Rexroth IndraDrive Rexroth IndraMotion MLD Library

Transcription

1 Electric Drives Linear Motion and Hydraulics Assembly Technologies Pneumatics Service Rexroth IndraDrive Rexroth IndraMotion MLD Library Library Description R Edition 03

2 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Title Type of Documentation Document Typecode Internal File Reference Purpose of Documentation Record of Revision Copyright Validity Published by Note Rexroth IndraDrive Rexroth IndraMotion MLD Library Library Description DOK-INDRV*-MLD-SYSLIB*-FK03-EN-P RS-3f8ef8b70a6846ac00b4b7d3d98a87cc-2-en-US-4 This documentation describes the functions, function blocks and data types contained in the targets IndraDrive MPH02, IndraDrive MP03, IndraDrive MP04 and IndraDrive MP05 as well as a listing of the possible error reactions. Edition Release Date Notes DOK-INDRV*-MLD-SYSLIB*-FK01-EN-P to to DOK-INDRV*-MLD-SYSLIB*-FK03-EN P 2007 Bosch Rexroth AG See chapter "About This Documentation", margin note "Editions of This Documentation" Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1). 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 Telephone +49 (0)93 52/ 40-0 Fax +49 (0)93 52/ Dept. BRC/EDY1 (SA, BB) This document has been printed on chlorine-free bleached paper.

3 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG I/V Table of Contents Table of Contents About This Documentation General Information Library Assignments Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03" Library Assignment as of the Target "IndraDrive MP04" Signal Time Diagrams of Most Frequently Used Inputs and Outputs Error Handling General Information Reference Error Lists for Function Blocks as of Target "IndraDrive MP03" General Data Types MX_PLCopen.lib (IEC Function Blocks for Drive Control) General Information Overview of the Function Blocks Function Blocks MB_ChangeProfileSet MB_ChangeProfileStep MB_GearInPos MB_MotionProfile MB_Phasing MB_PhasingSlave MB_Stop MC_CamIn MC_CamOut MC_GearIn MC_GearOut MC_MoveAbsolute MC_MoveAdditive MC_MoveRelative MC_MoveVelocity MC_Stop MC_TorqueControl MX_MoveAbsolute MX_MoveAdditive MX_MoveRelative MX_MoveVelocity MX_Stop MX_SysLibCom.lib (Function Block/Functions for Access to a Serial Interface) Overview MX_fSysComStatus MX_SysComOpenAsync SysComClose SysComOpen SysComRead Page

4 II/V Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Table of Contents Page SysComWrite MX_Base.lib Introduction "Tools" - General Functions and Function Blocks Overview ATAN MX_fGetFreeTicks MX_fGetHighResTime MX_fHighResTimerTicks_to_us MX_IECTaskGetLoad MX_PositionLoopEventInfo "Drive Control" - Function Blocks/Functions for Drive Control Overview MB_Home MB_PreSetMode MX_Power / MC_Power MC_ReadStatus MX_Reset / MC_Reset MX_Command MX_SetControl MX_SetDeviceMode MX_SetOpMode MB_SetPositionControlMode "Diagnostic" - Functions for Diagnosis Overview MX_fGetDriveWarning MX_fSetDriveError MX_fSetDriveWarning "Parameters" - Function Blocks/Functions for Parameters Overview MX_fCheckCmdRequest MX_fReadParamDINT MX_fReadStringParam MX_fSetParamLimits MX_fSetParamName MX_fSetParamUnit MX_fWriteParamDINT MX_fWriteStringParam MB_ReadListParameter MB_ReadMaxRealValue MB_ReadMaxValue MB_ReadMinRealValue MB_ReadMinValue MB_ReadName MB_ReadParameter MB_ReadRealParameter

5 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG III/V Table of Contents Page MB_ReadSercosDataStatus MB_ReadSercosAttribute MB_ReadUnit / MX_ReadUnit MB_ReadStringParameter MB_WriteParameter MB_WriteListParameter MB_WriteRealParameter MB_WriteStringParameter MX_ReadParamDINT MX_SetCmdState MX_WriteParamDINT "Scaling" - Functions for Scaling MX_fDINT_AccTo_REAL MX_fDINT_DistTo_REAL MX_fDINT_VelTo_REAL MX_fREAL_AccTo_DINT MX_fREAL_DistTo_DINT MX_fREAL_TorqueRampTo_DINT MX_fREAL_TorqueTo_DINT MX_fREAL_VelTo_DINT SysLibSockets General Information Overview of Function Blocks and Functions Notes on Utilization MX_SysLibMem General Information Functions Notes on Utilization MX_SysLibDir General Information Functions Notes on Utilization "MX_SysLibFile" and "MX_SysLibFileAsync" General Information Functions Notes on Utilization RIL_Utilities General Information Conversion Functions and Function Blocks Introduction and Overview IL_BoolToByte IL_BoolToWord IL_BoolToDWord IL_ByteToDWord IL_ConcatByte IL_ConcatWord

6 IV/V Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Table of Contents Page IL_ByteToBool IL_WordToBool IL_DWordToBool IL_DWordToByte IL_HighByte IL_LowByte IL_HighWord IL_LowWord IL_SwapWord IL_SwapDWord IL_AsciiToByte IL_ByteToAscii IL_RealToString IL_Toggle SERCOS Functions and Function Blocks Introduction and Overview IL_SercosAttribute IL_SercosElementsToParaNo IL_SercosStringToParaNo Time Functions and Function Blocks Introduction and Overview IL_Date IL_TimeOfDay IL_DateAndTime IL_SysTime IL_SysTimeDate IL_ExtSysTimeDate IL_SysTime64ToSysTimeDate IL_SysTimeDateToSysTime IL_HighResTimeTick IL_HighResTimeDiff Function Block "IL_VExKeys" RIL_SocketComm.lib RIL_CommonTypes.lib MX_DSP.lib (Real-Time Channel for Consistent Data Exchange) General Information MX_SynchronControl Notes on Programming For Internal Test Purposes Only!: Debug Library For Program-Internal Use Only!: Functions for Checking or Signaling Run Time Errors Do Not Use!: Internal Functions, Function Blocks, Data Types and Structures Appendix Service and Support Helpdesk Service Hotline

7 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG V/V Table of Contents Page Internet Helpful Information Index

8 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description

9 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 1/ About This Documentation Editions of This Documentation Edition Release date Notes Contains descriptions of libraries for target DOK-INDRV*-MLD-SYSLIB*-FK01-EN-P IndraDrive MPH02 Contains descriptions of libraries for targets IndraDrive MPH02, IndraDrive MP03 DOK-INDRV*-MLD-SYSLIB*-FK02-EN-P and IndraDrive MP04 Contains descriptions of libraries for targets IndraDrive MPH02, IndraDrive DOK-INDRV*-MLD-SYSLIB*-FK03-EN-P MP03, IndraDrive MP04 and IndraDrive MP05 Means of Representation in This Documentation Fig.1-1: Record of revisions To make the reading of this documentation easier for you, the table below contains the means of representation and notations of recurring terms. What? How? For example... Paths and sequences of menus......are represented step by step in boldfaceclick Window Show view Properties Buttons and keys are represented in angle brackets Click <Add> or Important facts which are to be highlightedboldface in continuous text Parameter names, diagnostic message Quotation marks names, function designations DANGER WARNING CAUTION Fig.1-2: Conventions of notation Press <Ctrl>+<Alt> For remote axes, "Active"=TRUE signals that... Axis2 to Axis8 correspond to the remote axes. The addresses contained in the list "P , CCD: addresses of projected drives"... All important notes are highlighted. A symbol tells you what kind of note is used in the text. The symbols have the following significances:... DANGER indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.... WARNING indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.... CAUTION indicates a potentially hazardous situation which, if not avoided, may result in injury or property damage. This box contains important information which you should take into consideration.

10 2/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Your Feedback Documentation as Online Help This symbol highlights useful tips and tricks. Your experience is important for our improvement processes of products and documentations. If you discover mistakes in this documentation or suggest changes, you can send your feedback to the following address: We need the following information to handle your feedback: The number indicated under "Internal File Reference". The page number. This documentation has been included in the IndraLogic help system. Fig.1-3: 1.2 General Information Description of "" in the IndraLogic help system The PLC programming system Rexroth IndraLogic allows managing different libraries. The corresponding hardware must be available to use the different IndraDrive target systems as drive-integrated PLC (see Application Manual "Rexroth IndraMotion MLD"). In addition, the functional expansion package "IndraMotion MLD" must have been enabled (see also Functional Description of firmware "Enabling of Functional Packages"). For operating the IndraDrive target systems as drive-integrated PLC, Rexroth provides specific function block libraries. After you have installed the PLC programming system Rexroth IndraLogic, these libraries are contained in the directory...\rexroth\indralogic\targets(target systems IndraDrive MPH02 and IndraDrive MP03)

11 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 3/ Library Assignments...\Rexroth\IndraWorks\IndraLogic\Targets (as of target system IndraDrive MP04) When a project with an IndraDrive target system is created, some Rexroth libraries are automatically included in the project. The library manager allows subsequently adding libraries to a project to use their functions. Libraries can contain both function blocks and declarations and/or variables. The drive-integrated PLC (Rexroth IndraMotion MLD) is supplied together with basic libraries containing fundamental function blocks and definitions/variables. As regards the function blocks, it is possible to create IEC functions/function blocks or define firmware function blocks according to the library type. As the code of the firmware libraries is contained in the firmware, the functions of the PLC have to be known at the start time. For this purpose, a header file template is provided per library which contains the necessary information. So-called "internal libraries" contain the IEC code. The shortcut <F2> provides you the dialog for selecting possible input at the current cursor position in the editor window. In the left column of the dialog select the desired category of input, in the right column highlight the desired feature and confirm your selection with "OK" Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03" Function block name Description Target Library Range ATAN2 MB_ReadMaxRealValue MB_ReadMaxValue MB_ReadMinRealValue MB_ReadMinValue MB_ReadName MB_ReadParameter For the conversion of Cartesian coordinates P(x;y) into polar coordinates P(r;φ), the function is used to determine the angle φ. With the function block it is possible to read the maximum allowed value of a parameter. The value is returned in REAL format. With the function block it is possible to read the maximum allowed value of a parameter. The value is returned in DINT format. With the function block it is possible to read the minimum allowed value of a parameter. The value is returned in REAL format. With the function block it is possible to read the minimum allowed value of a parameter. The value is returned in DINT format. With the function block it is possible to read the name of a parameter. With the function block it is possible to read the current value of a parameter. The return value is DINT. IndraDrive MPH02 IndraDrive MP03 Base_MPH02.lib Base_MP03.lib Tools IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MP03 Base_MP03.lib Drive Control / Parameter

12 4/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Function block name Description Target Library Range MB_ReadRealParameter MB_WriteParameter MB_ReadSercosAttribute MB_WriteRealParameter MX_Command MX_fDINT_AccTo_RE AL MX_fDINT_DistTo_RE AL MX_fDINT_VelTo_RE AL MX_fGetFreeTicks MX_fGetDriveWarning MX_fGetHighResTime MX_fReadParamDINT MX_fReadStringParam With the function block it is possible to read the current value of a parameter. The return value is REAL. With the function block it is possible to read the SERCOS attribute of a parameter. With the function block it is possible to write a defined value to a parameter. With the function block you can write a defined REAL value to the parameter belonging to the parameter number. The function block is used to execute a drive command. The firmware function converts an acceleration value in the fixed point format of data type DINT into a REAL value, according to the scaling which has been set. The firmware function converts a position value in the fixed point format of data type DINT into a REAL value, according to the scaling which has been set. The firmware function converts a velocity value in the fixed point format of data type DINT into a REAL value, according to the scaling which has been set. The function is used to determine the time of the last PLC time slice still available to the PLC. This PLC time slice is that part of a millisecond which remains after the drive controller and control tasks have been processed. The firmware function allows polling whether a certain warning diagnosis is active in the drive. The function returns a growing timer value with high resolution. The firmware function is used to read a parameter value and return it as DINT. With the firmware function it is possible to read a parameter the operating data of which has the ASCII format (string). IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 Base_MPH02.lib Base_MP03.lib Base_MPH02.lib Base_MP03.lib Base_MPH02.lib Base_MP03.lib Base_MPH02.lib Base_MP03.lib Base_MPH02.lib Base_MP03.lib Drive Control Scaling Scaling Scaling Tools Base_MPH02.lib Drive Control / Diagnostic Base_MP03.lib Base_MPH02.lib Base_MP03.lib Tools Base_MPH02.lib Drive Control / Parameter Base_MP03.lib Base_MPH02.lib Drive Control / Parameter Base_MP03.lib

13 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 5/205 Function block name Description Target Library Range MX_fREAL_AccTo_DI NT MX_fREAL_DistTo_DI NT MX_fREAL_VelTo_DIN T MX_fSetDriveError MX_fSetDriveWarning MX_fWriteParamDINT MX_fWriteStringParam MX_MoveAbsolute MX_MoveAdditive MX_MoveRelative MX_MoveVelocity MC_Power MX_Power The firmware function converts an acceleration value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. The firmware function converts a position value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. The firmware function converts a velocity value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. The firmware function triggers an error diagnosis in the drive. The firmware function is used to set or clear a warning diagnosis in the drive. The firmware function is used to write data to a parameter. The firmware function is used to write data to a text parameter. The function block is used to move the drive to a preset absolute position. The function block is used to move the drive in relative form by a distance in addition to the target position. The function block is used to move the drive in relative form by a distance, starting from the current actual position. The function block is used to preset a velocity for the drive. When the internal PLC has permanent or temporary control over the drive, drive enable can be activated with this function block. IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 Base_MPH02.lib Base_MP03.lib Base_MPH02.lib Base_MP03.lib Base_MPH02.lib Base_MP03.lib Scaling Scaling Scaling Base_MPH02.lib Drive Control / Diagnostic Base_MP03.lib Base_MPH02.lib Drive Control / Diagnostic Base_MP03.lib Base_MPH02.lib Drive Control / Parameter Base_MP03.lib Base_MPH02.lib Drive Control / Parameter Base_MP03.lib MXMotion_MPH 02.lib MXMotion_MP0 3.lib MXMotion_MPH 02.lib MXMotion_MP0 3.lib MXMotion_MPH 02.lib MXMotion_MP0 3.lib MXMotion_MPH 02.lib MXMotion_MP0 3.lib Base_MPH02.lib Base_MP03.lib Single Axis Motion Single Axis Motion Single Axis Motion Single Axis Motion Drive Control

14 6/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Function block name Description Target Library Range MX_ReadParamDINT MX_ReadUnit MX_Reset MX_SetDeviceMode MX_SetOpMode MX_SetControl MX_Stop MX_WriteParamDINT The function block is used to read a parameter value and return it as DINT. With the function block it is possible to read the unit of a parameter. The function block is used to reset drive errors with the command "S , C0500 Reset class 1 diagnostics". The function block is used to switch the drive to the parameter or operating mode. The function block is used to directly switch the operating mode of the drive. The function block is used to switch control between master communication and PLC. The function block is used to bring the drive to the status STOP. The function block is used to write a parameter. It is possible to write in unbuffered or buffered form. Fig.1-4: IndraDrive MPH02 IndraDrive MP03 Base_MPH02.lib Base_MP03.lib Drive Control IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 IndraDrive MPH02 IndraDrive MP03 Base_MPH02.lib Base_MP03.lib Base_MPH02.lib Base_MP03.lib Base_MPH02.lib Base_MP03.lib Base_MPH02.lib Base_MP03.lib MXMotion_MPH 02.lib MXMotion_MP0 3.lib Drive Control Drive Control Drive Control Drive Control Single Axis Motion Base_MPH02.lib Drive Control / Parameter Base_MP03.lib Library assignment for the targets "IndraDrive MPH02" and "IndraDrive MP03" Library Assignment as of the Target "IndraDrive MP04" Function block name Description Target Library Range ATAN2 MB_ChangeProfileSet MB_ChangeProfile Step MB_GearInPos MB_Home For the conversion of Cartesian coordinates P(x;y) into polar coordinates P(r;φ), the function is used to determine the angle φ. The function block is used to apply the data which describe the set of a motion profile. The function block is used to change the four parameters which define a segment of a motion profile set. With the function block it is possible to realize a motion of the slave axis which is phase synchronous to the master axis. With the function block it is possible to carry out the "drive-controlled homing procedure" in the selected axis. IndraDrive MP04 MX_Base.lib Tools IndraDrive MP05 IndraDrive MP05 IndraDrive MP04V12 IndraDrive MP05 IndraDrive MP04 IndraDrive MP05 MX_PLCOpen.li b MX_PLCOpen.li b MX_PLCOpen.li b Motion Motion Motion IndraDrive MP04 MX_Base.lib Drive Control IndraDrive MP05

15 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 7/205 Function block name Description Target Library Range MB_MotionProfile MB_Phasing MB_PhasingSlave MB_PreSetMode MB_ReadListParameter MB_ReadMaxRealValue MB_ReadMaxValue MB_ReadMinRealValue MB_ReadMinValue MB_ReadName MB_ReadParameter MB_ReadUnit MB_ReadSercosAttribute MB_ReadSercosDataStatus MB_ReadStringParameter MB_SetPositionControlMode The function block realizes an electronic cam shaft function. The function block allows realizing an offset to the master axis which is connected as input to a synchronization function block ("MC_CamIn" or "MC_GearInPos"). With the function block it is possible to adjust the slave axis by a position offset. With the function block the axis can be prepared for command triggering before power is switched on (PreSetMode / preselecting operating modes). With the function block it is possible to read the current value of a list parameter. With the function block it is possible to read the maximum allowed value of a parameter. The value is returned in REAL format. With the function block it is possible to read the maximum allowed value of a parameter. The value is returned in DINT format. With the function block it is possible to read the minimum allowed value of a parameter. The value is returned in REAL format. With the function block it is possible to read the minimum allowed value of a parameter. The value is returned in DINT format. With the function block it is possible to read the name of a parameter. With the function block it is possible to read the current value of a parameter. The return value is DINT. With the function block it is possible to read the SERCOS attribute of a parameter. With the function block it is possible to read the status of a parameter. With the function block it is possible to read a parameter the operating data of which has the ASCII format (string). With the function block it is possible to read the unit of a parameter. The function block is used to set the position loop. IndraDrive MP04 MX_PLCopen.lib Motion IndraDrive MP05 IndraDrive MP04 MX_PLCopen.lib Motion IndraDrive MP05 IndraDrive MP04 MX_PLCopen.lib Motion IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control IndraDrive MP05

16 8/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Function block name Description Target Library Range MB_Stop MB_WriteParameter MB_WriteListParameter MB_WriteRealParameter MB_WriteStringParameter MC_CamIn MC_CamOut MC_GearIn MC_GearOut MC_MoveAbsolute MC_MoveAdditive MC_MoveRelative MC_MoveVelocity MC_Power MC_ReadStatus MC_Reset The function block is used to bring the drive to the status STOP. With the function block it is possible to write defined values to a list parameter. With the function block it is possible to write a defined value to a parameter. With the function block you can write a defined REAL value to the parameter belonging to the parameter number. With the function block it is possible to write a parameter the operating data of which has the ASCII format (string). With the function block it is possible to realize an electronic cam shaft. The function block is used to terminate an active synchronization function block. With the function block it is possible to realize a motion of the slave axis which is velocity synchronous to the master axis. The function block is used to terminate an active synchronization function block. The function block is used to move the drive to a preset absolute position. The function block is used to move the drive in relative form by a distance in addition to the target position. The function block is used to move the drive in relative form by a distance, starting from the current actual position. The function block is used to preset a velocity for the drive. When the internal PLC has permanent or temporary control over the drive, drive enable can be activated with this function block. The function block reads the current status of the axis and outputs it in decoded form. The function block is used to reset drive errors with the command "S , C0500 Reset class 1 diagnostics". IndraDrive MP04 IndraDrive MP05 MX_PLCOpen.li b Motion IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 IndraDrive MP05 IndraDrive MP04 IndraDrive MP05 IndraDrive MP04 IndraDrive MP05 IndraDrive MP04 IndraDrive MP05 IndraDrive MP04 IndraDrive MP05 IndraDrive MP04 IndraDrive MP05 IndraDrive MP04 IndraDrive MP05 IndraDrive MP04 IndraDrive MP05 MX_PLCOpen.li b MX_PLCOpen.li b MX_PLCOpen.li b MX_PLCOpen.li b MX_PLCOpen.li b MX_PLCOpen.li b MX_PLCOpen.li b MX_PLCOpen.li b Motion Motion Motion Motion Motion Motion Motion Motion IndraDrive MP04 MX_Base.lib Drive Control IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control IndraDrive MP05

17 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 9/205 Function block name Description Target Library Range MC_Stop MC_TorqueControl MX_Command MX_fCheckCmdRequest MX_fDINT_AccTo_RE AL MX_fDINT_DistTo_RE AL MX_fDINT_VelTo_RE AL MX_fGetDriveWarning MX_fGetFreeTicks MX_fGetHighResTime MX_fHighResTimerTic ks_to_us MX_fReadParamDINT MX_fReadStringParam MX_fREAL_AccTo_DI NT The function block is used to bring the drive to the status STOP. The function block is used to activate the operating mode "torque/force control"; the drive follows the command value input. The function block is used to execute a drive command. The firmware function is used to return the command input which was preset via the drive parameter "P , C4900 PLC command". The firmware function converts an acceleration value in the fixed point format of data type DINT into a REAL value, according to the scaling which has been set. The firmware function converts a position value in the fixed point format of data type DINT into a REAL value, according to the scaling which has been set. The firmware function converts a velocity value in the fixed point format of data type DINT into a REAL value, according to the scaling which has been set. The firmware function allows polling whether a certain warning diagnosis is active in the drive. The function is used to determine the time of the last PLC time slice still available to the PLC. This PLC time slice is that part of a millisecond which remains after the drive controller and control tasks have been processed. The function returns a growing timer value with high resolution. The function is used to convert timer ticks into microseconds and return the value as REAL. The firmware function is used to read a parameter value and return it as DINT. With the firmware function it is possible to read a parameter the operating data of which has the ASCII format (string). The firmware function converts an acceleration value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. IndraDrive MP04 MX_Base.lib Drive Control IndraDrive MP05 IndraDrive MP05 MX_PLCopen.lib Motion IndraDrive MP04 Drive Control IndraDrive MP05 IndraDrive MP04 MX_Base.lib IndraDrive MP05 IndraDrive MP04 MX_Base.lib Scaling IndraDrive MP05 IndraDrive MP04 MX_Base.lib Scaling IndraDrive MP05 IndraDrive MP04 MX_Base.lib Scaling IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Tools IndraDrive MP05 IndraDrive MP04 MX_Base.lib Tools IndraDrive MP05 IndraDrive MP04 Tools IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Scaling IndraDrive MP05

18 10/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Function block name Description Target Library Range MX_fREAL_DistTo_DI NT MX_fSetDriveError MX_fSetDriveWarning MX_fSetParamLimits MX_fSetParamName MX_fSetParamUnit MX_fSysComStatus MX_fREAL_TorqueRa mpto_dint MX_fREAL_TorqueTo_ DINT MX_fREAL_VelTo_DIN T MX_fWriteParamDINT MX_fWriteStringParam MX_IECTaskGetLoad MX_MoveAbsolute MX_MoveAdditive The firmware function converts a position value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. The firmware function triggers an error diagnosis in the drive. The firmware function is used to set or clear a warning diagnosis in the drive. With the firmware function it is possible to set the limit values of the Global Register PLC parameters. With the firmware function it is possible to set the names of the Global Register PLC parameters. With the firmware function it is possible to set the limit values of the Global Register PLC parameters. With the firmware function it is possible to poll the status of the opened port. The firmware function converts a torque/ force ramp value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. The firmware function converts a torque/ force value in the REAL format into a fixedpoint DINT value, according to the scaling which has been set. The firmware function converts a velocity value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. The firmware function is used to write data to a parameter. The firmware function is used to write data to a text parameter. The function block is used to activate the extended runtime measurement and displays information on the task load. The function block is used to move the drive to a preset absolute position. The function block is used to move the drive in relative form by a distance in addition to the target position. IndraDrive MP04 MX_Base.lib Scaling IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Diagnostic IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Diagnostic IndraDrive MP05 MX_Base.lib Drive Control / Parameter IndraDrive MP05 MX_Base.lib Drive Control / Parameter IndraDrive MP05 MX_Base.lib Drive Control / Parameter IndraDrive MP05 MX_SysLibCom. lib POUs IndraDrive MP05 MX_Base.lib Scaling IndraDrive MP05 MX_Base.lib Scaling IndraDrive MP04 MX_Base.lib Scaling IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP05 MX_Base.lib Tools IndraDrive MP04 IndraDrive MP05 IndraDrive MP04 IndraDrive MP05 MX_PLCOpen.li b MX_PLCOpen.li b Motion Motion

19 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 11/205 Function block name Description Target Library Range MX_MoveRelative MX_SysComOpenAsync MX_ReadParamDINT MX_SetCmdState MX_SetDeviceMode MX_SetControl MX_SetOpMode MX_WriteParamDINT SysComClose SysComOpen SysComRead SysComWrite The function block is used to move the drive in relative form by a distance, starting from the current actual position. The firmware function block is used to asynchronously open the communication channel of a serial interface. The function block is used to read a parameter value and return it as DINT. With the firmware function block it is possible to set the command status of "P , C4900 PLC command". The function block is used to switch the drive to the parameter or operating mode. The function block is used to switch control between master communication and PLC. The function block is used to directly switch the operating mode of the drive. The function block is used to write a parameter. It is possible to write in unbuffered or buffered form. The firmware function is used to close the communication channel of a serial interface (COM Port). The firmware function is used to open the communication channel of a serial interface. The firmware function is used to read data from the serial interface. The firmware function is used to write data to the serial interface. Fig.1-5: IndraDrive MP04 IndraDrive MP05 IndraDrive MP05 MX_PLCOpen.li b MX_SysLibCom. lib Motion POUs IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP04 MX_Base.lib Drive Control IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control IndraDrive MP05 IndraDrive MP04 MX_Base.lib Drive Control / IndraDrive MP05 Parameter IndraDrive MP05 IndraDrive MP05 IndraDrive MP05 IndraDrive MP05 MX_SysLibCom. lib MX_SysLibCom. lib MX_SysLibCom. lib MX_SysLibCom. lib Library assignment as of the target "IndraDrive MP04" POUs POUs POUs 1.4 Signal Time Diagrams of Most Frequently Used Inputs and Outputs Input Signals "Execute" / "Enable" Function blocks according to PLCopen use input and output signals with fixed functions. To trigger the processing of a function block or to activate it, a function block has an input "Execute", an input "ExecuteLock" or an input "Enable". All three inputs are of the BOOL type. The activation input "Execute" is used at function blocks which work in edgecontrolled form. With a positive edge of "Execute", the input variables are collected and at the same time the command triggering of a one-time execution of the function block takes place. The outputs "Done" or "InVelocity", "InTorque", "In_xxxx" depend on the input. New input values only take effect via the repeated positive edge of "Execute". When command triggering has not yet

20 12/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Output Signal "Active" Output Signal "Done" been completed and is interrupted, this is signaled by the fact that output "CommandAborded" is set. Retriggering is possible for edge-controlled function blocks with "Execute" input; this means that when the activation input, with active function block, gets a repeated edge, the old task is rejected, the inputs are applied again and the new task is continued with the new values. The activation input "ExecuteLock" behaves as the input "Execute". But as long as this input in TRUE, the function block cannot be interrupted. Exception: The function block "MC_Stop" can interrupt the function block "MB_Stop". The activation input "Enable" is used at function blocks which work in statuscontrolled form. The input variables are applied with the positive edge of "Enable". New input values only take effect via the repeated positive edge of "Enable". If the input variables are cyclically transmitted (e.g. with process loop function blocks), this has to be explicitly documented and marked at the function block input. For remote axes, "Active"=TRUE signals that the function block has accepted the processing command (positive edge at "Execute", "ExecuteLock" or "Enable"). The "Active" signal can be delayed at the start of the function block, as possibly required pre-processing has not been completed. "Active" becomes FALSE when "Done", "CommandAborted" or "Error" become TRUE. For status-controlled function blocks, "Active" becomes FALSE when "Enable" is reset. For single axes, "Active" is not set! Function blocks which have an administrative task ("MC_Power",...) or motion function blocks (such as "MC_MoveAbsolute", "MC_MoveRelative",...) which end in the state "standstill", signal via the "Done" output that their task has been completed and are no longer active after they have been executed; in other words: The output "Done" signals that a function block has successfully completed its task and possibly provided data are valid. For edge-controlled function blocks, "Done" remains TRUE for one cycle when the input "Execute" had been FALSE at the point of time at which "Done" was set to TRUE. If the input "Execute"=TRUE when "Done" is set, "Done" remains TRUE until "Execute" is set to FALSE. For status-controlled function blocks, when "Enable"=TRUE, "Done" after successful processing remains TRUE for exactly one cycle before processing starts again.

