Rexroth IndraMotion MLC03VRS Libraries ML_TechCommon, ML_TechCam, ML_TechCamIEC

Transcription

1 Electric Drives Linear Motion and Hydraulics Assembly Technologies Pneumatics Service Rexroth IndraMotion MLC03VRS Libraries ML_TechCommon, ML_TechCam, ML_TechCamIEC R Edition 01 Library Description

2 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Title Type of Documentation Document Typecode Internal File Reference Purpose of Documentation Record of Revision Rexroth IndraMotion MLC03VRS Libraries ML_TechCommon, ML_TechCam, ML_TechCamIEC Library Description DOK-IM*MLC-TECHCOM*V03-AW01-EN-P RS-f6af19e309fda3450a6846a000b21b47-1-en-US-2 The documentation describes the function blocks, functions and data types of the ML_TechCommon -, ML_TechCam - and ML_TechCamIEC library in realization for the IndraMotion MLC03VRS. In addition it contains details on the error reactions of the blocks. Edition Release Date Notes DOK-IM*MLC-TECHCOM*V03-AW01- EN-P First edition, MLC03VRS Copyright Validity Publisher Note 2007 Bosch Rexroth AG Copying this document, giving it to others and the use or communication of the contents thereof without express authourity, 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). The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract. All rights are reserved with respect to the content of this documentation and the availability of the product. Bosch Rexroth AG Bgm.-Dr.-Nebel-Str. 2 D Lohr a. Main Phone +49 (0)93 52 / 40-0 Fax +49 (0)93 52 / Dept. BRC/ESY2 (VK) This document has been printed on chlorine-free bleached paper.

3 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Table of Contents Bosch Rexroth AG I/II Table of Contents 1 Further Documentation Definition of Standard Interfaces at PLCopen-Function Blocks Motivation Block Types Block Types and its Interfaces Inputs and Outputs of State-Triggered Function Blocks, Completing Processing Inputs and Outputs of Edge-Triggered Function Blocks, Completing Processing Inputs and Outputs of State-Triggered Function Blocks, Permanent Processing Inputs and Outputs of Edge-Triggered Function Blocks, Permanent Processing Page 3 Function Blocks of Library ML_TechCommon Introduction and Overview Function Blocks for Application Cam Switch Introduction and Overview MC_CAMSWITCH_REF with ML_BASIC_CAMSWITCH_REF MC_TRACK_REF with ML_BASIC_TRACK_REF MC_OUTPUT_REF MC_DigitalCamSwitch Function Blocks for Application PID-Controller Introduction and Overview ML_PIDType Function Blocks for Application Safe Key Transmission Introduction and Overview ML_SafeKeystroke ML_DegToInc ML_DegToRad ML_IncToDeg ML_IncToRad ML_RadToDeg ML_RadToInc ML_MaxValue ML_InterpolationLinear ML_PT1Type ML_TwoPosCtrlType Introduction and Overview Function Blocks for Application Cam Blocks ML_CamTableType ML_CamTableType ML_CamTableType ML_CamTableType

4 II/II Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Table of Contents Page ML_CamTableType ML_CamTableType ML_CamTableType ML_CamTableType ML_CamTableType ML_CamTableType ML_CamTableType ML_CamTableType ML_CamTableType ML_CamTableType IEC Introduction and Overview MB_CamTableType Service & Support Helpdesk Service Hotline Internet Helpful Information Index

5 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 1/121 Further Documentation 1 Further Documentation The following table gives an overview about available IndraDrive-Hard- and - Firmware as well as about MLC-Documentation. No. Title Designation /1/ Rexroth IndraControl L40, Project Planning DOK-CONTRL-IC*L40*****-PR02-EN-P /2/ PLC-Programming with Rexroth IndraLogic 1.2; Operation- and Programming Instruction /10/ Rexroth IndraDrive, Firmware for Drive Units MPH-03, MPB-03, MPD-03, Functional Description /11/ Rexroth IndraDrive, Firmware for Drive Units MPH-04, MPB-04, MPD-04, Functional Description /12/ Rexroth IndraDrive, Drive Units, MPx-02; MPx-03; MPx-04, Parameter Description /13/ Rexroth IndraDrive, Firmware for Drive Units, Details on trouble shooting (MPx02, MPx03, MPx04 and HMV) DOK-CONTRL-IL**PRO*V02-AW..-EN-P DOK-INDRV*-MP*-03VRS**-FK01-EN-P DOK-INDRV*-MP*-04VRS**-FK01-EN-P DOK-INDRV*-GEN-**VRS**-PA03-EN-P DOK-INDRV*-GEN-**VRS-WA03-EN-P /20/ Rexroth IndraMotion MLC; Functional Description DOK-IM*MLC-SYSTEM**V03-FK01-EN-P /21/ Rexroth IndraMotion MLC03VRS; Axis- and Control Parameters DOK-IM*MLC-A*C*PAR*V03-PA01-EN-P /22/ Rexroth IndraMotion MLC03VRS; Diagnoses DOK-IM*MLC-DIAGN***V03-WA01-EN-P /23/ Rexroth IndraMotion MLC03VRS, PLCopen-Function Blocks and -Data Types DOK-IM*MLC-PLCOPEN*V03-FK01-EN-P /24/ Rexroth IndraMotion MLC03VRS; Function Modules DOK-IM*MLC-FM******V03-FK01-EN-P /25/ Rexroth IndraMotion MLC03VRS, First Steps DOK-IM*MLC-F*STEP**V03-KB01-EN-P /30/ Rexroth IndraMotion MLC03VRS, Technology Function Blocks of Libraries ML_TechCommon, ML_TechCam and ML_TechCamIEC /31/ Rexroth IndraMotion MLC03VRS, Technology Function Blocks of Library ML_Technology DOK-IM*MLC-TECHCOM*V03-AW01-EN-P DOK-IM*MLC-TECHFB**V03-AW01-EN-P Fig.1-1: Further Documentation

6 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description

7 Library Description Rexroth IndraMotion MLC03VRS Electric Drives 2 Definition of Standard Interfaces at PLCopen-Function Blocks 2.1 Motivation 2.2 Block Types State-Triggered Edge-Triggered Completing Processing Permanent Processing Control Processing Example The majority of the function blocks has an input for the activation and an output which indicates the error-free processing. In addition, an output is often demanded which marks the processing period. For indicating errors other outputs are defined. Bosch Rexroth AG 3/121 Definition of Standard Interfaces at PLCopen-Function Blocks With function blocks it is possible to encapsulate complex tasks reusable and to address these via defined interfaces. Besides, the processing either stateor edge-triggered can take place. Moreover is distinguished between tasks which can be treated in conclusion and such which are actived once and require a permanently intervention. If after the switching on a function block repeats its task always then when it has reached a defined condition, so it works "state-triggered". If after the switching on a function block fulfills its task exactly once, so it works "edge-triggered". If a block can process its task finally and afterwards stop its work, so this is a "conpleding processing". If a block can never complete its task finally, but is durable in intervention, so this is defined as a "permanent processing". In combination four possible block types arise therefore: State-triggered (Enable) State-triggered (Enable) Edge-triggered (Execute) Edge-triggered (Execute) Completing (Done) Permanent (In.) Completing (Done) Permanent (In.) Permanent reading of a parameter. (If the reading is completed, the block has finished its task. It repeats this task as long as the control input (Enable) remains set.), e.g., MB_ReadParameter Completable regulation. ( If the regulation is active, this works as long as till the control input (Enable) is reset and for this reason deactivates the regulation.) One-time writing of a parameter. If the writing is completed, the block has finished its task. A renewed edge at the control input (Execute) is necessary to start a renewed writing.), e.g., MB_WriteParameter Not completable regulation. ( Once the regulation is started via the control input (Execute), it cannot be deactivated any more via the interfaces of this block.), e.g., MC_MoveVelocity Fig.2-1: Block types overview 2.3 Block Types and its Interfaces Inputs Outputs To make outwardly recognizable whether a function block works state-triggered or edge-triggered, two different variable names are applied for the inputs to the activation of the function block. Enable = state-triggered Execute = edge-triggered To make outwardly recognizable whether a function block works completing or permanently, different variable names are applied for the outputs which mark the processing state.

8 4/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Definition of Standard Interfaces at PLCopen-Function Blocks Done = Completing processing In.. = Permanent processing (e.g., InOperation, InSync, In Velocity, InGear, InTorque ) The optional output Active can be applied with blocks working permanently and in completing, however, it has another behavior in each case! Overview Standardized Identifier All outputs to the error identification (Error, ErrorID, ErrorIdent) are found with blocks working permanently and in completing and have the same behavior with both. Identifier Description Inputs Enable Execute ExecuteLock Activation input state-triggered FBs Activation input edge-triggered FBs. Other FBs can interrupt this. Activation input edge-triggered FBs. As long as this input is TRUE, the FB cannot be interrupted by others. Outputs Active Done In.. CommandAborted Error ErrorID ErrorIdent The output which indicates the processing period Processing successfully finished and the data outputs are valid. Output signals that the block is working on its task and the data outputs are valid. Output indicates that the FB was interrupted (e.g., by another FB). Processing finished with error Output for rough error classification Output for detailed error classification Fig.2-2: Overview Standardized Identifier

9 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 5/121 Definition of Standard Interfaces at PLCopen-Function Blocks 2.4 Inputs and Outputs of State-Triggered Function Blocks, Completing Processing I/O Variable name Description I Enable With a positive edge of Enable the input variables are received. New input values become effective only via a renewed positive edge of Enable. "Enable" must be TRUE during the whole block processing! Deleting "Enable" interrupts the processing and sets the outputs "Done", "Active", "CommandAborted" and "Error" to FALSE. Control / Processing State-triggered / completing O Done If "Done" is TRUE, the function block has finished its task successfully and is in a final state. Data outputs are valid now. "Active", "Error" and "CommandAborted" are FALSE! "Done" remains TRUE for exactly one PLC-Cycle. If Enable is afterwards still TRUE, the block starts its processing again. O Active If "Active" is TRUE, the function block works on its real task and is in an intermediate state. Possible preprocessings are not indicated by this output! "Done", "Error" and "CommandAborted" are FALSE! O CommandAborded If "CommandAborted" is TRUE, the function block was interrupted and is in a final state. "Done", "Active" and "Error" are FALSE! "CommandAborted" remains as long as TRUE, since the control input "Enable" is deleted. Therefore, an additional Reset input is not necessary. O Error If "Error" is TRUE, the function block was aborted because of an error and is in a final state. "Error" remains as long as TRUE, since the control input "Enable" is deleted. Therefore, an additional Reset input is not necessary. Fig.2-3: I/O of state-triggered function blocks, completing processing If certain inputs are not only taken over with the 0/1 edge at "Enable", but cyclic during the block processing, this is explicitly documented! Fig.2-4: I/O of state-triggered function blocks, completing processing - processing finished successful

10 6/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Definition of Standard Interfaces at PLCopen-Function Blocks Fig.2-5: I/O of state-triggered function blocks, completing processing - processing finished with error Fig.2-6: I/O of state-triggered function blocks, completing processing - processing interrupted

11 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 7/121 Definition of Standard Interfaces at PLCopen-Function Blocks 2.5 Inputs and Outputs of Edge-Triggered Function Blocks, Completing Processing I/O Name Description I Execute With a positive edge of Execute the input variables are received. New input values become effective only via a renewed positive edge of Execute. The edge alternation at "Execute" is sufficient to start the block. For the further processing the state of "Execute" is not relevant. The old task is rejected by a renewed edge alternation still during the processing, the inputs are taken over again and the task is continued with the new values (retrigger). O Done If "Done" is TRUE, the function block has finished its task successfully and is in a final state. Data outputs are valid now. "Active", "Error" and "CommandAborted" are FALSE! If with the task completion the control input "Execute" is FALSE, "Done" remains TRUE for exactly one PLC-Cycle. If "Execute" is TRUE, "Done" remains as long as TRUE till "Execute" is deleted. Control / Processing Edge-triggered / completing O Active If "Active" is TRUE, the function block works on its real task and is in an intermediate state. Possible preprocessings are not indicated by this output! "Done", "Error" and "CommandAborted" are FALSE! O CommandAborded If "CommandAborted" is TRUE, the function block was interrupted and is in a final state. "Done", "Active" and "Error" are FALSE! If with the interruption point the control input "Execute" is FALSE, "CommmandAborted" remains TRUE for exactly one PLC-Cycle. If "Execute" is TRUE, "CommandAborted" remains as long as TRUE till "Execute" is deleted. O Error If "Error" is TRUE, the function block was aborted because of an error and is in a final state. If with the appearance of an error the control input "Execute" is FALSE, "Error" remains TRUE for exactly one PLC-Cycle. If "Execute" is TRUE, "Error" remains as long as TRUE till "Execute" is deleted. Fig.2-7: I/O of state-triggered function blocks, completing processing If certain inputs are not only taken over with the 0/1 edge at "Execute", but cyclic during the block processing, this is explicitly documented! Fig.2-8: I/O of edge-triggered function blocks, completing processing - processing finished successful

12 8/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Definition of Standard Interfaces at PLCopen-Function Blocks Fig.2-9: I/O of edge-triggered function blocks, completing processing - processing finished with error Fig.2-10: I/O of edge-triggered function blocks, completing processing - processing interrupted

