Bosch Rexroth IndraMotion MLD Getting Started
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Bosch Rexroth IndraMotion MLD Getting Started

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Electric Drives
and Controls
Hydraulics
Rexroth IndraMotion MLD
Getting Started
Summary
Linear Motion and
Assembly Technologies
Pneumatics
Service
R911319306
Edition 01

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Summary of Contents for Bosch Rexroth IndraMotion MLD

  • Page 1 Electric Drives Linear Motion and and Controls Hydraulics Assembly Technologies Pneumatics Service Rexroth IndraMotion MLD R911319306 Edition 01 Getting Started Summary...
  • Page 2 Notes DOK-IM*MLD-F*STEP**V**-KB01-EN-P 12.2006 First Edition  2006 Bosch Rexroth AG Copyright Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1).

  • Page 3: Table Of Contents

    Rexroth IndraMotion MLD Contents Contents Introduction Overview ............................1-1 Important directions for use Appropriate use ..........................2-1 Introduction ..........................2-1 Areas of use and application ....................2-2 Inappropriate use.......................... 2-2 Safety Instructions for Electric Drives and Controls Introduction ........................... 3-1 Explanations ..........................
  • Page 4 Contents Rexroth IndraMotion MLD Activating MLD......................... 5-3 Configuring MLD........................5-4 Activating MLD-M for Multi-Axis Applications................5-7 Step 7: Configuration of Interfaces and Data Channels of MLD ..........5-9 General Information......................... 5-9 Cyclic Data Channels ......................5-11 Acyclic Data Channels / Interfaces..................5-11 Explanation of the MLD Data Channels ................

  • Page 5: Introduction

    This document explains how to commission the drive and create a simple PLC program for MLD-S and MLD-M. The steps required for using Rexroth IndraMotion MLD for the first time are described below. We distinguish the following phases: • Preparation and Assembly •...
  • Page 6 Introduction Rexroth IndraMotion MLD The figure below contains an overview of the required commissioning steps. Fig. 1-1: Commissioning Rexroth IndraMotion MLD DOK-IM*MLD-F*STEP**V**-KB01-EN-P...

  • Page 7: Important Directions For Use

    Note: Bosch Rexroth, as manufacturer, is not liable for any damages resulting from inappropriate use. In such cases, the guarantee and the right to payment of damages resulting from inappropriate use are forfeited.

  • Page 8: Areas Of Use And Application

    Important directions for use Rexroth IndraMotion MLD Areas of use and application Drive controllers made by Bosch Rexroth are designed to control electrical motors and monitor their operation. Control and monitoring of the motors may require additional sensors and actors.

  • Page 9: Safety Instructions For Electric Drives And Controls

    If you do not have the user documentation for your equipment, contact your local Bosch Rexroth representative to send this documentation immediately to the person or persons responsible for the safe operation of this equipment.

  • Page 10: Hazards By Improper Use

    Safety Instructions for Electric Drives and Controls Rexroth IndraMotion MLD Hazards by Improper Use High voltage and high discharge current! Danger to life or severe bodily harm by electric shock! DANGER Dangerous movements! Danger to life, severe bodily harm or material damage by...

  • Page 11: General Information

    Rexroth IndraMotion MLD Safety Instructions for Electric Drives and Controls General Information • Bosch Rexroth AG is not liable for damages resulting from failure to observe the warnings provided in this documentation. • Read the operating, maintenance and safety instructions in your language before starting up the machine.
  • Page 12 Safety Instructions for Electric Drives and Controls Rexroth IndraMotion MLD • Operation is only permitted if the national EMC regulations for the application are met. The instructions for installation in accordance with EMC requirements can be found in the documentation "EMC in Drive and Control Systems".

  • Page 13: Protection Against Contact With Electrical Parts

    Rexroth IndraMotion MLD Safety Instructions for Electric Drives and Controls Protection Against Contact with Electrical Parts Note: This section refers to equipment and drive components with voltages above 50 Volts. Touching live parts with voltages of 50 Volts and more with bare hands or conductive tools or touching ungrounded housings can be dangerous and cause electric shock.

  • Page 14: Protection Against Electric Shock By Protective Low Voltage (Pelv)

    Safety Instructions for Electric Drives and Controls Rexroth IndraMotion MLD To be observed with electrical drive and filter components: High electrical voltage on the housing! High leakage current! Danger to life, danger of injury by electric shock! Connect the electrical equipment, the housings of all...

