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DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
8.5.2
Structuring PLC projects
Task management
Multi-program technology
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
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.
Basic knowledge of the IndraLogic PLC programming system is required (see
documentation "IndraLogic 2G Programming Guide").
Observe the guidelines fully for optimal results. If this is not possi‐
ble, attempt to follow them as closely as possible.
We basically recommend creating a task configuration so that the automatic
single-task mechanism does not take effect (possible max. of 4 tasks).
If a task configuration is created, the (single-task) main program
PLC_PRG is not used.
Based on a preemptive time-controlled and event-controlled, as well as con‐
stantly "freewheeling" task, the task configuration always provides a solution
optimally adjusted to the task.
In general, the number of tasks used should be as low as possible but as
high as appropriate for the task. This makes PLC projects clearly structured
and easy to test.
A main program has to be assigned to each task. If required, this program
can contain further blocks (programs and function blocks) (multi-program
technology). This provides a high degree of flexibility as regards the calling
and controlling of further function blocks. In addition, the order within the re‐
spective main program is therefore unequivocal.
It is possible to assign several programs to any task; the process‐
ing of the programs corresponds to the order assigned. However,
further control of these programs is then only possible within the
programs themselves, for which reason this variant is not recom‐
mended.
By naming the function blocks, the order of display in the "POUs" register
(tree) can be influenced. It is advantageous to place the main programs at
the beginning, e.g., "_prMain_<machine number>".
Within the function block view, the arrangement of the function blocks can be
structured by means of further sub-folders. It is therefore possible to make a
functional arrangement in groups, thus giving the entire project a clearer
structure.
"Details" in the programs/function blocks can be seen via the
"POUs" register (tree) or in the program editor via <Alt>+<Enter>.
The calling point alone determines the location in chronological
processing. Where applicable, the function blocks should be
named so the order can also be seen in the tree.
Bosch Rexroth AG
221/267
Programming information
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