21 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 13/ Fig.1-6: Status-controlled function block processing successfully completed Status-controlled function block processing aborted with error Status-controlled function block processing has been interrupted Signal time response of status-controlled function blocks (with input

22 14/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description "Enable"); for single axes the output "Active" is not set!

23 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 15/ Fig.1-7: Edge-controlled function block processing successfully completed Edge-controlled function block processing aborted with error Edge-controlled function block processing has been interrupted Signal time response of edge-controlled function blocks (with input "Ex

24 16/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Output Signal "CommandAborted" 1.5 Error Handling ecute"); for single axes the output "Active" is not set! There are function blocks (such as "MC_MoveVelocity", "MC_CamIn", "MC_GearIn", "MC_GearInPos", "MC_TorqueControl", "MB_MotionProfile") which continue their motion or force activity after their task has been fulfilled and which are aborted only by "MC_Stop" or another function block being called. They signal this status by remaining "Active"; i.e. "Active" and, for example, "InVelocity", "InGear" etc. are at the same time TRUE. 1+2 Fig.1-8: General Information Edge-controlled function block processing has been interrupted Signal time response of edge-controlled function blocks (with input "Execute"); "Active" in combination with "InVelocity" The output "CommandAborted" signals that the function block could not complete its task because it had ben interrupted (e.g. by another function block). For edge-controlled function blocks, the output "CommandAborted" remains TRUE for one cycle when the input "Execute" had been FALSE at the point of time at which "CommandAborted" was set to TRUE. If the input "Execute"=TRUE when "CommandAborted" is set, "CommandAborted" remains TRUE until "Execute" is set to FALSE. For status-controlled function blocks, the output "CommandAborted" is reset when the "Enable" input is reset. According to their target, the function blocks have two or three outputs which contain information in case an error occurs: "Error", "ErrorID" and

25 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 17/205 Error ErrorID ErrorIdent "ErrorIdent" (as of the target "IndraDrive MP03") If the processing of a task could not be successfully completed, this is signaled by the output "Error". The "Error" output is reset with the inputs "Execute"=FALSE or "Enable"=FALSE; an additional reset input therefore is not required. For edge-controlled function blocks, the output "Error" remains TRUE for one cycle when the input "Execute" had been FALSE at the point of time at which the output "Error" was set to TRUE. If the input "Execute"=TRUE when "Error" is set, the output "Error" remains TRUE until the input "Execute" is set to FALSE. For status-controlled function blocks, the output "Error" remains TRUE until the input "Enable" is set to FALSE. The output "ErrorID" is of the type ERROR_CODE. When an error has occurred at the function block, the error classification can be seen at output "ErrorID". The output values of "ErrorID" have to be interpreted differently according to the respective target! The type ERROR_CODE has been defined in the "CommonTypes" library of the respective target. The output "ErrorIdent" signals the exact cause of the error. The output "ErrorIdent" is available as of the target "IndraDrive MP03". "ErrorIdent" is of the type ERROR_STRUCT. ERROR_STRUCT contains the following elements: "Table", "Additional1" and "Additional2". Element Element data type Description The structure and its elements have been defined in the "Common Types" library of the target. Table ERROR_TABLE The value of the "Table" element contains the information as to which error table [(INDRV_TABLE, SERCOS_TABLE or MLDS_TABLE (as of target "IndraDrive MP03") or MLD_TABLE (as of target "IndraDrive MP04")] has to be used to decode the error code of element "Additional1" Additional1 DWORD The element "Additional1" contains the error code for specification of the occurred error Additional2 DWORD "Additional2" contains additional information (if available) Fig.1-9: Elements of ERROR_STRUCT Reference Error Lists for Function Blocks as of Target "IndraDrive MP03" MLDS_TABLE / MLD_TABLE At the output "ErrorIdent", the element "Table" refers to the error table "MLDS_TABLE" for the target "IndraDrive MP03"; as of the target "IndraDrive MP04" it refers to the error table "MLD_TABLE". (Only the name has changed, the contents are identical.)

26 18/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description "ErrorID" "ErrorIdent", element "Additional1" When there isn't any error present, the element "Table" has the value "NO_TABLE_USED" Description - 16# When there isn't any error present, the element "Table" has the value "NO_TABLE_USED" INPUT_INVALID_ERROR 16# As of target "IndraDrive MPx04", version 12: Undefined axis (no real axis) RESOURCE_ERROR 16# Invalid axis reference / undefined axis. As of target "IndraDrive MP04": Indicated axis (also slave axis) is not available ACCESS_ERROR 16# The function block used may only have one instance in the system (e.g.: "MX_SynchronControl") STATE_MACHINE_ERROR 16# Drive is not in operating status "bb" / communication phase 4 or With master axis available, this axis has not been activated (P , Control word of master axis generator) STATE_MACHINE_ERROR 16# Drive is not in operating status "Ab" ACCESS_ERROR 16# MLD has neither permanent nor temporary control over the indicated (local) axis ACCESS_ERROR 16# Drive is torque-free / not under torque RESOURCE_ERROR 16# Activated functional package does not support the selected operating mode (see "P , Selection of functional packages") or the axis is operated without encoder (see "P , Control word of current controller") INPUT_RANGE_ERROR 16# As of target "IndraDrive MP03": The velocity transmitted at input "Velocity" is "0" INPUT_RANGE_ERROR 16# Parameterized acceleration (positioning acceleration) is "0" INPUT_RANGE_ERROR 16# As of target "IndraDrive MP03": The acceleration transmitted at input "Acceleration" is "0" INPUT_RANGE_ERROR 16# Parameterized deceleration (positioning deceleration) is "0" INPUT_RANGE_ERROR 16# As of target "IndraDrive MP03": The deceleration transmitted at input "Deceleration" is "0" STATE_MACHINE_ERROR 16# As of target "IndraDrive MP04": After the activation with "MB_PreSet Mode" there was an attempt to switch on with "MC_Power" without motion command triggering STATE_MACHINE_ERROR 16# The axis is in "Stopping" and mustn't be commanded ("M?_Stop" with active "Execute" input) INPUT_RANGE_ERROR 16# As of target "IndraDrive MP04": The input "CamTableID" is not within the valid range (1.. 8) STATE_MACHINE_ERROR 16# MLD is in state "ErrorStop". Remedy: Carry out "MC_Reset" ACCESS_ERROR 16# Several tasks use the same instance of a function block, this is not allowed As of target "IndraDrive MP04": "Additional2" displays the index of the second task

27 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 19/205 "ErrorID" "ErrorIdent", element "Additional1" Description STATE_MACHINE_ERROR 16# An additive motion command was started which is not allowed in this axis status OTHER_ERROR 16# Internal processing error (undefined status) ACCESS_ERROR 16# Internal error: Undefined parameter data format, parameter cannot be converted into FLOAT ACCESS_ERROR 16# With this function block it is impossible to read/write an ASCII parameter ACCESS_ERROR 16# With this function block it is impossible to read/write a list parameter INPUT_INVALID_ERROR 16# Parameter IDN does not belong to any command OTHER_ERROR 16# Internal processing error (string too short) ACCESS_ERROR 16# As of target "IndraDrive MP04": The required number of bytes is smaller than the actual length of the list INPUT_INVALID_ERROR 16# As of target "IndraDrive MP04": Invalid pointer at the input of the function block (address of the applied array is outside of the PLC range) ACCESS_ERROR 16# With this function block it is only possible to process ASCII parameters SYSTEM_ERROR 16# Internal CCD system error; error number see "Additional2" SYSTEM_ERROR 16# Internal CoSeMa system error; error number see "Additional2" ACCESS_ERROR 16# Reset command S incorrectly executed ACCESS_ERROR 16# "MC_Reset" cannot reset the error (timeout) RESOURCE_ERROR 16# Master communication synchronizes the drive RESOURCE_ERROR 16# NC cycle time (S ) does not match MLD task cycle time INPUT_RANGE_ERROR 16# The input "CmdDelay" is greater than the maximum value RESOURCE_ERROR 16# The real-time channel may only use one MLD task RESOURCE_ERROR 16# Too many real-time variables used. At present, there are 4 RTcW_ variables and 4 RTcR_ variables allowed CALCULATION_ERROR 16# Internal error (variable offset too great) CALCULATION_ERROR 16# Internal error (incorrect variable access) RESOURCE_ERROR 16# As of target "IndraDrive MP04": Real-time channel actual values but no command values defined ACCESS_ERROR 16# MLD already has permanent control. Additionally switching to temporary control does not make sense ACCESS_ERROR 16# Temporary control is impossible with virtual slave ACCESS_ERROR 16# Manual mode active, temporary control impossible STATE_MACHINE_ERROR 16# Master communication internally synchronizes the drive / does not allow phase switch (P , bit 0=0)

28 20/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description "ErrorID" "ErrorIdent", element "Additional1" Description STATE_MACHINE_ERROR 16# As of target "IndraDrive MP04": Drive initialization not yet completed (incl. reaching of target phase) In the case of master communication with analog or parallel interface, it is necessary to wait until the automatic phase switch to "P4" is over. When a transition command error occurs during this first phase switch, you have to wait for 10 s; only then is it allowed to input the phase with the function block "MX_SetDeviceMode" ACCESS_ERROR 16# A transition command was started or cleared from a different device DEVICE_ERROR 16# Unknown secondary operation mode ("NewOpMode">7 was set) INPUT_RANGE_ERROR 16# As of target "IndraDrive MP04": Invalid input "CmdState" (wrong enum value) INPUT_RANGE_ERROR 16# As of target "IndraDrive MP04": "CmdState" not allowed, e.g. "CmdState=MX_CMD_NO_ACTIVE" while "P , C4900 PLC command"=3 INPUT_RANGE_ERROR 16# As of target "IndraDrive MP04": Invalid input of diagnostic message number (N<1 or N>4) ACCESS_ERROR 16# The indicated parameter cannot be read / written with this function block. For example, parameter of data type HEX or BIN with "MB_WriteReal Parameter" ACCESS_ERROR 16# With this function block it is impossible to read/write a FLOAT parameter. (At present, this error message should not occur, because there aren't any parameters of the data type FLOAT in the drive. The data type, however, has been defined in the SERCOS standard.) INPUT_RANGE_ERROR 16# The applied parameter value does not fit in the data format of the parameter INPUT_INVALID_ERROR 16# For the function block "MB_ReadListParameter" or "MB_WriteListParameter", the address applied at the input "ValueAdr" is not WORD-compatible (2Byte); i.e. the address cannot be divided by 2. INPUT_INVALID_ERROR 16# For the function block "MB_ReadListParameter" or "MB_WriteListParameter", the address applied at the input "ValueAdr" is not DWORDcompatible (4Byte); i.e. the address cannot be divided by 4. INPUT_INVALID_ERROR 16# Only up to MPx05V08: For the function block "MB_ReadListParameter" or "MB_WriteListParameter", the address applied at the input "ValueAdr" is not byte-compatible (1Byte); i.e. the address is odd. INPUT_RANGE_ERROR 16# As of target "IndraDrive MPx05": A value for "Port"<>"COM1" was transmitted ACCESS_ERROR 16# COM1 has already been opened SERCOS_TABLE INDRV_TABLE Fig.1-10: Error table MLDS_TABLE / MLD_TABLE See documentation "Troubleshooting Guide", chapter "SERCOS Error Codes / Error Messages of Serial Communication" See documentation "Troubleshooting Guide"

29 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 21/ General Data Types Data type Bit size Description BOOL 1 bit values "true" or "false" BYTE 8 byte value 0 to 255 WORD 16 word value 0 to DWORD 32 double word values 0 to (2^32) 1 CHAR 8 ASCII code INT 16 integer (16 bits) from to DINT 32 integer (32 bits) from 2^31 to (2^31) 1 REAL 32 IEEE floating point number TIME 32 IEC time in intervals of 1 ms DATE 32 IEC date in intervals of 1 day TIME_OF_DAY, TOD Fig.1-11: 32 time in steps of 1ms: hour (0 23), min. (0 59), second (0 59), ms (0 999) Data types 1.7 MX_PLCopen.lib (IEC Function Blocks for Drive Control) General Information General Properties The following libraries contain IEC function blocks for drive control: Target IndraDrive MPH02 IndraDrive MP03 IndraDrive MP04 IndraDrive MP05 Fig.1-12: Library MXMotion_MPH02.lib MXMotion_MP03.lib MX_PLCopen.lib MX_PLCopen.lib Library names depending on the targets Positioning function blocks have no input for jerk Function blocks have "AXIS_REF" as "VAR_IN_OUT" Up to MPx03: Positions and distances are transmitted as 32-bit integer (initial value - fixed point). As of MPx04: Positions and distances are transmitted as REAL (floating point).

30 22/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description "ErrorID" "ErrorIdent", element "Additional1" Description ACCESS_ERROR 16# Drive is torque-free / not under torque RESOURCE_ERROR 16# Activated functional package does not support the selected operating mode (see "P , Selection of functional packages") Fig.1-13: or Overview of the Function Blocks Function Blocks MB_ChangeProfileSet The axis is operated without encoder (see "P , Control word of current controller") Generally valid errors of motion function blocks, taken from error table MLDS_TABLE / MLD_TABLE for function blocks as of target "IndraDrive MP03" MB_ChangeProfileSet *3 MB_ChangeProfileStep *1 MB_GearInPos *1 MB_MotionProfile *1 MB_Phasing *1 MB_PhasingSlave *1 MB_Stop *1 MC_CamIn *1 MC_CamOut *1 MC_GearIn *1 MC_GearOut *1 MC_MoveAbsolute *1 MC_MoveAdditive *1 MC_MoveRelative *1 MC_MoveVelocity *1 MC_Stop *1 MC_TorqueControl *3 MX_MoveAbsolute MX_MoveAdditive MX_MoveRelative MX_MoveVelocity MX_Stop *2 *1: Available as of target "IndraDrive MP04" *2: Available up to target "IndraDrive MP03" *3: Available as of target "IndraDrive MP05" In the case of a positive edge at "Execute", those data are applied which describe the set of a motion profile. The data include the number of motion steps

31 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 23/205 the master axis velocity, as well as the lists for master axis initial position, distance, slave axis velocity and mode. For the lists, you have to indicate the initial address of an array in which the data are contained. The number of elements in each of the 4 lists must be at least as high as the indicated number of motion steps. "SetNumber" defines which set is changed. The units of the data contained in the lists for "Distance" and "SlaveAxisVelocity" are defined by the scaling parameters of the axis (S , S ). The output "Done" is set when the set was completely transmitted and the changed profile was checked. The output "CheckOk" is set depending on the result of the check. If "CheckOk"=TRUE, no discrepancy was detected. The data transmitted with this function block are stored in volatile form. This function block can work on the local axis "Axis1" and on remote axes "Axis2" etc. Fig.1-14: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block MB_ChangeProfileSet Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 SetNumber UINT Selection of motion profile set NumberOfSteps UINT Number of motion steps 0: Motion profile set 0 (parameters P to P ) 1: Motion profile set 1 (parameters P to P ) Each motion profile set can consist of up to 8 motion steps Parameter P for set 0 Parameter P for set 1

32 24/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description MasterAxisVelocity REAL Master axis velocity Velocity of the master axis at the output of the electronic gear in 1/min Parameter P for set 0 Parameter P for set 1 MasterAxisInitialPosAdr POINTER TO REAL Pointer to an array with the master axis initial positions of the steps Master axis initial positions indicated in degrees Data for parameter P with set 0 Data for parameter P with set 1 DistanceAdr POINTER TO REAL Pointer to an array with the distance values of the steps Data for parameter P with set 0 Data for parameter P with set 1 SlaveAxisVelocityAdr POINTER TO REAL Pointer to an array with the slave axis velocities of the steps StepModeAdr POINTER TO MC_STEP_MODE Fig.1-15: Output variable Data type Description Data for parameter P with set 0 Data for parameter P with set 1 Pointer to an array with the modes of the steps Data for parameter P with set 0 Data for parameter P with set 1 Input variables of the firmware function block "MB_ChangeProfileSet" Done BOOL With "Done"=TRUE, the data for the motion set were applied "P , Status word for synchronous operating modes" (bit 12 for set 0, bit 14 for set 1) Active BOOL With "Active"=TRUE, the data transfer is active Error BOOL Signals that error has occurred in function block instance ErrorID * ERROR_CODE Short information on cause of error ErrorIdent * ERROR_STRUCT Detailed information on error CheckOk BOOL With "CheckOk"=TRUE, the motion profile set is error-free "P , Status word for synchronous operating modes" (bit 13 for set 0, bit 15 for set 1) * See note below Fig.1-16: Output variables of the firmware function block "MB_ChangeProfileSet" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

33 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 25/205 Input / output variable Data type Description Axis AXIS_REF Axis1 for MLD-S MB_ChangeProfileStep Fig.1-17: Axis1 for MLD-M is the local axis Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MB_ChangeProfileSet" The firmware function block "MB_ChangeProfileStep" is used to change the four parameters which define a segment of a motion profile set; these parameters are master axis initial position, distance, slave axis velocity and mode. The step which is to be changed is defined by the values at the inputs "Set Number" and "StepNumber". The units for the function block inputs "Distance" and "SlaveAxisVelocity" are defined by the scaling parameters of the axis (S , S ). The input "StepMode" defines the kind of step. The output "Done" is set when the changed profile was checked. The output "CheckOk" is set depending on the result of the check. If "CheckOk"=FALSE, a discrepancy has been detected. Fig.1-18: For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_ChangeProfileStep"

34 26/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 SetNumber UINT Selection of motion profile set 0: Motion profile set 0 (parameters P to P ) 1: Motion profile set 1 (parameters P to P ) StepNumber UINT Select motion step to be changed Each motion profile set can consist of up to 8 motion steps 1: Motion step1 / list element 0 (from P to P or P to P ) 2: Motion step2 / list element 1 (from P to P or P to P )... 8: Motion step8 / list element 7 (from P to P or P to P ) MasterAxisInitialPos REAL Setting of master axis initial position of selected motion step in degrees P , List of master axis initial positions, set 0 P , List of master axis initial positions, set 1 Distance REAL Setting of slave axis distance of motion step P , List of distances, set 0 P , List of distances, set 1 SlaveAxisVelocity REAL Setting of slave axis velocity within motion step P , List of slave axis velocities, set 0 P , List of slave axis velocities, set 1 StepMode MC_STEP_MODE Definition of processing mode of selected motion step Fig.1-19: P , List of motion step modes, set 0 P , List of motion step modes, set 1 REST_IN_REST_INCLINEDSINE (0) REST_IN_REST_POLY5 (16#100) REST_IN_VELOCITY_POLY5 (16#200) VELOCITY_IN_REST_POLY5 (16#400) VELOCITY_IN_VELOCITY_POLY5 (16#700) CONSTANT_VELOCITY (16#600) CAM_TABLE_1 (1) CAM_TABLE_2 (2) CAM_TABLE_3 (3) CAM_TABLE_4 (4) CAM_TABLE_5 (5) CAM_TABLE_6 (6) CAM_TABLE_7 (7) CAM_TABLE_8 (8) Input variables of the firmware function block "MB_ChangeProfileStep"

35 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 27/205 Output variable Data type Description Done BOOL Data for motion step were applied Active BOOL Data transfer active "P , Status word for synchronous operating modes" (bit 12 for set 0, bit 14 for set 1) Error BOOL Signals that error has occurred in function block instance ErrorID * ERROR_CODE Short information on cause of error ErrorIdent * ERROR_STRUCT Detailed information on error CheckOk BOOL Motion profile set error-free Input / output variable Data type Description Axis AXIS_REF Axis1 for MLD-S MB_GearInPos "P , Status word for synchronous operating modes" (bit 13 for set 0, bit 15 for set 1) * See note below Fig.1-20: Output variables of the firmware function block "MB_ChangeProfile Step" Fig.1-21: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 As of MPx04: Axis1 for MLD-M is the local axis Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MB_ChangeProfileStep" With the function block "MB_GearInPos" it is possible to realize a motion of the slave axis which is phase synchronous to the master axis. The slave axis can be a real axis or (as of "IndraDrive MP05") the internal virtual master axis (VmAxisInt). When the slave axis is a real axis, a synchronous position command value for the slave axis is determined from the position of the master axis. At the input "Master" select the master axis; you can choose from the following axes: external virtual master axis (VmAxisExt), internal virtual master axis (VmAxisInt) or real master axis (RmAxis). As of "IndraDrive MP05": When "VmAxisInt" has been selected as slave axis, this axis mustn't be master axis at the same time. In principle, the synchronous position command value "X Sync " is determined according to the equation below (see also Functional Description of firmware "Phase Synchronization with Real/Virtual Master Axis"):

36 28/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-22: Calculating the synchronous position command value "Xsync" At the input "StartMode", you have to set in which mode the synchronization process is to take place. Velocity adjustment is carried out (relative synchronization) and in the case of absolute synchronization, position adjustment is carried out, too. This means that the actual values (velocity and position) are adjusted to the command values calculated from the master position. When the StartMode "0" or "1" has been set, the synchronization process only takes place at the first positive edge at "Execute". Another positive edge only causes the data at the input of the function block to be applied. As of "IndraDrive MP04V12" and only for real axes: If the synchronization process is to take place at every positive edge at "Execute", the StartMode "2" or "3" can be set; for the virtual axis, the repeated synchronization is not supported. For a real axis, the parameters "P , Synchronization velocity" and "P , Synchronization acceleration" take effect during the synchronization process, for the virtual axis, it is the parameters "P , Synchronization acceleration, secondary master" and "P , Synchronization velocity, secondary master". Synchronization can take place by motion in positive direction, in negative direction or over the shortest distance. This has to be set at the input "SyncMode". The position of the master axis is directly converted into a position of the slave axis. Fig.1-23: When the function block "MB_GearInPos" is active, the position loop of the drive is active, too, for real axes. Make the settings of the position loop (with/without lag error, actual position value 1/2) with the function block "MB_SetPositionControlMode". For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_GearInPos"

37 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 29/205 Input variable Data type Description Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 RatioNumerator UINT Gear ratio - numerator RatioDenominator UINT Gear ratio - denominator "P , Master drive gear output revolutions" or "P , Master drive gear output revolutions, secondary master" (as of IndraDrive MP05) "P , Master drive gear input revolutions" or "P , Master drive gear input revolutions, secondary master" (as of IndraDrive MP05) MasterFineadjust REAL "P , Gear ratio fine adjust" or "P , Master drive gear fine adjust, secondary master" (as of IndraDrive MP05) in % SyncMode MC_SYNC_DIRECTION "P , Synchronization direction" or "P , Preferred synchronization direction, secondary master" (as of IndraDrive MP05) 0:= shortest distance 1:= positive direction 2:= negative direction StartMode MC_START_MODE "P , Synchronization mode", bit 1 or "P , Synchronization mode, secondary master" (as of IndraDrive MP05) Fig.1-24: Output variable Data type Description 0:= absolute synchronization only at first execution 1:= relative synchronization only at first execution 2:= absolute synchronization at every execution (as of IndraDrive MP04V12) 3:= relative synchronization at every execution (as of IndraDrive MP04V12) Input variables of the firmware function block "MB_GearInPos" InSync BOOL With the output value TRUE, the function block signals that the slave axis is synchronous. "InSync" corresponds to P , bit 12 of the parameterized axis. For this application, bit 12 of P corresponds to bit 8 "synchronization mode in synchronization" of "P , Status word for synchronous operating modes". For the virtual axis, "InSync" corresponds to bit 8 of "P , Virtual master axis, positioning status" (as of IndraDrive MP05) Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion. "Active" remains TRUE until "CommandAborted" or Error" is set. CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is signaled via the Error outputs of "MC_Power" or "MX_Power". Error BOOL With "Error"=TRUE the function block signals that an error is present

38 30/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Output variable Data type Description ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-25: Output variables of the firmware function block "MB_GearInPos" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Master AXIS_REF Selection of master axis. The following master axes are available: VmAxisInt=P_0_0761 (in order that P provides the correct value, a selection parameter must have been entered in P ) VmAxisExt=P_0_0053 RmAxis=P_0_0052 Slave AXIS_REF Axis1 for MLD-S or local axis for MLD-M MB_MotionProfile Fig.1-26: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) As of IndraDrive MP05: VmAxisInt = P_0_0761 (in this case, not simultaneously allowed as master axis). Input / output variables of the firmware function block "MB_GearInPos" The function block "MB_MotionProfile" realizes an electronic cam shaft function. The cam shafts are analytically defined by the parameters which belong to the operating mode "electronic motion profile". A synchronous position command value for the slave axis is determined from the position of the master axis. At the input "Master" select the master axis; you can choose from the following axes: external virtual master axis (VmAxisExt), internal virtual master axis (VmAxisInt) or real master axis (RmAxis). To calculate the synchronous position command value X Synch, a profile access angle (P ) is first determined according to the equation below: Fig.1-27: Profile access angle With the profile access angle as argument, a synchronous position command value is calculated by means of a 5th order polynomial. At the input "StartMode", you have to set in which mode the synchronization process is to take place. Velocity adjustment is carried out (relative synchroni

39 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 31/205 zation) and in the case of absolute synchronization, position adjustment is carried out, too. This means that the actual values (velocity and position) are adjusted to the command values calculated from the master position. When the StartMode "0" or "1" has been set, the synchronization process only takes place at the first positive edge at "Execute". Another positive edge only causes the data at the input of the function block to be applied. As of "IndraDrive MP04V12": If the synchronization process is to take place at every positive edge at "Execute", the StartMode "2" or "3" can be set. For the synchronization process, the parameters "P , Synchronization velocity" and "P , Synchronization acceleration" take effect. Fig.1-28: Input variable Data type Description When the function block "MB_MotionProfile" is active, the position loop of the drive is active, too. Make the settings of the position loop (with/without lag error, actual position value 1/2) with the function block "MB_SetPositionControlMode". For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_MotionProfile" Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 RatioNumerator UINT Gear ratio - numerator "P , Master drive gear output revolutions" RatioDenominator UINT Gear ratio - denominator "P , Master drive gear input revolutions" MasterFineadjust REAL "P , Gear ratio fine adjust" in % SetSelection UINT P , bit9: selection of motion profile set (0 or 1)

40 32/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description RelativePositioning BOOL P , bit10: FALSE = fixed (absolute) position reference, TRUE = relative positioning. SyncMode MC_SYNC_DIRECTION "P , Synchronization direction": 0:= shortest distance 1:= positive direction 2:= negative direction StartMode MC_START_MODE "P , Synchronization mode", bit 1 Fig.1-29: Output variable Data type Description 0:= absolute synchronization only at first execution 1:= relative synchronization only at first execution 2:= absolute synchronization at every execution (as of "IndraDrive MP04V12") 3:= relative synchronization at every execution (as of "IndraDrive MP04V12") Input variables of the firmware function block "MB_MotionProfile" InSync BOOL With the output value TRUE, the function block signals that the slave axis is synchronous. "InSync" corresponds to P , bit12 of the parameterized axis and SetSelection(P ) = ActiveSet(P ). For this application, bit 12 of P corresponds to bit 8 "synchronization mode in synchronization" of parameter "P , Status word for synchronous operating modes". Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion. "Active" remains TRUE until "CommandAborted" or Error" is set. CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is signaled via the Error outputs of "MC_Power" or "MX_Power". Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error ActiveSet UINT P , bit3: the output displays the number of the active motion profile set. * See note below Fig.1-30: Output variables of the firmware function block "MB_MotionProfile" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

41 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 33/205 Input / output variable (VAR_IN_OUT) Data type Description Master AXIS_REF Selection of master axis. The following master axes are available: VmAxisInt=P_0_0761 (in order that P provides the correct value, a selection parameter must have been entered in P ) VmAxisExt = P_0_0053 RmAxis = P_0_0052 Slave AXIS_REF Axis1 for MLD-S or local axis for MLD-M MB_Phasing Fig.1-31: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MB_MotionProfile" The function block "MB_Phasing" allows realizing an offset to the master axis which is connected as input to a synchronization function block ("MC_CamIn" or "MC_GearInPos"). The parameter "P , Additive master axis position" is changed. The inputs "Velocity" and "Acceleration" determine the motion profile with which the distance is traveled. The units of the inputs which define the drive motion are fixed. Fig.1-32: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_Phasing" Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 PhaseShift REAL Additive master axis position (P ) in degrees

