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DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
Element no. of
High word content = sercos ad‐
P-0-4031
dress of the axis
0
1
4.4.5
Notes on application and programming
General information
Example A (project using axis vari‐
ables from the "MX_Base" library)
Example B (project with user-de‐
fined axis variables)
MLD function blocks and parameters for commanding axes
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
Parameter "P-0-4031, Overview of device addresses" shows the overall con‐
figuration of all available real MLD-M axes and their sercos addresses.
Significance
sercos address of Axis1 (1st logical MLD axis, of the local
1
axis [CCD master])
sercos address of Axis2 (2nd logical MLD axis, of an axis in
3
the CCD slave)
Tab. 4-5:
Content of "P‑0‑4031, Overview of device addresses" for the above
example
See also Functional Description of firmware "Cross Communication (CCD)"
The following paragraphs use examples to show how to use axis variables in
regard to PLCopen and program porting:
instMX_MoveAbsolute1(Axis:= Axis3, ...);
instMX_MoveAbsolute2(Axis:= VmAxisInt, ...);
VAR
PortalX : AXIS_REF:= ( CntrlNo := LOCAL_CNTRL, AxisNo :=
AXIS_1);
PortalY : AXIS_REF:= ( CntrlNo := LOCAL_CNTRL, AxisNo :=
AXIS_4 );
AuxiliaryAxis : AXIS_REF:= ( CntrlNo := LOCAL_CNTRL, Ax-
isNo := AXIS_2 );
Tool : AXIS_REF:= ( CntrlNo := LOCAL_CNTRL, AxisNo := AX-
IS_3 );
MasterAxis : AXIS_REF:= ( CntrlNo := LOCAL_CNTRL, Axis-
No := VMA_EXT);
END_VAR
Addressing is therefore as follows:
instMX_MoveAbsolute(Axis:=AuxiliaryAxis, ...);
- or -
instMX_MoveAbsolute(Axis:= MasterAxis, ...);
Functions and function blocks:
●
"MX_SetControl": Controls temporary control over local axis when con‐
trolling local axis via master communication
●
"MX_SetOpMode": Directly activates a sercos operation mode
●
"MC_Power"", "MB_PresetMode": Activate axis controller enable and
possibly preselect operation mode
●
"MC_Stop", "MB_Stop": Stop the drive
●
"MX_Command"/"MB_Command": Activate a drive command
●
"MC_Home": Activates "drive-controlled homing procedure"
●
"MC_MoveVelocity": "Preset velocity" operation mode
Bosch Rexroth AG
Basic functions of Rexroth IndraMotion MLD
57/267
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