Bosch Rexroth IndraMotion MLD Series Applications Manual page 4

II/267 Bosch Rexroth AG
Table of Contents
4 Basic functions of Rexroth IndraMotion MLD............................................................... 41
4.1 Overview............................................................................................................................................... 41
4.2 Definition of terms................................................................................................................................. 41
4.3 Device control....................................................................................................................................... 42
4.3.1 General information........................................................................................................................... 42
4.3.2 Master communication...................................................................................................................... 42
4.3.3 Axis control........................................................................................................................................ 43
4.3.4 Axis.................................................................................................................................................... 43
4.3.5 PLC runtime....................................................................................................................................... 43
4.3.6 MLD options for influencing axis control............................................................................................ 44
4.4 Commanding axes................................................................................................................................ 46
4.4.1 Basics on axis control........................................................................................................................ 46
4.4.2 Implementing motion commanding in the axis.................................................................................. 50
4.4.3 Basic functional principle of motion function blocks in conformity with PLCopen.............................. 51
4.4.4 Axis addressing................................................................................................................................. 53
4.4.5 Notes on application and programming............................................................................................. 57
4.5 Task system.......................................................................................................................................... 59
4.5.1 Definition of terms.............................................................................................................................. 59
4.5.2 Brief description................................................................................................................................. 59
4.5.3 Task properties.................................................................................................................................. 61
4.5.4 Motion task ....................................................................................................................................... 61
4.5.5 Task monitoring (watchdog).............................................................................................................. 64
4.5.6 Runtime measurements.................................................................................................................... 65
4.5.7 Task configuration............................................................................................................................. 69
4.5.8 Task cycle times and timing.............................................................................................................. 69
4.6 IndraMotion MLD error handling........................................................................................................... 70
4.6.1 IndraMotion MLD operating behavior................................................................................................ 70
4.6.2 General (for MLD-S and MLD-M)...................................................................................................... 71
4.6.3 Configuring the error reaction in MLD-S............................................................................................ 76
4.6.4 MLD-M error handling and reaction................................................................................................... 77
5 MLD communication interfaces and data channels..................................................... 83
5.1 Introduction and overview..................................................................................................................... 83
5.2 IndraMotion MLD data channels........................................................................................................... 85
5.2.1 Cyclic data channels.......................................................................................................................... 85
5.2.2 Acyclic data channels / interfaces................................................................................................... 103
5.2.3 Configuring the inputs and outputs (I/O configuration of MLD)....................................................... 116
5.2.4 Cyclic data in MLD-M system mode................................................................................................ 125
5.3 sercos I/O........................................................................................................................................... 130
6 Visualization and engineering interfaces................................................................... 133
6.1 Overview............................................................................................................................................. 133
6.2 Interfaces for connecting communication partners............................................................................. 135
6.2.1 Ethernet interface (TCP/IP)............................................................................................................. 135
6.2.2 Master communication interface...................................................................................................... 137
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Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
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