  • Page 15: Protection Against Dangerous Movements

    Rexroth IndraMotion MLD Safety Instructions for Electric Drives and Controls Protection Against Dangerous Movements Dangerous movements can be caused by faulty control of the connected motors. Some common examples are: improper or wrong wiring of cable connections incorrect operation of the equipment components...
  • Page 16 Safety Instructions for Electric Drives and Controls Rexroth IndraMotion MLD Dangerous movements! Danger to life, risk of injury, severe bodily harm or material damage! Ensure personal safety by means of qualified and tested higher-level monitoring devices measures DANGER integrated in the installation. Unintended machine motion is possible if monitoring devices are disabled, bypassed or not activated.

  • Page 17: Protection Against Magnetic And Electromagnetic Fields During Operation And Mounting

    Rexroth IndraMotion MLD Safety Instructions for Electric Drives and Controls Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting Magnetic and electromagnetic fields generated near current-carrying conductors and permanent magnets in motors represent a serious health hazard to persons with heart pacemakers, metal implants and hearing aids.

  • Page 18: Protection Against Contact With Hot Parts

    3-10 Safety Instructions for Electric Drives and Controls Rexroth IndraMotion MLD Protection Against Contact with Hot Parts Housing surfaces could be extremely hot! Danger of injury! Danger of burns! Do not touch housing surfaces near sources of heat! Danger of burns!

  • Page 19: 3.11 Battery Safety

    3-11 Rexroth IndraMotion MLD Safety Instructions for Electric Drives and Controls 3.11 Battery Safety Batteries contain reactive chemicals in a solid housing. Inappropriate handling may result in injuries or material damage. Risk of injury by incorrect handling! Do not attempt to reactivate discharged batteries by heating or other methods (danger of explosion and cauterization).
  • Page 20 3-12 Safety Instructions for Electric Drives and Controls Rexroth IndraMotion MLD Notes DOK-IM*MLD-F*STEP**V**-KB01-EN-P...

  • Page 21: Preparation And Assembly

    Enabling the expansion package allows: • loading and using ready-made Bosch Rexroth technology functions that can only be loaded via DriveTop/IndraWorks (see "Technology Functions") • free programming of Rexroth IndraMotion MLD-S using the function block libraries made available by Bosch Rexroth (see "Libraries") DOK-IM*MLD-F*STEP**V**-KB01-EN-P...

  • Page 22: Step 2: Install The Software

    Using the PLC functionality requires the optional expansion package ("ML" or "TF") which has to be ordered right away when you order the firmware so that Rexroth IndraMotion MLD-S is already enabled at the factory. If the optional expansion package "ML" or "TF" is ordered subsequently, the so-called additional licensing is required;...

  • Page 23: Step 3: Structure Of The Drive System

    Rexroth IndraMotion MLD Preparation and Assembly Step 3: Structure of the Drive System IndraMotion MLD-S The figure below shows the basic system structure of "IndraMotion MLD-S": Connections: Please see the respective Project Planning Manual for the interfaces via which the components are interconnected.

  • Page 24: Indramotion Mld-M

    Preparation and Assembly Rexroth IndraMotion MLD IndraMotion MLD-M "IndraMotion MLD-M" does not only control the local axis but also remote axes (so-called "CCD slaves"). The figure below shows the basic system structure of "IndraMotion MLD-M": DF000284v01_en.bmp Connections: Please see the respective Project Planning Manual for the interfaces via which the components are interconnected.

