and functions marked with "IL", "MC" or "MB" are not necessarily included on or supported by every system (e.g., MTX, SYNAX, etc.). In fact, each system that includes a function block with "IL", "MC"...
  • Page 229 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 227/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Instance Identifiers of simple data types Prefixes for instances of simple The prefixes listed below were used for instances of simple data types. The data types prefixes are added to the name with lower-case letters and without under‐...
  • Page 230: Definition Of Standard Interfaces In Function Blocks

    228/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Data type Prefix Exam‐ Memory Data type designation Data type description assignment Pointer/address of a variable POINTER TO ??? p??? ptrVar 32 bits Pointer To ???
  • Page 231 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 229/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information ● Each function block has a specific target, i.e., a task (e.g., communica‐ tion, closed-loop control, motion control etc.). As long as a function block is working on its actual task, this is to be signaled via the "Active"...
  • Page 232 230/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Signal-time diagram for state-controlled function blocks State-controlled function block processing successfully comple‐ State-controlled function block processing aborted with error State-controlled function block processing interrupted Fig.
  • Page 233 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 231/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Signal-time diagram for edge-controlled function blocks Edge-controlled function block processing successfully comple‐ Edge-controlled function block processing aborted with error Edge-controlled function block processing interrupted Fig.
  • Page 234: Error Handling

    Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information 8.5.10 Error handling Error handling for Bosch Rexroth function blocks has been standardized; it consists of three diagnostic levels: ● Level 1: When it is TRUE, the "Error" output signals that an error is present.
  • Page 235 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 233/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Fig. 8-6: Example of storage location and name of a version function Library name Syntax type Prefix Suffix Name of library function Base_12 Version_ Version_MS_Base_12V02 Tab.
  • Page 236: Code Optimization

    234/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information ware Release Notes) helps finding out which libraries and functions/function blocks are made available in which firmware. 8.5.12 Code optimization Requirements on the real-time be‐...
  • Page 237 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 235/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Programming information Parameter access ● Do not access parameters more often than necessary. ● Process string parameters in a separate task, because this requires a lot of calculating time.
  • Page 238 236/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P 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...
  • Page 239: Diagnostic And Service Functions

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 237/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions Diagnostic and service functions Overview and introduction This section describes the diagnostic and service functions which can be mainly used for troubleshooting. The possibilities both with free PLC pro‐...
  • Page 240 238/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions It is only possible to access the "User" directory of the external memory card of the drive; in this directory, you can delete directories / files or create direc‐...
  • Page 241: Plc Settings

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 239/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions buttons display the numbers of log entries of the corresponding catego‐ ries. ● Time Stamp: Date and time, e.g. "30.06.2012 04:22" ●...
  • Page 242: Plc Shell

    240/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions Behaviour for Outputs in Stop The selection list provides the following options of how the values of the out‐ put channels are to be handled when the control unit goes to the stop status: ●...
  • Page 243: Diagnostic Functions

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 241/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions Fig. 9-5: Device Editor, Information Diagnostic functions 9.3.1 Standard drive diagnostic functions Overview For diagnosing the drive behavior and the integrated PLC, the following func‐...
  • Page 244: Mld Diagnostic Functions

    242/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions In addition, PLC variables of an MLD user program can be recorded with the oscilloscope function (see "Recording PLC variables with the oscilloscope function").
  • Page 245 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 243/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions When flow control is used, it must be taken into account that it generates additional PLC code which strongly influences the pro‐...
  • Page 246 244/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions What makes sense is a counter in each task which allows easily moni‐ toring whether the code is processed. Besides, it is shown how often and how fast a task is running.
  • Page 247: Service Functions

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 245/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions What to do after an exception without IndraLogic on the drive The parameter P-0-1365 contains the address information (can be read by accessing any parameter).
  • Page 248: Changing Firmware

    246/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions however, is not deleted as it is the case with the "Clean all" command. Please note that you can exclude objects from compilation.
  • Page 249 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 247/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions The resolved defects relevant to Rexroth IndraMotion MLD are contained in Subchapter "Drive firmware/drive PLC" of the firmware release notes for each firmware version (e.g., MP*18VRS).
  • Page 250: Firmware Version Upgrade

    248/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions Corrective measure To solve the problem, the following steps are required: ● Check the drive firmware (S-0-0030). ● Install IndraWorks package (see "Device Update with IndraWorks"...
  • Page 251 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 249/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions Changing the Device Version In the Project Explorer, call the context menu at the MLD branch and se‐ lect Change IndraLogic Device Version.
  • Page 252: Replacing The Controller

    250/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions Fig. 9-8: Subsequently Installing a Device Version The "Open File" Windows dialog is opened. Select the package to be installed. (It is only allowed to select files with the ".iwpackage"...
  • Page 253 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 251/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions The controller must be replaced by a device of the identical type. Only in this way is it ensured that the originally configured func‐...
  • Page 254 252/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions ● With IndraDrive C/M/Cs: Unplug programming module / control panel from the defective device. ● With IndraDrive Mi: Dismount programming module (X107) from...
  • Page 255 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 253/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions IndraDrive Mi does not feature a control panel; this is why the pa‐ rameter image of safety technology must be activated by execut‐...
  • Page 256 254/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Diagnostic and service functions When firmware and drive parameters are to be transmitted to the replace‐ ment controller, the required firmware and a parameter backup of the respec‐...
  • Page 257: Converting Projects

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 255/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Converting projects Converting projects 10.1 Introduction This section describes how to convert IndraLogic 1.x projects (MLD-1G) to IndraLogic 2G projects (MLD-2G). In particular, the changes in the fields of "Motion"...
  • Page 258: Adding To Mld-2g

    256/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Converting projects Checking data types Check the use of the data types to avoid compiling errors ahead of converting the project. Check the proper use of the "INT"/"WORD" and "DINT"/"REAL"...
  • Page 259: Compiling Errors After Converting Projects

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 257/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Converting projects Fig. 10-2: Selecting objects for import ⇒ The MLD-1G project is converted. 10.3.2 Compiling errors after converting projects Syntax of the Direct Variables After porting the user program in MLD-2G, the direct variables can be changed by global "Find and Replace".
  • Page 260: Adjustments In Mld-2g

    258/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Converting projects 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‐...
  • Page 261 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 259/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Converting projects – When using system events, make sure as little code as pos‐ sible is processed. – Only the event tasks described here can be used.
  • Page 262 260/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P 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...
  • Page 263: Service And Support

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 261/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Service and support Service and support Our worldwide service network provides an optimized and efficient support. Our experts offer you advice and assistance should you have any queries.
  • Page 264 262/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P 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...
  • Page 265: Index

    DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 263/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Index Index Display defective..........253 Documentation Additional documentations........8 Additional documentations....... 8 Application (context menu)....... 176 Overview............8 Appropriate use........... 29 Reference documentations......8 Applications............ 29 Documentation structure........
  • Page 266 264/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Index Program............18 Program header........... 223 Libraries.............. 19 Resources............17 General properties........214 Task............... 17 Hierarchic structure........217 Type identifiers..........224 Supported libraries........215 PLC runtime............43 Local axis............
  • Page 267 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 265/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Index State-of-the-art............ 29 Structure of AxisData.......... 92 Structuring PLC projects Multi-program technology......221 Task management........221 Support See service hotline........261 Supported task types.......... 59 Task..............17 Task configuration..........
  • Page 268 266/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 269 DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 267/267 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Notes LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01...
  • Page 270 The Drive & Control Company Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Tel. +49 9352 18 0 +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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