Rexroth SYNAX 200 Version 12

Transcription

1 Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Pneumatics Service Automation Mobile Hydraulics Rexroth IndraControl VCP 20 Rexroth SYNAX 200 Version 12 Version Notes R Edition 01

2 About this Documentation Rexroth SYNAX 200 Title Type of Documentation Rexroth SYNAX 200 Version 12 Version Notes Document Typecode Internal File Reference Box 40-12V-EN SY112E_V.doc Document number B350-01/EN Purpose of Documentation The documentation gives an overview about the new and changed functionalities of SYNAX 200 version 12 compared with the previous version 11. Record of Revisions Description Release Date Notes Version 12VRS Copyright 2004 Bosch Rexroth AG 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). Validity 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. Published by Bosch Rexroth AG Bgm.-Dr.-Nebel-Str. 2 D Lohr a. Main Telephone +49 (0)93 52/40-0 Tx Fax +49 (0)93 52/ Dept. BRC/ESP (HJD) Note This document has been printed on chlorine-free bleached paper.

3 Rexroth SYNAX 200 About this Documentation Summary of Documentation - Overview Functional Description; Interfaces: Help familiarize the user with SYNAX 200 and the functions of SYNAX 200 FK Order designation: DOK-SYNAX*-SY*-12V*1/2-FK01-EN-P DOK-SYNAX*-SY*-12V*2/2-FK01-EN-P Parameter Description: Description of the SYNAX 200 system parameters PA Order designation: DOK-SYNAX*-SY*-12VRS**-PA01-EN-P Trouble Shooting Guide: Explanation of the diagnostics states How to proceed when eliminating faults WA Order designation: DOK-SYNAX*-SY*-12VRS**-WA01-EN-P Firmware Version Notes: Description of the new and changed functions between SYNAX 200 version 12 and previous version 11 Order designation: DOK-SYNAX*-SY*-12VRS**-4001-EN-P FV Order designation: Project Planning: Selection of units and hardware components Basic control in cabinet construction PR Order designation: DOK-SYNAX*-SY*-12VRS**-PR01-EN-P

4 About this Documentation Rexroth SYNAX 200

5 Rexroth SYNAX 200 ContentsI Contents 1 References Product family Referenced hardware Reference list firmware/software Motion control firmware Drive firmware Commissioning interface / PLC programming interface Firmware download Cam tool HMI software Control terminals of VEP series Miniature control terminals of VCP series System documentation Motion control components Drive components Visualization units PC based Visualization units Windows CE based Miniature control terminals VCP SYNAX 200 firmware version 12VRS Release notes on SYNAX 200 firmware version 12V Flash module labellings New functions Support of new hardware Scalable Sercos cycle time in the SYNAX-Ring Free configurable cyclical SERCOS data container Support of onboard IO s on the PPC Execution of binary SYNAX IO s Continous probe input function Data exchange between PPC s with Indralogic Communication with the programming software Indralogic via Ethernet Simple configuration of the cyclical process data channel between MotionControl and integrated PLC New library-, function block- and I/O - notations in IndraLogic New functionalities in libraries of the integrated PLC New libraries in the integrated PLC New browser commands New tool for the determination of installed system components

6 II Contents Rexroth SYNAX Porting a PLC project based on SYNAX Version 11 to a SYNAX Version 12 based PLC project New parameters, I/Os and diagnostics New Y parameters New C parameters New A parameters New inputs/outputs New diagnostic messages Changed and extended functions Register controller Tension controller with load cell Fieldbus communication Changed and extended parameters, I/Os and diagnostics Changed Y parameters Changed C parameters Changed A parameters Changed inputs/outputs Changed diagnostic messages Phase out of functions / hardware Following hardware is no longer supported by the SYNAX 12V01: Service & Support Helpdesk Service-Hotline Internet Vor der Kontaktaufnahme... - Before contacting us Kundenbetreuungsstellen - Sales & Service Facilities

