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DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
6.3
Connecting IndraControl (VCP/VE*)................................................................................................... 138
6.3.1
Introduction and overview................................................................................................................ 138
6.3.2
Configuring the symbols for variable/parameter access.................................................................. 140
6.3.3
Notes on utilization for IndraControl VCP........................................................................................ 143
6.3.4
Handling/diagnostics and service functions..................................................................................... 160
7
Notes on commissioning and application................................................................... 165
7.1
Requirements for using Rexroth IndraMotion MLD............................................................................ 165
7.1.1
Firmware and hardware requirements............................................................................................. 165
7.1.2
Software requirements.................................................................................................................... 165
7.1.3
Requirements for communication ................................................................................................... 165
7.2
Programming in IndraWorks MLD...................................................................................................... 166
7.3
Applications for Rexroth IndraMotion MLD......................................................................................... 167
7.3.1
Overview.......................................................................................................................................... 167
7.3.2
Using technology functions.............................................................................................................. 167
7.3.3
Free programming of Rexroth IndraMotion MLD............................................................................. 170
7.3.4
PLC project structure....................................................................................................................... 182
7.3.5
Programming and commissioning steps.......................................................................................... 187
7.4
7.4.1
Introduction...................................................................................................................................... 208
7.4.2
Physical interfaces........................................................................................................................... 208
7.4.3
Byte order........................................................................................................................................ 208
7.4.4
MLD performance comparison........................................................................................................ 212
8
Programming information........................................................................................... 213
8.1
Industrial standards for programming ................................................................................................ 213
8.1.1
General information......................................................................................................................... 213
8.1.2
IEC 61131........................................................................................................................................ 213
8.1.3
PLCopen.......................................................................................................................................... 213
8.2
Libraries for Rexroth IndraMotion MLD............................................................................................... 214
8.2.1
General properties of the libraries................................................................................................... 214
8.2.2
Libraries........................................................................................................................................... 215
8.3
Accessing files on the optional memory card..................................................................................... 217
8.4
Start behavior and boot project........................................................................................................... 219
8.4.1
General information......................................................................................................................... 219
8.4.2
Brief description............................................................................................................................... 219
8.4.3
Notes on usage and programming.................................................................................................. 220
8.5
Guidelines for programming with IndraLogic...................................................................................... 220
8.5.1
Overview.......................................................................................................................................... 220
8.5.2
Structuring PLC projects.................................................................................................................. 221
8.5.3
Programming languages................................................................................................................. 222
8.5.4
Global data...................................................................................................................................... 223
8.5.5
Program header............................................................................................................................... 223
8.5.6
History............................................................................................................................................. 224
8.5.7
Type identifiers................................................................................................................................ 224
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
Bosch Rexroth AG
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