13 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 9/121 Definition of Standard Interfaces at PLCopen-Function Blocks 2.6 Inputs and Outputs of State-Triggered Function Blocks, Permanent Processing I/O Variable name Description I Enable With a positive edge of Enable the input variables are received. New input values become effective only via a renewed positive edge of Enable. "Enable" must be TRUE during the whole block processing! Deleting "Enable" interrupts the processing and sets the outputs "In...", "Active", "CommandAborted" and "Error" to FALSE. Control / Processing State-triggered / permanent O In.. Is "In." TRUE, the function block has reached its target, but is further in the intervention "to keep" the reached and so it is in a durable final state. Data outputs are valid now. Because the FB further remains in the intervention, "Active" also must remain TRUE. "Error" and "CommandAborted" are FALSE! As long as "Enable" is TRUE, "In." also remains TRUE. O Active If "Active" is TRUE, the function block works on its real task. Possible preprocessings are not indicated by this output! Because the FB remains permanently in intervention, "Active" remains TRUE till the block is switched off by control input "Enable" or finished by "Error" or "CommandAborted". As long as "Active" is TRUE, "Error" or "CommandAborted" must be FALSE! O CommandAborded If "CommandAborted" is TRUE, the function block was interrupted and is in a final state. "In...", "Active" and "Error" are FALSE! "CommandAborted" remains as long as TRUE, since the control input "Enable" is deleted. Therefore, an additional Reset input is not necessary. O Error If "Error" is TRUE, the function block was aborted because of an error and is in a final state. "Error" remains as long as TRUE, since the control input "Enable" is deleted. Therefore, an additional Reset input is not necessary. Fig.2-11: I/O of state-triggered function blocks, completing processing If certain inputs are not only taken over with the 0/1 edge at "Enable", but cyclic during the block processing, this is explicitly documented! Fig.2-12: I/O of state-triggered function blocks, permanent processing - processing successful

14 10/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Definition of Standard Interfaces at PLCopen-Function Blocks Fig.2-13: I/O of state-triggered function blocks, permanent processing - processing aborted with error Fig.2-14: I/O of state-triggered function blocks, permanent processing - processing interrupted

15 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 11/121 Definition of Standard Interfaces at PLCopen-Function Blocks 2.7 Inputs and Outputs of Edge-Triggered Function Blocks, Permanent Processing I/O Variable name Description I Execute With a positive edge of Execute the input variables are received. New input values become effective only via a renewed positive edge of Execute. The edge alternation at "Execute" is sufficient to start the block. For the further processing the state of "Execute" is not relevant. The old task is rejected by a renewed edge alternation still during the processing, the inputs are taken over again and the task is continued with the new values (retrigger). O In.. Is "In." TRUE, the function block has reached its target, but is further in the intervention "to keep" the reached and so it is in a durable final state. Data outputs are valid now. Because the FB further remains in the intervention, "Active" also must remain TRUE. This applies also then, if "In..." drops again. "Error" and "CommandAborted" are FALSE! If with the task completion the control input "Execute" is FALSE, "In..." remains TRUE for exactly one PLC-Cycle. If "Execute" is TRUE, "In..." remains as long as TRUE till "Execute" is deleted. Control / Processing Edge-triggered / permanent O Active If "Active" is TRUE, the function block works on its real task. Possible preprocessings are not indicated by this output! Because the FB remains permanently in the intervention, "Active" remains TRUE till the block is finished by "Error" or "CommandAborted". As long as "Active" is TRUE, "Error" or "CommandAborted" must be FALSE! O CommandAborded If "CommandAborted" is TRUE, the function block was interrupted and is in a final state. "In...", "Active" and "Error" are FALSE! If with the interruption point the control input "Execute" is FALSE, "CommmandAborted" remains TRUE for exactly one PLC-Cycle. If "Execute" is TRUE, "CommandAborted" remains as long as TRUE till "Execute" is deleted. O Error If "Error" is TRUE, the function block was aborted because of an error and is in a final state. If with the appearance of an error the control input "Execute" is FALSE, "Error" remains TRUE for exactly one PLC-Cycle. If "Execute" is TRUE, "Error" remains as long as TRUE till "Execute" is deleted. Fig.2-15: I/O of edge-triggered function blocks, permanent processing If certain inputs are not only taken over with the 0/1 edge at "Execute", but cyclic during the block processing, this is explicitly documented!

16 12/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Definition of Standard Interfaces at PLCopen-Function Blocks Fig.2-16: I/O of edge-triggered function blocks, permanent processing - processing successful Fig.2-17: I/O of edge-triggered function blocks, permanent processing - processing aborted with error Fig.2-18: I/O of edge-triggered function blocks, permanent processing - processing interrupted

17 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 13/121 Function Blocks of Library ML_TechCommon 3 Function Blocks of Library ML_TechCommon 3.1 Introduction and Overview Preconditions Technology function blocks (Tech-FBs) extend the basic functionality of the target system IndraMotion MLC and provide application-specific functionalities like e.g. Cam Switch, PID Controller and Safe Key Transmission. The here described function blocks are provided for the MLC by the external library ML_TechCommon.lib. These documentation describes the functionality as well as the in- and outputs of the Technology Function Blocks. Technology Function blocks of library ML_TechCommon.lib require the firmware support of the target system MLC03. Specific preconditions of the Technology Function Blocks are documented in the chapter of the corresponding function blocks. The library ML_TechCommon.lib uses functions and data types of the libraries RIL_Utilities.lib and RIL_CommonTypes.lib. Therefore, in addition, these libaries must be included in the PLC- Project. 3.2 Function Blocks for Application Cam Switch Introduction and Overview The function block for application Cam Switch MC_DigitalCamSwitch, page 14, is a PLCopen-compliant block. With it up to 8 outputs with up to 32 switches can be freely programmed. The besides applied data structures MC_OUTPUT_REF, page 14, MC_CAMSWITCH_REF with ML_BASIC_CAMSWITCH_REF, page 13, and MC_TRACK_REF with ML_BASIC_TRACK_REF, page 14 correspond as well to the specifications by the PLCopen MC_CAMSWITCH_REF with ML_BASIC_CAMSWITCH_REF Type Definitions Structure element Type Description The following definition describes data types which are used in the function block MC_DigitalCamSwitch, page 14,. The type definitions are contained in the library. MC_CAMSWITCH_REF contains an array of 32 base structures each one describing a single switch. Values are specified in units [u]. These refer to the appropriate axis. If e. g. a switch-on position is at 20u and the appropriate axis is weighted in degree, so the corresponding switch-on position is 20. The base structure ML_BASIC_CAMSWITCH_REF looks like follows: TrackNumber INT TrackNumber is the reference to the track FirstOnPosition [u] REAL Lower limit the output is ON (switch-on position) LastOnPosition [u] REAL Upper limit the output is ON (switch-off position)

18 14/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Structure element Type Description AxisDirection INT Direction the cam switch is effective: Both (=0; Default); Positive (1); Negative (2) CamSwitchMode INT Position-based (=0; default); time-based (=1, default) Duration TIME Coupled with time-based CamSwitchMode. I.e. the output remains ON for the given time. Fig.3-1: Definition of the base elements of the MC_CAMSWITCH_REF-Structure MC_TRACK_REF with ML_BASIC_TRACK_REF Type Definitions Structure element Type Description The following definition describes data types which are used in the function block MC_DigitalCamSwitch, page 14,. The definitions of the data types are contained in the library. A track is an element that characterizes the properties of the cam switch related to an output. The MC_TRACK_REF contains an array with 8 base structures (i.e. 8 tracks which are assigned to 8 outputs). The base structure ML_BASIC_TRACK_REF of a track looks like follows: OnCompensation TIME Time compensation of the track related to the switch-on point. OffCompensation TIME Time compensation of the track related to the switch-off point. Hysteresis [u] REAL Adjustable hysteresis to filter noise-afflicted input signals. TimeDef WORD Time definition: Bit 0 set: OnCompensation -Time is negative; Bit 1 set: OffCompensation -Time is negative Fig.3-2: MC_OUTPUT_REF Type Definitions Structure element Type Description Definition of the base elements of the TRACK_REF-Structure Several switches can be assigned to each track. The following definition describes data types which are used in the function block MC_DigitalCamSwitch, page 14,. The definitions of the data types are contained in the library. The data type describes the 8 outputs of the cam switch. MC_OUTPUT contains an array with 8 Boolean variables which are assigned to the outputs and looks like follows: Output ARRAY [0..7] OF BOOL Outputs of the cam switch. Fig.3-3: MC_DigitalCamSwitch Brief Description Definition of the base elements of the MC_OUTPUT-Structure The function block MC_DigitalCamSwitch implements a freely programmable cam switch with up to 32 switches on 8 outputs.

19 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 15/121 Function Blocks of Library ML_TechCommon Interface Description Fig.3-4: Function block MC_DigitalCamSwitch Name Type Comment VAR_IN_OUT Axis AXIS_REF Reference to the axis to which the cam switch is assigned. Switches MC_CAMSWITCH_ REF Reference to the switch structure that contains all definitions for all switches. See also MC_CAMSWITCH_REF with ML_BASIC_CAMSWITCH_REF, page 13 See also MC_OUTPUT_REF, page 14 Outputs MC_OUTPUT_REF Reference to the signal outputs directly related to the associated tracks (max. 8 per function block, the first output = first Track number ). TrackOptions MC_TRACK_REF Reference to the structure that contains the associated track properties, e.g., the on/off time compensation per output/track. See also MC_TRACK_REF with ML_BASIC_TRACK_REF, page 14 VAR_INPUT Enable BOOL Activates the switching outputs. EnableMask DWORD 32 Bits of type BOOL. Activates the several tracks. The least significant bit is assigned to the lowest Track number. If the datum is set to 1 or TRUE, then the assigned Track number is activated. Because only the 8 least significant bits are available, the number of tracks is limited to 8 per function block. If the bit is not set, the appropriate output is set to 0. VAR_OUTPUT InOperation BOOL The activated tracks are calculated and the outputs are updated. Error BOOL Indicates that an error has appeared within the function block. ErrorID ERROR_CODE Error detection ErrorIdent ERROR_STRUCT Error structure with further classification of the errors, see also Error Codes, page 27. Busy BOOL Is set if the FB is active (not in Idle-Mode). Note: A detailed description of the several in- and outputs follows later in this document. Functionality Fig.3-5: Function block MC_DigitalCamSwitch The following function block MC_DigitalCamSwitch offers a PLCopen-specific (part 2) interface for a programmable cam switch. The FB calculates 8 binary track outputs according to the specification shown below. Each binary output is assigned to one track. A track can contain several on/off positions according to the following specification. There are maximally 32 switches available which can be freely distributed to the 8 tracks.

20 16/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Terminology Designation MLC Digital cam switch Description BRC s rack-based Motion Logic Control Programmable cam switch (PLS). Settings Data Types Example Program Fig.3-6: Terminology of the cam switch The units for position and velocity must be adjusted appropriately for the axis which is assigned to the cam switch. If, e.g., the positions of the axis are defined in degree, the cam switch positions are also interpreted in degree. The function block MC_DigitalCamSwitch uses the following data types: A track is an element that characterizes the properties of the cam switch related to an output. MC_TRACK_REF with ML_BASIC_TRACK_REF, page 14, contains an array with 8 base structures (i.e. 8 tracks which are assigned to 8 outputs). Several switches can be assigned to each track. MC_CAMSWITCH_REF with ML_BASIC_CAMSWITCH_REF, page 13, contains an array with 32 base structures each one describing a single switch. MC_OUTPUT_REF, page 14, contains an array with 8 Boolean variables which are assigned to the outputs of the cam switch. A short example should explain the concept how the function block is programmed. The several structure elements are explained later in detail. Assuming that a single switch should be created with number 4 on track 3, with a FirstOnPosition of 35 and a LastOnPosition of 55; the switch should release 10ms earlier and the track should have a hysteresis of 3. The switch should turn on/off based on position, not time, and should only be active in positive direction. The variable declaration and function block call looks like follows: Fig.3-7: Declaration of the variables and function block call

21 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 17/121 Function Blocks of Library ML_TechCommon Note the three input structures MySwitches, MyOutputs and MyTracks, which define all properties of the switches, tracks and outputs. To be able to better understand these structures, a more detailed look should clarify the contents of those structures filled with data that would give the desired result of the example above: Fig.3-8: Content of MyTrack structure At first we define the track (figure above). 1. Because track 3 should be used, rtrack[2] must be initialized, because the array begins with The OnCompensation time is set to the desired 10ms. In order that the switch turns on earlier, not later, bit 0 in TimeDefinitions must be set, which defines the OnCompensation time as negative. 3. Finally the hysteresis must be set to the desired value of 3.

22 18/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Fig.3-9: Content of MyTrack structure Now we define the switch (figure above). 1. The switch structure must be initialized with index 3 in order to initialize switch 4 because the array begins with index FirstOnPosition is set to the desired value of 35, LastOnPosition to 55 and the AxisDirection is set to 1, meaning that the switch will only be activated in positive direction. 3. To assign the switch to a track, "TrackNumber" is set to 2, indicating that this switch is assigned to the track with index 2 in the track structure. 4. Finally the CamSwitchMode must be set to 0, so the position-based Mode is switched on. The access on the several elements of the REF structures takes place after following sample: MyTracks.rTrack[2].TimeDefinitions MySwitches.rSwitches[3].AxisDirection MyOutputs.Output[4]. The start of the function block is prepared: In order to run the function block, the remaining variables have to be attached to the function block and their values set appropriately. In particular the Enable input must be set and EnableMask must have set the corresponding bit: 4 or more clearly 2# , bit 2 for third track rtrack[2].