42 34/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description Velocity REAL Additive master axis position, positioning velocity (P ) in rpm Acceleration REAL Additive master axis position, positioning acceleration (P ) in rad/s² Fig.1-33: Output variable Data type Description Input variables of the firmware function block "MB_Phasing" Done BOOL With "Done"=TRUE the firmware function block signals that PhaseShift has been reached (acknowledged by bit 6 of "P , Status word for synchronous operating modes") Active BOOL With TRUE the input "Active" signals that the preset value has not yet been reached CommandAborted BOOL The output "CommandAborted" is set to TRUE, when the firmware function block has not yet signaled with "Done"=TRUE that it has been completed and the firmware function block was aborted with another motion function block Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-34: Output variables of the firmware function block "MB_Phasing" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis1 for MLD-S or local axis for MLD-M MB_PhasingSlave Fig.1-35: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MB_Phasing" With the function block "MB_PhasingSlave" it is possible to adjust the slave axis by a position offset. The adjustment only takes effect with active synchronization function block ("MC_CamIn", "MB_GearInPos" or "MB_MotionProfile"). Moving to the new value for the position offset (input "PhaseShift") takes place in consideration of the values for velocity (input "Velocity") and acceleration (input "Acceleration") provided at the function block. The scaling parameters of the axis ("S , Velocity data scaling type"; "S , Position data scaling type"; "S , Acceleration data scaling type") define the units for the inputs "PhaseShift", "Velocity" and "Acceleration". For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04""

43 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 35/205 Fig.1-36: Input variable Data type Description Firmware function block "MB_PhasingSlave" Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 PhaseShift REAL "S , Additive position command value" Velocity REAL "P , Additive position command value, positioning velocity" Acceleration REAL "P , Additive position command value, positioning acceleration" Fig.1-37: Output variable Data type Description Input variables of the firmware function block "MB_PhasingSlave" Done BOOL PhaseShift reached (acknowledged by "P , Synchronization completed", bit 0=1) Active BOOL With "Active"=TRUE the function block signals that it contributes to the axis motion CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that synchronization has been aborted Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error * See note below Fig.1-38: Output variables of the firmware function block "MB_PhasingSlave" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

44 36/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input / output variable (VAR_IN_OUT) Data type Description Axis AXIS_REF Axis1 for MLD-S or local axis for MLD-M MB_Stop Fig.1-39: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MB_Phasing Slave" The firmware function block "MB_Stop" is used to bring the drive to the status STOP. With the rising edge at "ExecuteLock" the stopping process is started. If the PLC does not have control over the drive, an error is returned. As long as the input "ExecuteLock" is TRUE, no other motion function block can be started. For this purpose, the drive is brought to the status "AH" (Drive Halt). Further command triggering is only possible when the axis is in standstill. With "ExecuteLock"=FALSE the drive remains in "AH". With the deceleration set at "Deceleration" the drive is brought to standstill. When several instances are called by "MC_Stop" or "MB_Stop" in a project, it is always the last instance which takes effect. Exception: An active "MC_Stop" cannot be interrupted by an "MB_Stop". "MC_Stop" has higher priority than "MB_Stop"; this means that a running "MC_Stop" cannot be aborted by an "MB_Stop". Via the function block "MB_Stop" it is also possible to bring "P , Virtual master axis, actual velocity value" to standstill via a defined ramp. For this purpose, the master axis generator has to be activated via "P , Control word of master axis generator", bit 0=1. To convert the virtual actual position value (P ) into the internal virtual master axis position (VmAxisInt, "P , Master axis position for slave axis"), the parameter P must be written to parameter "P , Master axis format converter signal selection". See also Functional Description of firmware "Master Axis Generator" To test the function block, the instance variable "ActivateCounter" can be used. It counts the positive edges of the "ExecuteLock" signal and thereby signals whether the function block is run with edge. For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04""

45 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 37/205 Fig.1-40: Input variable Data type Description Firmware function block "MB_Stop" ExecuteLock BOOL With a rising edge at "ExecuteLock" the drive is switched to "AH" Deceleration REAL This input sets the deceleration. The deceleration which is set is written to parameter "S , Drive Halt acceleration bipolar". Fig.1-41: Output variable Data type Description Input variables of the firmware function block "MB_Stop" Done BOOL With "Done"=TRUE (S , bit 0=1) the firmware function block signals that the drive has stopped. Only when the input "ExecuteLock" is TRUE is the output "Done" generated Active BOOL With "Active"=TRUE the firmware function block signals that it determines the axis motion CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another function block has commanded another status (other "MC_Stop" or "MB_Stop") Error BOOL With "Error"=TRUE the function block signals that an error is present; the kind of deceleration depends on the error ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error * See note below Fig.1-42: Output variables of the firmware function block "MB_Stop" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

46 38/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input / output variable (VAR_IN_OUT) Data type Description Axis AXIS_REF Axis1 for MLD-S or local axis for MLD-M MC_CamIn Fig.1-43: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) VmAxisInt corresponds to the virtual master axis generator Input / output variables of the firmware function block "MB_Stop" With the function block "MC_CamIn" it is possible to realize an electronic cam shaft. A synchronous position command value for the slave axis is determined from the position of the master axis. At the input "Master" select the master axis; you can choose from the following axes: external virtual master axis (VmAxisExt), internal virtual master axis (VmAxisInt) or real master axis (RmAxis). To calculate the synchronous position command value "XSynch", a profile access angle (P ) is first determined according to the equation below: Fig.1-44: Calculating P , Cam shaft profile, access angle (profile access angle) With the calculated profile access angle the profile selected at the input "Cam TableID" is accessed and a percentage is taken from it. This profile value is multiplied with the position value at the input "CamShaftDistance" and provides the synchronous position command value. At the input "StartMode", you have to set in which mode the synchronization process is to take place. Velocity adjustment is carried out (relative synchronization) and in the case of absolute synchronization, position adjustment is carried out, too. This means that the actual values (velocity and position) are adjusted to the command values calculated from the master position with parameterized velocity (P , Synchronization velocity) and acceleration (P , Synchronization acceleration). When the StartMode "0" or "1" has been set, the synchronization process only takes place at the first positive edge at "Execute". Another positive edge only causes the data at the input of the function block to be applied. The input values (gear, distance, cam shaft) then take effect depending on the configuration of "P , Configuration word synchronous operating modes". As of "IndraDrive MP04V12": If the synchronization process is to take place at every positive edge at "Execute", the StartMode "2" or "3" can be set. The input values (gear, distance, cam shaft) therewith take effect immediately, independent of P With modulo position scaling, synchronization can take place by motion in positive direction, in negative direction or over the shortest distance. This has to be set at the input "SyncMode".

47 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 39/205 Fig.1-45: Input variable Data type Description When the function block "MC_CamIn" is active, the position loop of the drive is active, too. Make the settings of the position loop (with/ without lag error, actual position value 1/2) with the function block "MB_SetPositionControlMode". For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MC_CamIn" Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset RatioNumerator UINT Gear ratio - numerator "P , Master drive gear output revolutions" RatioDenominator UINT Gear ratio - denominator "P , Master drive gear input revolutions" MasterFineadjust REAL "P , Gear ratio fine adjust" in % CamShaftDistance REAL Cam shaft distance. Scaling of percentage-based profile values SyncMode MC_SYNC_DIRECTION "P , Synchronization direction": 0:= shortest distance 1:= positive direction 2:= negative direction

48 40/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description StartMode MC_START_MODE "P , Synchronization mode", bit 1 0:= absolute synchronization only at first execution 1:= relative synchronization only at first execution 2:= absolute synchronization at every execution (as of IndraDrive MP04V12) 3:= relative synchronization at every execution (as of IndraDrive MP04V12) CamTableID MC_CAM_ID Number of the cam shaft profile (1..8 according to parameters P , P , P P ) Fig.1-46: Output variable Data type Description Input variables of the firmware function block "MC_CamIn" InSync BOOL With "InSync"=TRUE the function block signals that the slave axis is synchronous. "InSync" corresponds to "P , Device control: status word", bit 12: "command value reached" of the parameterized axis and "CamTableID"="CamActiveID" and "P , Status word for synchronous operating modes", bit 5=1 (status distance switching). For this application, bit 12 of P corresponds to bit 8 "synchronization mode in synchronization" of parameter "P , Status word for synchronous operating modes". Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion. "Active" remains TRUE until "CommandAborted" or Error" is set. CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is signaled via the Error outputs of "MC_Power". Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error CamActiveID Number of the cam shaft active in the function block * See note below Fig.1-47: Output variables of the firmware function block "MC_CamIn" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

49 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 41/205 Input / output variable (VAR_IN_OUT) Data type Description Master AXIS_REF Selection of master axis. The following master axes are available: VmAxisInt=P (in order that P provides the correct value, a selection parameter must have been entered in P ) VmAxisExt=P RmAxis=P Slave AXIS_REF Axis1 (only axis for MLD-S or local axis for MLD-M) MC_CamOut Fig.1-48: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MC_CamIn" The firmware function block "MC_CamOut" is used to terminate an active synchronization function block. Transition to velocity control takes place. The actual velocity value available with a rising Execute edge is taken as velocity command value. Fig.1-49: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MC_CamOut" Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 Fig.1-50: Output variable Data type Description Input variables of the firmware function block "MC_CamOut" Done BOOL With "Done"=TRUE the firmware function block signals that the preset velocity has been reached. (S , bit 0=1) Active BOOL With TRUE the output "Active" signals that it determines the axis motion.

50 42/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Output variable Data type Description Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-51: Output variables of the firmware function block "MC_CamOut" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Slave AXIS_REF Axis1 (only axis for MLD-S or local axis for MLD-M) MC_GearIn Fig.1-52: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MC_CamOut" With the function block "MC_GearIn" it is possible to realize a motion of the slave axis which is velocity synchronous to the master axis. When the function block is activated, the slave axis accelerates to the synchronous velocity with the acceleration set in "P , Synchronization acceleration". The synchronous velocity is generated according to the equation below, from the velocity of the master axis and the input data of the function block. Fig.1-53: Calculating the synchronous velocity For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04""

51 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 43/205 Fig.1-54: Input variable Data type Description Firmware function block "MC_GearIn" Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 RatioNumerator UINT Gear ratio - numerator "P , Master drive gear output revolutions" RatioDenominator UINT Gear ratio - denominator "P , Master drive gear input revolutions" MasterFineadjust REAL "P , Gear ratio fine adjust" in % Fig.1-55: Output variable Data type Description Input variables of the firmware function block "MC_GearIn" InGear BOOL With "InGear"=TRUE the function block signals that the slave axis is velocity-synchronous. "InGear" corresponds to "P , Device control: status word", bit 12: "command value reached" of the parameterized axis. For this application, this bit corresponds to bit 8 "synchronization mode in synchronization" of parameter "P , Status word for synchronous operating modes". Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion. "Active" remains TRUE until "CommandAborted" or Error" is set. CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is displayed via the Error outputs of "MC_Power" Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error * See note below Fig.1-56: Output variables of the firmware function block "MC_GearIn"

52 44/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input / output variable (VAR_IN_OUT) Data type NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Master AXIS_REF Selection of master axis. The following master axes are available: VmAxisInt=P (in order that P provides the correct value, a selection parameter must have been entered in P ) VmAxisExt=P RmAxis=P Slave AXIS_REF Axis1 (only axis for MLD-S or local axis for MLD-M) MC_GearOut Fig.1-57: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MC_GearIn" The firmware function block "MC_GearOut" is used to terminate an active synchronization function block. Transition to velocity control takes place for real axes. The actual velocity value available with a rising Execute edge is taken as velocity command value. Fig.1-58: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MC_GearOut" Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 Fig.1-59: Input variables of the firmware function block "MC_GearOut"

53 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 45/205 Output variable Data type Description Done BOOL With "Done"=TRUE the firmware function block signals that the preset velocity has been reached. (S , bit 0=1) Active BOOL With TRUE the output "Active" signals that it determines the axis motion. Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-60: Output variables of the firmware function block "MC_GearOut" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Slave AXIS_REF VmAxisInt (P , Master axis position for slave axis) (as of IndraDrive MP05) MC_MoveAbsolute Fig.1-61: Axis1 (only axis for MLD-S or local axis for MLD-M) Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MC_GearOut" The firmware function block "MC_MoveAbsolute" is used to move the drive to a preset absolute position. Internally the operating mode "drive-controlled positioning" is activated for this purpose. Make the settings of the position loop (with/without lag error, actual position value 1/2) with the function block "MB_SetPositionControlMode". For permanent control and remote axes the secondary operation mode 3 and its parameters are used. For temporary control the secondary PLC operation mode 11 and its parameters are used. The target position has to be preset at the input "Position". Via the inputs "Velocity", "Acceleration" and "Deceleration" you have to set how the drive moves to the target position (motion profile). Via the firmware function block "MC_MoveAbsolute" the parameter "P , Virtual master axis, actual position value" of the master axis generator can be positioned in absolute form, too. For this purpose, the master axis generator has to be activated via "P , Control word of master axis generator", bit 0=1. To convert the virtual actual position value (P ) into the internal virtual master axis position (VmAxisInt, "P , Master axis position for slave axis") the parameter P must be written to parameter "P , Master axis format converter signal selection". See also Functional Description of firmware "Master Axis Generator" and "Master Axis Format Converter"

54 46/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-62: For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Functional firmware block "MC_MoveAbsolute" Operating mode parameter PLC mode parameter Virt. master axis (as of MPx04) S , Positioning command value P , PLC Positioning command value P , Virtual master axis, positioning command value S , Positioning Velocity P , PLC Positioning velocity P , Virtual master axis, positioning velocity S , Positioning Acceleration P , PLC Positioning acceleration P , Virtual master axis, positioning acceleration S , Positioning control word P , PLC Positioning command value acceptance P , Virtual master axis, positioning control word S , Positioning deceleration P , PLC Positioning deceleration P , Virtual master axis, positioning deceleration Fig.1-63: Input variable Data type Description Comparison of operating mode parameters Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 Position REAL The absolute position must be preset at the input "Position". Velocity REAL Positioning velocity in physical unit Acceleration REAL Positioning acceleration in physical unit Deceleration REAL Positioning deceleration in physical unit Fig.1-64: Input variables of the firmware function block "MC_MoveAbsolute"

55 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 47/205 Output variable Data type Description Done BOOL With "Done"=TRUE the firmware function block signals that the absolute target position has been reached. The processing is completed until the next 0-1 edge at the "Execute" input. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE), the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firmware function block has not been interrupted by an error or another firmware function block. Real axes: The output is set to TRUE when bit 2 is set in parameter "S , Positioning status word". Virtual master axis: (as of MPx04VRS) The output is set to TRUE when bit 2 is set in parameter "P , Virtual master axis, positioning status". Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion. CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is displayed via the Error outputs of "MC_Power" Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-65: Output variables of the firmware function block "MC_MoveAbsolute" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Defines the axis. The following axes are possible: MC_MoveAdditive Fig.1-66: "Axis1" (axis for MLD-S or local axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) "VmAxisInt" corresponds to the virtual master axis generator Input / output variables of the firmware function block "MC_MoveAbsolute" The firmware function block "MC_MoveAdditive" is used to move the drive in relative form by a distance in addition to the target position. Th new target position results from the old target position, plus a distance. The distance is determined by the input "Distance". The inputs "Velocity", "Acceleration" and "Deceleration" determine the motion profile.

56 48/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Internally the operating mode "drive-controlled positioning" is activated. Make the settings of the position loop (with/without lag error, actual position value 1/2) with the function block "MB_SetPositionControlMode". For permanent control and remote axes the secondary operation mode 3 and its parameters are used. For temporary control the secondary PLC operation mode 11 and its parameters are used. Fig.1-67: Via the firmware function block "MC_MoveAbsolute" the parameter "P , Virtual master axis, actual position value" of the master axis generator can be moved in relative form by a distance in addition to the current target position. For this purpose, the master axis generator has to be activated via "P , Control word of master axis generator", bit 0=1. To convert the virtual actual position value (P ) into the internal virtual master axis position (VmAxisInt, "P , Master axis position for slave axis") the parameter P must be written to parameter "P , Master axis format converter signal selection". See also Functional Description of firmware "Master Axis Generator" and "Master Axis Format Converter" For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Functional firmware block "MC_MoveAdditive" Operating mode parameter PLC mode parameter Virt. master axis S , Positioning command value P , PLC Positioning command value P , Virtual master axis, positioning command value S , Positioning Velocity P , PLC Positioning velocity P , Virtual master axis, positioning velocity S , Positioning Acceleration P , PLC Positioning acceleration P , Virtual master axis, positioning acceleration

57 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 49/205 Operating mode parameter PLC mode parameter Virt. master axis S , Positioning control word P , PLC Positioning command value acceptance P , Virtual master axis, positioning control word S , Positioning deceleration P , PLC Positioning deceleration P , Virtual master axis, positioning deceleration Fig.1-68: Input variable Data type Description Comparison of operating mode parameters Execute BOOL With a rising edge at "Execute" the data at the inputs are applied to the firmware function block; processing starts. With a falling edge, all outputs are cleared. The firmware function block remains active until one of the two outputs"done" and "Error" is set to TRUE. The status persists for one call before the outputs are reset Distance REAL At the input "Distance" the relative distance must be preset; the new target position results from the old target position and the value set at the input "Distance". Velocity REAL Positioning velocity in physical unit Acceleration REAL Positioning acceleration in physical unit Deceleration REAL Positioning deceleration in physical unit Fig.1-69: Output variable Data type Description Input variables of the firmware function block "MC_MoveAdditive" Done BOOL With "Done"=TRUE the firmware function block signals that the target position has been reached. The processing is completed until the next 0-1 edge at the "Execute" input. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE), the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firmware function block has not been interrupted by an error or another firmware function block. Real axes: The output is set to TRUE when bit 2 is set in parameter "S , Positioning status word". Virtual master axis: (as of MPx04VRS) The output is set to TRUE when bit 2 is set in parameter "P , Virtual master axis, positioning status". Active BOOL With "Active"=TRUE the firmware function block signals that it determines the axis motion CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is displayed via the Error outputs of "MC_Power" Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error * See note below Fig.1-70: Output variables of the firmware function block "MC_MoveAdditive"

58 50/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input / output variable (VAR_IN_OUT) Data type NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Defines the axis. The following axes are possible: MC_MoveRelative Fig.1-71: "Axis1" (axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) "VmAxisInt" corresponds to the virtual master axis generator Input / output variables of the firmware function block "MC_MoveAdditive" The firmware function block "MC_MoveRelative" is used to move the drive in relative form by a distance, starting from the current actual position. Internally the operating mode "drive-controlled positioning" is activated for this purpose. Make the settings of the position loop (with/without lag error, actual position value 1/2) with the function block "MB_SetPositionControlMode". For permanent control and remote axes the secondary operation mode 3 and its parameters are used. For temporary control the secondary PLC operation mode 11 and its parameters are used. The relative distance to be moved has to be preset at the input "Distance". Via the inputs "Velocity", "Acceleration" and "Deceleration" you have to set the motion profile (determines how the relative distance is traveled). Via the firmware function block "MC_MoveRelative" the parameter "P , Virtual master axis, actual position value" of the master axis generator can be moved in relative form by a distance starting from the current virtual actual position. For this purpose, the master axis generator has to be activated via "P , Control word of master axis generator", bit 0=1. To convert the virtual actual position value (P ) into the internal virtual master axis position (VmAxisInt, "P , Master axis position for slave axis") the parameter P must be written to parameter "P , Master axis format converter signal selection". See also Functional Description of firmware "Master Axis Generator" and "Master Axis Format Converter" For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04""

59 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 51/205 Fig.1-72: Functional firmware block "MC_MoveRelative" Operating mode parameter PLC mode parameter Virt. master axis (as of MPx04) S , Positioning command value P , PLC Positioning command value P , Virtual master axis, positioning command value S , Positioning Velocity P , PLC Positioning velocity P , Virtual master axis, positioning velocity S , Positioning Acceleration P , PLC Positioning acceleration P , Virtual master axis, positioning acceleration S , Positioning control word P , PLC Positioning command value acceptance P , Virtual master axis, positioning control word S , Positioning deceleration P , PLC Positioning deceleration P , Virtual master axis, positioning deceleration Fig.1-73: Input variable Data type Description Comparison of operating mode parameters Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 Distance REAL At the input "Distance" you have to preset the relative distance which is to be traveled starting from the current actual position. Velocity REAL Positioning velocity in physical unit The number of possible decimal places depends on the parameterized scaling (see drive documentation). If the applied value has more decimal places, they are cut off Acceleration REAL Positioning acceleration in physical unit Deceleration REAL Positioning deceleration in physical unit Fig.1-74: Input variables of the firmware function block "MC_MoveRelative"

60 52/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Output variable Data type Description Done BOOL With "Done"=TRUE the firmware function block signals that the preset distance has been traveled. The processing is completed until the next 0-1 edge at the "Execute" input. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE), the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firmware function block has not been interrupted by an error or another firmware function block. Real axes: The output is set to TRUE when bit 2 is set in parameter "S , Positioning status word". Virtual master axis: (as of MPx04VRS) The output is set to TRUE when bit 2 is set in parameter "P , Virtual master axis, positioning status". Active BOOL With TRUE the output "Active" signals that it determines the axis motion. CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is displayed via the Error outputs of "MC_Power" Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-75: Output variables of the firmware function block "MC_MoveRelative" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Defines the axis. The following axes are possible: MC_MoveVelocity Fig.1-76: "Axis1" (axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) "VmAxisInt" corresponds to the virtual master axis generator Input / output variables of the firmware function block "MC_MoveRelative" The firmware function block "MC_MoveVelocity" is used to preset a velocity for the drive. As the drive moves in velocity control, the firmware function block can be used for open-loop drives, too. For permanent control and remote axes the primary mode of operation and its parameters are used. For temporary control the secondary PLC operation mode 8 and its parameters are used.

61 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 53/205 If they are scaling-dependent and unless otherwise described, the units of the inputs which define the drive motion are taken from the scaling parameters. S , Velocity data scaling type S , Position data scaling type S , Torque/force data scaling type Via the firmware function block "MC_MoveVelocity" a velocity can be preset for the virtual master axis generator, too. For this purpose, the master axis generator has to be activated via "P , Control word of master axis generator", bit 0=1. To convert the virtual actual position value (P ) into the internal virtual master axis position (VmAxisInt, "P , Master axis position for slave axis") the parameter P must be written to parameter "P , Master axis format converter signal selection". See also Functional Description of firmware "Master Axis Generator" and "Master Axis Format Converter" The functional principle of the firmware function block "MC_Move Velocity" differs in one important point depending on the selected axis: "VmAxisInt" "P , Virtual master axis, command value mode". For the function block "MC_MoveVelocity" the parameter has the following effect: 00: Positive direction: Only positive direction of rotation is allowed for positioning (relative/absolute) and jogging 01: Negative direction: Only negative direction of rotation is allowed for positioning (relative/absolute) and jogging 10: Shortest distance: Both positive and negative directions of rotation are allowed for positioning (relative/absolute)and jogging If this is not taken into consideration, the drive error "F2064 Incorrect cmd value direction master axis generator" is triggered. This parameter only takes effect with modulo scaling of the virtual master axis generator. For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04""

62 54/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-77: Firmware function block "MC_MoveVelocity" Operating mode parameter PLC mode parameter Virt. master axis (as of MPx04) S , Velocity command value P-01460, PLC Velocity command value P , Virtual master axis, positioning velocity P , Ramp 2 pitch P , PLC Ramp 2 pitch P , Virtual master axis, positioning acceleration P , Deceleration ramp 2 P , PLC Deceleration ramp 2 P , Virtual master axis, positioning deceleration Fig.1-78: Input variable Data type Description Comparison of operating mode parameters Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 Velocity REAL Velocity in physical unit. The number of possible decimal places depends on the parameterized scaling (see drive documentation). If the applied value has more decimal places, they are cut off Acceleration REAL Acceleration in physical unit. The number of possible decimal places depends on the parameterized scaling (see drive documentation). If the applied value has more decimal places, they are cut off Deceleration REAL Deceleration in physical unit. The number of possible decimal places depends on the parameterized scaling (see drive documentation). If the applied value has more decimal places, they are cut off Fig.1-79: Input variables of the firmware function block "MC_MoveVelocity"

63 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 55/205 Output variable Data type Description InVelocity BOOL With "InVelocity"=TRUE the firmware function block signals that the velocity preset by "Velocity" has been reached. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has reached the command velocity ("InVelocity"=TRUE), the output "InVelocity" is set to TRUE for one call if the actual velocity corresponds to the command velocity. Real axes: "Axis1" etc. InVelocity = "P , Device control: status word", bit 12 of the parameterized axis. In this application, bit 12 of P corresponds to S , message n_act = n_cmd Virtual master axis: "VmAxisInt" (as of MPx04VRS) InVelocity = bit4 AND bit13 of "P , Virtual master axis, positioning status". - Bit4 = 1 -> generator provides const. velocity - Bit13 = 1 -> P P < 1rpm or <1mm/min Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion. "Active" remains TRUE until "CommandAborted" or Error" is set. CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is displayed via the Error outputs of "MC_Power" Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-80: Output variables of the firmware function block "MC_MoveVelocity" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Defines the axis. The following axes are possible: MC_Stop Fig.1-81: "Axis1" (local axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) "VmAxisInt" corresponds to the virtual master axis generator Input / output variables of the firmware function block "MC_MoveVelocity" The firmware function block "MC_Stop" is used to bring the drive to the status STOP. With the rising edge of "Execute" the stopping process is started.