  • Page 25: Step 4: Establish Communication Between Drive And Commissioning Pc

    Rexroth IndraMotion MLD Preparation and Assembly Step 4: Establish Communication Between Drive and Commissioning PC Establishing the Serial Connection to IndraDrive • Establishing connection between PC and drive. The commissioning PC is connected to the drive via the serial interface by means of the IKS0199 / 00x.0 interface cable at X2.
  • Page 26 Preparation and Assembly Rexroth IndraMotion MLD Setting IP Address and Network Mask in IndraDrive To establish Ethernet communication with IndraDrive you have to parameterize an IP address and the network mask on the control section. You can make these settings on the control section via IndraWorks or the control panel.
  • Page 27 Rexroth IndraMotion MLD Preparation and Assembly When setting the IP address via IndraWorks, observe the following Setting the IP Address via IndraWorks points: • Switch on control voltage for IndraDrive controller • Start IndraWorks and establish serial communication with IndraDrive Fig.
  • Page 28 Preparation and Assembly Rexroth IndraMotion MLD Note: In order that the parameter setting of desired IP address, network mask and default gateway takes effect, switch the control voltage for the IndraDrive controller off and on again. • Exit IndraWorks Setting IP Address and Network Mask in PC...
  • Page 29 Rexroth IndraMotion MLD Preparation and Assembly If Microsoft Client has not yet been installed, install Client via "Install..." button. Fig. 4-7: Installing the client Select "Internet Protocol (TCP/IP)" and click "Properties" button. DOK-IM*MLD-F*STEP**V**-KB01-EN-P...
  • Page 30 4-10 Preparation and Assembly Rexroth IndraMotion MLD Fig. 4-8: Installing the client Click "Use the following IP address". Enter desired "IP address" and "Subnet mask". Note: It is not necessary to make an input for "Default gateway". Close all windows you have opened to parameterize the network card.
  • Page 31 4-11 Rexroth IndraMotion MLD Preparation and Assembly Select "Connect online with: IndraDrive (Ethernet)" and confirm selection Establishing Connection Manually with "OK" button. Fig. 4-9: Selecting the connection If IndraWorks cannot automatically find an IndraDrive controller via Ethernet, the following message is output.
  • Page 32 4-12 Preparation and Assembly Rexroth IndraMotion MLD Fig. 4-11: Settings for Ethernet communication IndraWorks now scans the IP range you parameterized for devices. Fig. 4-12: Display of devices found The preparations for establishing the connection can now be completed with the "Finish" button.
  • Page 33 4-13 Rexroth IndraMotion MLD Preparation and Assembly Select "Connect online with: IndraDrive (Ethernet)" and confirm selection Establishing Connection Automatically with "OK" button. Fig. 4-13: Selecting the connection With the last communication settings, IndraWorks tries to establish the connection to an IndraDrive controller via Ethernet.
  • Page 34 4-14 Preparation and Assembly Rexroth IndraMotion MLD DOK-IM*MLD-F*STEP**V**-KB01-EN-P...

  • Page 35: Commissioning And Parameterization

    Rexroth IndraMotion MLD Commissioning and Parameterization Commissioning and Parameterization Step 5: General Commissioning and Parameterization of the Drive Note: By starting the command "PL", the drive should be brought to a defined initial status. See also Functional Description "Load basic parameters"...
  • Page 36 Commissioning and Parameterization Rexroth IndraMotion MLD 2. Call dialog for initial commissioning DB000217v01_en.tif Fig. 5-2: Load basic parameters Note: For all other instructions on commissioning see online dialogs of DriveTop (up to MP*02VRS) or IndraWorks D (as of MP*03VRS)! See also Functional Description "Steps of Commissioning"...

  • Page 37: Step 6: Activation And Configuration Of Indramotion Mld

    Rexroth IndraMotion MLD Commissioning and Parameterization Step 6: Activation and Configuration of IndraMotion MLD Activating MLD • Call dialog "Functional Packages" by right-clicking. • Select functional package "Drive PLC". DB000218v01_en.tif Fig. 5-3: Activating functional package "Drive PLC" Note: Enabling the PLC requires licensing. After you have selected the functional package "Drive PLC"...

  • Page 38: Configuring Mld

    Commissioning and Parameterization Rexroth IndraMotion MLD Configuring MLD Configuration Make the following settings in the MLD configuration dialog: • Start behavior of PLC Set when PLC is to start. • Temporary or permanent control MLD as "stand-alone Motion Control" for control tasks (ON) or as "intelligent servo axis"...
  • Page 39 Rexroth IndraMotion MLD Commissioning and Parameterization In the MLD diagnosis you can see whether a PLC project has been Diagnosis loaded and in which status it is. In addition, the program can be started and stopped. DB000220v01_en.tif Fig. 5-5: Dialog MLD Diagnosis...
  • Page 40 Commissioning and Parameterization Rexroth IndraMotion MLD This dialog allows watching the status of the PLC register parameters. PLC Register Diagnosis DB000222v01_en.tif Fig. 5-7: Dialog PLC Register Diagnosis This dialog is relevant only to the use of self-contained technology Technology Functions functions without individual PLC programming.