23 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 19/121 Function Blocks of Library ML_TechCommon Functional Description Fig.3-10: Running function block The Axis-Input defines the position and velocity that is used for calculations. When the Axis input changes while the Enable input is still set, the Busy output will remain set and the InOperation output will become inactive. This is due to the fact that some internal values must be updated first to continue calculation. This takes several PLC cycles. After this initialization sequence, the InOperation output will become active again. When the Enable input is set the first time, the Busy output will be set, but the InOperation output remains inactive. This happens also due to the fact that some internal values must be updated first before continue calculation. This takes several PLC cycles. After this initialization sequence, the InOperation output will become active again. With the EnableMask input, the outputs can be quickly enabled or disabled. The least significant bit is related to the lowest TrackNumber. If the value is set to1 or TRUE, then the corresponding TrackNumber is enabled. By the limitation on the 8 least significant bits, only 8 tracks are available per function block. If the bit is not set, the corresponding output will be set to 0 regardless if the current position is within the limits of a switch. When EnableMask is 0, InOperation becomes inactive, because none of the outputs is enabled. Each switch has a start- and end position. So the user can define for each single switch a FirstOnPosition and a LastOnPosition (or time). In addition to a mechanical switch exists the possibility to activate the switch for a certain time and to assign a time compensation and hysteresis for a certain time. If ( FirstOn Position is > LastOnPosition ), the switch behaves inversely and is only switched off within these positions. Range / Modulo-Calculations The PLS will be used most likely only for rotatory processes. However, it can also be thought of, to use the PLS with a linear axis that moves forward and backwards. In both cases the PLS units are based on the units defined for the axis. AxisDirection indicates in which movement direction the switch is active. If AxisDirection is 0 (default), the switch becomes active in both movement directions. If AxisDirection is 1, the output will only be set when moving in positive direction, if AxisDirection is set to 2, the output will only be set when moving in negative direction. CamSwitchMode changes between position- or time declaration. CamSwitch Mode = 0 means Position Mode, in which the output turns on at the FirstOn

24 20/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Position and off at the LastOnPosition. If CamSwitchMode = 1, the output is switched on at the FirstOnPosition, and switched off again after the specified Duration. Duration: Duration time, a time-controlled switch is switched on. If the position after the time has elapsed is still within the limits of the switch, the output is not triggered again until the position has moved off the switch. The maximum possible duration is dependent on the used hardware. With too long on-time the error code 16#F is generated. The time compensation (OnCompensation and OffCompensation) can be positive or negative. Negative means the output changes before the switching position is reached. The time must be given in ms (see also TimeDef ). Hysteresis: This parameter avoids the too often switching of the output, if the axis is near the switching point and the actual position is jittering around the switching position. The hysteresis is a part of MC_TRACK_REF, which means, that for each track an own hysteresis is adjustable. TimeDef: This parameter was added to distinguish between positive and negative times for the On/OffCompensation. If bit 0 is set, then the OnCompensation time is negative, if bit 1 is set, then the OffCompensation time is negative. Example: OffCompensation is set to 300, TimeDef to 2. This results in a time compensation of -300ms. The following figure illustrates the different variables and structures and their respective usage: Fig.3-11: Relationship of structures and corresponding functionality of block MC_DigitalCamSwitch The following figure illustrates the mechanical equivalent of the digital cam switch. Note that not all features are shown since they are either not possible or would be very difficult to draw.

25 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 21/121 Function Blocks of Library ML_TechCommon Fig.3-12: Mechanical equivalent of the digital Cam Switch Time Diagram The following example should illustrate the usage of the MC_CAMSWITCH_REF structure and the time based switches. In the following list you find a given configuration of values: Parameter Type Switch01 Switch02 Switch03 Switch04... SwitchN TrackNumber INT FirstOnPosition [u] REAL LastOnPosition [u] REAL AxisDirection INT 1=Pos 2=Neg 0=Both 0=Both CamSwitchMode INT 0=Position 0=Position 0=Position 1=Time Duration TIME Fig.3-13: Example MC_CAMSWITCH_REF structure This example uses the values from the above example MC_CAMSWITCH_REF. It uses neither On/OffCompensation nor Hysteresis. This is the behavior of the outputs, when the axis is moving continuously in positive direction. The axis is a modulo axis with a modulo length of 5000u (units).

26 22/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Fig.3-14: Behavior of the outputs in the example Detailed description of Switch01 This example uses, in addition, OnCompensation = -125ms and OffCompensation = +250ms. Fig.3-15: Detailed behavior of Switch01 when moving in positive direction This is the behavior of the outputs if the axis moves without On- or OffCompensation and without Hysteresis continuously in negative direction: Realization Details Fig.3-16: Detailed behavior of the switches when moving in negative direction The PLCOpen extension specifies the interface of the PLS functionality. However, some implementation details are not defined. Therefore, these were defined for a carrying out with better runtime behavior. OnCompensation / OffCompensation PLCOpen defines the On-/OffCompensation only for movements in positive direction. In this case the OnCompensation relates to the FirstOnPosition,

27 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 23/121 Function Blocks of Library ML_TechCommon while the OffCompensation relates to the LastOnPosition. How should this be defined for movements in negative direction? Based on applications where the compensation times are used to compensate the on- and off delays of actuators, this means the OnCompensation is responsible for the rising edge of the signal. In other words: when moving in positive direction the OnCompensation relates to the FirstOnPosition, when moving in negative direction the OnCompensation relates to the LastOnPosition. The OffCompensation is defined accordingly. The following figure illustrates the behavior for OnCompensation = -0.1s and OffCompensation = +0.2s: Fig.3-17: Duration Definition of OnCompensation- and OffCompensation time The Duration is defined as the time the switch will remain on after it had been switched on. The question arises what happens when the duration has expired, but the current position is still within FirstOnPosition and LastOnPosition. Should the output be switched on immediately or should be waited until the current position has moved outside the FirstOnPosition and LastOnPosition? The decision was made to wait for a rising edge of the switch signal. In other words: the current position must be outside the FirstOnPosition and LastOn Position before the Duration can be retriggered. The same consideration applies as for the OnCompensation / OffCompensation, where the Duration starts with rising edge of a switch, i.e. on the LastOnPosition when moving in negative direction. The issue is demonstrated in the following figure:

28 24/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Restrictions of the PLS Fig.3-18: Definition of the duration Combination of OnCompensation / OffCompensation and Duration When using a time based switch with On-/OffCompensation times, should these times be taken into account or not? The OnCompensation time is taken into account, it just results in an earlier/later enabling of the output. However, the OffCompensation time is more difficult, because the output is switched off after the Duration time. The OffCompensation time is only relevant when we have to determine that the output should be retriggered (outlined area in the figure above). In this application, both, OnCompensation and OffCompensation, are taken into account. How not to Use a Switch The PLS has up to 32 switches. The question arises how to find out if a switch is used or not. The solution of this question is to be found in element TrackNumber in the MC_CAMSWITCH_REF-Structure. This variable contains the track number. Valid values are 0 to 7, because there are maximally 8 cams. By default, the variable is initialized with 8, marking it as not being used. Each invalid number (8 through 65535) will be interpreted as a switch not being used and will therefore not be evaluated. The restrictions of the PLS are discussed in this section. The restrictions are simply definitions but they do not cause an error. The system behavior is defined by these definitions and the user might expect different behavior. Lost Switching Operations The sampling theorem proves that the sampling rate needs to be twice as high as the signals highest frequency to be able to recognize the signal. This also applies to the PLS. The PLS samples the position data every time it is called from the PLC. This is usually the Sercos synchronous task, or any other cyclic task. Each switch that is on for a time smaller than the sampling rate will not be recognized properly. The following equations show how to calculate the velocity or the size of the switch with which switching operations get lost. Rotatory Systems: 1. n is the revolution per second. 2. ρ is the angle in rad and t is the time in seconds. 3. Conversion factor from degree to rad: Using equations 1 and 2 you get

29 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 25/121 Function Blocks of Library ML_TechCommon for the angle, or Adjusting the factors for common units we get: Equation A1.). or for the velocity: Equation B1.). Equations A1.) and B1.) provide the user with the two necessary equations to detect whether switching operations possibly get lost. For example, if the maximum revolution speed of 1000 r.p.m is known and the PLS is called in a cyclic task with a cycle time of 2ms. What is then the minimum size of a switch to ensure that the switch will be detected by the PLS? Using equation A1.) results in: I.e. a switch must be big at least 12 to be still surely detected with a velocity of max r.p.m. Linear Systems: 1., s is the distance in m and t is the time in seconds. Using the cycle time of the PLC as sample time of the PLS and adding the appropriate factors to adjust the units, we get the following equations: Equation A2.). or for the velocity: Equation B2.). The same equations apply for systems using inch as a unit for the distance: Equation A2.) or for the velocity: Equation B2.)

30 26/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon. Example: A switch in a linear system is 0.02 inches long. The PLS is in a PLC task with 2ms cycle time. Which maximum velocity is possible, so that the switch is still recognized surely? Using equation B2.) we get the result: Switches have apparently the wrong size The previous chapter was about lost switching operations. Even the conditions for lost switches is not fulfilled, the switching points might be inaccurate. The PLS can only change its outputs every time it is called by the PLC. If, for example, a switch should be closed for 3.7ms at a given velocity, but the PLS is called only every 2ms, the output will be set to On for either 2ms (case B) or 4ms (case A) depending on the sample point of the PLS. For this you see a nearer explanation in the following figure Fig.3-19: Inaccurate size of the switches Switching operation takes place twice when accelerating/decelerating If OnCompensation and OffCompensation are used for a switch it is possible, that it is switched on/off multiple, if the PLS master position accelerates or

31 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 27/121 Function Blocks of Library ML_TechCommon decelerates. This is due to the fact, that the PLS assumes a constant velocity, what is not given under certain circumstances, however. The bigger problem occurs when decelerating. Some considerations, when a switch can be activated several times, will follow. We can form the following equations: 1.) whereas s v is the distance, which is traveled at a given velocity v 0 in the On Compensation time t lead. 2.) s b is the distance, which is needed to decelerate with a given start velocity v 0 and deceleration a in the time t. Furthermore the common equations: 3.) or. The OnCompensation time of a programmed cam switch moves the switch towards lower position according to equation 1.). The distance needed to come to a stand still with a given velocity can be calculated by equation 2.). Therefore, the general rule is: When the position with v= v 0 is reached, so that the output of a programmed cam switch with OnCompensation time should be switched on and the input position is stopped in such a way that the stop position is simultaneously the switch on position of the programmed cam switch without OnCompensation time (v= 0), then the output is not switched off in-between. If we set equation 1.) equate with equation 2.), we get the equation with which the switch is switched on only once. If we decelerate a little bit faster, then the switch will be switched on multiple. 4.). In equation 4.) it can be seen that the starting velocity v 0, at which it is possible that a switch turns on more than once, is getting bigger with increasing the OnCompensation time t lead or deceleration a. There is no solution for this problem. You can only hold the OnCompensation time and deceleration for the wished application small as possible. Another possibility is to use the Hysteresis, so that the variations are considered on account of the acceleration/deceleration in it. The same thoughts can be applied for the acceleration and/or negative velocities. Error Codes The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages:

32 28/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon ErrorID Additional1 Additional2 Description SYSTEM_ERROR, 16#7FFF 16#F Error while initializing the function block. No reference could be established to the parameter system. COMMUNICATION_ERROR, 16# #F xx Runtime error in function block: Parameter could not be read. xx indicates the parameter number (A-Parameter) INPUT_INVALID_ERROR, 16# #F INPUT_INVALID_ERROR, 16# #F STATE_MACHINE_ERROR, 16# #F RESSOURCE_ERROR 16#F RESSOURCE_ERROR 16#F SYSTEM_ERROR 16#F Runtime error in function block: Invalid combination of units for velocity, time and position. 0 Runtime error in function block: The value 'Duration' of a switch is too big. 0 Runtime error in function block: Invalid state of the State machine. 0 Reference to the base system could not be found 0 The block could not be instantiated 0 Function block may not lie in the RETAIN data range Fig.3-20: Generated error numbers of block MC_DigitalCamSwitch 3.3 Function Blocks for Application PID-Controller Introduction and Overview ML_PIDType01 Brief Description The function block for application PID-Controller ML_PIDType01, page 28, is a digital PID-Controller. The controller can be configured as a P-, I-, PI-, PD- or PID-Controller. The integrator possesses an adjustable limitation. The sample rate is automatically determined, but the controller must be used in a cyclic PLC-Task. The controller can be stopped or be set to a preset value. All controller parameters are changeable cyclic. The PID-Controller contains an anti-reset-wind-up-integrator and a delimiter at the output. In addition, a preset value can be set and the controller can be stopped. In this case the controller output remains constant. The PID-Controller block should be called cyclic. Because it is implemented as a digital controller, so this can have a significant effect on the control accuracy. The FB measures the time between the calls (sample time) and recalculates all controller parameters if the sample time changes essentially or if the controller parameters change. The measured sample time is also available as an output.