64 56/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description If the PLC does not have control over the drive, an error is returned. When the firmware function block "MC_Stop" is activated via a rising edge at the "Execute" input, the drive goes to the status "AH" (Drive Halt). Further command triggering of a motion function block will only be possible when the axis is in standstill and the "Execute" input has the value FALSE. With the deceleration set at "Deceleration" the drive is brought to standstill. When several instances are called by "MC_Stop" in a project, it is always the last instance which takes effect. An active "MC_Stop" cannot be interrupted by an "MB_Stop". When an instance is called with an edge at "Execute", other instances when called (without edge) signal CommandAborted = TRUE. "MC_Stop" has higher priority than "MB_Stop"; this means that a running "MC_Stop" cannot be aborted by an "MB_Stop". Fig.1-82: To test the function block "MC_Stop" the instance variable "ActivateCounter" can be used. It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with edge. Via the firmware function block "MC_Stop" it is also possible to bring "P , Virtual master axis, actual velocity value" to standstill via a defined ramp (defined via input "Deceleration"). For this purpose, the master axis generator has to be activated via "P , Control word of master axis generator", bit 0=1. To convert the virtual actual position value (P ) into the internal virtual master axis position (VmAxisInt, "P , Master axis position for slave axis") the parameter P must be written to parameter "P , Master axis format converter signal selection". See also Functional Description of firmware "Master Axis Generator" and "Master Axis Format Converter" For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MC_Stop"

65 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 57/205 Input variable Data type Description Execute BOOL Slave axis ("Axis1" to "Axis8"): With a rising edge at "Execute" the drive is switched to "AH". Master axis generator ("VmAxisInt"): With a rising edge at "Execute" the master axis generator is brought to the positioning mode "halt" ("P , Virtual master axis, positioning control word", bit1 and bit2 to "1"). See also "Input Signals "Execute" / "Enable"" on page 11 Deceleration REAL This input sets the deceleration. The deceleration which is set is written to parameter "S , Drive Halt acceleration bipolar" of the slave axis (real axis) or parameter "P , Virtual master axis, positioning deceleration" of the virtual master axis generator. Fig.1-83: Output variable Data type Description Input variables of the firmware function block "MC_Stop" Done BOOL With "Done"=TRUE the firmware function block signals that the axis has stopped. Slave axis (real axis): When S , bit 0 = 1 Virtual master axis generator ("VmAxisInt"): When the absolute value of P is smaller than P Active BOOL With "Active"=TRUE the firmware function block signals that it determines the axis motion CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another "MC_Stop" was activated or a drive error was present. A drive error is displayed via the Error outputs of "MC_Power" Error BOOL With "Error"=TRUE the function block signals that an error is present; the kind of deceleration depends on the error ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-84: Output variables of the firmware function block "MC_Stop" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Defines the axis. The following axes are possible: Fig.1-85: "Axis1" (local axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) "VmAxisInt" corresponds to the virtual master axis generator Input / output variables of the firmware function block "MC_Stop"

66 58/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description MC_TorqueControl Operating mode parameter S , Torque/force command value S , Torque/force ramp The firmware function block "MC_TorqueControl" is used to activate the operating mode "torque/force control"; the drive follows the command value input. Fig.1-86: Fig.1-87: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block MC_TorqueControl PLC mode parameter P , PLC Torque/force command value P , PLC Torque/force ramp Comparison of operating mode parameters Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 Torque REAL Torque/force command value (S ) TorqueRamp REAL Torque/force ramp (S ) with reference to the torque/force ramp time (S ) Fig.1-88: Output variable Data type Description Note: If the input "TorqueRamp" is set to 0, the torque/force command value is input abruptly. Input variables of the firmware function block "MC_TorqueControl" InTorque BOOL Torque/force command value has been reached. Note: With the parameter "S , Torque/force window", set when the function block provides the message "InTorque". Active BOOL Function block or operating mode is active CommandAborted BOOL Function block was aborted Error BOOL With "Error"=TRUE the function block signals that an error is present

67 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 59/205 Output variable Data type Description ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-89: Output variables of the firmware function block "MC_CamOut" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Slave AXIS_REF Axis1 (only axis for MLD-S or local axis for MLD-M) MX_MoveAbsolute Fig.1-90: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MC_CamOut" The firmware function block "MX_MoveAbsolute" is used to move the drive to a preset absolute position. For this purpose, the secondary PLC operation mode "drive-controlled positioning without lag error with motor encoder" is internally activated (see Functional Description of firmware "Drive-Controlled Positioning"). As of MPx04 the operating mode "drive-controlled positioning" is internally activated. Make the settings of the position loop (with/ without lag error, actual position value 1/2) with the function block "MB_SetPositionControlMode". For permanent control and remote axes, the secondary operation mode 3 and its parameters are used. For temporary control, the secondary PLC operation mode 11 and its parameters are used. The target position has to be preset at the input "Position". Via the inputs "Velocity", "Acceleration" and "Deceleration" you have to set how the drive moves to the target position (motion profile). The corresponding PLC mode parameters are used as internal command values instead of the usual operating mode parameters. They can be read for diagnostic purposes: Operating mode parameter PLC mode parameter Virt. master axis (as of MPx04) S , Positioning command value P , PLC Positioning command value P , Virtual master axis, positioning command value S , Positioning Velocity P , PLC Positioning velocity P , Virtual master axis, positioning velocity S , Positioning Acceleration P , PLC Positioning acceleration P , Virtual master axis, positioning acceleration

68 60/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Operating mode parameter PLC mode parameter Virt. master axis (as of MPx04) S , Positioning control word P , PLC Positioning command value acceptance P , Virtual master axis, positioning control word S , Positioning deceleration P , PLC Positioning deceleration P , Virtual master axis, positioning deceleration Fig.1-91: Fig.1-92: Input variable Data type Description Comparison of operating mode parameters For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Functional firmware block "MX_MoveAbsolute" Execute BOOL See chapter 1.4 "Signal Time Diagrams of Most Frequently Used Inputs and Outputs" on page 11 Position DINT At "Position" you have to preset the target position in fixed point format. Velocity REAL Positioning velocity in physical unit To preset the position correctly, the number of decimal places of parameter "S , Positioning command value" must be known. With preferred scaling (see Functional Description of firmware "Scaling Types"), the parameter has 4 decimal places. Example:If the drive is to be moved to a target position of , the value must be written at "Position". Acceleration REAL Positioning acceleration in physical unit Deceleration REAL Positioning deceleration in physical unit Fig.1-93: Input variables of the firmware function block "MX_MoveAbsolute"

69 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 61/205 Output variable Data type Description Done BOOL With "Done"=TRUE the firmware function block signals that the absolute target position has been reached. The processing is completed until the next 0-1 edge at the "Execute" input. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE), the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firmware function block has not been interrupted by an error or another firmware function block. Real axis: The output is set to TRUE when bit 2 is set in parameter "S , Positioning status word". Virtual master axis generator (VmAxisInt): The output is set to TRUE when bit 2 is set in parameter "P , Virtual master axis, positioning status". Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion. "Active" remains TRUE until "CommandAborted" or Error" is set. CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is displayed via the Error outputs of "MC_Power" Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) Input / output variable (VAR_IN_OUT) ERROR_STRUCT Data type Fig.1-94: Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_MoveAbsolute" in target "IndraDrive MPH02"" on page 62 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Output variables of the firmware function block "MX_MoveAbsolute" Axis AXIS_REF Defines the axis. The following axes are possible: Fig.1-95: "Axis1" (axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) "VmAxisInt" corresponds to the virtual master axis generator Input / output variables of the firmware function block "MX_MoveAbsolute"

70 62/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description ErrorID RESSOURCE_ERROR ACCESS_ERROR_CODE MX_MoveAdditive Description Drive does not have packages enabled for closed-loop or Invalid axis reference Drive is not in control or PLC has no control over drive or Drive has not been homed or Drive is in status "STOPPING" ("MX_Stop" with active "Execute" input) Fig.1-96: Descriptions of "ErrorID" of the firmware function block "MX_MoveAbsolute" in target "IndraDrive MPH02" The firmware function block "MX_MoveAdditive" is used to move the drive in relative form by a distance in addition to the target position. Th new target position results from the old target position, plus a distance. The distance is determined by the input "Distance". The inputs "Velocity", "Acceleration" and "Deceleration" determine the motion profile. For this purpose, the secondary PLC operation mode "drive-controlled positioning without lag error with motor encoder" is internally activated (see Functional Description of firmware "Drive-Controlled Positioning"). As of MPx04 the operating mode "drive-controlled positioning" is internally activated. Make the settings of the position loop (with/ without lag error, actual position value 1/2) with the function block "MB_SetPositionControlMode". For permanent control and remote axes, the secondary operation mode 3 and its parameters are used. For temporary control, the secondary PLC operation mode 11 and its parameters are used. As of MPx04: Via the firmware function block "MX_MoveAdditive", the parameter "P , Virtual master axis, actual position value" of the master axis generator can be moved in relative form by a distance in addition to the current target position. For this purpose, the master axis generator has to be activated via "P , Control word of master axis generator", bit 0=1. To convert the virtual actual position value (P ) into the internal virtual master axis position (VmAxisInt, "P , Master axis position for slave axis"), the parameter P must be written to parameter "P , Master axis format converter signal selection". See also Functional Description of firmware "Master Axis Generator" and "Master Axis Format Converter" For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

71 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 63/205 Fig.1-97: Functional firmware block "MX_MoveAdditive" The corresponding PLC mode parameters are used as internal command values instead of the usual operating mode parameters. They can be read for diagnostic purposes: Operating mode parameter PLC mode parameter Virt. master axis (as of MPx04) S , Positioning command value P , PLC Positioning command value P , Virtual master axis, positioning command value S , Positioning Velocity P , PLC Positioning velocity P , Virtual master axis, positioning velocity S , Positioning Acceleration P , PLC Positioning acceleration P , Virtual master axis, positioning acceleration S , Positioning control word P , PLC Positioning command value acceptance P , Virtual master axis, positioning control word S , Positioning deceleration P , PLC Positioning deceleration P , Virtual master axis, positioning deceleration Fig.1-98: Input variable Data type Description Comparison of operating mode parameters Execute BOOL See chapter 1.4 "Signal Time Diagrams of Most Frequently Used Inputs and Outputs" on page 11 Distance DINT At "Distance" you have to preset the relative distance in fixed point format. Velocity REAL Positioning velocity in physical unit To preset the distance correctly, the number of decimal places of parameter "S , Positioning command value" must be known. With preferred scaling (see Functional Description of firmware "Scaling Types"), the parameter has 4 decimal places. Example: If the drive is to be moved by a distance of , the value must be written at "Distance" Acceleration REAL Positioning acceleration in physical unit Deceleration REAL Positioning deceleration in physical unit Fig.1-99: Input variables of the firmware function block "MX_MoveAdditive"

72 64/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Output variable Data type Description Done BOOL With "Done"=TRUE the firmware function block signals that the target position has been reached. The processing is completed until the next 0-1 edge at the "Execute" input. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE), the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firmware function block has not been interrupted by an error or another firmware function block. Real axes: The output is set to TRUE when bit 2 is set in parameter "S , Positioning status word". Virtual master axis: (as of MPx04VRS) The output is set to TRUE when bit 2 is set in parameter "P , Virtual master axis, positioning status". Active BOOL With "Active"=TRUE the firmware function block signals that it determines the axis motion CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is displayed via the Error outputs of "MC_Power" Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent ** (as of MPx03VRS) Input / output variable (VAR_IN_OUT) ERROR_STRUCT Data type Fig.1-100: Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_MoveAdditive" in target "IndraDrive MPH02"" on page 65 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Output variables of the firmware function block "MX_MoveAdditive" Axis AXIS_REF Defines the axis. The following axes are possible: Fig.1-101: "Axis1" (axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) "VmAxisInt" corresponds to the virtual master axis generator Input / output variables of the firmware function block "MX_MoveAdditive"

73 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 65/205 ErrorID RESSOURCE_ERROR_CODE ACCESS_ERROR_CODE MX_MoveRelative Description Drive does not have packages enabled for closed-loop or Invalid axis reference Drive is not in control or PLC has no control over drive or Drive is in status "STOPPING" ("MX_Stop" with active "Execute" input) Fig.1-102: Descriptions of "ErrorID" of the firmware function block "MX_MoveAdditive" in target "IndraDrive MPH02" The firmware function block "MX_MoveRelative" is used to move the drive in relative form by a distance, starting from the current actual position. For this purpose, the secondary PLC operation mode "drive-controlled positioning without lag error with motor encoder" is internally activated (see Functional Description of firmware "Drive-Controlled Positioning"). Internally the operating mode "drive-controlled positioning" is activated. Make the settings of the position loop (with/without lag error, actual position value 1/2) with the function block "MB_SetPosition ControlMode". For permanent control and remote axes, the secondary operation mode 3 and its parameters are used. For temporary control, the secondary PLC operation mode 11 and its parameters are used. The relative distance to be moved has to be preset at the input "Distance". Via the inputs "Velocity", "Acceleration" and "Deceleration" you have to set the motion profile (determines how the relative distance is traveled). The corresponding PLC mode parameters are used as internal command values instead of the usual operating mode parameters. They can be read for diagnostic purposes: Via the firmware function block "MX_MoveRelative", the parameter "P , Virtual master axis, actual position value" of the master axis generator can be moved in relative form by a distance starting from the current virtual actual position. For this purpose, the master axis generator has to be activated via "P , Control word of master axis generator", bit 0=1. To convert the virtual actual position value (P ) into the internal virtual master axis position (VmAxisInt, "P , Master axis position for slave axis"), the parameter P must be written to parameter "P , Master axis format converter signal selection". See also Functional Description of firmware "Master Axis Generator" and "Master Axis Format Converter"

74 66/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Operating mode parameter PLC mode parameter Virt. master axis (as of MPx04) S , Positioning command value P , PLC Positioning command value P , Virtual master axis, positioning command value S , Positioning Velocity P , PLC Positioning velocity P , Virtual master axis, positioning velocity S , Positioning Acceleration P , PLC Positioning acceleration P , Virtual master axis, positioning acceleration S , Positioning control word P , PLC Positioning command value acceptance P , Virtual master axis, positioning control word S , Positioning deceleration P , PLC Positioning deceleration P , Virtual master axis, positioning deceleration Fig.1-103: Fig.1-104: Input variable Data type Description Comparison of operating mode parameters For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MX_MoveRelative" Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 Distance DINT At "Distance" you have to preset the relative distance to be traveled in fixed point format. Velocity REAL Positioning velocity in physical unit To preset the distance correctly, the number of decimal places of parameter "S , Positioning command value" must be known. With preferred scaling (see Functional Description of firmware "Scaling Types"), the parameter has 4 decimal places. Example: If the drive is to be moved by a distance of starting from the current actual position, the value must be written at "Distance"

75 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 67/205 Input variable Data type Description Acceleration REAL Positioning acceleration in physical unit Deceleration REAL Positioning deceleration in physical unit Fig.1-105: Output variable Data type Description Input variables of the firmware function block "MX_MoveRelative" Done BOOL With "Done"=TRUE the firmware function block signals that the preset distance has been traveled. The processing is completed until the next 0-1 edge at the "Execute" input. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE), the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firmware function block has not been interrupted by an error or another firmware function block. Real axes: The output is set to TRUE when bit 2 is set in parameter "S , Positioning status word". Virtual master axis: (as of MPx04VRS) The output is set to TRUE when bit 2 is set in parameter "P , Virtual master axis, positioning status". Active BOOL With TRUE the output "Active" signals that it determines the axis motion. CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is displayed via the Error outputs of "MC_Power" Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) Input / output variable (VAR_IN_OUT) ERROR_STRUCT Data type Fig.1-106: Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_MoveRelative" in target "IndraDrive MPH02"" on page 68 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Output variables of the firmware function block "MX_MoveRelative" Axis AXIS_REF Defines the axis. The following axes are possible: Fig.1-107: "Axis1" (axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) "VmAxisInt" corresponds to the virtual master axis generator Input / output variables of the firmware function block "MX_MoveRelative"

76 68/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description ErrorID RESSOURCE_ERROR_CODE ACCESS_ERROR_CODE MX_MoveVelocity Description Drive does not have packages enabled for closed-loop or Invalid axis reference Drive is not in control or PLC has no control over drive or Drive is in status "STOPPING" ("MX_Stop" with active "Execute" input) Fig.1-108: Descriptions of "ErrorID" of the firmware function block "MX_MoveRelative" in target "IndraDrive MPH02" The firmware function block "MX_MoveVelocity" is used to preset a velocity for the drive; for this purpose, the secondary PLC operating mode "velocity control with motor encoder" is internally activated. As the drive moves in velocity control, the firmware function block can be used for open-loop drives, too. In contrast to the output "Done", the output "InVelocity" signals continuous (error-free) fulfillment of the task. The function block never completes the processing. "InVelocity" keeps being displayed as long as "Execute" is active. The corresponding PLC mode parameters are used as internal command values instead of the usual operating mode parameters. They can be read for diagnostic purposes: Fig.1-109: For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"". Firmware function block "MX_MoveVelocity"

77 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 69/205 Input variable Data type Description Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 Velocity REAL Velocity in physical unit Acceleration REAL Acceleration in physical unit Deceleration REAL Deceleration in physical unit Fig.1-110: Output variable Data type Description Input variables of the firmware function block "MX_MoveVelocity" InVelocity BOOL With "InVelocity"=TRUE the firmware function block signals that the velocity preset by "Velocity" has been reached. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has reached the command velocity ("InVelocity"=TRUE), the output "InVelocity" is set to TRUE for one call if the actual velocity corresponds to the command velocity Active BOOL With TRUE the output "Active" signals that the drive was switched to the corresponding secondary PLC operation mode and processes the input command values (drive follows input). When the firmware function block signals "InVelocity"=TRUE, "CommandAborted"=TRUE or "Error"=TRUE, the output is set to FALSE again CommandAborted BOOL The output "CommandAborted" is set to TRUE when the firmware function block was aborted by another motion function block Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) Input / output variable (VAR_IN_OUT) ERROR_STRUCT Data type Fig.1-111: Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_MoveVelocity" in target "IndraDrive MPH02"" on page 70 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Output variables of the firmware function block "MX_MoveVelocity" Description Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-112: Input / output variables of the firmware function block "MX_MoveVelocity"

78 70/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description ErrorID RESSOURCE_ERROR_CODE ACCESS_ERROR_CODE MX_Stop Functional Principle Description Invalid axis reference Drive is not in control or PLC has no control over drive or Drive is in status "STOPPING" ("M?_Stop" with active "Execute" input) Fig.1-113: Descriptions of "ErrorID" of the firmware function block "MX_MoveVelocity" in target "IndraDrive MPH02" The firmware function block "MX_Stop" is used to bring the drive to the status STOP. With the rising edge of "Execute" the stopping process is started. "Done" signals standstill. Currently running positioning processes go to the status MCFB_ABORTED, that is they are signaling CommandAborted := TRUE. With the deceleration value parameterized in "S , Drive Halt acceleration bipolar" the drive is brought to standstill. With the duration of the TRUE level of "Execute", the drive can be kept in status STOP; during that time no other motion function block can be started. The "Execute" input acts on the "AH" signal in a level-oriented way so that the drive remains in status "AH" and therefore does not allow motion. When the "Execute" input goes to FALSE again, the drive remains in the PLC mode "drive-controlled positioning" (with "halt") until it is moved again with another function block. Fig.1-114: For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"". Firmware function block "MX_Stop"

79 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 71/205 Input variable Data type Description Execute BOOL With a rising edge at "Execute" the drive is switched to "AH". Fig.1-115: Output variable Data type Description With a falling edge the PLC mode "positioning" with the positioning mode "positioning halt" is activated. Input variables of the firmware function block "MX_Stop" Done BOOL With "Done"=TRUE (S , bit 0=1) the firmware function block signals that the drive has stopped. Only when the input "Execute" is TRUE is the output "Done" generated Active BOOL The output "Active" signals with TRUE that the drive has accepted the command and starts processing. Feedbacks of the operating mode are valid as of that point of time. Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) Input / output variable (VAR_IN_OUT) ERROR_STRUCT Data type Fig.1-116: Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_Stop" in target "IndraDrive MPH02"" on page 71 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Output variables of the firmware function block "MX_Stop" Description Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) ErrorID RESSOURCE_ERROR_CODE ACCESS_ERROR_CODE Fig.1-117: Description Invalid axis reference Drive is not in control or Input / output variables of the firmware function block "MX_Stop" PLC has no control over drive Fig.1-118: Descriptions of "ErrorID" of the firmware function block "MX_Stop" in target "IndraDrive MPH02" 1.8 MX_SysLibCom.lib (Function Block/Functions for Access to a Serial Interface) Overview The library contains functions for the access to a serial interface: MX_fSysComStatus MX_SysComOpenAsync SysComClose

80 72/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description MX_fSysComStatus SysComOpen SysComRead SysComWrite With the firmware function "MX_fSysComStatus" it is possible to poll the status of the opened port. Fig.1-119: Input variable Data type Description Present errors are cleared after the function was called! This function can only work on the local axis "Axis1". For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MX_fSysComStatus" dwhandle DWORD Port Handle assigned by "SysOpencom" Fig.1-120: Return value Data type Description Input variable of the firmware function "MX_fSysComStatus" MX_fSysComStatus DWORD The value returned by the function displays the status of the requested interface. Fig.1-121: MX_SysComOpenAsync The bits have the following significance: Bit #0: receive buffer overflow Bit #1: transmit buffer overflow Bit #2: parity error was detected Bit #3: break was detected Bit #4: "Fram" error was detected Bit #5: unassigned Bit #6: calling task has not opened the port Bit #7: Handle is invalid Bit #8: receive buffer contains characters Bit #9: transmit buffer contains characters Return value of the firmware function "MX_fSysComStatus" The firmware function block "MX_SysComOpenAsync" is used to asynchronously open the communication channel of a serial interface.

81 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 73/205 Fig.1-122: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MX_SysComOpenAsync" Execute BOOL See chapter 1.4 "Signal Time Diagrams of Most Frequently Used Inputs and Outputs" on page 11 Port PORTS Indicate the serial interface to be opened. Fig.1-123: Output variable Data type Description Note: For the drive controllers of the IndraDrive range, it is only possible to select the serial interface "COM1". Input variables of the firmware function block "MX_SysComOpenAsync" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Handle DWORD When "Done"=TRUE, the Port Handle is applied at "Handle" for transmission to the functions for data exchange via the serial interface ("SysComRead", "SysComWrite" etc.) SysComClose Fig.1-124: If the port cannot be opened, 0xFFFFFFFF is returned. Output variables of the firmware function block "MX_SysComOpenAsync" The firmware function "SysComClose" is used to close the communication channel of a serial interface (COM Port). For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04""

82 74/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-125: Input variable Data type Description Firmware function "SysComClose" dwhandle DWORD Transmission of the interface access received from "SysComOpen" or "MX_SysComOpenAsync" (Port Handle) Fig.1-126: Return value Data type Description Input variables of the firmware function "SysComClose" SysComClose BOOL With "SysComClose"=TRUE the function signals that the communication channel was successfully closed SysComOpen Fig.1-127: Return value of the firmware function "SysComClose" The firmware function "SysComOpen" is used to open the communication channel of a serial interface. Fig.1-128: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "SysComOpen" Port Ports Indicate the serial interface to be opened. Fig.1-129: Return value Data type Description Note: For the drive controllers of the IndraDrive range, it is only possible to select the serial interface "COM1". Input variables of the firmware function "SysComOpen" SysComOpen DWORD Port Handle for transmission to the functions for data exchange via the serial interface (SysComRead, SysComWrite etc.) SysComRead Fig.1-130: If the port cannot be opened, 0xFFFFFFFF is returned as Handle. Return value of the firmware function "SysComOpen" The firmware function "SysComRead" is used to read data from the serial interface.

83 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 75/205 Fig.1-131: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "SysComRead" dwhandle DWORD Access (Handle) to the serial interface received from "SysComOpen" or "MX_SysComOpenAsync" dwbufferaddress DWORD Address to which the bytes which were read are to be copied. dwbytestoread DWORD Number of bytes which are to be read The address of the interface can be determined by means of the operator "ADR". dwtimeout DWORD Time in [ms] after which the function returns at the latest Fig.1-132: Return value Data type Description Input variables of the firmware function "SysComRead" SysComRead DWORD Number of bytes actually read SysComWrite Fig.1-133: Return value of the firmware function "SysComRead" The firmware function "SysComWrite" is used to write data to the serial interface. Fig.1-134: For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "SysComWrite"

84 76/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description dwhandle DWORD Access (Handle) to the serial interface received from "SysComOpen" or "MX_SysComOpenAsync" dwbufferaddress DWORD Address from which the data, which are to be written to the interface, are to be taken. The address of the interface can be determined by means of the operator "ADR". dwbytestowrite DWORD Number of bytes which are to be written dwtimeout DWORD Time in [ms] after which the function returns at the latest Fig.1-135: Return value Data type Description Input variables of the firmware function "SysComWrite" SysComWrite DWORD Number of bytes actually written 1.9 MX_Base.lib Introduction Namespace Fig.1-136: Return value of the firmware function "SysComWrite" The following libraries contain general functions, function blocks/functions for drive control, functions for diagnosis, function blocks/functions for parameters, functions for scaling, data types or structures, cyclic parameters as direct variables (system-wide variables) and axis structures [for multi-axis system (MLD system mode)]. Target IndraDrive MPH02 IndraDrive MP03 IndraDrive MP04 IndraDrive MP05 Fig.1-137: Library Base_MPH02.lib Base_MP03.lib MX_Base.lib MX_Base.lib Library names depending on the targets When a new project with an IndraDrive target is created, the corresponding "Base" library is automatically included in the project and visible. All function blocks of the "Base" libraries begin with the prefix "MX_", "MC_" or "MB_". "MX" represents function blocks which have been specifically programmed for the drive PLC. "MC" represents system-independent, 100-percent PLCopen function blocks. "MB" represents system-independent function block with motion-oriented functionalities. "MB" function blocks have not been PLCopen-certified but are based on this standard. Functions begin with the prefix "MX_f". Public data types normally start with "MX_" and are capitalized. Internal data types start with "INT_MX_" and are capitalized.

85 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 77/ "Tools" - General Functions and Function Blocks Overview ATAN2 ATAN2 MX_fGetFreeTicks MX_fGetHighResTime MX_fHighResTimerTicks_to_us MX_IECTaskGetLoad *1 MX_PositionLoopEventInfo *1 * 1 Available as of target "IndraDrive MP05" For the conversion of Cartesian coordinates P(x;y) into polar coordinates P (r;φ), the function "ATAN2" is used to determine the angle φ. Fig.1-138: Input variable Data type Description x REAL Cartesian coordinate x y REAL Cartesian coordinate y Fig.1-139: Return value Data type Description ATAN2 REAL φ MX_fGetFreeTicks Fig.1-140: For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "ATAN2" Input variables of the firmware function "ATAN2" Return value of the firmware function "ATAN2" The firmware function "MX_fGetFreeTicks" is used to determine the time of the last PLC time slice still available to the PLC. This PLC time slice is that part of a millisecond which remains after the drive controller and control tasks have been processed. Timer ticks are returned which can be converted into microseconds with the function "MX_fHighResTimerTicks_to_us".

86 78/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-141: Input variable Data type Description When a free-running task is active, 0 is always returned in this case because this task works for the whole time slice. If "MX_fGetFreeTicks" is called in a task which has a clock slower than 1 ms, only the available time of the last ms time slice is displayed. For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fGetFreeTicks" Dummy INT There is always one input variable required for the compiler Fig.1-142: Return value Data type Description Input variable of the firmware function "MX_fGetFreeTicks" MX_fGetFreeTicks DINT Returns timer ticks. The timer ticks can be converted into μs with the function "MX_fHighResTimerTicks_to_us" MX_fGetHighResTime Fig.1-143: Return value of the firmware function "MX_fGetFreeTicks" The firmware function "MX_fGetHighResTime" returns a growing timer value with high resolution. Timer ticks are returned which can be converted into microseconds with the function "MX_fHighResTimerTicks_to_us". Fig.1-144: For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fGetHighResTime"

87 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 79/205 Input variable Data type Description Dummy INT There is always one input variable required for the compiler Fig.1-145: Return value Data type Description Input variable of the firmware function "MX_fGetHighResTime" MX_fGetHighResTime DINT Returns timer ticks. The timer ticks can be converted into μs with the function "MX_fHighResTimerTicks_to_us" MX_fHighResTimerTicks_to_us Fig.1-146: Return value of the firmware function "MX_fGetHighResTime" The firmware function "MX_fHighResTimerTicks_to_us" is used to convert timer ticks into microseconds and return the value as REAL. Fig.1-147: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fHighResTimerTicks_to_us" HighResTimerTicks UDINT Transfer values are timer ticks (see, for example, "MX_fGetHighRes Time") Fig.1-148: Return value Data type Description MX_fHighResTimerTicks_to_us REAL Returns the timer ticks in μs MX_IECTaskGetLoad Fig.1-149: Input variable of the firmware function "MX_fHighResTimerTicks_to_us" Return value of the firmware function "MX_fHighResTimerTicks_to_us" The function block "MX_IECTaskGetLoad" is used to activate the extended runtime measurement and displays information on the task load. As soon as a function block instance has been created in the project, the extended runtime measurement is activated in the drive. It can only be activated in the MPH firmware (not MPB). The function block "MX_IECTaskGetLoad" can be called in the "own" task, but also in another (slower) task to save calculating time. The maximum task load is also measured, if the function block is not called in every cycle.

88 80/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-150: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MX_IECTaskGetLoad" benable BOOL At "benable"=true the task information of the task named at the input "sttaskname" is returned. - sttaskname STRING At "sttaskname" indicate the name of the task the runtime information of which is to be displayed Fig.1-151: Output variable Data type Description Input variables of the firmware function block "MX_IECTaskGetLoad" bdone BOOL "bdone" returns TRUE, if the task exists and the outputs are valid berror BOOL With "Error"=TRUE the function block signals that an error is present: The task was not found (wrong task name) or IecTaskLoad MX_IECTASKLOAD Runtime information of the task MX_PositionLoopEventInfo Fig.1-152: The extended runtime measurement was activated in the MPB firmware, but this firmware does not support extended runtime measurement Elements in "IecTaskLoad": "rload" displays the load of the task in the last cycle in percent, with reference to the cycle time "rloadmax" displays the maximum load of the task in percent, with reference to the cycle time "rfreetime" displays the remaining unused calculating time of the task up to its next start, from the last cycle in µs "rminfreetime" displays the minimum remaining unused calculating time of the task up to its next start in µs Output variables of the firmware function block "MX_IECTaskGetLoad" The function block "MX_PositionLoopEventInfo" is for exclusive use by Bosch Rexroth staff "Drive Control" - Function Blocks/Functions for Drive Control Overview MB_Home

89 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 81/205 MB_Home MB_PreSetMode MX_Power / MC_Power MC_ReadStatus MX_Reset / MC_Reset MX_Command MX_SetControl MX_SetDeviceMode MX_SetOpMode MB_SetPositionControlMode With the function block "MB_Home" it is possible to carry out the "drive-controlled homing procedure" in the selected axis. It is thereby possible to establish the position data reference for non-absolute encoders. In the homing parameter, details for carrying out the homing procedure have to be set. After the function block was carried out, the axis is in standstill. Fig.1-153: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_Home" Execute BOOL See "Input Signals "Execute" / "Enable"" on page 11 Fig.1-154: Output variable Data type Description Done BOOL Homing completed, velocity 0 Input variable of the firmware function block "MB_Home" Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion. "Active" remains TRUE until "CommandAborted" or Error" is set. CommandAborted BOOL With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. Error BOOL With "Error"=TRUE the function block signals that an error is present

90 82/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Output variable Data type Description ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-155: Output variables of the firmware function block "MB_Home" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis1 (only axis for MLD-S or local axis for MLD-M) MB_PreSetMode Fig.1-156: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MB_Home" With the function block "MB_PreSetMode" the axis can be prepared for command triggering before power is switched on (PreSetMode / preselecting operating modes). "MB_PreSetMode" already commands the axis with the corresponding data, but the axis only starts when power is switched on with "MC_Power" and then directly follows the input values. "MB_PreSetMode" can only be activated in the operating mode without power and without error. After activation with a rising "Execute" edge it is allowed to activate a motion function block (such as "MC_MoveVelocity") or "MX_SetOpMode". The following points exemplify a typical sequence when using the function block "MB_PreSetMode": 1. Switch drive on 2. Switch or wait until drive in operating mode ("bb") 3. Activate "MB_PreSetMode" with rising "Execute" edge 4. Start a motion function block (in "Ab") 5. Switch power on with "MC_Power" The axis immediately starts moving in the desired way For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04""

91 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 83/205 Fig.1-157: Input variable Data type Description Firmware function block "MB_PreSetMode" Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset Fig.1-158: Output variable Data type Description Input variable of the firmware function block "MB_PreSetMode" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Value DINT When the output "Done"=TRUE, "Value" displays the value of the selected element Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-159: Output variables of the firmware function block "MB_PreSetMode" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Defines the axis. The following axes are possible: MX_Power / MC_Power Fig.1-160: "Axis1" (local axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MB_PreSetMode" When the internal PLC has permanent or temporary control over the drive, drive enable can be activated with this function block. Independent of the "Enable" input, the "Status" output returns the current drive status. The function block "MX_Power" or "MC_Power" sets the PLC-internal signal "ON" to TRUE and thereby switches the drive on.