  • Page 41: Activating Mld-M For Multi-Axis Applications

    Rexroth IndraMotion MLD Commissioning and Parameterization Activating MLD-M for Multi-Axis Applications To use the MLD-M system mode, you have to activate it. This is done in IndraWorks as described below: • Open CCD dialog Activating MLD-M System Mode • Activate CCD by "ticking" it •...
  • Page 42 Commissioning and Parameterization Rexroth IndraMotion MLD All listed axes can be addressed via MLD-M. The axis addressing to be Axis Addressing set in the PLC is based on the order of projected slaves. In the programming interface the axis addresses have already been generated as global variables: DB000224v01_en.tif...

  • Page 43: Step 7: Configuration Of Interfaces And Data Channels Of Mld

    Rexroth IndraMotion MLD Commissioning and Parameterization Step 7: Configuration of Interfaces and Data Channels of General Information IndraMotion MLD provides many data channels: • for cyclic data exchange between MLD and axes • for acyclic parameter communication between MLD and axes •...
  • Page 44 5-10 Commissioning and Parameterization Rexroth IndraMotion MLD DF000275v012_en.tif Fig. 5-10: Data channels of IndraMotion MLD for access to local and "remote" axes Based on a simplified device model, the schematic diagram above shows the data channels starting at MLD. Access to remote axes takes place via CCD.

  • Page 45: Cyclic Data Channels

    • PLC parameters for general purpose (PLC registers) Drive parameters to be freely used in the PLC program for data management and/or communication of Rexroth IndraMotion MLD with external devices, inputs/outputs, sensors. (This actually is not a data channel, but drive parameters which can be used for communication or data management.)