33 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 29/121 Function Blocks of Library ML_TechCommon Interface Description Fig.3-21: Function block ML_PIDType01 Name Type Comment VAR_INPUT Enable BOOL If TRUE, ControlValue is either set to the preset value of Preset Value (if at Preset a rising edge is present), or set to the calculated value. Pause BOOL If TRUE, the value of ControlValue is not changed by the controller. Preset BOOL With the rising edge of this input the controller output is set on the parameterizable value in PresetValue. Setpoint REAL The desired Setpoint for the controlled process. Feedback REAL The current actual value of the process. PresetValue REAL A preset value that appears as ControlValue if Preset has a rising edge. HighLimit REAL The upper limit for ControlValue. If ControlValue exceeds this value, it is limited to this value. LowLimit REAL The lower limit for ControlValue. If ControlValue under-runs this value, it is limited to this value. PControl REAL The proportional value of the gain portion of the controller. IControl TIME The integration time Tn for the integration portion of the controller. DControl TIME The derivate action time constant Tv for the difference portion of the controller. VAR_OUTPUT InOperation BOOL If TRUE, then the PID-Controller works and the controller output ControlValue is valid. HighLimitAct BOOL ControlValue has reached the upper limit LowLimitAct BOOL ControlValue has reached the lower limit ControlValue REAL The calculated controller output value ActScan Time TIME The elapsed time since the function block was called last. Error BOOL Indicates that an error has appeared within the function block. ErrorID ERROR_CODE Error detection

34 30/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Name Type Comment ErrorIdent ERROR_STRUCT Error structure with further classification of the errors, see also Error Codes, page 32. Note: A detailed description of the several in- and outputs takes place later in this document. PID-Controller Configuration Fig.3-22: Function block ML_PIDType01 The wished P-, I-, PI-, PD-or PID behavior can be reached by assigning the appropriate values for the PControl, IControl and DControl inputs. The controller parametes can be changed on the fly. This means that with switched on controller the values are taken over immediately. The following table can be used to create the wished control algorithm. Besides, an invalid value corresponds to number 0, all other values are valid. Controller Type PControl IControl DControl P-Controller Valid value Invalid Invalid I-Controller Invalid Valid value Invalid PI-Controller Valid value Valid value Invalid PD-Controller Valid value Invalid Valid value PD-Controller Valid value Valid value Valid value Fig.3-23: PID-Controller Configuration Options The control algorithm can be represented as the following block diagram: Fig.3-24: PID-Controller block structure Control Algorithm An analog PID-Controller can be described as follows: Fig.3-25: Fundamental equation of an analog PID-Controller The analog PID-Controller behaves approximately like a digital controller, if the sample time T A is smaller in comparison to the time coefficients T V and T N. Fig.3-26: By means of Fundamental equation of a digital PID-Controller

35 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 31/121 Function Blocks of Library ML_TechCommon Fig.3-27: Conversion rule in recursive form you can convert the digital controller into a recursive form Fig.3-28: Recursive equation of a digital PID-Controller or the same formula with coefficients: Fig.3-29: with the coefficients: Coefficient equation Functional Description Fig.3-30: Coefficients of the equation Initialization During the first execution of the function block the variables x d,k, x d,k-1, x d,k-2, y k and y k-1 are initialized with the value PresetValue. During the initialization the inputs Setpoint and Feedback must have valid data. Preset Value If the user wishes an undisturbed start of the controller output ( ControlValue ), he must set the Preset input, when Enable is activated. In this case the PID-Controller sets the values and. During this time the inputs Setpoint and Feedback must have valid data. In addition, the examination of the upper limits and lower limits is still active to ensure a limitation of the ControlValue if the given value ( PresetValue ) is outside the limits HighLimit or LowLimit. Pause The input Pause is only evaluated, as long as Enable input is active. In this case the control deviation ( Setpoint Feedback ) is set to 0. This causes that ControlValue is fixed. This can be used in addition to hold the output constantly in a stable condition. The output ActScanTime is updated as long as Pause is active. Normal Operation If ControlValue exceeds the limit of HighLimit or LowLimit, then the ControlValue is limited to one of this values. If the controller has an integration portion, an anti-reset windup is executed, in addition. I.e. the integral portion will not be further added. In this case the outputs HighLimitAck and LowLimitAck are set.

36 32/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon The controller coefficients are calculated new if the controller parameters or the sample time change. This enables the user to execute a fine adjust by setting the controller parameters. The sample time is measured with every call of the function block. If the sample time deviates more than 20% from the first measured ones, it is supposed that the sample time has changed, and all coefficients are calculated new. Because the calculations are time-consuming, the function block should be used only in a cyclic task. Error Codes The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_INVALID_ERROR, 16# #F STATE_MACHINE_ERROR,16# #F RESSOURCE_ERROR 16#F RESSOURCE_ERROR 16#F SYSTEM_ERROR 16#F Input value LowLimit is greater than input value HighLimit 0 Runtime error in function block: Invalid state of the state machine or wrong configuration of the PID-Controller. 0 Reference to the base system could not be found 0 The block could not be instantiated 0 Function block may not lie in the RETAIN data range Fig.3-31: Generated error numbers of function block ML_PIDType Function Blocks for Application Safe Key Transmission Introduction and Overview ML_SafeKeystroke Brief Description The function block Safe Key Transmission ML_SafeKeystroke, page 32, allows the safe transmission of key conditions of HMI-Devices via Ethernet. The transmission of the key information takes place cyclic and is also monitored without call of the block. With missing connection the data are set on the safe condition FALSE. The function block enables the user to safe transfer the keystrokes on a HMI to the control. The connection takes place via UDP. Every time the function block is called the last data are copied. In case of a connecting break all outputs are reset to 0. This makes possible the programming of safe properties for the user whereras the security mode 0 is assigned to the output data of the function block. The block ML_SafeKeystroke is compatible to block IL_VExKeys from library RIL_VExUtil.lib. The block IL_VExKeys is valid for several target systems and therefore should be used preferred.

37 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 33/121 Function Blocks of Library ML_TechCommon Interface Description Fig.3-32: Function block ML_SafeKeystroke Name Type Comment VAR_IN_OUT Data ARRAY [0..7] OF BYTE Contains data as byte array. The meaning of the respective bits is described in the documentation of the HMI. IPAddress STRING(25) Entered IP-Address in. notation, e.g VAR_INPUT Enable BOOL While the input is TRUE, the data are updated constantly. If inactive, then all output data are 0. VAR_OUTPUT InOperation BOOL If TRUE, then the output data are valid and are updated. Error BOOL Indicates that an error has appeared within the function block. All output data are set to 0. ErrorID ERROR_CODE Error detection (see next table Error Codes, page 33). ErrorIdent ERROR_STRUCT Error structure with further classification of the error classes. Fig.3-33: Function block ML_SafeKeystroke Error Codes The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_INVALID_ERROR,16# #F COMMUNICATION_ERROR,16# #F DEVICE_ERROR, 16# #F STATE_MACHINE_ERROR, 16# #F Wrong IP-Syntax 0 Unknown IP-Address or no connection 0 Invalid internal buffer size 0 Invalid state of the State machine Fig.3-34: Generated error numbers of function block ML_SafeKeystroke 3.5 ML_DegToInc Brief Description The function ML_DegToInc converts the angle given in degree (0 <= x <360 ) in the appropriate incremental value (0 <=x <2^20).

38 34/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Interface Interface Variables Fig.3-35: Interface function: ML_DegToInc Name Type Comment VAR_INPUT Deg LREAL Angle in degree [DEG] RETURN ML_DegToInc UDINT Angle in increments Fig.3-36: Interface variables function: ML_DegToInc Functional Description The function ML_DegToInc converts the angle given in degree (0 <= x <360 ) in the appropriate incremental value (0 <=x <2^20). If an angle is given more largely like 360, it is converted on the appropriate angle within the valid value range (Modulo 360). Error Codes The function ML_DegToInc generates no error. 3.6 ML_DegToRad Brief Description Interface The function block ML_DegToRad converts an angle value in degree in the appropriate radian dimension incl. Modulo. Interface Variables Fig.3-37: Interface function block: ML_DegToRad Name Type Comment VAR_INPUT Deg LREAL Angle [DEG] VAR_OUTPUT Rad LREAL Angle [RAD] Modulo INT Modulo Functional Description Error Codes Fig.3-38: Interface variables function block: ML_DegToRad By call of the instance the function block ML_DegToRad converts cyclic the applied angle in degree in the appropriate radian dimension incl. Modulo. The function block ML_DegToRad generates no error. 3.7 ML_IncToDeg Brief Description The function ML_IncToDeg converts the angle value given in increments (0<=x<2^20) in the appropriate angle in degree (0 <=x<360 ).

39 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 35/121 Function Blocks of Library ML_TechCommon Interface Interface Variables Fig.3-39: Interface function: ML_IncToDeg Name Type Comment VAR_INPUT Inc UDINT Angle in increments RETURN ML_IncToDeg LREAL Angle in degree [DEG] Functional Description Error Codes Fig.3-40: Interface variables function: ML_IncToDeg The function ML_IncToDeg converts the angle given in increments (0<=x<2^20) in the appropriate angle in degree (0 <=x<360 ). If an angle is given more largely like 2^20 increments, it is converted on the appropriate angle within the valid value range (Modulo 2^20). The function ML_IncToDeg generates no error. 3.8 ML_IncToRad Brief Description Interface The function ML_IncToRad converts the angle given in increments (0<=x<2^20) in the appropriate angle in radian (0<=x<2*PI). Interface Variables Fig.3-41: Interface function: ML_IncToRad Name Type Comment VAR_INPUT Inc UDINT Angle in increments RETURN ML_IncToRad LREAL Angle in radian [RAD] Functional Description Error Codes Fig.3-42: Interface variables function: ML_IncToRad The function ML_IncToRad converts the angle given in increments (0<=x<2^20) in the appropriate angle in degree (0<=x<2*PI). If an angle is given more largely like 2^20 increments, it is converted on the appropriate angle within the valid value range (Modulo 2^20). The function ML_IncToRad generates no error. 3.9 ML_RadToDeg Brief Description The function block ML_RadToDeg converts an angle value in radian in the appropriate degree dimension incl. Modulo.

40 36/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Interface Interface Variables Fig.3-43: Interface function block: ML_RadToDeg Name Type Comment VAR_INPUT Rad LREAL Angle [RAD] VAR_OUTPUT Deg LREAL Angle [DEG] Modulo INT Modulo Functional Description Error Codes Fig.3-44: Interface variables function block: ML_RadToDeg By call of the instance the function block ML_RadToDeg converts cyclic the applied angle in radian in the appropriate degree dimension incl. Modulo. The function block ML_RadToDeg generates no error ML_RadToInc Brief Description Interface The function ML_RadToInc converts the angle given in radian (0<=x<2*PI) in the appropriate incremental value (0<=x<2^20). Interface Variables Fig.3-45: Interface function: ML_RadToInc Name Type Comment VAR_INPUT Rad LREAL Angle in radian [RAD] RETURN ML_RadToInc UDINT Angle in increments Functional Description Error Codes Fig.3-46: Interface variables function: ML_RadToInc The function ML_RadToInc converts the angle given in radian (0<=x<2*PI) in the appropriate incremental value (0<=x<2^20). If an angle is given more largely like 2*PI, it is converted on the appropriate angle within the valid value range (Modulo 2*PI). The function ML_RadToInc generates no error ML_MaxValue Brief Description The function block ML_MaxValue determines from the chronological run of the input signal its previous maximum value.

41 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 37/121 Function Blocks of Library ML_TechCommon Interface Interface Variables Fig.3-47: Interface function block: ML_MaxValue Name Type Comment VAR_INPUT Enable BOOL Processing release of the function block (cyclical, state-triggered) ActValue LREAL Current value Preset BOOL Activating the preset value LREAL Preset value VAR_OUTPUT InOperation BOOL Determining the maximum value completed PRESETACK BOOL Confirmation for taking over the PresetValue MaxValue LREAL Maximum value Functional Description Fig.3-48: Interface variables function block: ML_MaxValue After the release of the function block by means of Enable the function block ML_MaxValue compares the current value of the input variable ActValue to its previous value, i. e. with the value of the last call of the block instance. It copies the in each case bigger value on the output variable MaxValue. If the input Preset is activated at the runtime of the function block, the value of the input variable PresetValue is copied on the output variable MaxValue. In inactive state ( Enable = FALSE) the value of the input variable PresetValue is copied on the output variable MaxValue. The input variable PresetValue is therefore also the predecessor value in the first active call. Error Codes The function block ML_MaxValue generates no error ML_InterpolationLinear Brief Description The block ML_InterpolationLinear calculates on basis of a defined X Y-base table to a given X value the cyclic associated Y value by linear interpolation.

