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Bosch Rexroth AG
Basic functions of Rexroth IndraMotion MLD
Variable
AXIS_REF
Name
Structure elements
Axis1
CntrlNo := LOCAL_CNTRL
AxisNo := AXIS_1
Axis2
CntrlNo := LOCAL_CNTRL
AxisNo := AXIS_2
...
...
Axis10
CntrlNo := LOCAL_CNTRL
AxisNo := AXIS_10
VmAxisInt
CntrlNo := LOCAL_CNTRL
AxisNo := VMA_INT
VmAxisExt
CntrlNo := LOCAL_CNTRL
AxisNo := VMA_EXT
RmAxis
CntrlNo := LOCAL_CNTRL
AxisNo := RMA_1
LinkAxis1
CntrlNo := LOCAL_CNTRL
AxisNo := MA_LINK_1
Fig. 4-12:
Examples of axis reference at axis-related function blocks
According to PLCopen, variables of the structure data type "AXIS_REF" have
to be used as "VAR_IN_OUT", which for all BRC systems consists of the con‐
trol unit number and the axis number. The only control unit number that can
be used is the constant LOCAL_CNTRL := 0. The corresponding constants
for real axes, virtual master axes and real master axes are defined as axis
numbers in the "RIL_CommonTypes" library.
To enhance user-friendliness, "AXIS_REF" type variables have already been
defined in the MLD system for all MLD-relevant axes and can be directly
used in the user program.
Significance
Local real axis of MLD-S or in
CCD master of MLD-M
Real axis in a CCD slave of
MLD-M
...
Real axis in a CCD slave of
MLD-M
Internal virtual master axis in
each drive, for local use only
Virtual master axis used as
master axis by a synchronous
axis group
Internal
real
(master axis encoder) in each
drive, for local use only
Second virtual master axis
used as master axis by a syn‐
chronous axis group
Tab. 4-2:
"AXIS_REF" type variables for all MLD-relevant axes and their basic
properties
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
Available
MLD-S / M
X / X
-- / X
...
-- / X
X / X
X / X
master
axis
X / X
X / X
Commanding as:
AxisData
target/slave axis
Available
X
X
X
X
...
...
X
X
X
-
--
-
--
-
--
--
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