  • Page 46: Explanation Of The Mld Data Channels

    5-12 Commissioning and Parameterization Rexroth IndraMotion MLD Explanation of the MLD Data Channels See also "MLD Application Manual" I/O Channel (PII, POI) Brief Description The I/O channel is MLD's contact to external devices as it allows evaluating and addressing digital and analog inputs/outputs.
  • Page 47 5-13 Rexroth IndraMotion MLD Commissioning and Parameterization Configuring Local Inputs/Outputs The paragraphs below are describing the following examples of configuration by means of IndraWorks dialogs: • assignment of PLC variables (or parameters) to digital inputs/outputs • assignment of PLC variables (or parameters) to analog inputs/outputs...
  • Page 48 5-14 Commissioning and Parameterization Rexroth IndraMotion MLD DB000226v01_en.tif Fig. 5-13: Assigning a parameter to an analog output Configuring Analog Inputs of Reading in analog voltage values requires configuring the respective PLC Control Section parameters (P-0-1390,...) for the analog inputs. The example below illustrates the assignment of the PLC parameter "P-0-1391, PLC input...
  • Page 49 5-15 Rexroth IndraMotion MLD Commissioning and Parameterization The configurations of the modules "parallel interface", optional modules Parameter Setting Parallel Interface MD1 and MA1 are described in detail in the MLD Application Manual in (MD1 and MA1) chapter "Data Channels". Configuring Remote I/Os at Slave Axes (MLD-M via CCD) When using IndraMotion MLD-M it is possible to use the peripherals of the connected axes in the PLC.
  • Page 50 5-16 Commissioning and Parameterization Rexroth IndraMotion MLD In the first example the input double word 25 (P-0-1440) was assigned via Example 1 P-0-0303 to the digital inputs of slave #1. You have to observe in which bits the corresponding terminals take effect. (See parameter setting of digital inputs/outputs X31/X32).
  • Page 51 5-17 Rexroth IndraMotion MLD Commissioning and Parameterization In the second example the output word 0 (P-0-1410) was assigned via Example 2 P-0-0304 to the digital outputs of slave #1. The individual bits %QX0.0 and following control the outputs of the slave. You have to observe which bits take effect at the corresponding terminals (see parameterization of digital inputs/outputs X31/X32).
  • Page 52 5-18 Commissioning and Parameterization Rexroth IndraMotion MLD When using IndraMotion MLD-M, it is possible to access the local Example 3 peripherals via the CCD mechanism. This allows updating both local and remote peripherals at the same time. In the third example the digital inputs of the local axis are read via CCD by means of P-0-1441 to the input double word #26.
  • Page 53 5-19 Rexroth IndraMotion MLD Commissioning and Parameterization Local Real-Time Channel This exclusively local data channel is predominantly used for specific control tasks and is not required for motion control. Applications The local real-time channel allows consistent cyclic data exchange of several process values.
  • Page 54 5-20 Commissioning and Parameterization Rexroth IndraMotion MLD Features: • periodic ("cyclic") task (as of 1 ms interval) • data exchange synchronized with the drive • a maximum of 4 consistent actual values and command values • time-constant command value input in spite of calculating time variations •...
  • Page 55 5-21 Rexroth IndraMotion MLD Commissioning and Parameterization • "AxisData" is an IEC1131 data structure definition which contains Features some important actual values of the axis. In addition, it contains configurable actual values and command values with which the user can read and, if applicable, write his own cyclic data. This allows easily accessing the most important axis data.
  • Page 56 5-22 Commissioning and Parameterization Rexroth IndraMotion MLD DB000232v01_en.tif Fig. 5-20: AxisData structure in IndraLogic • In order to achieve synchronized (dead-time-optimized) command values processing for all axes in the MLD-M system mode, the local axis, apart from the remote axes (CCD slaves) is commanded, too, in the CCD master via CCD (SERCOS III).
  • Page 57 5-23 Rexroth IndraMotion MLD Commissioning and Parameterization Note: In contrast to PII and POI, the axis data are not processed synchronously to task processing; this must be ensured by the corresponding access in the program. When synchronous actual values or command values are required, the corresponding structure elements are copied at the beginning of the task.
  • Page 58 5-24 Commissioning and Parameterization Rexroth IndraMotion MLD These are some examples of code for access to the elements of Accessing Elements in "AxisData" "AxisData". Declaration in MX_Base.lib: AxisData : ARRAY[1..8] OF MX_AXISDATA; Examples for use in the PLC program: bMyStandstill := AxisData[MyAxis.AxisNo].Axis_Standstill;...
  • Page 59 5-25 Rexroth IndraMotion MLD Commissioning and Parameterization Accessing Local Parameters via Direct Variables Another possibility of processing parameters in a simple and quick way is accessing them via direct variables. This allows accessing parameters in a reading and writing way in the PLC program with simple syntax, without function call or function blocks and without taking the detour via the process image.
  • Page 60 5-26 Commissioning and Parameterization Rexroth IndraMotion MLD Accessing parameters via direct variables provides the following advantages: • rapid parameter access • no instances required • simple and clearly structured programming in PLC Accessing parameters via direct variables implies the following restrictions: •...
  • Page 61 5-27 Rexroth IndraMotion MLD Commissioning and Parameterization • For a single-axis system, you always have to indicate the axis number "Axis1". • Not all of the function blocks allow accessing remote axes via CCD; see Library Description (online help via <F1>) or function block header in IndraLogic.
  • Page 62 5-28 Commissioning and Parameterization Rexroth IndraMotion MLD Example In this example, element 10 of parameter P-0-4006 would be read on the 1st CCD slave (Axis2). Fig. 5-26: Example of a read function For further information on access by means of functions and function blocks see Library Description of the base library.
  • Page 63 5-29 Rexroth IndraMotion MLD Commissioning and Parameterization DB000237v01_en.tif Fig. 5-27: Dialog MLD Configuration The content of the global registers "Gxx" and "GLx" is backed up in case control voltage fails, i.e. the register contents are stored in non-volatile form so that the parameter contents do not get lost in case voltage fails.
  • Page 64 5-30 Commissioning and Parameterization Rexroth IndraMotion MLD Motion Command Channel The motion command channel is an internal data channel for transmitting consistent inputs of ready-made motion function blocks. These ready- made motion function blocks can be called directly from the PLC program.
  • Page 65 5-31 Rexroth IndraMotion MLD Commissioning and Parameterization During commissioning, the scaling of the axes is carried out in the Scaling corresponding dialogs of the parameterization interface IndraWorks. At the motion function blocks the preset values are set via the function block inputs as physical values according to standard.
  • Page 66 5-32 Commissioning and Parameterization Rexroth IndraMotion MLD Fig. 5-28: Dialog displaying all cyclic data (in preparation) DB000238v01_en.tif Fig. 5-29: Dialog displaying the resulting configuration of the signal control word DOK-IM*MLD-F*STEP**V**-KB01-EN-P...
  • Page 67 5-33 Rexroth IndraMotion MLD Commissioning and Parameterization DB000239v01_en.tif Fig. 5-30: Dialog displaying the signal status word The example below shows how the cyclic data of "Motion", "AxisData", "I/Os" and "free process data" are summarized. In the dialog on the right hand side all cyclic data are displayed.
  • Page 68 5-34 Commissioning and Parameterization Rexroth IndraMotion MLD Bitzuweisungen Motiondaten (fest definiert incl. MUX) AxisData (parametrierbare Daten) Mit derBitzuweisung werden die Bits 12 bis 15 des Signalsteuerwortes konfiguriert Parameterzuweisungen AxisData (parametrierbare Daten) E/A-Daten (parametrierbare Daten) zyklische Daten Prozessdaten (parametrierbare Daten) Fig. 5-31:...

