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Bosch Rexroth AG
Basic functions of Rexroth IndraMotion MLD
Pertinent function blocks/functions
Pertinent diagnostic messages
Errors handled in the PLC
Errors that can be caused by faul‐
ty programming
–
Seven freely definable PLC warnings (E2011 .. E2017)
–
Seven freely definable PLC errors (F2011 .. F2017)
The following function blocks are used in conjunction with error handling:
●
MX_fSetDriveWarning
●
MX_fSetDriveWarningText
●
MX_fGetDriveWarning
●
MX_fSetDriveError
●
MX_fSetDriveErrorText
The following diagnostic messages are used in conjunction with error han‐
dling:
●
E2011 PLC - Warning no. 1
●
E2012 PLC - Warning no. 2
●
E2013 PLC - Warning no. 3
●
E2014 PLC - Warning no. 4
●
E2015 PLC - Warning no. 5
●
E2016 PLC - Warning no. 6
●
E2017 PLC - Warning no. 7
●
F2011 PLC - Error no. 1
●
F2012 PLC - Error no. 2
●
F2013 PLC - Error no. 3
●
F2014 PLC - Error no. 4
●
F2015 PLC - Error no. 5
●
F2016 PLC - Error no. 6
●
F2017 PLC - Error no. 7
Errors that can be caused by faulty programming are so-called PLC excep‐
tion errors ("Exceptions"). The following errors are handled:
●
Field access outside of the limits for arrays
●
Incorrect access to subrange types
●
Division by zero
●
Watchdog (see "Task configuration" in IndraLogic)
●
Incorrect pointer access
The reaction to these errors is defined:
●
Drive error F6010 is generated, shutting down the axis according to pa‐
rameterization.
●
Display by an error bit in the PLC status (P-0-1351). This allows a high‐
er-level control unit to react to an MLD-S error in a specific way.
●
All outputs go to the safe state and the PLC goes to STOP when so de‐
fined (default setting) in PLC settings ▶ Behavior for outputs in Stop.
Alternatively, "Keep current values" or "Execute Program" can be
configured.
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
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