7 Rexroth SYNAX 200 References References 1.1 Product family The firmware version description references the product family: SYNAX 200 Decentralized System for the Synchronization of Machine Axes. Current firmware versions: FWA-PPCPR*-SY*-12VRS-D0, FWA-PPCPR*-SL*-12VRS-D0, FWA-PPCPR*-SLE*-12VRS-D Referenced hardware Permissible module carrier RMB (for installation of 2 modules) RMB (for installation of 4 modules) Permissible controls PPC-R22.1N-N (2 RECO slots, up to 3 expansion cards) PPC-R22.1N-T (2 RECO slots, Ethernet on board, up to 3 expansion cards) PPC-P11.1N-N (PCI plug-in card, up to 3 expansion cards) Fieldbus slave interfaces PPC-R2x and PPC-P11 DAQ03 (option Q1, cross link and/or ARCNET) DAQ04 (option Q2, cross link and/or ARCNET) DPS01 (option P2, Profibus slave) DNS03 (option V2, DeviceNet slave) Fieldbus slave interfaces for PPC-P11 ETH01 (option T2, Ethernet/IP, Ethernet) Fieldbus master interfaces for integrated PLC DPM01DPM01 (option P1, Profibus master) DNM03 (option V1, DeviceNet master) Function module for master encoder LAG (option G2, 2 master encoder interfaces)

8 1-2 References Rexroth SYNAX 200 RECO local bus, I/O modules RME DC024 (digital inputs) RME DC024 (digital inputs) RME AC115 (digital inputs) RMA DC (digital outputs) RMA DC (digital outputs) RMA AC (digital outputs) RMA RE (digital outputs) RECO local bus, module for integrated PLC RMC02.2-2E-1A (analog module 2 x input, 1 x output) RECO Inline, fieldbus modules for the integrated PLC (slave interfaces) Fieldbus coupling modules: R-IL PB BK (PROFIBUS-DP bus clamp) R-IL DN-BK (DeviceNet bus clamp) Digital input modules: R-IB IL 24 DI 2 (clamp with 2 digital inputs) R-IB IL 24 DI 4 (clamp with 4 digital inputs) R-IB IL 24 DI 8 (clamp with 8 digital inputs) R-IB IL 24 DI 16 (clamp with 16 digital inputs) R-IB IL 24 DI 32/HD (clamp with 32 digital inputs) R-IB IL 24 EDI 2-DES (clamp with 2 digital and 2 diagnostic inputs) Digital output modules: R-IB IL 24 DO 2-2A (clamp with 2 digital outputs 2A) R-IB IL 24 DO 4 (clamp with 4 digital outputs 500 ma) R-IB IL 24 DO 8 (clamp with 4 digital outputs 500 ma) R-IB IL 24 DO 8-2A (clamp with 8 digital outputs 2A) R-IB IL 24 DO 16 (clamp with 16 digital outputs 500 ma) R-IB IL 32/DO 32/HD (clamp with 32 digital outputs) Analog In/Output modules: R-IB IL AI 2/SF (clamp with 2 analog input channels) R-IB IL AL 8/SF (clamp with 8 analog inputs voltage/current) R-IB IL AL 8/IS (clamp with 8 analog input, only current) R-IB IL 24 TEMP 2 RTD (clamp with 2 input channels for connection of temperature resistors) R-IB IL 24 AO 1/SF (clamp with 1 analog output channel) R-IB IL 24 AO 2 U/BP (clamp with 2 analog voltage outputs)

9 Rexroth SYNAX 200 References 1-3 Other modules: R-IB IL 24/230 DOR 1/W (clamp with 1 relay output) R-IB IL 24/230 DOR 4/W (clamp with 4 relay outputs) R-IB IL DOR LV-SET (clamp pair as accessory for relay clamp) R-IB IL 24 CNT (function clamp counter timer) R-IB IL PWR IN (supply clamp) R-IB IL SEG/F (segment clamp) Block I/O-modules: R-ILB 24 DI16 DO16(Profibus-DP 16 digital inputs, 16 digital outputs) R-ILB DN 24 DI16 DO16 (DeviceNet 16 digital inputs, 16 digital outputs) Drive families Diax 03 Diax 04 IndraDrive EcoDrive 03 EcoDrive Cs

