Start Behavior And Boot Project; General Information; Brief Description - Bosch Rexroth IndraMotion MLD Series Applications Manual

DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
8.4

Start behavior and boot project

8.4.1

General information

8.4.2

Brief description

Pertinent parameters
Pertinent diagnostic messages
Boot-up
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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.
See also Functional Description of firmware "Device-internal state machine".
The drive-integrated PLC (Rexroth IndraMotion MLD) is activated in the boot‐
ing process (Boot 2.9). It first initializes itself and checks whether a correct
boot project is available. If yes, it is loaded. Depending on the configuration,
the drive-integrated PLC is set to RUN, remains in STOP or is only started in
phase 4 (operating mode)
configuration").
The figure below illustrates the booting process and the communication
phase sequence of Rexroth IndraMotion MLD:
Figure name DF000133
Fig. 8-3: Rexroth IndraMotion MLD run-up
The following parameters are used in this context:
● P-0-1367, PLC configuration
● S-0-0127, C0100 Communication phase 3 transition check
● S-0-0128, C0200 Communication phase 4 transition check
The following diagnostic messages are generated during the run-up phase:
● C0100 Communication phase 3 transition check
● C0200 Communication phase 4 transition check
If an error occurs during the transition checks, this is signaled with a diagnos‐
tic message of pattern C01xx or C02xx.
During boot-up
● the PLC operating system is initialized (unless prevented before
Boot 2.9)
● a boot project is loaded if necessary (if available)
● the boot project is started if necessary (unless prevented via "P-0-1367,
PLC configuration")
Bosch Rexroth AG
Programming information
(parameterization via
219/267
"P-0-1367, PLC