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DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
4.3.3
Axis control
4.3.4
Axis
4.3.5
PLC runtime
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
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.
With sercos master communication, the axis control state machine is linked
to this master communication, i.e., initializing the sercos ring (switching to
communication phase 4) automatically switches the axis control to the ope‐
rating mode [see (A) in
sercos III interface, the run-up mode allows the linking between communica‐
tion phase and device state machine to be removed.
If master communication is not available or for all master communication in‐
terfaces except sercos III, the axis can be controlled independently of the bus
system. Run-up mode allows the device status after boot-up (operating mode
or parameter mode) to be defined for the axis. As of firmware version MPx17,
this is also possible for sercos with the commands "S-0-0420, C0400 Activate
parameterization level 1 procedure command" and "S-0-0422, C0200 Exit pa‐
rameterization level procedure command".
See also Functional Description of firmware "Device-internal state machine".
The (local) axis is responsible for generating or processing the axis command
values and for drive control. Implementation is in accordance with sercos
specification. The primary external control information for commanding the
axis is as follows:
●
"Drive on"
●
"Drive enable"
●
"Drive Halt"
●
Command operation mode input
These signals control the state machine of the axis.
The control information only takes effect when axis control is in the "operating
mode" state. This means the axis control state machine is superimposed
over the axis state machine (see [D] in
The axis cannot be commanded when axis control is in parameter
mode. The axis is then also in the parameter mode!
The runtime system of the drive-integrated PLC has the primary states
"STOP" and "RUN". Switching from "STOP" to "RUN" during system initializa‐
tion takes place depending on the device control (see [B] in
"Overview" on page
41). Several options can be set via "P-0-1367, PLC
configuration" (bits 1, 0) or the IndraWorks dialog:
●
"00" / /"Default start behavior": The PLC starts when axis control transi‐
tions from initialization mode to parameter mode, provided it was in
RUN when the drive was powered off. Otherwise it remains in STOP
(default start behavior).
●
"01"/ / "Start when booting": Same as "00", but independent of the last
state (goes to RUN).
●
"10"/ / "Stop": The PLC remains in the STOP state.
●
"11"/ / "Start in operating mode": The PLC starts when axis control tran‐
sitions from parameter mode to operating mode.
Bosch Rexroth AG
Basic functions of Rexroth IndraMotion MLD
chapter 4.1
"Overview" on page
chapter 4.1 "Overview" on page
43/267
41]. With the
41).
chapter 4.1
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