10 1-4 References Rexroth SYNAX Reference list firmware/software Note: The software with suffix -COPY may be copied. Motion control firmware SYNAX 200 MotionControl PPC-R2x and PPC-P without PLC Product firmware Printed board firmware Product: (order designation): (flash module labelling): PPC-R2x or PPC-P FWA-PPCPR*-SY*-12VRS-D0-XXXXXX FWC-PFM01*-SY*-12VRS-D0 PPC-R2x or PPC-P + Profibus slave PPC-R2x or PPC-P + DeviceNet slave FWA-PPCPR*-SY*-12VRS-D0-P2XXXX FWA-PPCPR*-SY*-12VRS-D0-V2XXXX FWC-PFM01*-SY*-12VRS-D0 FWC-DPS01*-PHP-02VRS-NN FWC-PFM01*-SY*-12VRS-D0 FWC-DNS01*-PHV-01VRS-NN Fig. 1-1: SYNAX 200 MotionControl PPC-R2x or PPC-P without PLC SYNAX 200 MotionControl PPC-R2x and PPC-P with PLC (MotionLogic) Product firmware Printed board firmware Product: (order designation): (flash module labelling): PPC-R2x or PPC-P FWA-PPCPR*-SL*-12VRS-D0-XXXXXX FWC-PFM01*-SL*-12VRS-D0 PPC-R2x or PPC-P + Profibus slave PPC-R2x or PPC-P + DeviceNet slave PPC-R2x or PPC-P + Profibus master PPC-R2x or PPC-P + DeviceNet master PPC-R2x or PPC-P + Profibus master + Profibus slave PPC-R2x or PPC-P + DeviceNet master + DeviceNet slave FWA-PPCPR*-SL*-12VRS-D0-P2XXXX FWA-PPCPR*-SL*-12VRS-D0-V2XXXX FWA-PPCPR*-SL*-12VRS-D0-P1XXXX FWA-PPCPR*-SL*-12VRS-D0-V1XXXX FWA-PPCPR*-SL*-12VRS-D0-P1P2XX FWA-PPCPR*-SL*-12VRS-D0-V1V2XX FWC-PFM01*-SL*-12VRS-D0 FWC-DPS01*-PHP-02VRS-NN FWC-PFM01*-SL*-12VRS-D0 FWC-DNS01*-PHV-01VRS-NN FWC-PFM01*-SL*-12VRS-D0 FWC-DPM01*-PHP-02VRS-NN FWC-PFM01*-SL*-12VRS-D0 FWC-DNM03*-PHV-01VRS-NN FWC-PFM01*-SL*-12VRS-D0 FWC-DPM01*-PHP-02VRS-NN FWC-DPS01*-PHP-02VRS-NN FWC-PFM01*-SL*-12VRS-D0 FWC-DNM03*-PHV-01VRS-NN FWC-DNS01*-PHV-01VRS-NN Fig. 1-2: SYNAX 200 MotionControl PPC-R2x with PLC (MotionLogic)