  • Page 69: Programming

    Rexroth IndraMotion MLD Programming Programming Step 8: Start IndraLogic The Logic node shows the PLC structure and is used for configuration of global PLC properties and context-sensitive call of the PLC programming system. DB000240v01_en.tif Fig. 6-1: Logic node Calling the IndraLogic Programming System By double-clicking the Logic node and each of its subnodes, IndraLogic is opened globally or with the corresponding editor.

  • Page 70: Configuring And Controlling The Plc

    Programming Rexroth IndraMotion MLD Configuring and Controlling the PLC When IndraLogic has not been started, right-clicking opens the following context menu: DB000241v01_en.tif Fig. 6-2: Context menu for configuring and controlling the PLC • Open Starts PLC programming system IndraLogic. • Save Saves the IndraLogic project.
  • Page 71 Rexroth IndraMotion MLD Programming DB000292v01_en.tif Fig. 6-3: Importing an existing project (PRO file) • Properties The dialog for the project properties of IndraLogic is only available when IndraLogic has not been opened. DOK-IM*MLD-F*STEP**V**-KB01-EN-P...

  • Page 72: Step 9: Create Program

    Programming Rexroth IndraMotion MLD Step 9: Create Program Creating a New Program Declaring Variables and Writing The variables used in the program have to be declared and, if necessary, Program addressed to digital inputs or outputs. DB000046v01_en.bmp Fig. 6-4: Working area of the main window (declaration window and...
  • Page 73 Rexroth IndraMotion MLD Programming Select a type of block and the language in which it is to be programmed: Including a Function Block DB000043v01_en.bmp Fig. 6-5: Including a function block Changing Task Configuration Blocks of the "Program" type have to be assigned to tasks ("Object Organizer": "Resources", Task Configuration").

  • Page 74: Using An Existing Program

    Programming Rexroth IndraMotion MLD If the target is to be changed, this can be done in the following dialog. Changing Target DB000242v01_en.tif Fig. 6-7: Target settings Using an Existing Program If an existing program is to be used, it can be imported.

  • Page 75: Starting The Program

    Rexroth IndraMotion MLD Programming Starting the Program To start the PLC program carry out the menu command "Online"-"Run" (alternative: <F5>). DB000244v01_en.tif Fig. 6-9: Starting the program Creating a Boot Project To have the program written to the drive in storing form it must be saved as a boot project.

  • Page 76: Step 11: Test The Program

    Programming Rexroth IndraMotion MLD Step 11: Test the Program Online Display In running operation it is possible to once set variables to a specific value ("Online"-"Write Values") or write a new specific value to the variables after each cycle ("Online"-"Force Values"). You can change the variable value in online operation by double-clicking it.

  • Page 77: Watching Variables With Trace Recording

    Rexroth IndraMotion MLD Programming Watching Variables with Trace Recording The trace recording allows watching all PLC variables in their chronological interrelation. DB000048v01_en.bmp Fig. 6-12: Trace recording Oscilloscope Function The oscilloscope function can be used to record drive-internal and external signals and status variables (parameter contents). This function can be effectively used both for initial commissioning and debugging.
  • Page 78 6-10 Programming Rexroth IndraMotion MLD DB000291v01_en.tif Fig. 6-14: Oscilloscope function See also Functional Description "Oscilloscope Function" DOK-IM*MLD-F*STEP**V**-KB01-EN-P...