42 38/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Interface Interface Variables Fig.3-49: Interface function block: ML_InterpolationLinear Name Type Comment VAR_INPUT Enable BOOL Release of the function block (cyclical, state-triggered) XValue LREAL X-Value DisableCopy BOOL Disable copying the base table DisableSort BOOL Disable sorting the base table NofPairs DINT Number of the belonging together value pairs in the base table ValueTable POINTER TO AR RAY [0..127] OF ML_COORDINATE_ PAIR_TYPE01 Address of the base table VAR_OUTPUT InOperation BOOL Cyclic calculation of a Y value completed without error, output variable YValue valid Active BOOL Calculation of a Y value active, output variables invalid Error ErrorID ErrorIdent BOOL ERROR_CODE ERROR_STRUCT Calculation of a Y value completed with error, error outputs Error ID and ErrorIdent valid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error YValue LREAL Y-Value Functional Description Fig.3-50: Interface of FB ML_InterpolationLinear On basis of a given base table the function block ML_InterpolationLinear calculates after the processing release of the function block by means of Enable cyclical to input value XValue the associated YValue. The base table is saved with rising edge dependent on the inputs Disable Copy and DisableSort on an internal data array and afterwards sorted ascending. The time for the calculation of an associated YValue can be minimized if with processing release of the block an already ascending sorted base table is handed over and indicated by input DisableSort. In this case the data array is not sorted. Should the inside existing and already applied base table be applied again with a renewed processing of the block, the input DisableCopy as well as input Disable-Sort must be set on activated.

43 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 39/121 Function Blocks of Library ML_TechCommon In case of the error-free processing of the function block the Y value to be calculated is passed on the output YValue and the validity of the value is signalled by output InOperation. If the Y value to be calculated cannot be supplied directly after activation of the function block, this is indicated by output Active. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error output YValue is not updated. Influence of the inputs DisableCopy and DisableSort on the runtime behavior of the FB DisableCopy DisableSort Application FALSE FALSE An unsorted base table is given which has not yet been applied in this way in the previous calculation. The base table is copied and sorted. FALSE TRUE An already ascending sorted base table is given which has not yet been applied in this way in the previous calculation. The base table is copied, but is not sorted inside. TRUE FALSE This combination makes no meaningful condition. TRUE TRUE The same base table was already applied in previous calculations. Therefore it is already known inside and is sorted ascending. Fig.3-51: Assignment of inputs DisableCopy and DisableSort The sorting of the base table after activation of the function block causes under circumstances, that the function block due to the constraint on max. permissible runtime cannot supply the wished initial value in the first or following cycle. This duration at beginning of the activation is signalled by Active. Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 and Additional2 it can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16#0006 STATE_MACHINE_ERROR, 16# #F Inputs invalid 16#F xx Invalid state of the State machine. xx indicates the invalid state. RESSOURCE_ERROR 16#F Reference to the base system could not be found SYSTEM_ERROR 16#F Function block may not lie in the RETAIN data range Fig.3-52: Error numbers, caused by ML_InterpolationLinear 3.13 ML_PT1Type01 Brief Description The function block ML_PT1Type01 realizes a delay 1st order (PT1).

44 40/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Interface Interface Variables Fig.3-53: Interface function: ML_PT1Type01 Name Type Comment VAR_INPUT Enable BOOL Processing release of the function block (cyclical, state-triggered) ActValue LREAL Input value x TimeConst TIME Time constant [ms] Gain LREAL Gain factor VAR_OUTPUT InOperation BOOL Calculation of the filter size completed without error, output variable ControlValue is valid Error ErrorID ErrorIdent BOOL ERROR_C ODE ERROR_ STRUCT Calculation of the filter size ControlValue completed with error, output variable ErrorIdent is valid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error ControlValue LREAL Filter output value y ActScanTime TIME Filter cycle time [ms] Specification Fig.3-54: Interface variables function block: ML_PT1Type01 The function block ML_PT1Type01 is based on the following bases for calculation: Fig.3-55: Transfer function function block: ML_PT1Type01 Functional Description Fig.3-56: Recursion equation function block: ML_PT1Type01 Basis: Trapezoid rule after Tustin (bilinear transformation) The function block ML_PT1Type01 calculates cyclic the filter output value ControlValue after the processing release of the function block by means of Enable.

45 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 41/121 Function Blocks of Library ML_TechCommon In case of the error-free processing of the function block the validity of the filter output value is signalled by output InOperation, in this case the elements of the output structure ErrorIdent are not updated. If an error appears during the processing of the function block, this is signalled by the output Error as well as is specified by the in this case updated elements of the output structure ErrorIdent. In case of an error the outputs ControlValue and ActScanTime are not updated. Error Handling Fig.3-57: Gain factor Gain = 1; delay time TimeConst = 100ms Jump response function block: ML_PT1Type01 The function block uses the error table MLC_TABLE, 16#0030. In Additional1 and Additional2 it can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16#0006 STATE_MACHINE_ERROR, 16#0005 CALCULATION_ERROR, 16# #F Inputs invalid 16#F xx Invalid state of the State machine. xx indicates the invalid state. 16#F Calculation results in invalid values RESSOURCE_ERROR 16#F Reference to the base system could not be found SYSTEM_ERROR 16#F Function block may not lie in the RETAIN data range Fig.3-58: Error numbers, caused by ML_InterpolationLinear 3.14 ML_TwoPosCtrlType01 Brief Description Interface The function block ML_TwoPosCtrlType01 realizes a two-position controller with hysteresis.

46 42/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Function Blocks of Library ML_TechCommon Interface Variables Fig.3-59: Interface function: ML_TwoPosCtrlType01 Name Type Comment VAR_INPUT Enable BOOL Processing release of the function block (cyclical, state-triggered) InitValue BOOL Preset value for actuating variable y SetPoint LREAL Command variable w (setpoint) ActValue LREAL Control variable x (actual value) HysteresisHi LREAL Upper operating threshold of the hysteresis HysteresisLo LREAL Lower operating threshold of the hysteresis VAR_OUTPUT InOperation BOOL Calculation of the actuating variable y completed without error, output variable ControlValue is valid Error ErrorID ErrorIdent BOOL ERROR_CO DE ERROR_ST RUCT Calculation of the actuating variable ControlValue completed with error, output variable ErrorIdent is valid With set Error -Output this output contains a rough classification of the error Description of the diagnosis in case of an error ControlValue BOOL Controller output value actuating variable y ActScanTime TIME Controller cycle time [ms] Specification Fig.3-60: Interface variables function block: ML_TwoPosCtrlType01 The function block ML_TwoPosCtrlType01 can be adapted in its properties via the following input variables: HysteresisHi : The input must be precovered with a positive value or zero, the value zero switches off the positive hysteresis. HysteresisLo : The input must be precovered with a negative value or zero, the value zero switches off the negative hysteresis. With the calculation of the actuating ControlValue variable FALSE is dominant, i.e. with HysteresisLo == HysteresisHi == zero, with a system deviation of zero ( SetPoint == ActualValue ) the output ControlValue is always FALSE.

47 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 43/121 Function Blocks of Library ML_TechCommon Functional Description The function block ML_TwoPosCtrlType01 covers after the processing release of the function block by means of Enable in the first controller cycle the internal controller condition as well as the controller output to the applied preset value at input PresetValue and calculates in the following cycles cyclic the actuating variable ControlValue. In case of the error-free processing of the function block the validity of the actuating variable is signalled by output InOperation, in this case the elements of the output structure ErrorID and ErrorIdent are not updated. Error Handling Fig.3-61: Hysteresis function block: ML_TwoPosCtrlType01 If an error appears during the processing of the function block, this is signalled by the Error output as well as is specified by the in this case updated elements of the output structure ErrorID and ErrorIdent. In case of an error the outputs ControlValue and ActScanTime are not updated. The function block uses the error table MLC_TABLE, 16#0030. In Additional1 and Additional2 it can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16#0006 STATE_MACHINE_ERROR, 16# #F Inputs invalid 16#F xx Invalid state of the State machine. xx indicates the invalid state. RESSOURCE_ERROR 16#F Reference to the base system could not be found SYSTEM_ERROR 16#F Function block may not lie in the RETAIN data range Fig.3-62: Error numbers, caused by ML_InterpolationLinear

48 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description

49 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 45/ Introduction and Overview Preconditions The function blocks for application Cam blocks ML_CAMTableTypexx enable to allow to calculate different cams. The created cams can be loaded directly in the drive. The created cams cannot be used in motion profiles, because they are not segmentable. The function blocks are available for the different applications like Cross Cutter, Pilger Step Operation, Print Lengths Correction, etc. Some function blocks are compatible to the systems Rexroth VisualMotion and Rexroth Synax 200. Cam function blocks of library ML_TechCam.lib require the firmware support of the target system MLC03. Specific preconditions of the Cam function blocks are documented in the chapter of the corresponding function blocks. The library ML_TechCam.lib uses functions and data types of library RIL_CommonTypes.lib. Therefore, in addition, these libary must be included in the PLC- Project. 4.2 Function Blocks for Application Cam Blocks ML_CamTableType01 Brief Description Interface Description The function block calculates a cam table with 1024 interpolation points for the Technology Function Cross Cutter or Rotation Shear for short formats. The created cam table contains from about the double format length in reference to the circumference of the knife cylinder elements with negative signs, i.e. the drive shows a positive and negative rotating direction in this case. Fig.4-1: Interface function block: ML_CamTableType01 Name Type Comment VAR_IN_OUT CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) Format Length Sync-Length LREAL LREAL Format length, i. e. length of the product [Unit] Synchronous format length, i. e. circumference of the knife cylinder [Unit] CutAngle LREAL Cutting angle, range of the synchronous motion [DEG] CamProf USINT Selection of the cam profile VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid

50 46/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Name Type Comment Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Signal-Time-Diagram Fig.4-2: Interface of FB ML_CamTableType01 Properties of the Cam Fig.4-3: Signal-Time-Diagram function block: ML_CamTableType01 The cam table of the function block ML_CamTableType01 has the following properties: The function block is based upon the function block MSV_CamTable Type01 of Rexroth SYNAX 200. The cam table created by the function block is ordered symmetrically around the 512th element. The cam parameters for the processing in the drive can be refered in the help system. The motion profile characterized by the cam table is constantly up to velocity (s, v) and shows a jump in the acceleration (a). The cam table created by the function block contains from about the double format length in reference to the circumference of the knife cylinder elements with negative signs, i.e. the drive shows a positive and negative rotating direction.

51 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 47/121 The function block can create profiles for endless turning cams with reduction ( CamProf == 0) as well as for superimposition profiles with reduction CamProf == 1). The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC. Fig.4-4: FormatLength: 0.5 * SyncLength Motion profile function block: ML_CamTableType01 Fig.4-5: FormatLength: 1.5 * SyncLength Motion profile function block: ML_CamTableType01

52 48/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Functional Description Fig.4-6: FormatLength: 2.5 * SyncLength Motion profile function block: ML_CamTableType01 With the default, in an angular range CutAngle determined by the cutting process to hold the circumferential velocity of the knife roll synchronously to the velocity of the material web, the function block calculates one-time on basis of the input parameters a cam table with 1024 interpolation points after the processing release by means of Execute. To be able to cut synchronously formats which differ in their length from the circumference of the knife roll SyncLength with only one cut roll, a compensation movement calculated by the function block must take place. This compensation movement is characterized by a continuity up to velocity. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated.

53 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 49/121 Fig.4-7: Schematic diagram Cross Cutter Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. CALCULATION_ERROR, 16# #F Calculation results in invalid values Fig.4-8: ML_CamTableType02 Brief Description Interface Description Error numbers, caused by ML_CamTableType01 The function block calculates a cam table with 1024 interpolation points for the Technology Function Cross Cutter or Rotation Shear for short formats on basis of the VDI2143. The created cam table contains from about the double format length in reference to the circumference of the knife cylinder elements with negative signs, i.e. the drive shows a positive and negative rotating direction. Fig.4-9: Interface function block: ML_CamTableType02 Name Type Comment VAR_IN_OUT CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered)

54 50/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Name Type Comment Format Length Sync-Length LREAL LREAL Format length, i. e. length of the product [Unit] Synchronous format length, i. e. circumference of the knife cylinder [Unit] CutAngle LREAL Cutting angle, range of the synchronous motion [DEG] CamProf USINT Selection of the cam profile VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Signal-Time-Diagram Fig.4-10: Interface variables function block: ML_CamTableType02 Properties of the Cam Fig.4-11: Signal-Time-Diagram function block: ML_CamTableType02 The cam table of the function block ML_CamTableType02 has the following properties: The function block is based upon the function block MSV_CamTable Type02 of Rexroth SYNAX 200. The cam table created by the function block is ordered symmetrically around the 512th element.