92 84/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description The "ON" signal is the "ON" signal of the PLC which becomes active, linked to the external signal, in the drive with a possible delay (max. 1 ms). When a WATCHDOG or an exception occurs in the PLC, the PLC-internal "ON" signal is automatically set to FALSE and maintained FALSE until the next RE SET of the PLC. Further calls of "MX_Power" / "MC_Power" with TRUE signal error. If the drive is not yet ready for power on (e.g. not in "Ab"), the "Status" output provides FALSE and the "Error" output is TRUE. As of MPx04V08, "MC_Power" also provides an error, when a motion function block has detected an error and shut down the axis. After every error ("Error"=TRUE), a new 0-1 edge has to be applied to the input "Enable" to activate drive enable in the drive. Fig.1-161: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MX_Power" (looks like firmware function block "MC_Power", except for the function block name) Enable BOOL Via the "Enable" input, drive enable can be set for the drive. For safety reasons, the input takes effect in edge-controlled form. Drive enable is set with a rising edge and with a falling edge it is removed again. Fig.1-162: Output variable Data type Description Input variables of the firmware function block "MX_Power" / "MC_Power" Status BOOL When the output "Status"=TRUE, drive enable is active and the drive is under torque. Independent of the "Enable" input, the "Status" output returns the current drive status. For this purpose, the combination "drive in control and no error" is internally checked. Output status := (P AND P AND NOT P115.13). The "Status" output therefore goes to FALSE in the case of drive errors Error BOOL With "Error"=TRUE the function block signals that an error is present

93 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 85/205 Output variable Data type Description ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) Input / output variable (VAR_IN_OUT) ERROR_STRUCT Data type Fig.1-163: Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_Power" in target "IndraDrive MPH02"" on page 85 As of target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Output variables of the firmware function block "MX_Power" / "MC_Power" Axis AXIS_REF Defines the axis. The following axes are possible: ErrorID RESSOURCE_ERROR ACCESS_ERROR "MX_Power": "Axis1" (global variable) "MC_Power": "Axis1" (local axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) Fig.1-164: Input / output variable of the firmware function block "MX_Power" / "MC_Power" Description Invalid axis reference "Power" with "Enable"=TRUE not possible, as drive not in operating mode or STATE_MACHINE_ERROR Drive is not in phase 4 MC_ReadStatus "Power" with "Enable"=TRUE not possible, as PLC in watchdog or Drive was shutdown externally or by error of a motion function block or Drive is not in mode "AB" or Drive was brought to PreSetMode but not commanded, see "MB_PreSetMode" Fig.1-165: Descriptions of "ErrorID" of the firmware function block "MX_Power" in target "IndraDrive MPH02" With the function block "MC_ReadStatus" it is possible to read the current status of the axis. The status of the axis is output in decoded form. Any change of the axis at the input of the function block requires a repeated 0/1 transition at "Enable".

94 86/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-166: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MC_ReadStatus" Enable BOOL See "Input Signals "Execute" / "Enable"" on page 11 Fig.1-167: Output variable Data type Description Done BOOL Valid value is available Input variable of the firmware function block "MC_ReadStatus" Active BOOL Processing of the data is running after completion of pre-processing Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Errorstop BOOL Drive/axis in status "Errorstop" Stopping BOOL Drive/axis in status "Stopping" StandStill BOOL Drive/axis in status "StandStill" DiscreteMotion BOOL Drive/axis in status "DiscreteMotion" ContinuousMotion BOOL Drive/axis in status "ContinuousMotion" SynchronizedMotion BOOL Drive/axis in status "SynchronizedMotion" Homing BOOL Drive in status "Homing" Disabled BOOL Drive/axis in status "Disabled"

95 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 87/205 Output variable Data type Description PreSetMode BOOL Drive in status "PreSetMode" CoordinatedMotion BOOL Drive/axis in status "CoordinatedMotion"; not supported by the target "IndraDrive"! Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-168: Output variables of the firmware function block "MC_ReadStatus" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis1 (only axis for MLD-S or local axis for MLD-M) MX_Reset / MC_Reset Fig.1-169: Axis2 to Axis8 correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P ) Input / output variables of the firmware function block "MC_ReadStatus" The function block "MX_Reset" or "MC_Reset" is used to reset drive errors with the command "S , C0500 Reset class 1 diagnostics". In order that the function block can correctly complete the reset command, it has to be cyclically called until it signals "Done"=TRUE or "Error" in the case of error. If the command "S , C0500 Reset class 1 diagnostics" is already active, it should first be completed before "MX_Reset" / "MC_Reset" is called. If "MX_Reset" / "MC_Reset" had been activated and has not yet been completed, it is possible to trigger another reset with a positive edge at "Execute". For the function block "MX_Reset" (only targets "IndraDrive MPH02" and "IndraDrive MP03"), the Motion Control is in addition reset and temporary PLC control is ceded again. As of the target "IndraDrive MP04", only the command "S , C0500 Reset class 1 diagnostics" is executed; drive enable remains unchanged. Only for the function block "MC_Reset": In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error.

96 88/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-170: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MX_Reset" (looks like firmware function block "MC_Reset", except for the function block name) Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset Fig.1-171: Output variable Data type Description Input variables of the firmware function block "MX_Reset" / "MC_Reset" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) ERROR_STRUCT Fig.1-172: Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_Reset" in target "IndraDrive MPH02"" on page 89 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Output variables of the firmware function block "MX_Reset" / "MC_Reset"

97 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 89/205 Input / output variable (VAR_IN_OUT) Data type Description Axis AXIS_REF Defines the axis. The following axes are possible: MX_Command "MX_Reset": "Axis1" (global variable) "MC_Reset": "Axis1" (local axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) Fig.1-173: Input / output variable of the firmware function block "MX_Reset" / "MC_Reset" ErrorID RESSOURCE_ER ROR ACCESS_ERROR Fig.1-174: Description Invalid axis reference Drive refuses "Reset" command Descriptions of "ErrorID" of the firmware function block "MX_Reset" in target "IndraDrive MPH02" The function block "MX_Command" is used to execute a drive command. With the "Enable" input the command is activated or deactivated. If TRUE is provided at the input, the command is started by writing "3" (dec.). In the case of FALSE, the command is aborted/terminated by writing "0". Fig.1-175: For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MX_Command"

98 90/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-176: Input variable Data type Description Executing a drive command In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can "CmdStatus" signal "MX_CMD_END_OK". Therefore, the resulting times for the function block calls themselves are always short. The outputs "CmdStatus" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Enable BOOL The function block is status-controlled. With "Enable"=TRUE the command is started, with "Enable"=FALSE it is cleared CmdIdent DINT IDN of the command (e.g. FP_S_0_0099) Fig.1-177: Input variables of the firmware function block "MX_Command"

99 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 91/205 Output variable Data type Description CmdStatus MX_CMD_STATUS The output displays the current status of the command. Enum values for output "CmdStatus": "MX_CMD_NO_ACTIVE": command has not been set "MX_CMD_SETTING": command has been set "MX_CMD_END_OK": command completed without error "MX_CMD_IS_BREAK": command interrupted "MX_CMD_IS_WORK": command being processed "MX_CMD_BREAK_ERROR": command aborted with error Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) Input / output variable (VAR_IN_OUT) ERROR_STRUCT Data type Fig.1-178: Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_Command" in target "IndraDrive MPH02"" on page 91 As of target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Output variables of the firmware function block "MX_Command" Axis AXIS_REF Defines the axis. The following axes are possible: ErrorID EINGANGS_RANGE_ERROR_CODE ACCESS_ERROR Fig.1-179: MPx02 and MPx03: "Axis1" (global variable) As of MPx04: "Axis1" (local axis for MLD-S, local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes contained in the list "P , CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P ) Note:The input is only applied at a rising edge of the Enable input. If several axes are to be controlled, a separate instance should be used for each axis. Description Input / output variable of the firmware function block "MX_Command" IDN is not available or Fig.1-180: IDN is no parameter Access not allowed Descriptions of "ErrorID" of the firmware function block "MX_Command" in target "IndraDrive MPH02"

100 92/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description MX_SetControl The function block "MX_SetControl" is used to switch control between master communication and PLC; this makes sense when the axis is first controlled via a master communication and the internal PLC is to continue controlling the axis in a certain situation (e.g. error). When the axis generally is to be moved with the internal PLC, permanent control should be activated. With "PLCControl"=TRUE the PLC gets control over the drive, with "PLCControl"=FALSE the external master communication gets control over the drive. The signals "Drive Halt" (AH), "Drive on" (ON) and the operating mode selection are switched. With PLC control, the signals "AH" and "ON" are only operated internally. The signal "Drive Halt" is controlled by the function block "MX_Stop" or by stopping the PLC. The signal "ON" can be controlled with the function block "MX_Power". If the corresponding function blocks are not used, the internal signals are set to TRUE. When switching to temporary control, the internal "ON" signal is set to TRUE. To switch control and switch off the drive, it is first necessary to get control with "MX_SetControl" and then switch the drive off. The function block "MX_SetControl" supplies error if permanent control is already active (setting via "P , PLC configuration"). While switching is running ("Done" and "Error" not yet TRUE), another switching process can be started with an "Execute" edge. In the case of program download (no online change) or PLC reset, temporary control is automatically ceded again. To be observed for PLCopen motion function blocks as of target "IndraDrive MP04": With temporary control, the secondary PLC operation modes are used. With permanent control, the primary mode of operation and the secondary operation modes 1-6 are parameterized and used. For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

101 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 93/205 Fig.1-181: Input variable Data type Description Firmware function block "MX_SetControl" Execute BOOL The function block is activated with a rising edge at "Execute". All outputs, except for the output "PLCControlStat", are reset with a falling edge at "Execute". Independent of "Execute", "PLCControlStat" provides the actual value. PLCControl BOOL With "PLCControl"=TRUE the internal PLC gets temporary control over the drive at the next 0-1 edge at "Execute". Fig.1-182: Output variable Data type Description With "PLCControl"=FALSE control is ceded to the master communication at the next 0-1 edge at "Execute". Input variables of the firmware function block "MX_SetControl" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) ERROR_STRUCT Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_SetControl" in target "IndraDrive MPH02"" on page 94 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 PLCControlStat BOOL With "PLCControlStat"=TRUE the drive-internal PLC has control over the drive. With "PLCControlStat"=FALSE the master communication has control over the drive. Input / output variable (VAR_IN_OUT) Data type Fig.1-183: Independent of "Execute", "PLCControlStat" provides the actual value. Description Output variables of the firmware function block "MX_SetControl" Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-184: Input / output variables of the firmware function block "MX_SetControl"

102 94/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description MX_SetDeviceMode ErrorID RESSOURCE_ER ROR ACCESS_ERROR Fig.1-185: Description Invalid axis reference Permanent control has already been set ("P , PLC configuration") Descriptions of "ErrorID" of the firmware function block "MX_SetControl" in target "IndraDrive MPH02" The function block "MX_SetDeviceMode" is used to switch the drive to the parameter or operating mode. If switching is not allowed ("P , Master communication status", bit 0=0), the function block returns an error via "Error". A mode is set by a rising edge of "Execute". Independent of "Execute", the current status is displayed in the output "ActOperationMode". Fig.1-186: Input variable Data type Description During the switching process, "MX_SetDeviceMode" should be called until the output "Done" or the output "Error" becomes TRUE. Otherwise, direct switching might not be possible again, as "MX_SetDeviceMode" then possibly is not in its initial status. For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MX_SetDeviceMode" Execute BOOL The function block is activated with a rising edge at "Execute". All outputs, except for the output "ActOperationMode", are reset with a falling edge at "Execute". Independent of "Execute", the current communication phase is displayed at "ActOperationMode". OperationMode BOOL With "OperationMode"=TRUE the drive is switched to operating mode (phase 4) with the next 0-1 edge at "Execute". Fig.1-187: With "OperationMode"=FALSE the drive is switched to parameter mode (phase 2) with the next 0-1 edge at "Execute". Input variables of the firmware function block "MX_SetDeviceMode"

103 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 95/205 Output variable Data type Description Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) ERROR_STRUCT Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_SetDeviceMode" in target "IndraDrive MPH02"" on page 95 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 ActOperationMode BOOL With "ActOperationMode"=TRUE the drive is in operating mode (phase 4). Input / output variable (VAR_IN_OUT) Data type Fig.1-188: With "ActOperationMode"=FALSE the drive is in parameter mode (2<=current phase 4). Independent of "Execute", the current communication phase is displayed at "ActOperationMode". Description Output variables of the firmware function block "MX_SetDeviceMode" Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) MX_SetOpMode Fig.1-189: ErrorID RESSOURCE_ER ROR ACCESS_ERROR Fig.1-190: Input / output variables of the firmware function block "MX_SetDevice Mode" Description Invalid axis reference Phase switch not allowed or Switching impossible as parameter faulty Descriptions of "ErrorID" of the firmware function block "MX_SetDeviceMode" in target "IndraDrive MPH02" The function block "MX_SetOpMode" is used to directly switch the operating mode of the drive. The current operating mode is provided independent of "Execute". The primary mode of operation corresponds to the value "0" and the secondary operation modes correspond to the values "1" to "3" for firmware MPH02VRS and "1" to "7" for MPx03VRS firmwares.

104 96/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description CAUTION "MX_SetOpMode" is provided for direct control of the drive via its operating modes and their parameters. The operating mode that was set is activated in the following position loop cycle. If after the switching process the drive is moved with "MX_MoveRelative", for example, an operating mode >3 for MPH02VRS and >7 as of MPx03VRS is implicitly set. During the switching process "MX_SetOpMode" should be called until the output "Done" or the output "Error" becomes TRUE. Otherwise direct switching might not be possible again, as "MX_SetOpMode" then possibly is not in its initial status. The switching process mustn't be activated by several instances at the same time! When the PLCopen profile is used for motion control, "MX_SetOp Mode" mustn't be used. The secondary PLC operation modes are not allowed as "NewOpMode" and internally provided for the PLCopen profile of the PLC. To be observed as of target "IndraDrive MP04": As of this target, the first 6 operating modes have a fixed parameter setting with permanent control and mustn't be changed. The 7th secondary operation mode can be freely parameterized and selected in operation with the function block "MX_SetOpMode". When the function block "MB_PreSetMode" is used, the drive, after it has been switched on, immediately switches to this secondary operation mode without shortly remaining in "Drive Halt" before. Active motion function blocks signal "CommandAborted" when a new operating mode is set with "MX_SetOpMode". At the command "MX_SetOpMode", the axis changes from "AH" to "AF" or "AU". Attention: In the multi-axis system MLD-M, the command value parameters of the operating modes used by the PLCopen function blocks have already been configured in the multiplex channel (CCD process data) for remote axes. These parameters cannot be written any more! Property damage caused by operating mode being switched by several instances! The operating mode mustn't be switched by several instances at the same time. For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

105 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 97/205 Fig.1-191: Input variable Data type Description Firmware function block "MX_SetOpMode" NewOpMode WORD The operating mode set at "NewOpMode" is activated by a 0-1 edge at "Execute". "NewOpMode" can presently have the following values: 0: S , Primary mode of operation 1: S , Secondary operation mode 1 2: S , Secondary operation mode 2 3: S , Secondary operation mode 3 As of target "IndraDrive MP03": 4: S , Secondary operation mode 4 5: S , Secondary operation mode 5 6: S , Secondary operation mode 6 7: S , Secondary operation mode 7 Execute BOOL The function block is activated with a rising edge at "Execute". All outputs, except for the output "ActOpMode", are reset with a falling edge at "Execute". Fig.1-192: Output variable Data type Description Independent of "Execute", the current communication phase is displayed at "ActOpMode". Input variables of the firmware function block "MX_SetOpMode" ActOpMode WORD "ActOpMode" signals which operating mode is active in the drive at drive enable. The output adopts the value set at "NewOpMode". Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) ERROR_STRUCT Fig.1-193: Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_SetOpMode" in target "IndraDrive MPH02"" on page 98 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Output variables of the firmware function block "MX_SetOpMode"

106 98/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input / output variable (VAR_IN_OUT) Data type Description Axis AXIS_REF Axis number; the following global variables can be transmitted MB_SetPositionControlMode Fig.1-194: ErrorID "Axis1" (axis for MLD S) "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8" (first or last slave in the order of the list "P , Overview of device addresses") RESSOURCE_ERROR ACCESS_ERROR INPUT_RANGE_ER ROR Fig.1-195: Input / output variables of the firmware function block "MX_SetOpMode" Description Invalid axis reference PLC has no control over drive Invalid operating mode Descriptions of "ErrorID" of the firmware function block "MX_SetOp Mode" in target "IndraDrive MPH02" The function block "MB_SetPositionControlMode" with the inputs "LaglessPositionControl" and "ExternalEncoder" is used to set the position loop. Fig.1-196: For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_SetPositionControlMode"

107 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 99/205 Input variable Data type Description Execute BOOL The function block is activated with a rising edge at "Execute". All outputs are reset with a falling edge at "Execute". LaglessPositionControl BOOL The value at the input "LaglessPositionControl" influences bit 2 of "S , Control word of axis controller": 0: position control with lag error 1: lagless position control ExternalEncoder BOOL The value at the input "ExternalEncoder" influences bit 0 of "S , Control word of axis controller": Fig.1-197: Output variable Data type Description 0: control with motor encoder (actual position value-1) 1: control with external encoder (actual position value-2) Input variables of the firmware function block "MB_SetPositionControl Mode" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-198: Output variables of the firmware function block "MB_SetPositionControlMode" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted Fig.1-199: "Axis1" (axis for MLD S) "Diagnostic" - Functions for Diagnosis Overview MX_fGetDriveWarning "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8" (first or last slave in the order of the list "P , Overview of device addresses") Input / output variable of the firmware function block "MB_SetPosition ControlMode" MX_fGetDriveWarning MX_fSetDriveError MX_fSetDriveWarning The firmware function "MX_fGetDriveWarning" allows polling whether a certain warning diagnosis is active in the drive.

108 100/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Depending on the value at the input "WarningNo" (1 to 4), the warning messages E2011 PLC - Warning no. 1 E2012 PLC - Warning no. 2 E2013 PLC - Warning no. 3 E2014 PLC - Warning no. 4 are checked. Fig.1-200: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fGetDriveWarning" WarningNo DINT Order number of warning to be read Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-201: Return value Data type Description Input variables of the firmware function "MX_fGetDriveWarning" MX_fGetDriveWarning BOOL If the warning to be checked is active in the drive, the function provides TRUE as return value, otherwise FALSE MX_fSetDriveError Fig.1-202: Return value of the firmware function "MX_fGetDriveWarning" The firmware function "MX_fSetDriveError" triggers an error diagnosis in the drive. Depending on the value at the input "ErrorNo" (1 to 4), the errors F2011 PLC - Error no. 1 F2012 PLC - Error no. 2 F2013 PLC - Error no. 3 F2014 PLC - Error no. 4 are triggered in the drive. The error diagnosis can be cleared by executing the function block "MX_Reset" / "MC_Reset".

109 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 101/205 Fig.1-203: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fSetDriveError" ErrorNo DINT Order number of error to be triggered Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-204: Return value Data type Description Input variables of the firmware function "MX_fSetDriveError" MX_fSetDriveError BOOL If the value of "ErrorNo" is within the allowed range (1 to 4), the function provides TRUE as return value, otherwise FALSE MX_fSetDriveWarning Fig.1-205: Return value of the firmware function "MX_fSetDriveError" The firmware function "MX_fSetDriveWarning" is used to set or clear a warning diagnosis in the drive. Depending on the value at the input "WarningNo" (1 to 4), the warning messages E2011 PLC - Warning no. 1 E2012 PLC - Warning no. 2 E2013 PLC - Warning no. 3 E2014 PLC - Warning no. 4 are triggered in the drive. For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

110 102/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-206: Input variable Data type Description Firmware function "MX_fSetDriveWarning" SetWarning BOOL TRUE: set warning, FALSE: clear warning WarningNo DINT Order number of warning to be triggered Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-207: Return value Data type Description Input variables of the firmware function "MX_fSetDriveWarning" MX_fSetDriveWarning BOOL If the value of "WarningNo" is within the allowed range (1 to 4), the function provides TRUE as return value, otherwise FALSE Fig.1-208: Return value of the firmware function "MX_fSetDriveWarning" "Parameters" - Function Blocks/Functions for Parameters Overview MX_fCheckCmdRequest *2 MX_fReadParamDINT MX_fReadStringParam MX_fSetParamLimits *3 MX_fSetParamName *3 MX_fSetParamUnit *3 MX_fWriteParamDINT MX_fWriteStringParam MB_ReadListParameter *2 MB_ReadMaxRealValue *1 MB_ReadMaxValue *1 MB_ReadMinRealValue *1 MB_ReadMinValue *1 MB_ReadName *1 MB_ReadParameter *1 MB_ReadRealParameter *1 MB_ReadSercosAttribute *1 MB_ReadSercosDataStatus *2 MB_ReadStringParameter *2 MB_ReadUnit / MX_ReadUnit *1

111 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 103/205 MX_fCheckCmdRequest MB_WriteListParameter *2 MB_WriteParameter *1 MB_WriteRealParameter *1 MB_WriteStringParameter *2 MX_ReadParamDINT MX_SetCmdState *2 MX_WriteParamDINT *1 Available as of target "IndraDrive MP03" * 2 Available as of target "IndraDrive MP04" * 3 Available as of target "IndraDrive MP05" The firmware function "MX_fCheckCmdRequest" is used to return the command input which was preset via the drive parameter "P , C4900 PLC command". Fig.1-209: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fCheckCmdRequest" Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-210: Return value Data type Description Input variables of the firmware function "MX_fCheckCmdRequest" MX_fCheckCmdRequest MX_CMD_REQUEST The function "MX_fCheckCmdRequest" can return the following values: MX_fReadParamDINT Fig.1-211: MX_CMD_REQ_ERROR: an invalid axis number was transmitted MX_CMD_REQ_STOP: command is to be terminated MX_CMD_REQ_BREAK: command is to be interrupted MX_CMD_REQ_START: command is to be started Return value of the firmware function "MX_fCheckCmdRequest" The firmware function "MX_fReadParamDINT" is used to read a parameter value and return it as DINT. With this function it is at first impossible to recognize whether the reading of the parameter was successful or not. The function block "MX_ReadParamDINT" is suited for this purpose.

112 104/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description For unsigned parameters with 32 bits the return value can simply be converted with the function "DINT_TO_UDINT". Fig.1-212: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fReadParamDINT" Ident DINT At the input "Ident" apply the IDN of the parameter the value of which is to be read (e.g. FP_S_0_0052) ListElem INT It is possible to read the value of a single parameter, but also the values of list parameters. To read a single parameter, apply "0" to "ListElem". For list parameters, the zeroth element is read with "0", the first element with "1", the second element with "2" etc. With "-1" at "ListElem" it is the actual length, with "-2" it is the maximum length of a list parameter which is read Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-213: Return value Data type Description Input variables of the firmware function "MX_fReadParamDINT" MX_fReadParamDINT DINT Provides the value of the element specified with "Ident" and "ListElem". MX_fReadStringParam Fig.1-214: Note: "0" is returned if the parameter or list element cannot be read Return value of the firmware function "MX_fReadParamDINT" With the firmware function "MX_fReadStringParam" it is possible to read a parameter the operating data of which has the ASCII format (string). In addition to "MaxLen" a closing 0-character is copied. The return value returns the characters actually read (without 0). For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

113 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 105/205 Fig.1-215: Input variable Data type Description Firmware function "MX_fReadStringParam" Ident DINT IDN of the parameter (e.g. FP_P_0_0053) Text STRING(255) Text buffer 255 characters MaxLen INT Number of characters to be read (without closing 0) Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-216: Return value Data type Description Input variables of the firmware function "MX_fReadStringParam" MX_fReadStringParam INT Returns the characters actually read (without 0) MX_fSetParamLimits Fig.1-217: Return value of the firmware function "MX_fReadStringParam" With the firmware function "MX_fSetParamLimits" it is possible to set the limit values of the Global Register PLC parameters. Fig.1-218: This function mustn't be called from the system event "Position Loop". When the function is called from "PositionLoop", a PLC exception occurs and the function returns the value "0". For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fSetParamLimits"

114 106/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description Ident DINT A constant from the global variables (e.g. FP_P_0_1370) can be transmitted here MinValue DINT Minimum value to be set MaxValue DINT Maximum value to be set Fig.1-219: Return value Data type Description Input variables of the firmware function "MX_fSetParamLimits" MX_fSetParamLimits UINT The function can return the following values: MX_fSetParamName Fig.1-220: 0: Limit values were successfully set 1: Error, inadmissible IDN was given Return value of the firmware function "MX_fSetParamLimits" With the firmware function "MX_fSetParamName" it is possible to set the names of the Global Register PLC parameters. Fig.1-221: Input variable Data type Description This function mustn't be called from the system event "Position Loop". When the function is called from "PositionLoop", a PLC exception occurs and the function returns the value "0". For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fSetParamName" Ident DINT A constant from the global variables (e.g. FP_P_0_1370) can be transmitted here NewName STRING(60) Name to be set (maximum length: 60 characters) Fig.1-222: Return value Data type Description Input variables of the firmware function "MX_fSetParamName" MX_fSetParamName UINT The function can return the following values: MX_fSetParamUnit Fig.1-223: 0: Name was successfully set 1: Error, inadmissible IDN was given Return value of the firmware function "MX_fSetParamName" With the firmware function "MX_fSetParamUnit" it is possible to set the limit values of the Global Register PLC parameters.

115 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 107/205 Fig.1-224: Input variable Data type Description This function mustn't be called from the system event "Position Loop". When the function is called from "PositionLoop", a PLC exception occurs and the function returns the value "0". For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fSetParamUnit" Ident DINT A constant from the global variables (e.g. FP_P_0_1370) can be transmitted here NewUnit STRING(20) Unit to be set (maximum length: 20 characters) Fig.1-225: Return value Data type Description Input variables of the firmware function "MX_fSetParamUnit" MX_fSetParamUnit UINT The function can return the following values: MX_fWriteParamDINT Fig.1-226: 0: Unit was successfully set 1: Error, inadmissible IDN was given Return value of the firmware function "MX_fSetParamUnit" The firmware function "MX_fWriteParamDINT" is used to write data to a parameter. It is possible to write in unbuffered or buffered form. In the case of buffered writing, the parameter values every time are transferred to the non-volatile memory. As this takes much calculating time, data should only be written in buffered form if necessary. For list parameters only the last write access should take place with "WriteBuffered"=TRUE, as the entire list is buffered at each access. While a parameter is buffered, another access with buffering will fail (ACCESS_ERROR). With this function it is at first impossible to recognize whether the writing of the parameter was successful or not. The function block "MX_WriteParamDINT" is suited for this purpose. For unsigned parameters with 32 bits the input value "Value" can simply be converted with the function "UDINT_TO_DINT".

116 108/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-227: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fWriteParamDINT" Ident DINT IDN of the specified parameter (e.g. FP_P_0_0053) ListElem INT List element number: For list parameters starting with "0" and for single parameter always "0" "-1" for writing the actual length (only allowed for list parameters) Value INT Value with which is to be written to the selected element WriteBuffered BOOL "WriteBuffered"=TRUE: value is buffered; "WriteBuffered"=FALSE: value is not buffered Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-228: Return value Data type Description Input variables of the firmware function "MX_fWriteParamDINT" MX_fWriteParamDINT BOOL Dummy output without significance MX_fWriteStringParam Fig.1-229: Return value of the firmware function "MX_fWriteParamDINT" The firmware function "MX_fWriteStringParam" is used to write data to a text parameter. It is possible to write in unbuffered or buffered form. In the case of buffered writing, the parameter values every time are transferred to the non-volatile memory. As this takes much calculating time, data should only be written in buffered form if necessary. While a parameter is buffered, another access with buffering will fail (ACCESS_ERROR). For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

117 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 109/205 Fig.1-230: Input variable Data type Description Firmware function "MX_fWriteStringParam" Ident DINT IDN of the specified parameter (e.g. FP_P_0_0053) Text STRING(255) Text string WriteBuffered BOOL TRUE=value is buffered, FALSE=value is not buffered Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-231: Return value Data type Description Input variables of the firmware function "MX_fWriteStringParam" MX_fWriteStringParam INT The return value returns the characters actually written (without 0) MB_ReadListParameter Local Axis Fig.1-232: Return value of the firmware function "MX_fWriteStringParam" With the function block "MB_ReadListParameter" it is possible to read the current value of a list parameter. The function block "MB_ReadListParameter" can work on the local axis ("Axis1") and via SERCOS III on remote axes ("Axis2", "Axis3",...). The IDN of the list parameter to be read has to be applied at the input "ParameterNumber". The number of bytes to be read has to be indicated at the input "NoOfBytes". The processing of the function block is started with a rising edge at the input "Execute" ("Execute"=TRUE). To test the function block "MB_ReadListParameter" the instance variable "ActivateCounter" can be used. It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with edge. When the function block is used for a local axis, all list elements of the selected parameter are immediately read when the function block is called. After the list elements have been read, control goes back to the program and TRUE is provided at the output "Done".

