Cyclic Data Channels; Acyclic Data Channels / Interfaces - Bosch Rexroth IndraMotion MLD Getting Started

Rexroth IndraMotion MLD

Cyclic Data Channels

Acyclic Data Channels / Interfaces

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There are many data channels for accessing, from the PLC program,
drive-internal variables and parameters or inputs/outputs and sensors
evaluated by the drive, or other interfaces of the drive. Rexroth
IndraMotion MLD supports the following data channels:
• I/O channel (PII, POI)
Access to analog and digital inputs/outputs of the drive by means of a
process image.
• Local real-time channel
Cyclic, synchronized actual value and command value processing with
the drive [comparable with drive telegram (AT) / master data telegram
(MDT)].
(It is only possible to access the local axis.)
• Cyclic axis data "AxisData"
Cyclic actual values and command values are made available by
means of a data structure. This structure is particularly suited when
used as single-axis and multi-axis control.
For acyclic access to axis parameters, there are the following alternatives
when using IndraMotion MLD-S/IndraMotion MLD-M:
• Direct variable channel
Single and quick functional access from the PLC program to cyclically
configurable S- and P-parameters in the drive. (It is only possible to
access the local axis.)
• Parameter channel
For acyclic access (read and write) to axis parameters of the local and
remote axes by means of custom-made functions or function blocks.
Allows access to all S- and P-parameters in the drive, including the
"PLC register" parameters, via function blocks and functions.
• 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.)
• Motion command channel
Internal data channel for transmitting consistent input from motion
function blocks. This channel is not visible to the user and cannot be
directly accessed, but is used by the motion control of MLD.
Commissioning and Parameterization
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