11 Rexroth SYNAX 200 References 1-5 SYNAX 200 MotionControl PPC-R2x and PPC-P with PLC (MotionLogic economy) Product firmware Printed board firmware Product: (order designation): (flash module labelling): PPC-R2x or PPC-P FWA-PPCPR*-SLE-12VRS-D0-XXXXXX FWC-PFM01*-SLE-12VRS-D0 PPC-R2x or PPC-P + Profibus slave PPC-R2x or PPC-P + DeviceNet slave FWA-PPCPR*-SLE-12VRS-D0-P2XXXX FWA-PPCPR*-SLE-12VRS-D0-V2XXXX FWC-PFM01*-SLE-12VRS-D0 FWC-DPS01*-PHP-02VRS-NN FWC-PFM01*-SLE-12VRS-D0 FWC-DNS01*-PHV-01VRS-NN Fig. 1-3: SYNAX 200 MotionControl PPC-R2x with PLC (MotionLogic economy) Drive firmware Full versions: firmware for synchronous axis with all auxiliary modes Product: Drive family IndraDrive Drive family IndraDrive + all packages Drive family IndraDrive + PLC Drive family IndraDrive + all packages + PLC Drive family IndraDrive Basic Drive family IndraDrive Basic + PLC Drive family IndraDrive Basic + all packages Drive family IndraDrive Basic + all packages + PLC Drive family IndraDrive Basic Double Axis Drive family IndraDrive Basic Double Axis + all packages Drive family EcoDrive03 Product firmware (order designation): FWA-INDRV*-MPH-03VRS-D5-1-SNC-NN FWA-INDRV*-MPH-03VRS-D5-1-ALL-NN FWA-INDRV*-MPH-03VRS-D5-1-SNC-ML FWA-INDRV*-MPH-03VRS-D5-1-ALL-ML FWA-INDRV*-MPB-03VRS-D5-1-SNC-NN FWA-INDRV*-MPB-03VRS-D5-1-SNC-TF FWA-INDRV*-MPB-03VRS-D5-1-ALL-NN FWA-INDRV*-MPB-03VRS-D5-1-ALL-TF FWA-INDRV*-MPD-03VRS-D5-1-SNC-NN FWA-INDRV*-MPD-03VRS-D5-1-ALL-NN FWA-DRIVE*-SGP-20VRS-MS Printed board firmware (EPROM/flash module labelling): FWC-CSH1.1-MPH-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSH1.1-MPH-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSH1.1-MPH-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSH1.1-MPH-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSB1.1-MPB-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSB1.1-MPB-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSB1.1-MPB-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSB1.1-MPB-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CDB1.1-MPD-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CDB1.1-MPD-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-ESM2.2-SGP-20VRS-MS Drive family DKR FWA-DIAX03-ELS-06VRS-MS FWC-DSM2.3-ELS-06VRS-MS Drive family Diax 04 FWA-DIAX04-ELS-06VRS-MS FWC-HSM1.1-ELS-06VRS-MS Fig. 1-4: Drive firmware (synchronization, positioning mode, idle mode)

12 1-6 References Rexroth SYNAX 200 Firmware for positioning mode and idle mode Product: Drive family IndraDrive Basic Drive family IndraDrive Basic + PLC Drive family IndraDrive Basic Double Axis Drive family EcoDrive Cs Drive family EcoDrive 03 Product firmware (order designation): FWA-INDRV*-MPB-03VRS-D5-1-NNN-NN FWA-INDRV*-MPB-03VRS-D5-1-NNN-TF FWA-INDRV*-MPD-03VRS-D5-1-NNN-NN FWA-ECODR3-MGP-01VRS-MS FWA-ECODR3-SMT-02VRS-MS Printed board firmware (EPROM/flash module labelling): FWC-CSB1.1-MPB-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSB1.1-MPB-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CDB1.1-MPD-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-ECODR3-MGP-01VRS-MS FWC-ESM2.1-SMT-02VRS-MS Fig. 1-5: Drive firmware (positioning and idle mode) Product: Product firmware (order designation): Firmware for speed synchronous and speed-controlled axis without encoder (speed synchronization and idle mode) Printed board firmware (EPROM/flash module labelling): Drive family IndraDrive FWA-INDRV*-MPH-03VRS-D5-0-SNC-NN FWC-CSH1.1-MPH-03VRS-MS FWC-HSI11*-SST-01VRS-MS Drive family IndraDrive + PLC Drive family IndraDrive Basic Drive family IndraDrive Basic + PLC Drive family IndraDrive Basic Double Axis FWA-INDRV*-MPH-03VRS-D5-0-SNC-ML FWA-INDRV*-MPB-03VRS-D5-0-SNC-NN FWA-INDRV*-MPB-03VRS-D5-0-SNC-TF FWA-INDRV*-MPD-03VRS-D5-0-SNC-NN FWC-CSH1.1-MPH-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSB1.1-MPB-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSB1.1-MPB-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CDB1.1-MPD-03VRS-MS FWC-HSI11*-SST-01VRS-MS Fig. 1-6: Drive firmware (speed synchronization and idle mode) Product: Product firmware (order designation): Firmware for speed-controlled axis without encoder (idle mode) Printed board firmware (EPROM/flash module labelling): Drive family IndraDrive FWA-INDRV*-MPH-03VRS-D5-0-NNN-NN FWC-CSH1.1-MPH-03VRS-MS FWC-HSI11*-SST-01VRS-MS Drive family IndraDrive + PLC Drive family IndraDrive Basic Drive family IndraDrive Basic + PLC Drive family IndraDrive Basic Double Axis FWA-INDRV*-MPH-03VRS-D5-0-NNN-ML FWA-INDRV*-MPB-03VRS-D5-0-NNN-NN FWA-INDRV*-MPB-03VRS-D5-0-NNN-TF FWA-INDRV*-MPD-03VRS-D5-0-NNN-NN Fig. 1-7: Drive firmware (idle mode) FWC-CSH1.1-MPH-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSB1.1-MPB-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CSB1.1-MPB-03VRS-MS FWC-HSI11*-SST-01VRS-MS FWC-CDB1.1-MPD-03VRS-MS FWC-HSI11*-SST-01VRS-MS

