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Bosch Rexroth AG
MLD communication interfaces and data channels
Accessing local parameters via direct variables
Features
●
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.
●
Socket communication
User-programmed data channel for transmitting any information via
Ethernet (TCP or UDP).
Options
–
For connecting a third-party device via a documented legacy com‐
munication protocol in the third-party device and addressing the
protocol from MLD.
–
Defining/programming a communication protocol as needed in the
third-party device and in the drive controller.
- or -
–
Addressing the drive controller via sercos Internet Protocol (S/IP)
for accessing drive parameters by implementing the interface in the
third-party device.
Brief description
Another way to process parameters easily and quickly is accessing them with
direct variables. This allows read and write access to parameters in the PLC
program with simple syntax, without function call or function blocks and with‐
out having to take the long way via the process image. The PLC source code
therefore is very simple and clearly structured.
As with processing cyclic master communication data, the data in
this case are neither stored nor are the limit values checked nor
are errors processed.
Accessing via direct variables allows all cyclically configurable parameters in
the drive to be directly accessed (cf. "S-0-0187, List of configurable data in
the AT" and "S-0-0188, List of configurable data in the MDT").
The parameters of the inputs and outputs (P-0-1390 to P-0-1429, P-0-1440 to
P-0-1447, P-0-1450 to P-0-1455 and P-0-1460 to P-0-1466) cannot be used
as direct variables, because their values are accessed via I/O access.
Direct variables are declared as a DV_Axis[ ] global array of
the "MX_DirectVarAxis" function block. This is part of the
"GVL_Base" global variable list of the "MX_Base" library.
Examples of access:
●
IDN:
DV_Axis[AXIS_1].S_0_0092
●
EIDN:
DV_Axis[AXIS_1].S_0_1101_000_001
Accessing parameters via direct variables provides the following advantages:
●
Rapid parameter access
●
Simple and clearly structured programming in PLC
Accessing parameters via direct variables also has the following restrictions:
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
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