55 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 51/121 The cam parameters for the processing in the drive can be refered in the help system. The motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The cam table created by the function block contains from about the double format length in reference to the circumference of the knife cylinder elements with negative signs, i.e. the drive shows a positive and negative rotating direction in this case. The function block can create profiles for endless turning cams with reduction ( CamProf == 0) as well as for superimposition profiles with reduction CamProf == 1). The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC. Fig.4-12: FormatLength: 0.5 * SyncLength Motion profile function block: ML_CamTableType02

56 52/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-13: FormatLength: 1.5 * SyncLength Motion profile function block: ML_CamTableType02 Functional Description Fig.4-14: FormatLength: 2.5 * SyncLength Motion profile function block: ML_CamTableType02 With the default, in an angular range CutAngle determined by the cutting process to hold the circumferential velocity of the knife roll synchronously to the

57 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 53/121 velocity of the material web, the function block calculates one-time on basis of the input parameters a cam table with 1024 interpolation points after the processing release by means of Execute. To be able to cut synchronously formats which differ in their length from the circumference of the knife roll SyncLength with only one cut roll, a compensation movement calculated by the function block must take place. This compensation movement is characterized by a continuity up to acceleration. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated. Fig.4-15: Schematic diagram Cross Cutter Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. CALCULATION_ERROR, 16# #F Calculation results in invalid values Fig.4-16: ML_CamTableType03 Brief Description Error numbers, caused by ML_CamTableType02 The function block calculates a cam table with 1024 interpolation points for the Technology Function Cross Cutter or Rotation Shear for long formats on basis of the VDI2143. The created cam table is suitable for format lengths which are, dependent on cutting angle CutAngle, at least twice as largely than the syn

58 54/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Interface Description chronous format length SyncLength. The cam profile contains a standstill zone between the cuts. Fig.4-17: Interface function block: ML_CamTableType03 Name Type Comment VAR_IN_OUT CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) Format Length Sync-Length LREAL LREAL Format length, i. e. length of the product [Unit] Synchronous format length, i. e. circumference of the knife cylinder [Unit] CutAngle LREAL Cutting angle, range of the synchronous motion [DEG] CamProf USINT Selection of the cam profile VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Fig.4-18: Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Interface variables function block: ML_CamTableType03

59 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 55/121 Signal-Time-Diagram Properties of the Cam Fig.4-19: Signal-Time-Diagram function block: ML_CamTableType03 The cam table of the function block ML_CamTableType03 has the following properties: The function block is based upon the function block MSV_CamTable Type03 of Rexroth SYNAX 200. The cam parameters for the processing in the drive can be refered in the help system. The motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The cam table created by the function block is suitable for format lengths which are, dependent on cutting angle CutAngle, at least twice as largely than the synchronous format length SyncLength. The cam profile contains a standstill zone between the cuts. The function block can create profiles for endless turning cams with reduction ( CamProf == 0) as well as for superimposition profiles with reduction CamProf == 1). The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC.

60 56/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-20: FormatLength: 2.5 * SyncLength Motion profile function block: ML_CamTableType03 Fig.4-21: FormatLength: 4.0 * SyncLength Motion profile function block: ML_CamTableType03

61 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 57/121 Functional Description Fig.4-22: FormatLength: 6.0 * SyncLength Motion profile function block: ML_CamTableType03 With the default, in an angular range CutAngle determined by the cutting process to hold the circumferential velocity of the knife roll synchronously to the velocity of the material web, the function block calculates one-time on basis of the input parameters a cam table with 1024 interpolation points after the processing release by means of Execute. To be able to cut synchronously formats which differ in their length from the circumference of the knife roll SyncLength with only one cut roll, a compensation movement calculated by the function block must take place. This compensation movement is characterized by a continuity up to acceleration. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated.

62 58/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-23: Schematic diagram Cross Cutter Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR,16# #F xx Invalid state of the State machine. xx indicates the invalid state. CALCULATION_ERROR, 16# #F Calculation results in invalid values Fig.4-24: ML_CamTableType04 Brief Description Interface Description Error numbers, caused by ML_CamTableType03 The function block calculates a cam table with 1024 base elements as well as the strokes of the forward- and return transport for the Pilger Step Operation on basis of the VDI2143. Fig.4-25: Interface function block: ML_CamTableType04 Name Type Comment VAR_IN_OUT CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered)

63 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 59/121 Name Type Comment Format Length LREAL Format length, i. e. length of the product [Unit] CircPrintUnit LREAL Circumference print cylinder [Unit] CircInfeed LREAL Circumference feeder roll [Unit] FineAdjust LREAL Fine adjust [%] CamProf USINT Selection of the cam profile (for future extensions) VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent CamStroke High CamStroke Low BOOL BOOL ERROR_CODE ERROR_STRUCT LREAL LREAL Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Stroke P Outfeed / P Infeed Stroke P Infeed / P Outfeed Signal-Time-Diagram Fig.4-26: Interface variables function block: ML_CamTableType04 Fig.4-27: Signal-Time-Diagram function block: ML_CamTableType04

64 60/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Properties of the Cam The cam table of the function block ML_CamTableType04 has the following properties: The function block is based upon the function block MSV_CamTable Type04 of Rexroth SYNAX 200. The cam parameters for the processing in the drive can be refered in the help system. The compensation movement characterized by the cam table to the return transport of the web is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The compensation movement begins with the first table element, in the following a linear angle-synchronous increase to the print cylinder follows. The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC. The calculated strokes of the ML_CamTableType04 has the following properties: The strokes are dependent on the print format and the circumference of the Infeed roll. The stroke CamStrokeHigh is provided for parameter P of the Infeed roll and parameter P of the Outfeed roll, the stroke Cam StrokeLow for parameter P of the Infeed roll and parameter P of the Outfeed roll. To the production of the web tension the stroke for the pretransport of the Outfeed roll and the stroke for the return transport of the Infeed roll are by the fine adjust greater than the stroke for the return transport of the Infeed roll and the stroke for the pretransport of the Outfeed roll. Fig.4-28: CircPrintUnit: 1.0 * FormatLength Motion profile function block: ML_CamTableType04

65 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 61/121 Fig.4-29: CircPrintUnit: 2.5 * FormatLength Motion profile function block: ML_CamTableType04 Fig.4-30: CircPrintUnit: 6.0 * FormatLength Motion profile function block: ML_CamTableType04

66 62/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Functional Description Fig.4-31: CircPrintUnit: 13.0 * FormatLength Motion profile function block: ML_CamTableType04 From the mechanical data of the circumference of the Infeed roll CircInfeed, the circumference of the print cylinder CircPrintUnit and the printing plate length FormatLength on the print cylinder the function block ML_CamTable Type04 calculates one-time a cam table with 1024 interpolation points after the processing release by means of Execute. It is assumed that the circumference of the Infeed roll and the circumference of the Outfeed roll are identical. To print print formats which are shorter than the circumference of the print cylinder, the web under the printing plate length is pulled back after the synchronous processing by the uncovered range at the print circumference. The compensation movement calculated by the function block is characterized by a continuity up to acceleration. The input CamProf is intended for future extensions and is without function at the moment. Appropriately by the fine adjust FineAdjust given lead 2 strokes are calculated which serve to keep the web tension constant. The stroke bigger in each case is determined for the front roll in transport direction. To the calculation of the strokes the block applies the following formulas: CamStroke Low Fig.4-32: for forward transport feeder roll parameter P and for return transport pull out roll parameter P Formula function block: ML_CamTableType04

67 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 63/121 CamStroke High Fig.4-33: for forward transport pull out roll parameter P and for return transport feeder roll parameter P Formula function block: ML_CamTableType04 In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the "Error" output. In case of an error the elements of the data array CamTable as well as the CamStrokeHigh and CamStrokeLow are not updated. Fig.4-34: Principle diagram Pilger step Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. CALCULATION_ERROR, 16# #F Calculation results in invalid values Fig.4-35: ML_CamTableType05 Brief Description Interface Description Error numbers, caused by ML_CamTableType04 The function block calculates a cam table with 1024 interpolation points for a feed movement on basis of the VDI2143. Fig.4-36: Interface function block: ML_CamTableType05

68 64/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Name Type Comment VAR_IN_OUT CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) Format Length LREAL Format length, i. e. length of the product [Unit] RangeLow UINT Starting point of the feed movement; first point of the motion profile RangeHigh UINT Endpoint of the feed movement; last point of the motion profile CamProf USINT Selection of the cam profile VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Signal-Time-Diagram Fig.4-37: Interface variables function block: ML_CamTableType05 Properties of the Cam Fig.4-38: Signal-Time-Diagram function block: ML_CamTableType05 The cam table of the function block ML_CamTableType05 has the following properties:

69 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 65/121 The function block is based upon the function block MSV_CamTable Type05 of Rexroth SYNAX 200. The cam parameters for the processing in the drive can be refered in the help system. The cam table created by the function block describes a rest-in-rest movement. The motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The function block can create profiles for endless turning cams with reduction ( CamProf == 0) as well as for superimposition profiles with reduction CamProf == 1). The algorithm for calculating the cam base points is dependent on the difference ( RangeHigh - RangeLow ) and is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC. Fig.4-39: RangeLow: 0 / RangeHigh: 1023 Motion profile function block: ML_CamTableType05

70 66/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-40: RangeLow: 0 / RangeHigh: 700 Motion profile function block: ML_CamTableType05 Fig.4-41: RangeLow: 500 / RangeHigh: 1023 Motion profile function block: ML_CamTableType05

71 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 67/121 Functional Description Fig.4-42: RangeLow: 600 / RangeHigh: 800 Motion profile function block: ML_CamTableType05 With the default of a defined feed range by the limits RangeLow and RangeHigh the function block ML_CamTableType05 calculates one-time a cam table with 1024 interpolation points on the basis of the input parameters after the processing release by means of Execute. The movement of standstill in standstill takes place with a compensation movement which is constantly up to acceleration. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated. Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. Fig.4-43: Error numbers, caused by ML_CamTableType05

72 68/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description ML_CamTableType06 Brief Description Interface Description The function block calculates a cam table with 1024 interpolation points on the basis of given coordinate pairs consisting of position [degree] and velocity. Fig.4-44: Interface function block: ML_CamTableType06 Name Type Comment VAR_IN_OUT VelocityTable ARRAY[0..127] OF ML_CAM_PAIR_TY PE01 List of the coordinate pairs, consisting of position [degree] and velocity CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) NoOfPairs UINT Number of valid coordinate pairs CamProf USINT Selection of the cam profile (for future extensions) VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Fig.4-45: Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Interface variables function block: ML_CamTableType06

73 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 69/121 Signal-Time-Diagram Properties of the Cam Fig.4-46: Signal-Time-Diagram function block: ML_CamTableType06 The cam table of the function block ML_CamTableType06 has the following properties: The function block is based upon the function block MSV_CamTable Type06 of Rexroth SYNAX 200. The cam parameters for the processing in the drive can be refered in the help system. The motion profile characterized by the cam table is constantly up to velocity (s, v) and shows a jump in the acceleration (a). The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC.

74 70/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-47: Coordinate pair: (180;100); Motion profile function block: ML_CamTableType06 Fig.4-48: Coordinate pairs: (45;100),(60;300),(90;200),(270;600); Motion profile function block: ML_CamTableType06

75 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 71/121 Functional Description Fig.4-49: Coordinate pair: (90;100); Motion profile function block: ML_CamTableType06 With the default of the coordinate pairs consisting of the position [degree] and the velocity the function block ML_CamTableType06 calculates one-time a cam table with 1024 interpolation points on the basis of the input parameters after the processing release by means of Execute. If the interpolation point (0; 0) is no given coordinate pair, so this point is automatically considered with the calculation of the cam table. The input CamProf is intended for future extensions and is without function at the moment. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated. Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. Fig.4-50: ML_CamTableType07 Brief Description Error numbers, caused by ML_CamTableType06 The function block calculates a cam table with 1024 interpolation points on the basis of given coordinate pairs consisting of position [degree] and velocity.

76 72/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Interface Description Fig.4-51: Interface function block: ML_CamTableType07 Name Type Comment VAR_IN_OUT VelocityTable ARRAY[ ] OF ML_CAM_PAIR_TY PE01 List of the coordinate pairs, consisting of position [degree] and velocity CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) NoOfPairs UINT Number of valid coordinate pairs Shape LREAL Factor for jerk limitation CamProf USINT Selection of the cam profile (for future extensions) VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Fig.4-52: Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Interface variables function block: ML_CamTableType07

77 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 73/121 Signal-Time-Diagram Properties of the Cam Fig.4-53: Signal-Time-Diagram function block: ML_CamTableType07 The cam table of the function block ML_CamTableType07 has the following properties: The function block is based upon the firmware function VCAM of Rexroth VisualMotion. The cam parameters for the processing in the drive can be refered in the help system. Dependent on the Shape factor the motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC.

78 74/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-54: Coordinate pairs: (0;0),(180;300),(360;0) / Shape: 0 Motion profile function block: ML_CamTableType07 Functional Description Fig.4-55: Coordinate pairs: (0;0),(180;300),(360;0) / Shape: 1 Motion profile function block: ML_CamTableType07 With the default of the coordinate pairs consisting of the position [degree] and the velocity the function block ML_CamTableType07 calculates one-time a cam table with 1024 interpolation points on the basis of the input parameters after the processing release by means of Execute. To the calculation of the cam table at least two coordinate pairs must be present.

79 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 75/121 By the factor Shape, which is intended to the limitation of the jerk, smoothing the velocity takes place. The effect of the factor is to be seen in the previous figures. The cam calculated by the function block ML_CamTableType07 is usable only as an endless cam, if the first (0; 0) and the last interpolation point amount to (360; 0). If this is not the case, so with the transitions of the cams it comes to discontinuities in the position. If the interpolation points named at the top are inserted with the function block and the factor Shape is set to 0%, the created cam is identical to the cam of function block ML_CamTableType06, page 68,. The input CamProf is intended for future extensions and is without function at the moment. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated. Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. Fig.4-56: ML_CamTableType08 Brief Description Interface Description Error numbers, caused by ML_CamTableType07 The function block calculates a cam table with 1024 interpolation points on the basis of given coordinate pairs consisting of position [degree] and acceleration. Fig.4-57: Interface function block: ML_CamTableType08 Name Type Comment VAR_IN_OUT Acceleration Table ARRAY[ ] OF ML_CAM_PAIR_TY PE01 List of the coordinate pairs, consisting of position [degree] and acceleration CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) NoOfPairs UINT Number of valid coordinate pairs

80 76/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Name Type Comment Shape LREAL Factor for jerk limitation CamProf USINT Selection of the cam profile (for future extensions) VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Signal-Time-Diagram Fig.4-58: Interface variables function block: ML_CamTableType08 Properties of the Cam Fig.4-59: Signal-Time-Diagram function block: ML_CamTableType08 The cam table of the function block ML_CamTableType08 has the following properties: The function block is based upon the firmware function ACAM of Rexroth VisualMotion. The cam parameters for the processing in the drive can be refered in the help system. The motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC.