13 Rexroth SYNAX 200 References 1-7 Commissioning interface / PLC programming interface Product: Parameterization and PLC programming interface SynTop and IndraLogic Product software (order designation): SWA-SYNAX*-INB-12VRS-D0-CD650-COPY Fig. 1-8: Commissioning software CD labelling SWD-SYNAX*-INB-12VRS-D0-CD650 Firmware download Product: DOLFI tool for download of firmware Product software (order designation): SWA-DOL*PC-INB-01VRS-MS-C1,44-COPY Fig. 1-9: Firmware download Disk labelling SWD-DOL*PC-INB-01VRS-MS-C1,44 Note: DOLFI can be found on the CD SWA-SYNAX*-INB-12VRS- D0-CD650-COPY. Cam tool Product software Product: (order designation): CD labelling CamBuilder SWA-CAM*PC-INB-01VRS-D0-CD650 SWD-CAM*PC-INB-01VRS-D0-CD650 CamBuilder (demo version) SWA-CAM*PC-INB-01DRS-D0-CD650 Fig. 1-10: Cam tool SWD-CAM*PC-INB-01DRS-D0-CD650

14 1-8 References Rexroth SYNAX 200 HMI software Product: Engineering Product software (order designation): Product software (CD labelling): HMI for SYNAX 200 SWA-SYNAX*-HMI-12VRS-D0-CD650 SWD-SYNAX*-HMI-12VRS-D0-CD650 License for WinStudio programming interface License for WinStudio programming interface License for WinStudio programming interface Runtime licenses (PC) Runtime license for WinStudio-HMI Runtime license for WinStudio-HMI Runtime license for WinStudio-HMI SWS-WINSTU-RUD-06VRS-D0-64K SWS-WINSTU-RUD-06VRS-D0-4K SWS-WINSTU-RUD-06VRS-D0-1K5 SWS-WINSTU-RUN-06VRS-D0-64K SWS-WINSTU-RUN-06VRS-D0-4K SWS-WINSTU-RUN-06VRS-D0-1K5 Fig. 1-11: HMI software Control terminals of VEP series variables, 1024 array size, 64 class members, target system WinNT/2000/XP/CE 4000 variables, 512 array size, 32 class members target system WinNT/2000/XP/CE 1500 variables, 256 array size, 32 class members target system WinNT/2000/XP/CE variables, 1024 array size, 64 class members target system WinNT/2000/XP 4000 variables, 512 array size, 32 class members target system WinNT/2000/XP 1500 variables, 256 array size, 32 class members target system WinNT/2000/XP Product: VEP firmware Product software/firmware (order designation): Description VEP 30/40/50 FWA-VE**01-CWL-01VRS-D0 Windows CE 4.2.NET with WinStudio Runtime licenses Runtime license for WinStudio-HMI at Windows CE Runtime license for WinStudio-HMI at Windows CE SWS-WINSTU-RUN-06VRS-D0-WCE4K SWS-WINSTU-RUN-06VRS-D0-WCE1K5 Fig. 1-12: Visualization units VEP 4000 variables, 512 array size, 32 class members target system Windows CE 1500 variables, 256 array size, 32 class members target system Windows CE