118 110/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Remote Axes You should observe that the reading process can take some time, depending on the amount of data to be read; if necessary, you should use a separate task. Example: To read all list elements of parameter P (1024 long words), approx. 200μs are required with Advanced control section. When the function block is used for remote axes, the read task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the amount of data. Fig.1-233: Input variable Data type Description As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_ReadListParameter" Enable BOOL The function block is status-controlled. With "Enable"=TRUE the function block is activated, with "Enable"=FALSE all outputs are reset ParameterNumber DINT IDN of the parameter to be read NoOfBytes UINT The number of bytes to be read has to be indicated at the input "NoOfBytes" ValueAdr POINTER TO BYTE At the input "ValueAdr" indicate the initial address of the field to which the bytes that have been read are to be written. Fig.1-234: Example: ValueAdr := ADR(arFeld1) Input variables of the firmware function block "MB_ReadListParameter"

119 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 111/205 Output variable Data type Description Done BOOL With "Done"=TRUE the function block signals that the cyclic reading of the data value of the parameter was successful Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error NoOfRecBytes UINT The output "NoOfRecBytes" signals how many bytes were actually read Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-235: Output variables of the firmware function block "MB_ReadListParameter" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted: MB_ReadMaxRealValue Fig.1-236: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V08": "Axis1" (local axis or only axis for MLD- M), "Axis2" to "Axis8" (first or last slave in the order of the list "P , Overview of device addresses") Input / output variables of the firmware function block "MB_ReadList Parameter" With the function block "MB_ReadMaxRealValue" it is possible to read the maximum allowed value of a parameter. The value is returned in REAL format. For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

120 112/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-237: Input variable Data type Description Firmware function block "MB_ReadMaxRealValue" Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber", apply the IDN of the parameter (e.g. FP_S_0_0052) the maximum value of which is to be read Fig.1-238: Output variable Data type Description Input variables of the firmware function block "MB_ReadMaxRealValue" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error MaxValue REAL If "Done"=TRUE, "MaxValue" signals the maximum input value of the selected parameter. Note: According to the scaling, the input value of the parameter has decimal places which have to be taken into account and used for calculation * See note below Fig.1-239: Output variables of the firmware function block "MB_ReadMaxRealValue" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

121 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 113/205 Input / output variable (VAR_IN_OUT) Data type Description Axis AXIS_REF Axis number; the following global variables can be transmitted: MB_ReadMaxValue Fig.1-240: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variable of the firmware function block "MB_ReadMax RealValue" With the function block "MB_ReadMaxValue" it is possible to read the maximum allowed value of a parameter. The value is returned in DINT format. Fig.1-241: For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_ReadMaxValue"

122 114/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber", apply the IDN of the parameter (e.g. FP_S_0_0052) the maximum value of which is to be read Fig.1-242: Output variable Data type Description Input variables of the firmware function block "MB_ReadMaxValue" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error MaxValue DINT If "Done"=TRUE, "MaxValue" signals the maximum input value of the selected parameter. Input / output variable (VAR_IN_OUT) Data type Note: According to the scaling, the input value of the parameter has decimal places which have to be taken into account and used for calculation * See note below Fig.1-243: Output variables of the firmware function block "MB_ReadMaxValue" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted Fig.1-244: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variable of the firmware function block "MB_ReadMaxValue"

123 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 115/205 MB_ReadMinRealValue With the function block "MB_ReadMinRealValue" it is possible to read the minimum allowed value of a parameter. The value is returned in REAL format. Fig.1-245: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_ReadMinRealValue" Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber" apply the IDN of the parameter (e.g. FP_S_0_0052) the minimum value of which is to be read Fig.1-246: Output variable Data type Description Input variables of the firmware function block "MB_ReadMinRealValue" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error MinValue REAL If "Done"=TRUE, "MinValue" signals the minimum input value of the selected parameter. Note:According to the scaling, the input value of the parameter has decimal places which have to be taken into account and used for calculation * See note below Fig.1-247: Output variables of the firmware function block "MB_ReadMinRealValue"

124 116/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input / output variable (VAR_IN_OUT) Data type For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted: MB_ReadMinValue Fig.1-248: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variable of the firmware function block "MB_ReadMin RealValue" With the function block "MB_ReadMinValue" it is possible to read the minimum allowed value of a parameter. The value is returned in DINT format. Fig.1-249: For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_ReadMinValue"

125 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 117/205 Input variable Data type Description Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber" apply the IDN of the parameter (e.g. FP_S_0_0052) the minimum value of which is to be read Fig.1-250: Output variable Data type Description Input variables of the firmware function block "MB_ReadMinValue" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error MinValue DINT If "Done"=TRUE, "MinValue" signals the minimum input value of the selected parameter. Input / output variable (VAR_IN_OUT) Data type Note: According to the scaling, the input value of the parameter has decimal places which have to be taken into account and used for calculation * See note below Fig.1-251: Output variables of the firmware function block "MB_ReadMinValue" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted Fig.1-252: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variable of the firmware function block "MB_ReadMinValue"

126 118/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description MB_ReadName With the function block "MB_ReadName" it is possible to read the name of a parameter. At the input "ParameterNumber" you have to apply the parameter number of the parameter the name of which is to be read. The processing of the function block is started with a rising edge at the "Execute" input. Error-free processing is signaled by "Done"=TRUE. Incorrect processing is signaled by "Error"=TRUE. In the case of error, a detailed description of the error is output at the outputs "ErrorID" and "ErrorIdent". Fig.1-253: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_ReadName" Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber" apply the IDN of the parameter (e.g. FP_S_0_0052) the name of which is to be read Fig.1-254: Output variable Data type Description Input variables of the firmware function block "MB_ReadName" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description

127 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 119/205 Output variable Data type Description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Name STRING(255) If "Done"=TRUE, "Name" signals the name value of the selected parameter Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-255: Output variables of the firmware function block "MB_ReadName" For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted MB_ReadParameter Fig.1-256: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variables of the firmware function block "MB_ReadName" With the function block "MB_ReadParameter" it is possible to read the current value of a parameter. The return value is DINT. With the function block "MB_ReadParameter", the input variables are only applied with a 0-1 edge at the "Enable" input. List and string parameters cannot be read with the function block. For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

128 120/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-257: Input variable Data type Description Firmware function block "MB_ReadParameter" Enable BOOL The function block is status-controlled. With "Enable"=TRUE the command is started, with "Enable"=FALSE it is cleared ParameterNumber DINT At the input "ParameterNumber" apply the IDN of the parameter (e.g. FP_S_0_0052) the current value of which is to be read Fig.1-258: Output variable Data type Description Input variables of the firmware function block "MB_ReadParameter" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Value DINT If "Done"=TRUE, "Value" signals the value of the selected parameter. According to the scaling, the parameter has decimal places which have to be taken into account and used for calculation * See note below Fig.1-259: Output variables of the firmware function block "MB_ReadParameter" For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

129 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 121/205 Input / output variable (VAR_IN_OUT) Data type Description Axis AXIS_REF Axis number; the following global variables can be transmitted MB_ReadRealParameter CAUTION Fig.1-260: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variable of the firmware function block "MB_ReadParameter" With the function block "MB_ReadRealParameter" it is possible to read the current value of a parameter. The return value is REAL. List and string parameters cannot be read with the function block "MB_ReadRealParameter". Property damage when reading parameters of remote axes! When parameters of remote axes are read, the scaling is carried out according to the setting of the master which can be wrong. This is probably corrected in MPx04V08. For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

130 122/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-261: Input variable Data type Description Firmware function block "MB_ReadRealParameter" Enable BOOL The function block is status-controlled. With "Enable"=TRUE the command is started, with "Enable"=FALSE it is cleared ParameterNumber DINT At the input "ParameterNumber" apply the IDN of the parameter the current value of which is to be read. Fig.1-262: Output variable Data type Description Any new parameter number will only be applied with the next positive edge at the "Enable" input Input variables of the firmware function block "MB_ReadRealParameter" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Value REAL If "Done"=TRUE, "Value" signals the value of the selected parameter * See note below Fig.1-263: Output variables of the firmware function block "MB_ReadRealParameter" For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

131 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 123/205 Input / output variable (VAR_IN_OUT) Data type Description Axis AXIS_REF Axis number; the following global variables can be transmitted MB_ReadSercosDataStatus Fig.1-264: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variable of the firmware function block "MB_ReadReal Parameter" With the function block "MB_ReadSercosDataStatus" it is possible to read the status of a parameter. At the input "ParameterNumber" you have to apply the parameter number of the parameter the status of which is to be read. List and string parameters cannot be read with the function block. Error-free processing is signaled by "Done"=TRUE. Incorrect processing is signaled by "Error"=TRUE. In the case of error, a detailed description of the error is output at the outputs "ErrorID" and "ErrorIdent". Fig.1-265: For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_ReadSercosDataStatus"

132 124/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description Enable BOOL The function block is status-controlled. The input variables are applied with the positive edge of "Enable". New input values only take effect via the repeated positive edge of "Enable". ParameterNumber DINT At the input "ParameterNumber" you have to apply the parameter number of the parameter the status of which is to be read Output variable Data type Fig.1-266: Input variables of the firmware function block "MB_ReadSercosDataStatus" Description Done BOOL With "Done"=TRUE the function block signals that the processing of the function block has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Status MB_SERCOS_DATA_STATUS The output displays the current status of the parameter. Enum values for output "Status": "MB_SERCOS_DATA_NOT_SET": command has not been set "MB_SERCOS_DATA_SETTING": command has been set "MB_SERCOS_DATA_END_OK": command completed without error "MB_SERCOS_DATA_INTERRUPTED": command interrupted "MB_SERCOS_DATA_IN_PROCESS": command being processed "MB_SERCOS_DATA_BREAK_ERROR": command aborted with error "MB_SERCOS_DATA_DATUM_FAULT": invalid operating data * See note below Fig.1-267: Output variables of the firmware function block "MB_ReadSercosDataStatus" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

133 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 125/205 Input / output variable (VAR_IN_OUT) Data type Description Axis AXIS_REF Axis number; the following global variables can be transmitted MB_ReadSercosAttribute Fig.1-268: "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variable of the firmware function block "MB_ReadSercos DataStatus" With the function block "MB_ReadSercosAttribute" it is possible to read the SERCOS attribute of a parameter. At the input "ParameterNumber" you have to apply the parameter number of the parameter the SERCOS attribute of which is to be read. The processing of the function block is started with a rising edge at the "Execute" input. Error-free processing is signaled by "Done"=TRUE. Incorrect processing is signaled by "Error"=TRUE. In the case of error, a detailed description of the error is output at the outputs "ErrorID" and "ErrorIdent". Fig.1-269: For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_ReadSercosAttribute"

134 126/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber" you have to apply the parameter number of the parameter the SERCOS attribute of which is to be read. Fig.1-270: Output variable Data type Description NOTE: Any new parameter number will only be applied with the next positive edge at the "Execute" input. Input variables of the firmware function block "MB_ReadSercosAttribute" Done BOOL With "Done"=TRUE the function block signals that the cyclic reading of the SERCOS attribute is successfully running Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Attribute DWORD If "Done"=TRUE, "Attribute" signals the attribute of the selected parameter Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-271: Output variables of the firmware function block "MB_ReadSercosAttribute" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted Fig.1-272: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variable of the firmware function block "MB_ReadSercosAttribute"

135 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 127/205 MB_ReadUnit / MX_ReadUnit With the function block "MB_ReadUnit" or "MX_ReadUnit" it is possible to read the unit of a parameter. At the input "ParameterNumber" you have to apply the parameter number of the parameter the unit of which is to be read. The processing of the function block is started with a rising edge at the "Execute" input. Error-free processing is signaled by "Done"=TRUE. Incorrect processing is signaled by "Error"=TRUE. In the case of error, a detailed description of the error is output at the outputs "ErrorID" and "ErrorIdent". Fig.1-273: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_ReadUnit" (looks like firmware function block "MX_ReadUnit", except for the function block name) Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber" you have to apply the parameter number of the parameter the unit of which is to be read Output variable Data type Description Fig.1-274: Input variables of the firmware function block "MB_ReadUnit" / "MX_ReadUnit" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description

136 128/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Output variable Data type Description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Unit DINT If "Done"=TRUE, "Unit" signals the unit of the selected parameter Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-275: Output variables of the firmware function block "MB_ReadUnit" / "MX_ReadUnit" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted MB_ReadStringParameter Local Axis "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Fig.1-276: Input / output variables of the firmware function block "MB_ReadUnit" / "MX_ReadUnit" With the function block "MB_ReadStringParameter" it is possible to read a parameter the operating data of which has the ASCII format (string). The function block "MB_ReadStringParameter" can work on the local axis ("Axis1") and via SERCOS III on remote axes ("Axis2", "Axis3",...). At the input "ParameterNumber" you have to apply the parameter number of the parameter the operating data of which is to be read. The processing of the function block is started with a rising edge at the "Execute" input. To test the function block, the instance variable "ActivateCounter" can be used. It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with edge. When the function block is used for a local axis, all characters of the selected ASCII parameter are immediately read when the function block is called.

137 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 129/205 Remote Axes When the function block is used for remote axes, the read task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several milliseconds, depending on the text length. Fig.1-277: Input variable Data type Description As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_ReadStringParameter" Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber" you have to apply the parameter number of the parameter the operating data of which is to be read Fig.1-278: Output variable Data type Description Input variables of the firmware function block "MB_ReadStringParameter" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description

138 130/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Output variable Data type Description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Value STRING(255) "Value" provides the operating data of the selected parameter Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-279: Output variables of the firmware function block "MB_ReadStringParameter" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted MB_WriteParameter Fig.1-280: "Axis1" (axis for MLD S) "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8" (first or last slave in the order of the list "P , Overview of device addresses") Input / output variable of the firmware function block "MB_ReadString Parameter" With the function block "MB_WriteParameter" it is possible to write a defined value to a parameter. To do this, at the input "ParameterNumber" you have to apply the parameter number of the parameter the value of which is to be written. The value which is to be written to the parameter has to be applied at the input "Value" and be of type DINT. List and string parameters cannot be written with "MB_WriteParameter". According to the scaling, the parameter has decimal places which have to be taken into account and used for calculation

139 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 131/205 CAUTION Storage behavior of "MB_WriteParameter" in "IndraDrive MP03" and "IndraDrive MP04" with local axes: Parameter changes are generally written in unbuffered form! Subsequent storage in the internal memory or on the MMC is only possible via "S , C2400 Selectively backup working memory procedure command". Storage behavior of "MB_WriteParameter" as of "IndraDrive MP05" with local axes: Depending on parameter "S , Storage mode", the changed parameter value is stored in the device-internal, non-volatile memory ("flash") or on the MultiMediaCard (MMC), either immediately or by executing the command "S , C2200 Backup working memory procedure command". Storage behavior of "MB_WriteParameter" in "IndraDrive MP04" as of version 10 and "IndraDrive MP05" with remote axes: Depending on parameter "S , Storage mode", the changed parameter value is stored in the device-internal, non-volatile memory ("flash") or on the MultiMediaCard (MMC), either immediately or by executing the command "S , C2200 Backup working memory procedure command". Destruction of the fixed value parameter memory by constant activation/ execution of the function block! When the function block is frequently executed, set "S , Storage mode" in such a way that changed parameter values are only stored by executing the command "S , C2200 Backup working memory procedure command" in the device-internal, non-volatile memory ("flash") or on the MultiMediaCard (MMC). Fig.1-281: To test the function block "MB_WriteParameter" the instance variable "ActivateCounter" can be used. It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with edge. For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_WriteParameter"

140 132/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber", apply the parameter number of the parameter to be written Value DINT At the input "Value", apply the value which is to be written to the parameter. Take the scaling of the selected parameter into account Fig.1-282: Output variable Data type Description Input variables of the firmware function block "MB_WriteParameter" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-283: Output variables of the firmware function block "MB_WriteParameter" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted MB_WriteListParameter Fig.1-284: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variable of the firmware function block "MB_WriteParameter" With the function block "MB_WriteListParameter" it is possible to write defined values to a list parameter.

141 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 133/205 CAUTION Local Axis Remote Axes The function block "MB_WriteListParameter" can work on the local axis ("Axis1") and via SERCOS III on remote axes ("Axis2", "Axis3",...). The IDN of the list parameter to be written has to be applied at the input "ParameterNumber". Depending on parameter "S , Storage mode", the changed parameter value is stored in the device-internal, non-volatile memory ("flash") or on the MultiMediaCard (MMC), either immediately or by executing the command "S , C2200 Backup working memory procedure command". Destruction of the fixed value parameter memory by constant activation/ execution of the function block! When the function block is frequently executed, set "S , Storage mode" in such a way that changed parameter values are only stored by executing the command "S , C2200 Backup working memory procedure command" in the device-internal, non-volatile memory ("flash") or on the MultiMediaCard (MMC). To test the function block "MB_ReadListParameter" the instance variable "ActivateCounter" can be used. It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with edge. When the function block is used for a local axis, all list elements of the applied array are immediately written when the function block is called. After that the control goes back to the program and TRUE is provided at the output "Done". You should observe that the writing process can take some time, depending on the amount of data to be read; if necessary, you should use a separate task. Example: To write all list elements of parameter P (1024 long words), approx. 16 ms are required with Advanced control section. It is better to write only the actually required elements; if, for example, 8 elements of parameter "P , Cam shaft profile 1" are to be written (one element of parameter P consists of 4 bytes), "32" has to be applied to "NoOfBytes" (8*4). When the function block is used for remote axes, the write request is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the amount of data. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error.

142 134/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-285: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_WriteListParameter" Enable BOOL The function block is status-controlled. With "Enable"=TRUE the function block is activated, with "Enable"=FALSE all outputs are reset ParameterNumber DINT At the input "ParameterNumber", apply the IDN of the list parameter to be written NoOfBytes UINT The number of bytes to be written has to be indicated at the input "NoOfBytes" ValueAdr POINTER TO BYTE At the input "ValueAdr" indicate the initial address of the field to which the bytes that have been read are to be written. Fig.1-286: Output variable Data type Description Example: ValueAdr := ADR(arFeld1) Input variables of the firmware function block "MB_WriteListParameter" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error * See note below Fig.1-287: Output variables of the firmware function block "MB_WriteListParameter" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

143 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 135/205 Input / output variable (VAR_IN_OUT) Data type Description Axis AXIS_REF Axis number; the following global variables can be transmitted MB_WriteRealParameter CAUTION CAUTION Fig.1-288: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V08": "Axis1" (local axis or only axis for MLD- M), "Axis2" to "Axis8" (first or last slave in the order of the list "P , Overview of device addresses") Input / output variable of the firmware function block "MB_WriteList Parameter" With the function block "MB_WriteRealParameter" you can write a defined value to the parameter belonging to the parameter number. The value which is to be written to the parameter must be of type REAL. Storage behavior of "MB_WriteRealParameter" in "IndraDrive MP03" and "IndraDrive MP04" with local axes: Parameter changes are generally written in unbuffered form! Subsequent storage in the internal memory or on the MMC is only possible via "S , C2400 Selectively backup working memory procedure command". Storage behavior of "MB_WriteParameter" as of "IndraDrive MP05" with local axes: Depending on parameter "S , Storage mode", the changed parameter value is stored in the device-internal, non-volatile memory ("flash") or on the MultiMediaCard (MMC), either immediately or by executing the command "S , C2200 Backup working memory procedure command". Storage behavior of "MB_WriteRealParameter" in "IndraDrive MP04" as of version 10 and "IndraDrive MP05" with remote axes: Depending on parameter "S , Storage mode", the changed parameter value is stored in the device-internal, non-volatile memory ("flash") or on the MultiMediaCard (MMC), either immediately or by executing the command "S , C2200 Backup working memory procedure command". Destruction of the fixed value parameter memory by constant activation/ execution of the function block! When the function block is frequently executed, set "S , Storage mode" in such a way that changed parameter values are only stored by executing the command "S , C2200 Backup working memory procedure command" in the device-internal, non-volatile memory ("flash") or on the MultiMediaCard (MMC). List and string parameters cannot be written with the function block "MB_WriteRealParameter". For writing list parameters please use the function block "MB_WriteListParameter". Property damage when writing parameters of remote axes! When parameters of remote axes are written, the scaling is carried out according to the setting of the master which can be wrong. This is probably corrected in MPx04V08.

144 136/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-289: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_WriteRealParameter" Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber", apply the IDN of the list parameter to be written Value REAL At the input "Value", apply the value which is to be written to the parameter. Take the scaling of the selected parameter into account Fig.1-290: Output variable Data type Description Input variables of the firmware function block "MB_WriteRealParameter" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error * See note below Fig.1-291: Output variables of the firmware function block "MB_WriteRealParameter" For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17

145 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 137/205 Input / output variable (VAR_IN_OUT) Data type Description Axis AXIS_REF Axis number; the following global variables can be transmitted MB_WriteStringParameter CAUTION Local Axis Fig.1-292: "Axis1" (axis for MLD S) As of target "IndraDrive MP04V10": "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8 (first or last slave in the order of list "P , Overview of device addresses") Note: In the case of a remote axis, the task is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". Therefore, the resulting times for the function block calls themselves are always short. The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several seconds, depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. Input / output variable of the firmware function block "MB_WriteReal Parameter" With the function block "MB_WriteStringParameter" it is possible to write a parameter the operating data of which has the ASCII format (string). Depending on parameter "S , Storage mode", the changed parameter value is stored in the device-internal, non-volatile memory ("flash") or on the MultiMediaCard (MMC), either immediately or by executing the command "S , C2200 Backup working memory procedure command". Destruction of the fixed value parameter memory by constant activation/ execution of the function block! When the function block is frequently executed, set "S , Storage mode" in such a way that changed parameter values are only stored by executing the command "S , C2200 Backup working memory procedure command" in the device-internal, non-volatile memory ("flash") or on the MultiMediaCard (MMC). The function block "MB_WriteStringParameter" can work on the local axis ("Axis1") and via SERCOS III on remote axes ("Axis2", "Axis3",...). At the input "ParameterNumber" you have to apply the parameter number of the parameter the operating data of which is to be written. The processing of the function block is started with a rising edge at the "Execute" input. To test the function block, the instance variable "ActivateCounter" can be used. It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with edge. When the function block is used for a local axis, all characters of the selected ASCII parameter are immediately written when the function block is called.

146 138/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Remote Axes When the function block is used for remote axes, the write request is ceded to the service channel (SERCOS III). Only at a later call can the function block signal "Done". The outputs "Done", "Active" and "Error" have to be cyclically polled. The data transmission can take several milliseconds, depending on the text length. Fig.1-293: Input variable Data type Description As long as the SERCOS ring is not yet in phase 2 - and temporarily during the transition from phase 3 to phase 4 - it is impossible to exchange data with remote axes. In this case, the function block signals an error. For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MB_WriteStringParameter" Execute BOOL The function block is activated with a rising edge at "Execute". With a falling edge, all outputs are reset ParameterNumber DINT At the input "ParameterNumber" you have to apply the parameter number of the ASCII parameter the operating data of which is to be written. Value STRING(255) At the input "Value", apply the value which is to be written to the ASCII parameter. Fig.1-294: Output variable Data type Description Input variables of the firmware function block "MB_WriteStringParameter" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present

147 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 139/205 Output variable Data type Description ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error Input / output variable (VAR_IN_OUT) Data type * See note below Fig.1-295: Output variables of the firmware function block "MB_WriteStringParameter" NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Axis AXIS_REF Axis number; the following global variables can be transmitted MX_ReadParamDINT Fig.1-296: "Axis1" (axis for MLD S) "Axis1" (local axis or only axis for MLD-M), "Axis2" to "Axis8" (first or last slave in the order of the list "P , Overview of device addresses") Input / output variable of the firmware function block "MB_WriteString Parameter" The function block "MX_ReadParamDINT" is used to read a parameter value and return it as DINT. Among other things, the function block gives a feedback as to whether the reading was successful. For unsigned parameters with 32 bits the return value can be converted with the function "DINT_TO_UDINT". Fig.1-297: For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function block "MX_ReadParamDINT"

148 140/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Input variable Data type Description Enable BOOL The function block is activated with "Enable"=TRUE. All outputs are reset with "Enable"=FALSE Ident DINT IDN of the parameter (e.g. FP_S_0_0052) ListElem INT List element number: For list parameters starting with "0" and for single parameter always "0" Fig.1-298: Output variable Data type Description "-1" for reading the actual length (only allowed for list parameters) "-2" for reading the maximum length (only allowed for list parameters) Input variables of the firmware function block "MX_ReadParamDINT" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) ERROR_STRUCT Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_ReadParamDINT" in target "IndraDrive MPH02"" on page 140 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Value DINT When the output "Done"=TRUE, "Value" displays the value of the selected element Input / output variable (VAR_IN_OUT) Data type Fig.1-299: Description Output variables of the firmware function block "MX_ReadParamDINT" Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) MX_SetCmdState Fig.1-300: ErrorID RESSOURCE_ERROR ACCESS_ERROR INPUT_RANGE_ERROR Fig.1-301: Input / output variable of the firmware function block "MX_ReadParam DINT" Description Invalid axis reference Access not allowed IDN is not available Descriptions of "ErrorID" of the firmware function block "MX_ReadParamDINT" in target "IndraDrive MPH02" With the firmware function block "MX_SetCmdState" it is possible to set the command status of "P , C4900 PLC command".