81 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 77/121 Fig.4-60: Coordinate pairs: (0;0),(45;50),(90;100),(180;200),(300;100),(360;800) Shape: 0 Motion profile function block: ML_CamTableType08 Fig.4-61: Coordinate pairs: (0;0),(90;200),(180;400),(270;200) Shape: 1 Motion profile function block: ML_CamTableType08

82 78/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Functional Description Fig.4-62: Coordinate pairs: (180;100),(360;300) / Shape: 1 Motion profile function block: ML_CamTableType08 With the default of the coordinate pairs consisting of the position [degree] and the acceleration the function block ML_CamTableType08 calculates one-time a cam table with 1024 interpolation points on the basis of the input parameters after the processing release by means of Execute. To the calculation of the cam table at least two coordinate pairs must be present. The function block ML_CamTableType08 is to be used if the wished cam profile is given by individual interpolation points which should be moved by means of a Rest-in-Rest movement. Besides, the target points are connected with a polynomial 5th order. This results in that every target point from the input data is approached with an acceleration- and deceleration movement, i.e. in every target point the velocity = 0. The input CamProf is intended for future extensions and is without function at the moment. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated. Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages:

83 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 79/121 ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. Fig.4-63: ML_CamTableType09 Brief Description Interface Description Error numbers, caused by ML_CamTableType08 The function block calculates a cam table with 1024 interpolation points on the basis of given coordinate pairs consisting of position [degree] and position. Fig.4-64: Interface function block: ML_CamTableType09 Name Type Comment VAR_IN_OUT PositionTable ARRAY[ ] OF ML_CAM_PAIR_TY PE01 List of the coordinate pairs, consisting of position [degree] and position CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) NoOfPairs UINT Number of valid coordinate pairs Shape LREAL Factor for jerk limitation CamProf USINT Selection of the cam profile (for future extensions) VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Fig.4-65: Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Interface variables function block: ML_CamTableType09

84 80/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Signal-Time-Diagram Properties of the Cam Fig.4-66: Signal-Time-Diagram function block: ML_CamTableType09 The cam table of the function block ML_CamTableType09 has the following properties: The function block is based upon the firmware function PCAM of Rexroth VisualMotion. The cam parameters for the processing in the drive can be refered in the help system. Dependent on the Shape factor the motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC.

85 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 81/121 Fig.4-67: Coordinate pairs: (0;0),(45;50),(90;100),(180;200),(300;100), (360;800) / Shape: 0 Motion profile function block: ML_CamTableType09

86 82/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Functional Description Fig.4-68: Coordinate pairs: (10;200),(30;60),(180;200),(300;10) / Shape: 1 Motion profile function block: ML_CamTableType09 With the default of the coordinate pairs consisting of the position [degree] and the position the function block ML_CamTableType09 calculates one-time a cam table with 1024 interpolation points on the basis of the input parameters after the processing release by means of Execute. To the calculation of the cam table at least two coordinate pairs must be present. The function block ML_CamTableType09 is to be used if the wished cam profile is given by individual interpolation points which should be moved by means of a "Rest-in-Rest" movement. Besides, the target points are connected with a polynomial 5th order. This results in that every target point from the input data is approached with an acceleration- and deceleration movement, i.e. in every target point the velocity = 0. The input CamProf is intended for future extensions and is without function at the moment. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated. Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages:

87 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 83/121 ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. Fig.4-69: ML_CamTableType10 Brief Description Interface Description Error numbers, caused by ML_CamTableType09 The function block calculates a cam table with 1024 interpolation points on the basis of given coordinate pairs consisting of position [degree] and position. Fig.4-70: Interface function block: ML_CamTableType10 Name Type Comment VAR_IN_OUT PositionTable ARRAY[ ] OF ML_CAM_PAIR_TY PE01 List of the coordinate pairs, consisting of position [degree] and position CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) NoOfPairs UINT Number of valid coordinate pairs CamProf UINT Selection of the cam profile (for future extensions) VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Fig.4-71: Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Interface variables function block: ML_CamTableType10

88 84/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Signal-Time-Diagram Properties of the Cam Fig.4-72: Signal-Time-Diagram function block: ML_CamTableType10 The cam table of the function block ML_CamTableType10 has the following properties: The function block is based upon the firmware function SCAM of Rexroth VisualMotion. The cam parameters for the processing in the drive can be refered in the help system. The motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC.

89 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 85/121 Fig.4-73: Coordinate pairs: (0;0),(10;10),(20;50),(90;300),(320;600),(360;700) Motion profile function block: ML_CamTableType10 Fig.4-74: Coordinate pairs: (0;0),(30;10),(90;30),(180;10),(270;60),(360;0) Motion profile function block: ML_CamTableType10

90 86/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Functional Description Fig.4-75: Coordinate pairs: (200;300),(220;400),(240;500),(260;700),(280;700), (300;900) Motion profile function block: ML_CamTableType10 With the default of the coordinate pairs consisting of the position [degree] and the position the function block ML_CamTableType10 calculates one-time a cam table with 1024 interpolation points on the basis of the input parameters after the processing release by means of Execute. To the calculation of the cam table at least two coordinate pairs must be present. At the function block the individual value pairs will be passed through without rest. Besides, the target positions are connected with a Spline polynomial 3rd order. The input CamProf is intended for future extensions and is without function at the moment. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated. Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR 16# #F Inputs invalid STATE_MACHINE_ERROR 16# #F xx Invalid state of the State machine. xx indicates the invalid state. Fig.4-76: Error numbers, caused by ML_CamTableType10

91 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 87/ ML_CamTableType11 Brief Description Interface Description The function block calculates a cam table with 1024 interpolation points for the Technology Function Cross Cutter or Rotation Shear on basis of the VDI2143. The function block combines both function blocks ML_CamTableType02, page 49 and ML_CamTableType03, page 53, i. e. if required, it switches over automatically from ML_CamTableType02 to ML_CamTableType03. Fig.4-77: Interface function block: ML_CamTableType11 Name Type Comment VAR_IN_OUT CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) Format Length Sync-Length LREAL LREAL Format length, i. e. length of the product [Unit] Synchronous format length, i. e. circumference of the knife cylinder [Unit] CutAngle LREAL Cutting angle, range of the synchronous motion [DEG] CamProf USINT Selection of the cam profile Reverse Mode MaxReverse Pos BOOL LREAL Release of the reverse turn Maximum position of the reverse turn [deg] VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Fig.4-78: Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Interface variables function block: ML_CamTableType11

92 88/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Signal-Time-Diagram Properties of the Cam Fig.4-79: Signal-Time-Diagram function block: ML_CamTableType11 The cam table of the function block ML_CamTableType11 has the following properties: The function block is based upon the function block MSV_CamTable Type11 of Rexroth SYNAX 200. The cam table created by the function block is ordered symmetrically around the 512th element. The cam parameters for the processing in the drive can be refered in the help system. The motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The function block can create profiles for endless turning cams with reduction ( CamProf == 0) as well as for superimposition profiles with reduction CamProf == 1). The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC. The cam table created by the function block contains with activated ReverseMode and MaxReversePos unequal zero from about the double format length in reference to the circumference of the knife cylinder elements with negative signs, i.e. the drive shows a positive and negative rotating direction. The negative rotating direction is limited by MaxReversePos ; with exceeding the limit the function block automatically changes over to ML_CamTableType03. The cam table created by the function block contains with deactivated ReverseMode, with MaxReversePos equal zero or with exceeding the limit of the negative rotating direction a standstill zone between the cuts. The maximum angle MaxReversePos is limited to 180 less half a cut angle.

93 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 89/121 On the basis of mathematic conditions no floating transition is possible between ML_CamTableType02 and ML_CamTable Type03, i.e. dependent on the input parameters there are not defined and therefore forbidden conditions with the automatic change-over of ML_CamTableType02 to ML_CamTable Type03 which are answered with an error by the function block. Fig.4-80: FormatLength: 0.5 * SyncLength Motion profile function block: ML_CamTableType11

94 90/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-81: FormatLength: 1.5 * SyncLength Motion profile function block: ML_CamTableType11 Fig.4-82: FormatLength: 2.5 * SyncLength / ReverseMode: TRUE Motion profile function block: ML_CamTableType11

95 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 91/121 Fig.4-83: FormatLength: 2.5 * SyncLength / ReverseMode: FALSE Motion profile function block: ML_CamTableType11 Functional Description Fig.4-84: FormatLength: 4.0 * SyncLength / ReverseMode: FALSE Motion profile function block: ML_CamTableType11 With the default, in an angular range CutAngle determined by the cutting process to hold the circumferential velocity of the knife roll synchronously to the velocity of the material web, the function block calculates one-time on basis of the input parameters a cam table with 1024 interpolation points after the processing release by means of Execute.

96 92/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description To be able to cut synchronously formats which differ in their length from the circumference of the knife roll SyncLength with only one cut roll, a compensation movement calculated by the function block must take place. This compensation movement is characterized by a continuity up to velocity. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent whereas the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the output Error as well as is specified by the in this case updated elements of the output structure ErrorIdent. In case of an error the elements of the data array CamTable are not updated. Fig.4-85: Schematic diagram Cross Cutter Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR 16# #F Inputs invalid STATE_MACHINE_ERROR 16# #F xx Invalid state of the State machine. xx indicates the invalid state. CALCULATION_ERROR 16# #F Calculation results in invalid values Fig.4-86: ML_CamTableType12 Brief Description Error numbers, caused by ML_CamTableType11 The function block calculates a cam table with 1024 interpolation points for the Technology Function Print Length Correction on basis of the VDI2143.

97 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 93/121 Interface Description Fig.4-87: Interface function block: ML_CamTableType12 Name Type Comment VAR_IN_OUT CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) PrintFormat LREAL Expected, nominal print format Sync-Length LREAL Synchronous format length, i.e. circumference of the print cylinder Correction LREAL Print correction to the compensation of the deviation CamProf USINT Selection of the cam profile VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active BOOL Calculation of the cam elements active, output variables invalid Error ErrorID ErrorIdent BOOL ERROR_CODE ERROR_STRUCT Fig.4-88: Calculation of the cam elements completed with error, output variable ErrorIdent is valid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Interface variables function block: ML_CamTableType12

98 94/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Signal-Time-Diagram Properties of the Cam Fig.4-89: Signal-Time-Diagram function block: ML_CamTableType12 The cam table of the function block ML_CamTableType12 has the following properties: The function block is based upon the function block MSV_CamTable Type12 of Rexroth SYNAX 200. The cam parameters for the processing in the drive can be refered in the help system. The motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The function block can create profiles for endless turning cams with reduction ( CamProf == 0) as well as for superimposition profiles with reduction CamProf == 1). The print lengths correction, i.e. the continuation or shortening of the print length format is based on an enlargement or decrease of the velocity of the print cylinder during the print and concluding compensation movement. The print format, i.e. the print lengths format, may amount incl. of the print correction only to a part of the synchronous format length, i.e. between two printings a print-free zone must exist which is used for the compensation movement. The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC.

99 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 95/121 Fig.4-90: Profiles of the print lengths correction

100 96/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-91: SyncLength: 1.3 * PrintLength / Correction: -200 Motion profile function block: ML_CamTableType12

101 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 97/121 Fig.4-92: SyncLength: 1.3 * PrintLength / Correction: 0 Motion profile function block: ML_CamTableType12

102 98/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-93: SyncLength: 1.3 * PrintLength / Correction: 200 Motion profile function block: ML_CamTableType12 Functional Description Fig.4-94: Parameter for the print lengths correction With the default of the formats and the correction the function block ML_Cam TableType12 calculates one-time a cam table with 1024 interpolation points on the basis of the input parameters after the processing release by means of Execute. The sum from print format and print correction may not exceed the circumference of the print roll. The necessary positive and negative acceleration values rise with sinking print-free zone. A positive correction value increases the way covered by the print cylinder with same master axis position and therefore reduces the print format. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable with weighting in percent where

103 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 99/121 as the validity of the cam elements is signalled by the Done output. The created cam can be loaded directly in the drive. If an error appears during the processing of the function block, this is signalled by the output Error as well as is specified by the in this case updated elements of the output structure ErrorIdent. In case of an error the elements of the data array CamTable are not updated. Error Handling The function block uses the error table MLC_TABLE, 16#0030. In Additional1 / Additional2 he can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. Fig.4-95: ML_CamTableType13 Error numbers, caused by ML_CamTableType12 Brief Description The function block ML_CamTableType13 calculates a cam table with 1024 base points for the Technology Function Cross Cutter or Rotation Shear. The function block enables by delay of the inflection point of the motion profile an adaptation of the transition behavior between non-synchronous and synchronous area (e.g., for the purpose of softer run-in in the cutting area). The created cam table contains, dependent on the position of the inflection point, from about the double format length in reference to the circumference of the knife cylinder elements with negative signs, i.e. the drive shows a positive and negative rotating direction. Interface Description Fig.4-96: Interface function block: ML_CamTableType13 Name Type Comment VAR_IN_OUT CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) Format Length Sync-Length LREAL LREAL Format length, i. e. length of the product [Unit] Synchronous format length, i. e. circumference of the knife cylinder [Unit] CutAngle LREAL Cutting angle, range of the synchronous motion [DEG] Inflection Point LREAL Inflection point position within the non-synchronous area [%]

