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Bosch Rexroth AG
Basic functions of Rexroth IndraMotion MLD
CCD/MLD-M error reaction fea‐
Parameters used
Pertinent diagnostic messages
Configuring the error reaction for MLD-M
Configuring the MLD-M/CCD error
reaction
in the CCD master. This makes it possible to select a CCD error reac‐
tion in the CCD master, if necessary.
The CCD/MLD-M error handling and reaction have the following features:
tures
●
Configurable global error reaction for multiple or all axes
●
Optional automatic group reaction to shut down all axes in case of an
error, even without PLC program
●
Extensive and transparent group reaction using centralized and compre‐
hensive parameterization of the error reaction
The following parameters are used in conjunction with the MLD-M/CCD error
reaction:
●
"P-0-1367, PLC configuration"
●
"P-0-1800.0.1, CCD: Configuration"
●
"P-0-1810.0.16, CCD: Axis error" (bit list with one error bit [class 1 diag‐
nostics] for each axis [master and slaves])
The following diagnostic messages can occur in conjunction with the MLD-
M/CCD error reaction:
●
"F2150 MLD motion function block error": This error is generated on the
master (or with MLD-S) if an error is detected when the master axis is
commanded.
●
"E2140 CCD node error": This warning is generated in the master when
a function block error is detected for an axis or when an axis is in error
state.
The following causes result in a function block commanding error:
●
Motion interpreter / motion handler
–
Axis is in "Stopping" and is to be commanded
–
"MX_SetOpMode" attempts to switch to an invalid operation mode
index (free profile)
–
Commanding without enabling of functional package
–
Commanding without torque
–
Commanding without control
●
Motion function block
–
Concurrent task access to an instance
–
Checking of input values (acceleration, etc.)
P-0-1800.0.0.1, bit 8, 7, allows the behavior of the entire CCD axis group (lo‐
cal and remote axis) to be configured in the case of an error. Here, it must be
determined whether an error in a CCD slave or in the master triggers the
group reaction. The following overview shows the possible cases:
●
P-0-1800.0.1, bit8="0", bit7="0": No error reaction for function block er‐
rors
–
There is no reaction to a function block error in the affected or any
other axis.
–
An error in the slave is not displayed in the CCD master.
A special error reaction can be programmed in MLD, if necessary,
by using the bit list "P-0-1810.0.16, CCD: Axis error" or "AxisDa‐
ta".
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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