  • Page 79: Examples

    Rexroth IndraMotion MLD Examples Examples MLD-S, Example of Application – Sinusoidal Motion Task Definition – Application Description A short program is to be created with which the integrated PLC internally generates a velocity command value which is then transmitted to the drive...
  • Page 80 Examples Rexroth IndraMotion MLD According to the mechanical configuration, you have to set the scaling, Mechanical Data gear and feed constant. DB000263v01_en.tif Fig. 7-2: Mechanical data DOK-IM*MLD-F*STEP**V**-KB01-EN-P...
  • Page 81 Rexroth IndraMotion MLD Examples For the drive PLC, you have to select permanent control for the drive. MLD Configuration DB000264v01_en.tif Fig. 7-3: MLD configuration The digital inputs and outputs at X31/32 have to be parameterized at the Configuration of Digital I/Os drive as follows.

  • Page 82: Programming

    Examples Rexroth IndraMotion MLD Programming 1. Variable declaration In the variable declaration, the variables which are used are created and assigned to the inputs and outputs. DB000266v01_en.tif Fig. 7-5: Variable declaration 2. Set drive enable When the digital input I_1 is set, the drive PLC switches the axis to drive enable (AF) via MC_Power.

  • Page 83: Commissioning And Testing

    Rexroth IndraMotion MLD Examples DB000269v01_en.tif Fig. 7-8: Traveling sine profile Commissioning and Testing For commissioning and testing, the following steps have to be carried out: 1. Compile program and then load it to drive 2. Start drive PLC 3. Switch axis to operating mode (OM). Clear possibly present errors via "Esc"...
  • Page 84 Examples Rexroth IndraMotion MLD DB000270v01_en.tif Fig. 7-9: IndraLogic trace recording DB000271v01_en.tif Fig. 7-10: Oscilloscope recording in the drive DOK-IM*MLD-F*STEP**V**-KB01-EN-P...

  • Page 85: Mld-M, Example Of Application - Simple Double-Axis Positioning Control (Pick And Place)

    Rexroth IndraMotion MLD Examples MLD-M, Example of Application – Simple Double-Axis Positioning Control (Pick and Place) Task Definition – Application Description Products are to be moved from one place to another place. The axis motions are carried out one after the other. The control (digital output) and feedback (digital input) of the pneumatic picker are to be handled via MLD.
  • Page 86 Examples Rexroth IndraMotion MLD Sequence of motion: step 1: pick up product step 2: transport to place position step 3: return to start position Fig. 7-12: Sequence of motion – Pick and Place Step 1: Upon a positive edge at input "bStartAutomatic" (P-0-1390, bit 0, %IX0.0), the X- and Y-axes are switched to enable.

  • Page 87: Parameterizing / Configuring The Drive

    Rexroth IndraMotion MLD Examples Parameterizing / Configuring the Drive Starting from the basic parameters, you have to make some fundamental settings for the example of application "Pick and Place". The following paragraphs will explain these settings in short form. Enabling of Functional Packages To use MLD-M, the functional package "Drive PLC"...
  • Page 88 7-10 Examples Rexroth IndraMotion MLD According to the mechanical configuration, you have to set the scaling, Mechanical Data gear and feed constant for the X- and Y-axis. DB000273v01_en.tif Fig. 7-14: Example of mechanical data for X-axis DOK-IM*MLD-F*STEP**V**-KB01-EN-P...
  • Page 89 7-11 Rexroth IndraMotion MLD Examples First you have to activate the CCD communication and select the MLD-M CCD Configuration mode. The axis with address 4 has been configured as CCD slave (Y- axis). DB000274v01_en.tif Fig. 7-15: CCD settings The resulting axis addressing in MLD-M is: •...
  • Page 90 7-12 Examples Rexroth IndraMotion MLD The digital inputs and outputs at X31/32 have to be parameterized at the Configuration of Digital I/Os at the Master X-axis (CCD master) as follows. DB000276v01_en.tif X31.3: P-0-1390, bit 0 (%IX0.0) bStartAutomatic X31.4: P-0-1390, bit 1 (%IX0.1) bProgramReset Fig.
  • Page 91 7-13 Rexroth IndraMotion MLD Examples The digital inputs and outputs at X31/32 have to be parameterized at the Configuration of Digital I/Os at Y-axis (CCD slave) as follows. the Slave DB000278v01_en.tif X31.3: P-0-0303, bit 1 bPickerCloseAct Fig. 7-19: Configuration X31 of Y-axis (CCD slave)
  • Page 92 7-14 Examples Rexroth IndraMotion MLD The following settings are required to transmit the input which has been Configuration "Distributed I/Os" read in from the Y-axis (CCD slave) to the X-axis (CCD master) or to set the outputs at the Y-axis (CCD slave) from MLD-M of the X-axis (CCD master): DB000280v01_en.tif...