149 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 141/205 Fig.1-302: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_SetCmdState" Enable BOOL The function block is status-controlled. With "Enable"=TRUE the command is started, with "Enable"=FALSE it is cleared CmdStatus MX_CMD_STATUS At the input "CmdStatus", the following values can be transmitted to the function block: "MX_CMD_NO_ACTIVE": command has not been set "MX_CMD_SETTING": command has been set "MX_CMD_END_OK": command completed without error "MX_CMD_IS_BREAK": command interrupted "MX_CMD_IS_WORK": command has been set and enabled "MX_CMD_BREAK_ERROR": command aborted with error DiagNo DINT For the case "CmdStatus"==MX_CMD_BREAK_ERROR, a command error number can be transmitted. 1: C4901 PLC command error no. 1 2: C4902 PLC command error no. 2 3: C4903 PLC command error no. 3 4: C4904 PLC command error no. 4 Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig.1-303: Output variable Data type Description Input variables of the firmware function "MX_SetCmdState" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID * ERROR_CODE "ErrorID" gives a rough error description ErrorIdent * ERROR_STRUCT Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error * See note below Fig.1-304: Output variables of the firmware function block "MX_SetCmdState"

150 142/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description MX_WriteParamDINT NOTE: For the list of all possible errors, see: chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 The firmware function block "MX_WriteParamDINT" is used to write a parameter. It is possible to write in unbuffered or buffered form. In the case of buffered writing, the parameter values every time are transferred to the non-volatile memory. As this takes much calculating time, data should only be written in buffered form if necessary. For list parameters only the last write access should take place with "WriteBuffered"=TRUE, as the entire list is buffered at each access. While a parameter is buffered, another access with buffering will fail (ACCESS_ERROR). For unsigned parameters with 32 bits the input value "Value" can simply be converted with the function "UDINT_TO_DINT".!Changes Fig.1-305: Input variable Data type Description Execute (as of MPx03VRS) Enable (only MPH02VRS) BOOL BOOL For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" summary of changes MPx02 MPx03: kind of activation input ("Enable" or "Execute"); output "Active" Firmware function block "MX_WriteParamDINT" The function block is activated with a rising edge at "Execute". All outputs are reset with a falling edge at "Execute". For MPH02VRS the function block is status-controlled. With "Enable"=TRUE the function block is activated, with "Enable"=FALSE all outputs are reset Ident DINT IDN of the parameter (e.g. FP_S_0_0052)

151 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 143/205 Input variable Data type Description ListElem INT With the input "ListElem" you have to specify the element which is to be written. List element number: for list parameters starting with "0" and for single parameter always "0" "-1" for writing the actual length (only allowed for list parameters) Value DINT At the input "Value", apply the value which is to be written to the parameter. Take the scaling of the selected parameter into account. According to the scaling, the parameter has decimal places which have to be taken into account and used for calculation WriteBuffered BOOL With "WriteBuffered"=TRUE the value is written in buffered form, if the parameter has been designed for this purpose. With FALSE the parameter is always written in unbuffered form Fig.1-306: Output variable Data type Description Input variables of the firmware function block "MX_WriteParamDINT" Done BOOL With "Done"=TRUE the function block signals that the processing of the task has been successfully completed Active BOOL For remote axes, "Active"=TRUE signals that the function block has accepted the processing command, for single axes this output is not set! Error BOOL With "Error"=TRUE the function block signals that an error is present ErrorID ERROR_CODE "ErrorID" gives a rough error description ErrorIdent (as of MPx03VRS) Input / output variable (VAR_IN_OUT) ERROR_STRUCT Data type Fig.1-307: Target "IndraDrive MPH02": fig " Descriptions of "ErrorID" of the firmware function block "MX_WriteParamDINT" in target "IndraDrive MPH02"" on page 143 Target "IndraDrive MP03": chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error; see chapter "Reference Error Lists for Function Blocks as of Target "IndraDrive MP03"" on page 17 Description Output variables of the firmware function block "MX_WriteParamDINT" Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) ErrorID RESSOURCE_ERROR ACCESS_ERROR INPUT_INVALID_ERROR Fig.1-308: Description Invalid axis reference Access not allowed Parameter not available Fig.1-309: Input / output variable of the firmware function block "MX_WriteParam DINT" Descriptions of "ErrorID" of the firmware function block "MX_WriteParamDINT" in target "IndraDrive MPH02"

152 144/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description "Scaling" - Functions for Scaling MX_fDINT_AccTo_REAL The firmware function "MX_fDINT_AccTo_REAL" converts an acceleration value in the fixed point format of data type DINT into a REAL value, according to the scaling which has been set. If the axis reference is invalid, 0.0 is returned. The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1, Axis2, etc.". Fig.1-310: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fDINT_AccTo_REAL" Acceleration DINT Acceleration value in fixed-point DINT format Axis AXIS_REF Axis address: The corresponding axis, e.g. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.lib", can be transmitted here Fig.1-311: Return value Data type Description Input variables of the firmware function "MX_fDINT_AccTo_REAL" MX_fDINT_AccTo_REAL REAL Returns the acceleration value in the REAL format, according to the scaling which has been set MX_fDINT_DistTo_REAL Fig.1-312: Return value of the firmware function "MX_fDINT_AccTo_REAL" The firmware function "MX_fDINT_DistTo_REAL" converts a position value in the fixed point format of data type DINT into a REAL value, according to the scaling which has been set. If the axis reference is invalid, 0.0 is returned. The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1, Axis2, etc.". For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

153 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 145/205 Fig.1-313: Input variable Data type Description Firmware function "MX_fDINT_DistTo_REAL" Distance DINT Position value in fixed-point DINT format Axis AXIS_REF Axis address: The corresponding axis, e.g. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.lib", can be transmitted here Fig.1-314: Return value Data type Description Input variables of the firmware function "MX_fDINT_DistTo_REAL" MX_fDINT_DistTo_REAL REAL Returns the position value in the REAL format, according to the scaling which has been set MX_fDINT_VelTo_REAL Fig.1-315: Return value of the firmware function "MX_fDINT_DistTo_REAL" The firmware function "MX_fDINT_VelTo_REAL" converts a velocity value in the fixed point format of data type DINT into a REAL value, according to the scaling which has been set. If the axis reference is invalid, 0 is returned. The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1, Axis2, etc.". Fig.1-316: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fDINT_VelTo_REAL" Velocity DINT Velocity value in fixed-point DINT format Axis AXIS_REF Axis address: The corresponding axis, e.g. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.lib", can be transmitted here Fig.1-317: Input variables of the firmware function "MX_fDINT_VelTo_REAL"

154 146/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Return value Data type Description MX_fDINT_VelTo_REAL REAL Returns the velocity value in the REAL format, according to the scaling which has been set MX_fREAL_AccTo_DINT Fig.1-318: Return value of the firmware function "MX_fDINT_VelTo_REAL" The firmware function "MX_fREAL_AccTo_DINT" converts an acceleration value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. If the axis reference is invalid, 0.0 is returned. The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1, Axis2, etc.". Fig.1-319: Input variable Data type Description For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fREAL_AccTo_DINT" Acceleration REAL Acceleration value in the REAL format Axis AXIS_REF Axis address: The corresponding axis, e.g. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.lib", can be transmitted here Fig.1-320: Return value Data type Description Input variables of the firmware function "MX_fREAL_AccTo_DINT" MX_fREAL_AccTo_DINT DINT Returns the acceleration value in the fixed-point DINT format, according to the scaling which has been set MX_fREAL_DistTo_DINT Fig.1-321: Return value of the firmware function "MX_fREAL_AccTo_DINT" The firmware function "MX_fREAL_DistTo_DINT" converts a position value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. If the axis reference is invalid, 0 is returned. The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1, Axis2, etc.". For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04""

155 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 147/205 Fig.1-322: Input variable Data type Description Firmware function "MX_fREAL_DistTo_DINT" Distance REAL Position value in the REAL format Axis AXIS_REF Axis address: The corresponding axis, e.g. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.lib", can be transmitted here Fig.1-323: Return value Data type Description Input variables of the firmware function "MX_fREAL_DistTo_DINT" MX_fDINT_DistTo_REAL DINT Returns the position value in the fixed-point DINT format, according to the scaling which has been set Fig.1-324: MX_fREAL_TorqueRampTo_DINT Return value of the firmware function "MX_fREAL_DistTo_DINT" The firmware function "MX_fREAL_TorqueRampTo_DINT" converts a torque/ force ramp value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. The function can be used for the real axes "Axis1, Axis2, etc.". Fig.1-325: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fREAL_TorqueRampTo_DINT" TorqueRamp REAL Torque/force ramp value in the REAL format Axis AXIS_REF Axis address: The corresponding axis, e.g. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.lib", can be transmitted here Fig.1-326: Return value Data type Description Input variables of the firmware function "MX_fREAL_TorqueRampTo_DINT" MX_fREAL_TorqueRampTo_DINT DINT Returns the velocity value in the fixed-point DINT format, according to the scaling which has been set Fig.1-327: Return value of the firmware function "MX_fREAL_TorqueRampTo_DINT"

156 148/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description MX_fREAL_TorqueTo_DINT The firmware function "MX_fREAL_TorqueTo_DINT" converts a torque/force value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. The function can be used for the real axes "Axis1, Axis2, etc.". Fig.1-328: Input variable Data type Description For the library in which the function is available, see: "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fREAL_TorqueTo_DINT" Torque REAL Torque/force value in the REAL format Axis AXIS_REF Axis address: The corresponding axis, e.g. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.lib", can be transmitted here Fig.1-329: Return value Data type Description Input variables of the firmware function "MX_fREAL_TorqueTo_DINT" MX_fREAL_TorqueTo_DINT DINT Returns the torque/force value in the fixed-point DINT format, according to the scaling which has been set MX_fREAL_VelTo_DINT Fig.1-330: Return value of the firmware function "MX_fREAL_TorqueTo_DINT" The firmware function "MX_fREAL_VelTo_DINT" converts a velocity value in the REAL format into a fixed-point DINT value, according to the scaling which has been set. If the axis reference is invalid, 0 is returned. The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1, Axis2, etc.". Fig.1-331: For the library in which the function is available, see: "Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Firmware function "MX_fREAL_VelTo_DINT"

157 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 149/205 Input variable Data type Description Velocity REAL Velocity value in the REAL format Axis AXIS_REF Axis address: The corresponding axis, e.g. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.lib", can be transmitted here Fig.1-332: Return value Data type Description Input variables of the firmware function "MX_fREAL_VelTo_DINT" MX_fREAL_VelTo_DINT DINT Returns the velocity value in the fixed-point DINT format, according to the scaling which has been set 1.10 SysLibSockets Fig.1-333: General Information Return value of the firmware function "MX_fREAL_VelTo_DINT" The library "SysLibSockets.lib" is available as of the target "IndraDrive MP05". The functions contained in the library support the access to sockets 1) for communication via TCP/IP and UDP. By means of the functions contained in the library and as of the target "Indra Drive MP05", IndraMotion MLD can be programmed as UDP or TCP/IP server resp. UDP or TCP/IP client Overview of Function Blocks and Functions To keep the programming effort at a low level, using the "RIL_SocketComm.lib" is recommended for standard TCP/IP or UDP communication. For a detailed description of the corresponding function blocks and functions, see the IndraLogic help under "SyslibSockets". The section "Notes on Utilization" describes the MLD-specific features. "SysSockAccept" "SysSockBind" "SysSockClose" "SysSockConnect" "SysSockCreate" "SysSockGetHostByName" "SysSockGetHostName" "SysSockGetLastErrorSync" "SysSockSetOption" and "SysSockGetOption" "SysSockHtonI", "SysSockHtons", "SysSockNtohI" and "SysSockNtohs" "SysSockInetAddr" "SysSockInetNtoa" "SysSockIoctl" 1) A socket is a bidirectional software interface for interprocess (IPC) or network communication.

158 150/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description "SysSockListen" "SysSockSelect" "SysSockShutdown" TCP-specific: Notes on Utilization General Information "SysSockAccept" "SysSockConnect" "SysSockRecv" "SysSockSend" UDP-specific: "SysSockRecvFrom" "SysSockSendTo" For a detailed description of the corresponding function blocks and functions, see the IndraLogic help under "SyslibSockets". This section describes the MLD-specific features. The symbols of the different socket options and maximum values are defined in the global variables of "SysLibSockets.lib". The symbols of the error codes are defined in "MX_Base.lib". To write portable software, you should work with the symbols of the constant definitions of the global variables from "SysLibSockets.lib" and "MX_Base.lib", not with their numeric values. As a maximum, MLD may open 25 sockets (the maximum value "MAX_OPEN_SYNCSOCKETS" is defined in the global variables of "SysLibSockets.lib"). NOTE: It might not be possible to open all 25 sockets, because the drive already uses these resources. The transmit and receive buffer size cannot be changed and has been set to 1500 bytes (1446 bytes of net data). This means that, for example, 4000 bytes of data to be transmitted will be transmitted as 3 data packages with 1446 bytes and one package with 1108 bytes of net data. The timeout for reception cannot be changed and has been set to ms. For transmission there is not timeout. For server applications, it is recommended that you use the port addresses to For reset and reloading of an MLD program, it is not necessary to write callback functions. In the case of reset and download, MLD automatically deletes all sockets it had opened. In the "Non Blocking Mode", the error code "ERR_UNAVAILABLE (-51)" can be sporadically signaled. This error means that a resource is presently unavailable and the function call has to be repeated. Before "SysSockAccept", "SysSockListen" must be called. "SysSockListen" sets a table to accept connection requirements. This table must be ready before"syssockaccept" starts blocking and waits for connection attempts. Generally, "SysSockConnect" may only be called once per socket after "Sys SockCreate". Blockingmode: If Connect is impossible, "SysSockConnect" blocks for 1 minute and then returns with the return value =FALSE. The error code can be read with the function "SysSockGetLastErrorSync".

159 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 151/205 "SysSockCreate" "SysSockGetLastErrorSync" "SysSockSetOption" and "Sys SockGetOption" "SysSockIoctl" Non Blockingmode: If the return value =FALSE and the error code supplied by "SysSockGetLastErrorSync" ="NU_IS_CONNECTING", it is necessary to find out via the function "SysSockSelect" whether the socket is ready for transmission and/or reception. With "ditype=sock_stream", "SysSockCreate" definitely sets "Blockingmode". "SysSockGetLasterrorSync" supplies the last detected socket error. Occurring errors are stored in task-oriented form and read in this way. The transmission parameter "disocket" is not evaluated. After the socket error has been read, it is cleared. According to the program structure, "SysSockGetLastError" should be called immediately after an error has been detected, so that the error code is not overwritten otherwise. Correction of the documentation: With "SysSockSetOption", the option value is not transmitted as a value, as described, but as a pointer to the value. The pointer must be DWORD. Supported socket levels: SOCKET_SOL SOCKET_IPPROTO_IP SOCKET_IPPROTO_TCP SOCKET_IPPROTO_UDP SOCKET_SO_ERROR (only "SysSockGetOption") Options for "dilevel=socket_sol" "SOCKET_SO_REUSEADDR" (allows linking several addresses to the same port) Optval (int16): Disabled="0", Enabled<>"0". "SOCKET_SO_BROADCAST" (allows transmitting broadcast messages) Optval (int16): Disabled="0", Enabled<>"0". "SOCKET_SO_LINGER" (dwell time when closing the socket) Optval (structure SOCKET_LINGER) Options for "dilevel=socket_ipproto_tcp" SOCKET_TCP_NODELAY (this option controls the Nagle's algorithm of the socket) Optval (UINT8): Disabled="0", Enabled<>"0". SOCKET_SO_KEEPALIVE (this option controls the keep-alive for the TCP connections of the socket) Optval (UINT8): Disabled="0", Enabled<>"0". Options for "dilevel=socket_ipproto_ip" There aren't any options supported. Options for "dilevel=socket_ipproto_udp" There aren't any options supported. Options for "dilevel=socket_so_error" (only "SysSockGetoption") The behavior described for "SysSockGetLastErrorSync" applies in this case. "dicommand=socket_fionbio" [sets Blockingmode to the value of the transmitted argument (piparameter)].

160 152/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description "SysSockSelect" "SysSockSend" "SysSockRecv" "SysSockSendTo" "SysSockRecvFrom" "SysSockHtonI", "SysSockHtons", "SysSockNtohI" and "SysSockNtohs" Blockingmode: "piparameter=socket_so_blocking" Non Blockingmode: "piparameter=socket_so_noblocking" "dicommand=socket_fionread" [Reads the number of received bytes which are ready in the socket. The number of received bytes is contained in the argument ("piparameter").] Correction of the documentation: The return value of "SysSockIoctl" is described as BOOL in the description of the function; the return value actually is of the DINT type and supplies "0" or "1". If "0" is transmitted for the pointer in the case of "ptvtimeout", "SysSock Select" blocks until the request has been fulfilled. If it is desired that the function returns immediately, it is necessary to write "ptvtimeout.tv_sec" and "tv_usec"="0". "SysSockSelect" returns the number of ready sockets. If the return value is "-1", an error has occurred. If the number is greater than "0", the transmitted arrays (e.g. "fdread") must be checked from "0" to "fd_count". Sockets which are not ready have been set to "0" in the array. Sockets set in "fdread" have received data. They can be read in non-blocking form with "SysSockRecv". Reading the error status with "fdexcept" is not supported. At this place, it is necessary to enter "0". The value of "dibuffersize" may be a maximum of MAX_IP_DATA_SIZE= The transmission parameter "diflags" is not supported. For this parameter, it is necessary to enter "0". The return value 0="gracefully closed" is not supported. The transmission parameter "diflags" is not supported. For this parameter, it is necessary to enter "0". The return value 0="gracefully closed" is not supported. The value of "dibuffersize" may be a maximum of MAX_IP_DATA_SIZE= The transmission parameters "diflags" and "disockaddrsize" are not supported. For these parameters, it is necessary to enter "0". The return value 0="gracefully closed" is not supported. The transmission parameters "diflags" and "disockaddrsize" are not supported. For these parameters, it is necessary to enter "0". The return value 0="gracefully closed" is not supported. The figure below explains how the byte order of the port is converted to littleendian by "SysSockHtons" or converted to big-endian by "SysSockNtohs".

161 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 153/205 "SysSockShutdown" Fig.1-334: 1.11 MX_SysLibMem General Information Functions Converting byte orders of the port With "dihow=socket_shut_rd", the reading connection of the socket is terminated. With "dihow=socket_shut_wr", the writing connection of the socket is terminated. With "dihow=socket_shut_rdwr", the reading and writing connections of the socket are terminated. The functions of the library "MX_SysLibMem.lib" are available as of the target "IndraDrive MP05"; they are used for memory management. The functions can be used to compare two storage locations, to initialize or preassign a memory range, to copy or shift from one memory to the other or to swap 2) (processing takes place synchronously). The library "MX_SysLibMem.lib" contains the following functions: SysMemCmp SysMemCpy 2) In information technology, swapping describes the writing of data, which are contained in the fast but small central memory of the computer, to the slow but big background memory (e.g. hard disk) and, vice versa, the loading of such data from the background memory to the central memory. This process is part of the segmentation, a special kind of memory management in operating systems.

162 154/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Notes on Utilization General Information 1.12 MX_SysLibDir General Information Functions Notes on Utilization General Information SysDirOpen SysMemMove SysMemSet SysMemSwap For a detailed description of the corresponding function blocks and functions, see the IndraLogic help under "SysLibMem". The section "Notes on Utilization" describes the MLD-specific features. The library "MX_SysLibMem.lib" only works on the local axis (Axis1). It does not contain any function for dynamic memory management. For detailed descriptions of the functions, see the IndraLogic help under "SysLibMem". With the functions of the library "MX_SysLibDir.lib" and as of the target "Indra Drive MP05", it is possible to synchronously access a file directory system on the target. Directory entries can be read. The library "MX_SysLibDir.lib" contains the following functions: SysDirOpen SysDirRead For a detailed description of the functions "SysDirOpen" and "Sys DirRead", see the IndraLogic help under "SysLibDir". The section "Notes on Utilization" describes the MLD-specific features. The function blocks for editing and creating directories are not supported! Only the MMC directory "User" can be accessed. Any access from the user program to the root directory is redirected to the MMC directory "User". When listing the directories, only the content of the "User" directory and possibly contained subdirectories are displayed. The "User" directory itself is not displayed, as if "User" were a separate partition. Access to the root node from the user's point of view can be obtained without indicating the directory, with single "\" and with double "\\" (Windows-compatible). When a search is started with "SysDirOpen", it is afterwards necessary to read with "SysDirRead" until the function does not find any other entry. Otherwise, "SysDirOpen" does not release the Handle with its internal resources. Another "SysDirOpen" then is no longer possible. There is a maximum of four Handles available for "SysDirOpen". When the PLC is reset, possibly still open Handles are closed. Possible data when listing files:

163 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 155/205 SysDirRead SysDirOpen('MyFile.txt') SysDirOpen('MyFile.*') SysDirOpen('*.txt') SysDirOpen('MyDir\*.txt') SysDirOpen('\*.*') SysDirOpen('\\*.*')... After a call of "SysDirRead", which displays a file, this file is blocked for deleting until the next call of "SysDirRead" "MX_SysLibFile" and "MX_SysLibFileAsync" General Information As of the target "IndraDrive MP05", the functions of the library "MX_SysLibFile.lib" support synchronous file access. "Synchronous file access" means that a function is called and only returns after the output has been completed. As of the target "IndraDrive MP05", the functions of the library "MX_SysLibFileAsync.lib" support asynchronous file access. For asynchronous file access, cyclically oriented functions are used; they accept a task and provide the status of the task in other calls. With the functions of the libraries, files can be opened, closed, deleted and renamed. In addition, it is possible to write data to files or read data from files. With other functions it is possible to determine the file size or the point of time of the last access, and to determine or change the current offset. The content of the libraries "MX_SysLibFile.lib" and "MX_SysLibFileAsync.lib" is a subset of the original libraries "SysLibFile.lib" and "SysLibFileAsync.lib". The libraries "MX_SysLibFile.lib" and "MX_SysLibFileAsync.lib"......do not contain any function for creating or deleting subdirectories; subdirectories can nevertheless be externally created and used in the drive....do not contain any function for reading the time stamps, because there is no real-time clock in the drive. When created, files always get the same time stamp " " in the drive. For detailed descriptions of the libraries "SysLibFile.lib" and "SysLibFileAsync.lib", see the IndraLogic help. The section "Notes on Utilization" describes the MLD-specific features.

164 156/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Functions MX_SysLibFile.lib SysFileOpen SysFileWrite SysFileRead SysFileClose SysFileDelete SysFileCopy SysFileEOF SysFileGetPos SysFileGetSize SysFileGetTime SysFileRename SysFileSetPos Fig.1-335: Notes on Utilization General Information Differences From the Descriptions of "SysFileOpen" and "SysFileOpenAsync" MX_SysLibFileAsync.lib SysFileOpenAsync SysFileWriteAsync SysFileReadAsync SysFileCloseAsync SysFileDeleteAsync SysFileCopyAsync SysFileEOFAsync SysFileGetPosAsync SysFileGetSizeAsync SysFileGetTimeAsync SysFileRenameAsync SysFileSetPosAsync Functions of the libraries "MX_SysLibFile.lib" and "MX_SysLibFileAsync.lib" The open functions do not open files exclusively so that other accesses to the same file are possible. Possible data when opening, deleting, copying,... files: SysFileOpen('MyFile.txt') SysFileOpen('\MyFile.txt') SysFileOpen('\\MyFile.txt') SysFileOpen('MyDirectory\MyFile.txt') As long as the PLC program is running, files can be kept open. They are compulsorily closed however, when the PLC program is reset with Reset or the MMC is removed. In the latter case, the error "F2006" is generated. Only the MMC directory "User" can be accessed. Any access from the user program to the root directory is redirected to the MMC directory "User". "SysFileOpen"/"SysFileOpenAsync" accesses with "w" (write) or "rw" (read/write) cause the content of the file to be deleted. With "a" (append) it is only possible to write data to the end of the file. It is impossible to include contents in the middle of a file. For the syntax and the behavior of the function blocks, the help in IndraLogic applies. In contrast to the current online help, the following mode applies to the functions "SysFileOpen" and "SysFileOpenAsync" in which the file has to be opened: "w" (write) (file is overwritten or created again) "r" (read) (file is opened for reading only; if the file does not exist, an error is returned) "rw" (read and write) (file is overwritten; if the file does not exist, an error is returned)

165 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 157/ RIL_Utilities General Information "a" (append) (file is opened as with 'w', but data which are written are appended at the end of the file) Conversion Functions and Function Blocks Introduction and Overview The library "RIL_Utilities.lib" is supported as of the firmware MPx05V04. This section contains functions and function blocks which allow converting and influencing different binary data types. We basically distinguish tree operations: Connect: Small data types are connected to form bigger ones. For example, the function IL_BoolToByte converts 8 bits into one byte. Split: One data type is split up in smaller data types. For example, the function block IL_DWordToByte splits up a double word in 4 bytes. Swap: The lower half of the data type is exchanged for the upper half. For example, the function IL_SwapWord exchanges the less significant byte of the input word for the more significant byte. The following matrix contains an overview of the different operations. The left column contains the input data type, the first line contains the target data type. Input/output BOOL BYTE WORD DWORD BOOL BYTE WORD DWORD IL_BoolToByte IL_ByteToBool, page 164 IL_WordToBool, page 165 IL_DWordToBool, page 166 Brief Description Fig.1-336: IL_BoolToByte, page 157 IL_HighByte, page 169 IL_LowByte, page 170 IL_DWordToByte, page 169 IL_BoolToWord, page 158 IL_ConcatByte, page 163 IL_SwapWord, page 171 IL_HighWord, page 170 IL_LowWord, page 171 Overview of conversion functions IL_BoolToDWord, page 160 IL_ByteToDWord, page 162 IL_ConcatWord, page 163 IL_SwapDWord, page 172 In addition, there are functions which are used for converting ASCII characters: IL_AsciiToByte, page 172 IL_ByteToAscii, page 173 IL_RealToString, page 173 The last function block of this section implements a flip-flop which can be set and reset. This functionality is available in the function block IL_Toggle. This function writes the individual bits of a byte. There are 8 individual bits converted to form a byte.

166 158/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-337: Function IL_BoolToByte Name Data type Description VAR_INPUT Bit0 BOOL Writes the position of bit 0 in the output byte RETURN IL_BoolToWord Interface Description Bit1 BOOL Writes the position of bit 1 in the output byte Bit2 BOOL Writes the position of bit 2 in the output byte Bit3 BOOL Writes the position of bit 3 in the output byte Bit4 BOOL Writes the position of bit 4 in the output byte Bit5 BOOL Writes the position of bit 5 in the output byte Bit6 BOOL Writes the position of bit 6 in the output byte Bit7 BOOL Writes the position of bit 7 in the output byte IL_BoolTo Byte Functional Description Error Handling Brief Description BYTE Fig.1-338: Output byte Interface IL_BoolToByte This function writes the bits of the inputs to the output byte according to their valence. The byte is written according to the states of all bits at the input of the function. This means that the status of input "Bit0" is copied to bit 0 of the output byte, the status of input "Bit1" is copied to bit 1 of the output byte etc. Fig.1-339: Functional description IL_BoolToByte There isn't any error handling available for this function. This function writes the individual bits of a word. There are 16 individual bits converted to form a word.

167 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 159/205 Interface Description Fig.1-340: Function IL_BoolToWord Name Data type Description VAR_INPUT Bit0 BOOL Writes the position of bit 0 in the output word Bit1 BOOL Writes the position of bit 1 in the output word Bit2 BOOL Writes the position of bit 2 in the output word Bit3 BOOL Writes the position of bit 3 in the output word Bit4 BOOL Writes the position of bit 4 in the output word Bit5 BOOL Writes the position of bit 5 in the output word Bit6 BOOL Writes the position of bit 6 in the output word Bit7 BOOL Writes the position of bit 7 in the output word Bit8 BOOL Writes the position of bit 8 in the output word Bit9 BOOL Writes the position of bit 9 in the output word Bit10 BOOL Writes the position of bit 10 in the output word Bit11 BOOL Writes the position of bit 11 in the output word Bit12 BOOL Writes the position of bit 12 in the output word Bit13 BOOL Writes the position of bit 13 in the output word Bit14 BOOL Writes the position of bit 14 in the output word Bit15 BOOL Writes the position of bit 15 in the output word RETURN IL_BoolToWord WORD Output word Functional Description Fig.1-341: Interface IL_BoolToWord This function writes the bits of the inputs to the output word according to their valence. The word is written according to the states of all bits at the input of the function. This means that the status of input "Bit0" is copied to bit 0 of the output word, the status of input "Bit1" is copied to bit 1 of the output word etc.

168 160/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description IL_BoolToDWord Error Handling Brief Description Interface Description Fig.1-342: Functional description IL_BoolToWord There isn't any error handling available for this function. This function writes the individual bits of a Dword. There are 32 individual bits converted to form a double word. Fig.1-343: Function IL_BoolToDWord

169 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 161/205 Name Data type Description VAR_INPUT Bit0 BOOL Writes the position of bit 0 in the output double word RETURN Bit1 BOOL Writes the position of bit 1 in the output double word Bit2 BOOL Writes the position of bit 2 in the output double word Bit3 BOOL Writes the position of bit 3 in the output double word Bit4 BOOL Writes the position of bit 4 in the output double word Bit5 BOOL Writes the position of bit 5 in the output double word Bit6 BOOL Writes the position of bit 6 in the output double word Bit7 BOOL Writes the position of bit 7 in the output double word Bit8 BOOL Writes the position of bit 8 in the output double word Bit9 BOOL Writes the position of bit 9 in the output double word Bit10 BOOL Writes the position of bit 10 in the output double word Bit11 BOOL Writes the position of bit 11 in the output double word Bit12 BOOL Writes the position of bit 12 in the output double word Bit13 BOOL Writes the position of bit 13 in the output double word Bit14 BOOL Writes the position of bit 14 in the output double word Bit15 BOOL Writes the position of bit 15 in the output double word Bit16 BOOL Writes the position of bit 16 in the output double word Bit17 BOOL Writes the position of bit 17 in the output double word Bit18 BOOL Writes the position of bit 18 in the output double word Bit19 BOOL Writes the position of bit 19 in the output double word Bit20 BOOL Writes the position of bit 20 in the output double word Bit21 BOOL Writes the position of bit 21 in the output double word Bit22 BOOL Writes the position of bit 22 in the output double word Bit23 BOOL Writes the position of bit 23 in the output double word Bit24 BOOL Writes the position of bit 24 in the output double word Bit25 BOOL Writes the position of bit 25 in the output double word Bit26 BOOL Writes the position of bit 26 in the output double word Bit27 BOOL Writes the position of bit 27 in the output double word Bit28 BOOL Writes the position of bit 28 in the output double word Bit29 BOOL Writes the position of bit 29 in the output double word Bit30 BOOL Writes the position of bit 30 in the output double word Bit31 BOOL Writes the position of bit 31 in the output double word IL_BoolToD Word Functional Description DWORD Fig.1-344: Output double word Interface IL_BoolToDWord This function writes the bits of the inputs to the output double word according to their valence. The Dword is written according to the states of all bits at the input of the function. This means that the status of input "Bit0" is copied to bit

170 162/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description IL_ByteToDWord 0 of the output double word, the status of input "Bit1" is copied to bit 1 of the output double word etc. Fig.1-345: Functional description IL_BoolToDWord There isn't any error handling available for this function. This function writes the individual bytes of a Dword. There are 4 individual bytes converted to form a double word. Fig.1-346: Name Data type Description Function IL_ByteToDWord VAR_INPUT Byte0 BYTE Writes the position of byte 0 in the output double word RETURN Error Handling Brief Description Interface Description Byte1 BYTE Writes the position of byte 1 in the output double word Byte2 BYTE Writes the position of byte 2 in the output double word Byte3 BYTE Writes the position of byte 3 in the output double word IL_ByteToD Word Functional Description DWORD Fig.1-347: Output double word Interface IL_ByteToDWord This function writes the bytes of the inputs to the output double word according to their valence. The Dword is written according to the states of all bytes at the input of the function. This means that the status of input "Byte0" is copied to

171 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 163/205 IL_ConcatByte byte 0 of the output double word, the status of input "Byte1" is copied to byte 1 of the output double word etc. Fig.1-348: Functional description IL_ByteToDWord There isn't any error handling available for this function. This function writes the individual bytes of a word. There are 2 bytes connected to form a word. Fig.1-349: Function IL_ConcatByte Name Data type Description VAR_INPUT HighByte BYTE Writes the position of byte 1 in the output word LowByte BYTE Writes the position of byte 0 in the output word RETURN IL_ConcatByte WORD Output word IL_ConcatWord Error Handling Brief Description Interface Description Functional Description Error Handling Brief Description Fig.1-350: Interface IL_ConcatByte This function writes the bytes of the inputs to the output word according to their valence. The word is written according to the states of the bytes at the input of the function. This means that the status of input "HighByte" is copied to byte 1 of the output word, the status of input "LowByte" is copied to byte 0 of the output word etc. Fig.1-351: Functional description IL_ConcatByte There isn't any error handling available for this function. This function writes the individual words of a Dword. There are 2 words connected to form a double word.