104 100/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Name Type Comment CamProf USINT Selection of the cam profile VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Signal-Time-Diagram Fig.4-97: Interface of FB ML_CamTableType13 Properties of the Cam Fig.4-98: Signal-Time-Diagram function block: ML_CamTableType13 The cam table of function block ML_CamTableType13 has the following properties: The function block is based upon the function block MSV_CamTable Type13 of Rexroth SYNAX 200. The cam table created by the function block is ordered symmetrically around the 512th element. The cam parameters for the processing in the drive can be refered in the help system. The motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The cam table created by the function block contains, dependent on the position of the inflection point, from about the double format length in ref

105 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 101/121 Motion Profiles erence to the circumference of the knife cylinder elements with negative signs, i.e. the drive shows a positive and negative rotating direction. The function block can create profiles for endless turning cams with reduction ( CamProf == 0) as well as for superimposition profiles with reduction CamProf == 1). For the application of this cam on the control or in a motion profile in the drive, the cam must be present as a "segmentable cam". In addition, instead of CamProf == 1, CamProf == 11 must be chosen. The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC. The inflection point can be shifted between-100% and 100% within the compensation movement, a movement profile with a position offset of the inflection point of 0% is symmetrically in its compensation movement Fig.4-99: FormatLength: 0.25 * SyncLength; 50 ; IP = 0%; Profile 0 Motion profile function block: ML_CamTableType13

106 102/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-100: FormatLength: 0.25 * SyncLength; 50 ; IP = 0%; Profile 1 Motion profile function block: ML_CamTableType13 Fig.4-101: FormatLength: 0.25 * SyncLength; 50 ; IP = -40%; Profile 0 Motion profile function block: ML_CamTableType13

107 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 103/121 Functional Description Fig.4-102: FormatLength: 0.25 * SyncLength; 50 ; IP = -40%; Profile 1 Motion profile function block: ML_CamTableType13 With the default, in an angular range CutAngle determined by the cutting process to hold the circumferential velocity of the knife roll synchronously to the velocity of the material web, the function block calculates one-time on basis of the input parameters a cam table with 1024 interpolation points after the processing release by means of Execute. To be able to cut synchronously formats which differ in their length from the circumference of the knife roll SyncLength with only one cut roll, a compensation movement calculated by the function block must take place. This compensation movement is characterized by a continuity up to velocity. The position of the inflection point in the compensation movement can be shifted by input InflectionPoint. The offset around the originally symmetric inflection point ( InflectionPoint = 0%) takes place between -100% +100%, whereas negative values cause an offset to the left and positive values an offset to the right. The function block can create profiles for endless turning cams with reduction ( CamProf == 0) as well as for superimposition profiles with reduction Cam Prof == 1). In addition, it can also calculate "segmentable cams" for superimposition profiles with reduction ( CamProf == 11). In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable inclusive weighting and format adaptation whereas the validity of the cam elements is signalled by the Done output. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated.

108 104/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Error Handling Fig.4-103: Schematic diagram Cross Cutter The function block uses the error table MLC_TABLE, 16#0030. In Additional1 and Additional2 it can create the following error messages: ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F Inputs invalid STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. Fig.4-104: ML_CamTableType14 Error numbers, caused by ML_CamTableType13 Brief Description The function block ML_CamTableType14 calculates a cam table with 1024 base points for the Technology Function "Extended slotting" and is applied preferred in the sheet fed printing field. The function block ML_CamTableType14 covers the following functionalities: Slotting with slotter discs whose knife flight circle is smaller than the synchronous format length, e.g. range of the print cylinder Slotting with single slotter in Skip feed mode with a sheet of paper over two machine unwinds (one slot per sheet) Slotting with double slotter in Skip feed mode with a sheet of paper over two machine unwinds (two slots per sheet)

109 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 105/121 Interface Description Fig.4-105: Interface function block: ML_CamTableType14 Name Type Comment VAR_IN_OUT CamTable ARRAY [ ] OF REAL List of the cam elements VAR_INPUT Execute BOOL Release of the function block (one-time, edge-triggered) Sync-Length LREAL Synchronous format length, i.e. mechanical unwind length of the machine, e.g. circumference of the print cylinder CircSlotter LREAL Circumference of the slotting disc or knife flight circle SlotLength LREAL Length of a slot, i.e. effective knife length SkipMode LREAL (Number of machine cycles + 1) per sheet CamProf USINT Selection of the cam profile and position of the synchronous range VAR_OUTPUT Done BOOL Calculation of the cam completed without error, list of the cam elements is valid Active Error ErrorID ErrorIdent BOOL BOOL ERROR_CODE ERROR_STRUCT Fig.4-106: Calculation of the cam elements is active, list of the cam elements is invalid Calculation of the cam elements completed with error, list of the cam elements is invalid With set Error -Output this output contains a rough classification of the error With set Error -Output this output contains detailed information about the error Interface of FB ML_CamTableType14

110 106/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Signal-Time-Diagram Properties of the Cam Fig.4-107: Signal-Time-Diagram function block: ML_CamTableType14 The cam table of function block ML_CamTableType14 has the following properties: The function block is based upon the function block MSV_CamTable Type14 of Rexroth SYNAX 200. The parameters for the processing in the drive can be refered in the help system. The motion profile characterized by the cam table is constantly up to acceleration (s, v, a) and shows a jump in the jerk (j). The function block can create profiles for endless turning cams with reduction ( CamProf == 0 or 2) as well as for superimposition profiles with reduction ( CamProf == 1 or 3), the movement compensation can lie at the beginning ( CamProf == 2 or 3) as well as at the end ( CamProf == 0 or 1) of the cam profile. For the application of this cam on the control or in a motion profile in the drive, the cam must be present as a "segmentable cam". In addition, instead of CamProf == 1, CamProf == 11, or instead CamProf == 3, CamProf == 13 must be chosen. The algorithm for calculating the cam base points is shared on multiple cycles, i.e. calls of the instance, to avoid a noticeable influence on the cycle time of the PLC. With extra-long synchronous ranges the compensation movement can lead to a reverse turn. The size of the reverse turn of the slot knife is not monitored. The input allocation SkipMode = 1 stretches a working rotation on two machine cycles and the slope of the synchronous range results in a double slope. In this case a product can be processed in two machine cycles. The input allocation SkipMode = 2 stretches a working rotation on three machine cycles etc.

111 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 107/121 Cam profiles Motion Profiles Synchronous range at the beginning, compensation movement at the end Synchronous range at the end, compensation movement at the beginning Fig.4-108: Endless turning cam with reduction Superimposition profile with reduction, not segmentable segmentable Cam profiles: MSV_CamTableType14 Fig.4-109: Example 1: Synchronous range at the beginning, compensation movement at the end (SyncLength = ; CircSlotter = ; Slot Length = ; SkipMode = 0; CamProf = 0) Motion profile function block: ML_CamTableType14

112 108/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description Fig.4-110: Example 2: Synchronous range at the end, compensation movement at the beginning (SyncLength = ; CircSlotter = ; SlotLength = ; SkipMode = 1; CamProf = 2) Motion profile function block: ML_CamTableType14 Functional Description Fig.4-111: Example 3: Synchronous range at the beginning, compensation movement at the end (SyncLength = ; CircSlotter = ; Slot Length = ; SkipMode = 1; CamProf = 0) Motion profile function block: ML_CamTableType14 With the default, in an angular range SlotLength determined by the cutting process to hold the circumferential velocity of the knife roll synchronously to the velocity of the material web, the function block calculates one-time on basis of the input parameters a cam table with 1024 base points after the processing release by means of Execute. To be able to cut synchronously formats which differ in their length from the circumference of the knife roll SyncLength with only one cut roll, a compensation movement calculated by the function block must take place. This compensation movement is characterized by a continuity up to acceleration. By means of different preallocations of the inputs the following functional variants with the function block ML_CamTableType14 are possible:

113 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 109/121 In the first variant in example 1 cams are created with which formats with a Slotter can be cut whose knife flight circle, i.e. its circumference of the slotting disc, is smaller than the mechanical unwind length of the machine. The effective knife length is adapted in this connection on the material transport velocity in the tool intervention. The remaining disc circumference of the Slotter without cut knife is defined as an area for a compensation movement (see example 1 ). The second variant is suitable to be able to process extra-long formats, i.e. which are more largely than the maximum synchronous format length ( example 2, example 3 ). Besides, the slotting process is stretched on two machine cycles whereas the cut range of the knife remains synchronous to the surface velocity ( SkipMode = 1). The Slotter turns with one mechanical rotation during two machine cycles. While the range with the effective knife length ( Slot Length ) drives synchronously to the material, a compensation movement is executed in the remaining movement up to completing the second cycle. In both functions the synchronous cut range is selectable at beginning or at the end of the cam table. In case of the error-free processing of the function block the cam table to be calculated is filed in the data array CamTable inclusive weighting and format adaptation whereas the validity of the cam elements is signalled by the Done output. If an error appears during the processing of the function block, this is signalled by the Error output. In case of an error the elements of the data array CamTable are not updated. Error Handling Fig.4-112: The function block uses the error table MLC_TABLE, 16#0030. In Additional1 and Additional2 it can create the following error messages:

114 110/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description ErrorID Additional1 Additional2 Description INPUT_RANGE_ERROR, 16# #F CALCULATION_ERROR, 16# #F Inputs invalid 0 Invalid polynomial, division by zero possible STATE_MACHINE_ERROR, 16# #F xx Invalid state of the State machine. xx indicates the invalid state. Fig.4-113: Error numbers, caused by ML_CamTableType14

115 Library Description Rexroth IndraMotion MLC03VRS Electric Drives Bosch Rexroth AG 111/121 IEC 5 IEC 5.1 Introduction and Overview 5.2 MB_CamTableType16 Brief Description Interface Description The function block described here is provided via an internal IEC library (as for example MX_Technology0x.lib for MLD or ML_TechCamIEC.lib for MLC). These documentation describes the functionality as well as the in- and outputs of the Technology Function Block. The block generates a cam in the unweighted format. If the calculation takes place on the MLC control, before loading in the drive, a conversion of the data of data type DINT to data type REAL, as well as a scaling from unweighted in weighted data (conversion of unweighted value with 6 postcomma places on % of weighted value, i.e. division with ) is required. The created cam is not segmentable, i.e. cannot be used in electronic motion profiles. The MB_CamTableType16 function block calculates and outputs a cam table with 1024 points, using a 7th order polynomial, where the jerk, acceleration and velocity inputs are limited to ensure optimal performance. With the rising edge of the Execute input, the function block uses the MaxJerk, MaxAcc, MaxVel, MasterVel and CamShiftDistance input values and calculates a cam table. The resulting cam table must be downloaded to the drive (e.g., using MB _WriteListeParameter) before it can be used (e.g., using MC_CamIn function block) in a PLC program. The function block's input values are weighted with the units that are currently set in the drive for position [units], velocity [units / s], acceleration [units / s ²] and jerk [units / s ³]. Fig.5-1: MB_CamTableType16 Function Block I/O Type Name Data type Comment VAR_IN_OUT CamTable ARRAY[ ] OF DINT Array containing calculated cam data Slave AXIS_REF Reference to slave axis VAR_INPUT Execute BOOL Positive edge starts the cam calculation MaxJerk REAL Maximum jerk, default := 100 [units/s³], value must be greater than 0.0

116 112/121 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC03VRS Library Description IEC I/O Type Name Data type Comment MaxAcc REAL Maximum acceleration, default := 100 [units/s²], value must be greater than 0.0 MaxVel REAL Maximum velocity, default := 100 [units/s], value must be greater than 0.0 MasterVel REAL Velocity of the master axis [r.p.m.], default := 0 [r.p.m.], value must be greater than 0.0 CamShiftDistance REAL Length of the cam, default := 360, value must be greater than 0.0 VAR_OUTPUT Done BOOL Calculation of the cam was completed without errors, output 'CamTable' is valid Active BOOL Calculation of the cam is still in progress, output 'CamTable' is not yet valid Error BOOL Calculation of the cam was completed but with error. Output 'ErrorIdent' is valid ErrorID ERROR_CODE Error description ErrorIdent ERROR_STRUCT Detailed error description UsedJerk REAL Percentage of jerk value used in calculation with relation to 'MaxJerk' input UsedAcc REAL Percentage of acceleration value used in calculation with relation to 'MaxAcc' input UsedVel REAL Percentage of velocity value used in calculation with relation to ' MaxVel' input Fig.5-2: MB_CamTableType16 I/O Interface Time Diagram The following diagram shows the signal timing diagram for the MB_CamTableType16 function block. Overview of Possible Calculation Scenarios Fig.5-3: MB_CamTableType16 Time Diagram This section describes the various calculation scenarios that can occur when the function block is executed. The best possible calculation is determined by the function block based on the input values. The MB_CamTableType16 function block attempts to calculate a cam profile using a 7th order polynomial. This is the preferred calculation method. If a 7th order polynomial can not be used to calculate a profile from the input values that are preset, the function block then attempts to calculate the cam profile using polynomial segments. If neither calculation method cannot be accomplished, the Error bit output is set.