  • Page 93: Programming

    7-15 Rexroth IndraMotion MLD Examples Programming 1. Variable declaration In the variable declaration, the variables which are used are created and assigned to the inputs and outputs. DB000281v01_en.tif Fig. 7-22: Variable declaration 2. Initialization In the first initialization step, all variables or function blocks are brought to a defined status.
  • Page 94 7-16 Examples Rexroth IndraMotion MLD 4. Set drive enable In the first step (step 0), the X- and Y-axes are switched to enable. When the axes are in control, the program jumps to the next step. DB000284v01_en.tif Fig. 7-25: Step 0: setting drive enable 5.
  • Page 95 7-17 Rexroth IndraMotion MLD Examples 6. Position to place position In the next step (step 20), positioning to place position is carried out. In this case, it is first the Y-axis and then the X-axis which is moved. When the place position has been reached, the output "bPickerOpenCmd" (P-0- 1411, bit 9, %QX1.9) is set upon which the picker opens and places the...
  • Page 96 7-18 Examples Rexroth IndraMotion MLD 8. Reset the sequence of steps In the fifth step (step 100), the "bPickerActiv" signal and the sequence of steps are reset. The sequence of steps has to restart. Step 40 has been prepared for further functionality and can be included by the corresponding changes in the program.

  • Page 97: Commissioning And Testing

    7-19 Rexroth IndraMotion MLD Examples Commissioning and Testing For commissioning and testing, the following steps have to be carried out: 1. Compile program and then load it to drive 2. Start drive PLC 3. Switch both axes to operating mode (OM). Clear possibly present errors via "Esc"...
  • Page 98 7-20 Examples Rexroth IndraMotion MLD DB000290v01_en.tif Fig. 7-31: Oscilloscope recording of X-axis DOK-IM*MLD-F*STEP**V**-KB01-EN-P...

  • Page 99: Index

    Rexroth IndraMotion MLD Index Index Accessing local parameters via direct variables 5-25 Activating MLD 5-3 Activating MLD-M for multi-axis applications 5-7 Acyclic data channels / interfaces 5-11 Appropriate use Introduction 2-1 Appropriate uses Uses 2-2 AxisData 5-20 Calling IndraLogic programming system 6-1...
  • Page 100 Index Rexroth IndraMotion MLD Loading the program 6-6 Local real-time channel 5-19 MLD-M, example of application – simple double-axis positioning control (pick and place) 7-7 MLD-S, example of application – sinusoidal motion 7-1 Motion command channel 5-30 Online display 6-8...
  • Page 101 Rexroth IndraMotion MLD Index Watching variables with trace recording 6-9 DOK-IM*MLD-F*STEP**V**-KB01-EN-P...

  • Page 102: Explanation Of Terms

    Glossary 9-1 Rexroth IndraMotion MLD Glossary Explanation of Terms The drive-integrated PLC "Rexroth IndraMotion MLD" is available in MLD-S, MLD-M, MLD different variants. The variant for single-axis applications is called "MLD-S". The control possibilities of the PLC in this case are device-internally limited to the "local axis"...
  • Page 103 Glossary Rexroth IndraMotion MLD DOK-IM*MLD-F*STEP**V**-KB01-EN-P...
  • Page 104 Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Phone +49 (0)93 52-40-50 60 +49 (0)93 52-40-49 41 service.svc@boschrexroth.de www.boschrexroth.com Printed in Germany R911319306 DOK-IM*MLF-F*STEP**V**-KB01-EN-P...

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