172 164/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-352: Function IL_ConcatWord Name Data type Description VAR_INPUT HighWord WORD Writes the position of word 1 in the output double word LowWord WORD Writes the position of word 0 in the output double word RETURN IL_ConcatWord DWORD Output double word IL_ByteToBool Interface Description Functional Description Error Handling Brief Description Interface Description Fig.1-353: Interface IL_ConcatWord This function writes the words of the inputs to the output double word according to their valence. The double word is written according to the states of the words at the input of the function. This means that the status of input "HighWord" is copied to word 1 of the output double word, the status of input "LowWord" is copied to word 0 of the output double word etc. Fig.1-354: Functional description IL_ConcatWord There isn't any error handling available for this function. This function block extracts individual bits from a byte. There are 8 individual bits extracted from a byte. Fig.1-355: Function IL_ByteToBool Name Data type Description VAR_INPUT Input BYTE Input byte from which the bits are extracted VAR_OUPUT Bit0 BOOL Bit 0 of the input byte Bit1 BOOL Bit 1 of the input byte Bit2 BOOL Bit 2 of the input byte

173 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 165/205 IL_WordToBool Name Data type Description Bit3 BOOL Bit 3 of the input byte Bit4 BOOL Bit 4 of the input byte Bit5 BOOL Bit 5 of the input byte Bit6 BOOL Bit 6 of the input byte Bit7 BOOL Bit 7 of the input byte Functional Description Error Handling Brief Description Interface Description Fig.1-356: Interface IL_ByteToBool This function block identifies the individual bits of a byte. The status of the input "Input" is detected and the status of the individual bits is copied to the output variables "Bit0".. "Bit7". Fig.1-357: Functional description IL_ByteToBool There isn't any error handling available for this function. This function block extracts individual bits from a word. There are 16 individual bits extracted from a word. Fig.1-358: Function IL_WordToBool Name Data type Description VAR_INPUT Input WORD Input word from which the bits are extracted VAR_OUPUT Bit0 BOOL Bit 0 of the input word Bit1 BOOL Bit 1 of the input word

174 166/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description IL_DWordToBool Name Data type Description Bit2 BOOL Bit 2 of the input word Bit3 BOOL Bit 3 of the input word Bit4 BOOL Bit 4 of the input word Bit5 BOOL Bit 5 of the input word Bit6 BOOL Bit 6 of the input word Bit7 BOOL Bit 7 of the input word Bit8 BOOL Bit 8 of the input word Bit9 BOOL Bit 9 of the input word Bit10 BOOL Bit 10 of the input word Bit11 BOOL Bit 11 of the input word Bit12 BOOL Bit 12 of the input word Bit13 BOOL Bit 13 of the input word Bit14 BOOL Bit 14 of the input word Bit15 BOOL Bit 15 of the input word Functional Description Error Handling Brief Description Fig.1-359: Interface IL_WordToBool This function block identifies the individual bits of a word. The status of the input "Input" is detected and the status of the individual bits is copied to the output variables "Bit0".. "Bit15". Fig.1-360: Functional Description IL_WordToBool There isn't any error handling available for this function. This function block extracts individual bits from a double word. There are 32 individual bits extracted from a Dword.

175 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 167/205 Interface Description Fig.1-361: Function IL_DWordToBool Name Data type Description VAR_INPUT Input DWORD Input double word from which the bits are extracted VAR_OUPUT Bit0 BOOL Bit 0 of the input double word Bit1 BOOL Bit 1 of the input double word Bit2 BOOL Bit 2 of the input double word Bit3 BOOL Bit 3 of the input double word Bit4 BOOL Bit 4 of the input double word Bit5 BOOL Bit 5 of the input double word Bit6 BOOL Bit 6 of the input double word Bit7 BOOL Bit 7 of the input double word Bit8 BOOL Bit 8 of the input double word Bit9 BOOL Bit 9 of the input double word Bit10 BOOL Bit 10 of the input double word Bit11 BOOL Bit 11 of the input double word Bit12 BOOL Bit 12 of the input double word Bit13 BOOL Bit 13 of the input double word

176 168/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Name Data type Description Bit14 BOOL Bit 14 of the input double word Bit15 BOOL Bit 15 of the input double word Bit16 BOOL Bit 16 of the input double word Bit17 BOOL Bit 17 of the input double word Bit18 BOOL Bit 18 of the input double word Bit19 BOOL Bit 19 of the input double word Bit20 BOOL Bit 20 of the input double word Bit21 BOOL Bit 21 of the input double word Bit22 BOOL Bit 22 of the input double word Bit23 BOOL Bit 23 of the input double word Bit24 BOOL Bit 24 of the input double word Bit25 BOOL Bit 25 of the input double word Bit26 BOOL Bit 26 of the input double word Bit27 BOOL Bit 27 of the input double word Bit28 BOOL Bit 28 of the input double word Bit29 BOOL Bit 29 of the input double word Bit30 BOOL Bit 30 of the input double word Bit31 BOOL Bit 31 of the input double word Functional Description Error Handling Fig.1-362: Interface IL_DWordToBool This function block identifies the individual bits of a double word. The status of the input "Input" is detected and the status of the individual bits is copied to the output variables "Bit0".. "Bit31". Fig.1-363: Functional description IL_DWordToBool There isn't any error handling available for this function.

177 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 169/205 IL_DWordToByte This function block extracts individual bytes from a Dword. There are 4 individual bytes extracted from a double word. Fig.1-364: Name Data type Description Function IL_DWordToByte VAR_INPUT Input DWORD Input double word from which the bytes are extracted VAR_OUPUT Byte0 BYTE Byte 0 of the input double word IL_HighByte Brief Description Interface Description Byte1 BYTE Byte 1 of the input double word Byte2 BYTE Byte 2 of the input double word Byte3 BYTE Byte 3 of the input double word Functional Description Error Handling Brief Description Interface Description Fig.1-365: Interface IL_DWordToByte This function block identifies the individual bytes of a double word. The status of the input "Input" is detected and the status of the individual bytes is copied to the output variables "Byte0".. "Byte3". Fig.1-366: Functional description IL_DWordToByte There isn't any error handling available for this function. This function extracts the more significant byte from a word. Fig.1-367: Function IL_HighByte Name Data type Description VAR_INPUT Input WORD Input word from which the byte is extracted RETURN IL_HighByte BYTE More significant byte of the input word Fig.1-368: Interface IL_HighByte

178 170/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description IL_LowByte This function identifies the more significant byte of a word. The status of the input "Input" is detected and the status of the more significant byte is copied to the function output. Fig.1-369: Functional description IL_HighByte There isn't any error handling available for this function. This function extracts the less significant byte from a word. Fig.1-370: Function IL_LowByte Name Data type Description VAR_INPUT Input WORD Input word from which the byte is extracted RETURN IL_LowByte BYTE Less significant byte of the input word IL_HighWord Functional Description Error Handling Brief Description Interface Description Functional Description Error Handling Brief Description Interface Description Fig.1-371: Interface IL_LowByte This function identifies the less significant byte of a word. The status of the input "Input" is detected and the status of the less significant byte is copied to the function output. Fig.1-372: Functional description IL_LowByte There isn't any error handling available for this function. This function extracts the more significant word from a double word. Fig.1-373: Function IL_HighWord

179 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 171/205 Name Data type Description VAR_INPUT Input DWORD Input double word from which the word is extracted RETURN IL_HighWord WORD More significant word of the input double word IL_LowWord Fig.1-374: Interface IL_HighWord This function identifies the more significant word of a double word. The status of the input "Input" is detected and the status of the more significant word is copied to the function output. Fig.1-375: Functional description IL_HighWord There isn't any error handling available for this function. This function extracts the less significant word from a double word. Fig.1-376: Function IL_LowWord Name Data type Description VAR_INPUT Input DWORD Input double word from which the word is extracted RETURN IL_LowWord WORD Less significant word of the input double word IL_SwapWord Functional Description Error Handling Brief Description Interface Description Functional Description Error Handling Brief Description Interface Description Fig.1-377: Interface IL_LowWord This function identifies the less significant word of a double word. The status of the input "Input" is detected and the status of the less significant word is copied to the function output. Fig.1-378: Functional description IL_LowWord There isn't any error handling available for this function. This function exchanges the more significant byte and the less significant byte of a word. Fig.1-379: Function IL_SwapWord

180 172/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Name Data type Description VAR_INPUT Input WORD Input word RETURN IL_SwapDWord IL_Swap Word WORD Fig.1-380: Output word in which the more significant byte was exchanged for the less significant byte. Interface IL_SwapWord This function exchanges the more significant byte of a word for the less significant byte. The status of the input "Input" is detected and the more significant byte and the less significant byte are exchanged and copied to the function output. Fig.1-381: Functional description IL_SwapWord There isn't any error handling available for this function. This function exchanges the more significant word and the less significant word of a double word. Fig.1-382: Function IL_SwapDWord Name Data type Description VAR_INPUT Input DWORD Input double word RETURN IL_AsciiToByte Functional Description Error Handling Brief Description Interface Description IL_Swap Word Functional Description Error Handling Brief Description DWORD Fig.1-383: Output double word in which the more significant word was exchanged for the less significant word. Interface IL_SwapDWord This function exchanges the more significant word of a double word for the less significant word. The status of the input "Input" is detected and the more significant word and the less significant word are exchanged and copied to the function output. Fig.1-384: Functional description IL_SwapDWord There isn't any error handling available for this function. This function converts any ASCII character into the corresponding byte code.

181 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 173/205 Fig.1-385: Function IL_AsciiToByte Name Data type Description VAR_INPUT Input BYTE Input byte which contains the byte code RETURN IL_AsciiToByte STRING[1] IL_ByteToAscii Fig.1-386: The function output contains the ASCII character which corresponds to the byte code in the input string Interface IL_AsciiToByte This function identifies the ASCII character of the byte code in the input byte. The status of the input "Input" is detected and the corresponding ASCII character is copied to the function output. There isn't any error handling available for this function. This function converts any byte code into the corresponding ASCII character. Fig.1-387: Function IL_ByteToAscii Name Data type Description VAR_INPUT Input BYTE Input byte which contains the byte code to be converted RETURN IL_ByteToAscii STRING[1] IL_RealToString Fig.1-388: Function output contains the ASCII character of the byte code in the input string Interface IL_ByteToAscii This function identifies the byte code of the ASCII character in the input string. The status of the input "Input" is detected and the corresponding ASCII value of the character is copied to the function output. There isn't any error handling available for this function. This function converts a real value into a string. Fig.1-389: Function IL_RealToString Name Data type Description VAR_INPUT Input REAL Input byte which contains the number to be converted RETURN Interface Description Functional Description Error Handling Brief Description Interface Description Functional Description Error Handling Brief Description Interface Description IL_RealTo String STRING Fig.1-390: Function output contains the real value as string Interface IL_RealToString

182 174/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description IL_Toggle Functional Description Error Handling Brief Description Interface Description With this function, the content of the input "Input" is detected, converted into a string and copied to the output of the function. As of values smaller than "0.1", IndraLogic automatically uses the exponential notation (e.g is displayed as 1.26e-002). The function "IL_RealToString" ignores this and outputs the decimal representation of the real value as a string. However, the function "IL_RealToString" only takes values up to the fourth decimal place into account (e.g. real becomes the string )! There isn't any error handling available for this function. This function block changes the status of its Boolean output with every rising edge at the "Execute" input. Two additional inputs allow fixing the setting of the Boolean output at TRUE or FALSE. Fig.1-391: Function IL_Toggle Name Data type Description VAR_INPUT Execute BOOL Rising edge changes the status of the output "Toggle" Set BOOL Sets the output "Toggle" to TRUE Reset BOOL Sets the output "Toggle" to FALSE VAR_OUPUT Toggle BOOL Current status Fig.1-392: Interface IL_Toggle

183 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 175/205 Signal-Time Diagram Functional Description Error Handling Fig.1-393: Signal-time diagram of the function block IL_Toggle Top: Behavior of "Toggle", when "Set" and "Reset" remain FALSE Bottom: Behavior of "Toggle", when "Set", "Reset" and "Execute" interact 1. "Toggle" remains FALSE, because "Reset" is TRUE 2. "Toggle" remains TRUE, because "Set" is TRUE 3. "Toggle" becomes FALSE, because "Reset" dominates 4. "Toggle" becomes TRUE, because "Set" is TRUE The function block IL_Toggle changes the status of its output "Toggle" between TRUE and FALSE with every rising edge at the "Execute" input. The input "Set" fixes the output "Toggle" at TRUE. The input "Reset" fixes the output "Toggle" at FALSE. If both inputs "Set" and "Reset" are TRUE, "Reset" dominates so that the setting of the output "Toggle" is fixed at FALSE. As long as "Set" or "Reset" are TRUE, signal changes at "Execute" do not have any effect on the output "Toggle". There isn't any error handling available for this function SERCOS Functions and Function Blocks Introduction and Overview This section contains functions and function blocks for working with SERCOS attributes and SERCOS parameters. The following functions and function blocks are available: IL_SercosAttribute, page 176, IL_SercosElementsToParaNo, page 178, IL_SercosStringToParaNo, page 179.

184 176/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description IL_SercosAttribute Other functions which are used for SERCOS parameters are defined in the PLCopen libraries. The function block IL_SercosAttribute is used to list the elements of the SER COS attribute. Fig.1-394: Name Data type Description Function block IL_SercosAttribute VAR_INPUT Enable BOOL Enables the function (cyclically, status-controlled) Attribute DWORD SERCOS attribute VAR_OUPUT Done BOOL Binary digit WrProtectP4 WrProtectP3 WrProtectP2 BOOL BOOL BOOL Listing of the SERCOS attribute has been completed, output variables valid Operating data of the parameter is write-protected in the operating mode (SERCOS phase 4 - P4) Operating data of the parameter is write-protected in SERCOS phase 3 (P3) Operating data of the parameter is write-protected in the parameter mode (SERCOS phase 2 - P2) DecPoints USINT Number of decimal places of operating data of the parameter DataType USINT Data type and display format of operating data of the parameter Cmd BOOL Operating data calls command function DataLength USINT Data length of operating data of the parameter Conversion UINT Weighting factor of operating data of the parameter Interface variable Description Fig.1-395: Interface IL_SercosAttribute The table below shows the structure of the SERCOS attribute Write protection of operating data of the parameter 30: 0 1 Brief Description Interface Description SERCOS Attribute WrProtectP4 Write protection of operating data of the parameter in the operating mode (SERCOS phase 4) Operating data can be written Operating data is write-protected

185 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 177/205 Binary digit 29: : : Interface variable WrProtectP3 WrProtectP2 DecPoints Description Write protection of operating data of the parameter (SERCOS phase 3) Operating data can be written Operating data is write-protected Write protection of operating data of the parameter in the parameter mode (SERCOS phase 2) Operating data can be written Operating data is write-protected The decimal places define the position of the point for display and input of the corresponding operating data. No decimal places 23: Reserved : : : DataType Cmd DataLength 15..0: Conversion 15 decimal places (maximum) Data type and display format are used to convert the operating data, as well as the minimum and maximum input value, into the correct display format. Data type Binary number Unsigned integer Integer Unsigned integer Extended character set Unsigned integer Floating-point number Unsigned integer Display format Binary Unsigned decimal number Signed decimal number Hexadecimal Text Parameter IDN format (SERCOS standard, 2 bytes) Signed decimal number Parameter IDN format (SERCOS standard, 4 bytes) The function of the operating data shows that a command function is called in the drive with this operating data. Operating data or parameter Command The control unit needs the data length to correctly complete the data transmission via the service channel. Reserved Operating data is 2 bytes long Operating data is 4 bytes long Reserved Variable length with 1-byte data Variable length with 2-byte data Variable length with 4-byte data Reserved The weighting factor is an unsigned integer which is used to convert numeric data into a display format. The weighting factor is set to the value of 1, when it is not used for data display. Fig.1-396: Elements of the SERCOS attribute

186 178/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description IL_SercosElementsToParaNo VAR _IN PUT RE TUR N Functional Description Error Handling Brief Description Interface Description Fig.1-397: Structure of the SERCOS attribute After the function block has been enabled by means of "Enable", the function block IL_SercosAttribute cyclically interprets the SERCOS attribute applied at the input "Attribute"; the validity of the elements at the corresponding outputs is signaled by the output "Done". There isn't any error handling available for this function block. The function IL_SercosElementsToParaNo is used to put together the individual elements of a SERCOS parameter string and simultaneously convert them into the SERCOS parameter IDN. Fig.1-398: Name Data type Description SercosType STRING[1] Parameter type SercosSet USINT Parameter set Function IL_SercosElementsToParaNo SercosNo UINT Parameter number IL_SercosElementsToPara No Specification Functional Description UDINT Fig.1-399: Parameter IDN Interface IL_SercosElementsToParaNo The function IL_SercosElementsToParaNo allows putting together the following individual elements of a SERCOS parameter string: SercosType: "S", "P", "A", "C", "Y", "T", "s", "p", "a", "c", "y", "t" SercosSet: SercosNo: The function IL_SercosElementsToParaNo continuously puts together the connected input elements to form the corresponding SERCOS parameter IDN.

187 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 179/205 Error Handling Example of Use IL_SercosStringToParaNo Brief Description Interface Description At runtime, the function IL_SercosElementsToParaNo does not generate any error; in the case of invalid individual elements at the inputs (see specification), the function returns "-1". Fig.1-400: Fig.1-401: Using the function (CFC): IL_SercosElementsToParaNo Using the function (FBD): IL_SercosElementsToParaNo The function IL_SercosStringToParaNo is used to convert a SERCOS parameter string into the SERCOS parameter IDN. Fig.1-402: Function IL_SercosStringToParaNo

188 180/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description VAR_ IN PUT RE TUR N Name Data type Description SercosString STRING[8] SERCOS parameter string IL_SercosStringToParaNo UDINT Parameter IDN Specification Functional Description Error Handling Example of Use Fig.1-403: Interface IL_SercosStringToParaNo The function IL_SercosStringToParaNo allows converting a SERCOS parameter string with the following string elements (formatting: "X Y ZZZZ" or "XZZZZ"): SercosType "X": "S", "P", "A", "C", "Y", "T", "s", "p", "a", "c", "y", "t" SercosSet "Y": "0"..."7" SercosNo "ZZZZ": "0"..."4095" Separator: "-" The function IL_SercosElementsToParaNo continuously puts together the connected input elements to form the corresponding SERCOS parameter IDN. At runtime, the function IL_SercosStringToParaNo does not generate any error; in the case of an invalid SERCOS parameter string (see specification), the function returns "-1". Fig.1-404: Using the function (CFC): IL_SercosStringToParaNo

189 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 181/205 Fig.1-405: Time Functions and Function Blocks Introduction and Overview IL_Date Brief Description Using the function (FBD): IL_SercosStringToParaNo This section contains functions and function blocks for time measurement and conversion. As not all systems dispose of an integrated system clock, these functions are not always available. The following functions and function blocks provide the system time or the date as return value: IL_Date, page 181, IL_TimeOfDay, page 182, IL_DateAndTime, page 182, IL_SysTime64, page 183, IL_SysTimeDate, page 183, IL_ExtSysTimeDate, page 184, The following functions convert between SYS_TIME_DATE and SYS_TIME64: IL_SysTime64ToSysTimeDate, page 185, IL_SysTimeDateToSysTime64, page 185, In addition, there are functions available for processing the high-resolution CPU ticks. These functions can determine the runtime of program modules: IL_HighResTimeTick, page 186, IL_HighResTimeDiff, page 187, The function IL_Date reads the current date of the system.

190 182/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-406: Function IL_Date Name Data type Description VAR_INPUT Enable BOOL Enables the function (cyclically, status-controlled) RETURN IL_Date DATE Current system date according to IEC IL_TimeOfDay Fig.1-407: Interface IL_Date Due to the hardware dependence, the function is not available on all systems. After the function has been enabled by means of "Enable", the function IL_Date cyclically reads the system date formatted according to IEC Fig.1-408: Formatting IL_Date There isn't any error handling available for this function. The function IL_TimeOfDay reads the current time of day of the system. Fig.1-409: Function IL_TimeOfDay Name Data type Description VAR_INPUT Enable BOOL Enables the function (cyclically, status-controlled) RETURN IL_DateAndTime Interface Description Specification Functional Description Error Handling Brief Description Interface Description IL_TimeOf Day Specification Functional Description Error Handling Brief Description DATE Fig.1-410: Current system time according to IEC Interface IL_TimeOfDay Due to the hardware dependence, the function is not available on all systems. After the function has been enabled by means of "Enable", the function IL_TimeOfDay cyclically reads the system time formatted according to IEC Fig.1-411: Formatting IL_TimeOfDay There isn't any error handling available for this function. The function IL_DateAndTime reads the current date and the current time of day of the system.

191 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 183/205 Fig.1-412: Name Data type Description Function IL_DateAndTime VAR_INPUT Enable BOOL Enables the function (cyclically, status-controlled) RETURN IL_SysTime64 IL_DateAnd Time DT Fig.1-413: Current system date and system time according to IEC Interface IL_DateAndTime Due to the hardware dependence, the function is not available on all systems. After the the function has been enabled by means of "Enable", the function IL_DateAndTime cyclically reads the current system date and the current system time formatted according to IEC Fig.1-414: Formatting IL_DateAndTime There isn't any error handling available for this function. The function block IL_SysTime64 reads the current date and the current time of day of the system. Fig.1-415: Function IL_SysTime64 Name Data type Description VAR_INPUT Enable BOOL Enables the function (cyclically, status-controlled) RETURN IL_Sys Time64 IL_SysTimeDate Interface Description Specification Functional Description Error Handling Brief Description Interface Description Specification Functional Description Error Handling Brief Description DATE Fig.1-416: Current system date and system time in microseconds since Interface IL_SysTime64 Due to the hardware dependence, the function is not available on all systems. After the function block has been enabled by means of "Enable", the function block IL_SysTime64 cyclically reads the current system date and the current system time in microseconds since Fig.1-417: Formatting IL_SysTime64 There isn't any error handling available for this function. The function block IL_SysTimeDate reads the current date and the current time of day of the system.

192 184/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Fig.1-418: Name Data type Description Function IL_SysTimeDate VAR_INPUT Enable BOOL Enables the function (cyclically, status-controlled) RETURN IL_SysTime Date IL_ExtSysTimeDate VAR_IN PUT VAR_OUT PUT Interface Description SYS_TIME_DATE Fig.1-419: Current system date and system time in system format Interface IL_SysTimeDate Due to the hardware dependence, the function is not available on all systems. After the function block has been enabled by means of "Enable", the function block IL_SysTimeDate cyclically reads the current system date and the current system time in the system format. Fig.1-420: Formatting IL_SysTimeDate There isn't any error handling available for this function. The function block IL_ExtSysTimeDate reads the current date and the current time of day of the system. Fig.1-421: Name Data type Description Function IL_ExtSysTimeDate Enable BOOL Enables the function (cyclically, status-controlled) ExtSysTime Date Specification Functional Description Error Handling Brief Description Interface Description Specification Functional Description EXT_SYS_TIME_DAT E Fig.1-422: Current system date and system time in extended system format Interface IL_ExtSysTimeDate Due to the hardware dependence, the function is not available on all systems. After the function block has been enabled by means of "Enable", the function block IL_ExtSysTimeDate cyclically reads the current system date and the current system time in the extended system format.

193 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 185/205 IL_SysTime64ToSysTimeDate Fig.1-423: The extended system format is composed of the system formats SYS_TIME64 and SYS_TIME_DATE. Formatting IL_ExtSysTimeDate There isn't any error handling available for this function. The function block IL_SysTime64ToSysTimeDate is used for format conversion of the system date and the system time. Fig.1-424: Name Data type Description Function IL_SysTime64ToSysTimeDate VAR_INPUT Enable BOOL Enables the function block (cyclically, status-controlled) RETURN Error Handling Brief Description Interface Description SysTime64 SYS_TIME64 System date and system time in microseconds since SysTime Date Functional Description Error Handling IL_SysTimeDateToSysTime64 Brief Description Interface Description SYS_TIME_DATE Fig.1-425: System date and system time in system format Interface IL_SysTime64ToSysTimeDate After the function block has been enabled by means of "Enable", the function block IL_SysTime64ToSysTimeDate cyclically converts the system date incl. system time in microseconds (basis: ), applied at the input "Sys Time64", into the system date and the system time in the system format. There isn't any error handling available for this function block. The function block IL_SysTimeDateToSysTime64 is used for format conversion of the system date and the system time. Fig.1-426: Function IL_SysTimeDateToSysTime64

194 186/205 Bosch Rexroth AG Electric Drives Rexroth IndraDrive Library Description Name Data type Description VAR_INPUT Enable BOOL Enables the function block (cyclically, status-controlled) SysTime Date SYS_TIME_DATE System date and system time in system format RETURN SysTime64 SYS_TIME64 System date and system time in microseconds since IL_HighResTimeTick Fig.1-427: Interface IL_SysTimeDateToSysTime64 After the function block has been enabled by means of "Enable", the function block IL_SysTimeDateToSysTime64 cyclically converts the system date incl. system time in the system format, applied at the input "SysTimeDate", into the system date and the system time in microseconds (basis: ). There isn't any error handling available for this function block. The function IL_HighResTimeTick reads the high-resolution time clock of the system. Fig.1-428: Name Data type Description Function IL_HighResTimeTick VAR_INPUT Enable BOOL Enables the function (cyclically, status-controlled) RETURN Functional Description Error Handling Brief Description Interface Description IL_HighResTimeTick Specification Functional Description Error Handling Example of Use UDINT Fig.1-429: High-resolution time clock of the system Interface IL_HighResTimeTick The function IL_HighResTimeTick is used together with the function IL_High ResTimeDiff to determine the runtime of a code section. Due to the hardware dependence, the function is not available on all systems. Due to the specific, system-dependent time base, the return value of the function IL_HighResTimeTick should not be directly used as time value. After the function has been enabled by means of "Enable", the function IL_High ResTimeTick cyclically reads the high-resolution time clock of the system. There isn't any error handling available for this function. In this example from a program, the runtime of a program block is measured.

195 Library Description Rexroth IndraDrive Electric Drives Bosch Rexroth AG 187/205 IL_HighResTimeDiff VAR_INPUT RETURN Brief Description Interface Description Fig.1-430: Example of use IL_HighResTimeTick The function IL_HighResTimeDiff calculates the time difference between two high-resolution time clocks of the system in microseconds. Fig.1-431: Name Data type Description HighResTime Tick1 HighResTime Tick2 IL_HighResTime Diff Specification UDINT UDINT UDINT Fig.1-432: Function IL_HighResTimeDiff High-resolution time clock of the system before the code section High-resolution time clock of the system after the code section Time difference between two high-resolution time clocks of the system in μs Interface IL_HighResTimeDiff The function IL_HighResTimeDiff is used together with the function IL_High ResTimeTick to determine the runtime of a code section. Due to the hardware dependence, the function is not available on all systems.