15 Rexroth SYNAX 200 References 1-9 Miniature control terminals of VCP series Product software/firmware Product: (order designation): Project planning software SWA-VIC*PC-INB-01VRS-D0-CD650 VI-Composer Download tool for VCP devices DOK-SUPPL*-VCP*VID*V01-IB04-D0-D0650 Disk labelling/ Printed board firmware (EPROM/flash module labelling) SWD-VIC*PC-INB-01VRS-D0-CD650 Fig. 1-13: Visualization units VCP 1.4 System documentation Additional information of the components can be found in the following documentations. Motion control components Order designation DOK-SYNAX*-SY*-12V*1/2-FK01-EN-P DOK-SYNAX*-SY*-12V*2/2-FK01-EN-P DOK-SYNAX*-SY*-12VRS**-PA01-EN-P DOK-SYNAX*-SY*-12VRS**-PR01-EN-P DOK-SYNAX*-SY*-12VRS**-WA01-EN-P Title Rexroth SYNAX Functional Description Rexroth SYNAX Interfaces Description Rexroth SYNAX Parameter Description Rexroth SYNAX Project Planning Manual Rexroth SYNAX Troubleshooting Guide Rexroth SYNAX Version Notes DOK-SYNAX*-SY*-12VRS**-4001-EN-P Rexroth SYNAX Box 40-12V SWA-SYNAX*-INB-12VRS-D0-CD650-COPY General help for Rexroth SYNAX version 12VRS DOK-SYNAX*-SY*-12VRS**-IB01-EN-P Rexroth SYNAX 200 Version 12 - System Installation - First steps - Commissioning Manual DOK-SYNAX*-IL*-12VRS**-AW01-EN-P Rexroth SYNAX MotionLogic Version 12 - Application Manual DOK-SYNAX*-IL*-12VRS**-4101-EN-P Rexroth SYNAX MotionLogic - Box 41-12V DOK-CONTRL-IL**PRO*V01-AW01-EN-P DOK-CONTRL-R-IL*PB*-BK-FK02-EN-P DOK-CONTRL-R-IL*PBSSYS-AW02-EN-P DOK-CONTRL-R-IL*DIO***-FK03-EN-P DOK-CONTRL-R-IL*AIO***-FK02-EN-P DOK-CONTRL-R-IL*CNT***-AW02-EN-P DOK-CONTRL-RF-FLS-PB**-PR02-EN-P DOK-CONTRL-RF-FLS-PB**-AW01-EN-P PLC Programming with Rexroth IndraLogic Operating and Programming Guide Rexroth Inline Profibus DP - Functional Description Rexroth Inline Profibus DP - Application Manual Rexroth Inline Digital I/O Terminals - Functional Description Rexroth Inline Analog I/O Terminals - Project Planning Manual Rexroth Inline Counter terminal - R-IB IL CNT Rexroth Fieldline PROFIBUS Devices- Project Planning Manual Rexroth Fieldline PROFIBUS Devices- Application Manual Fig. 1-14: Documentation: motion control components

16 1-10 References Rexroth SYNAX 200 Drive components Order designation DOK-DIAX03-DKR********-PR02-EN-P DOK-DIAX03-ELS-06VRS**-IF01-EN-P DOK-DIAX04-HDD+HDS**G2-PR05-EN-P DOK-DIAX04-PLUG*IN*MOD-PR03-EN-P Title DKR02, DKR03 and DKR04 Drive Controllers - Project Planning Manual DIAX 03 - Brief Description DOK-DIAX04-ELS-06VRS**-6001-EN-P Diax 04 - Box 60-06V DOK-POWER*-HVE+HVR**G2-AW07-EN-P DOK-INDRV*-HMD+HMS****-PR02-EN-P DOK-INDRV*-CSH********-PR02-EN-P Diax 04 HDD and HDS Controllers 2 nd Generation - Project Planning Manual Diax 04 Plug-in modules for Digital Intelligent Drive Controllers - Project Planning Manual Diax 04 HVE and HVR 2 nd Generation Power Supply Units - Application Description Rexroth IndraDrive M - Drive controllers - Power Section Rexroth IndraDrive - Drive controllers - Control Section DOK-INDRV*-MP*-03VRS**-8101-EN-P Rexroth IndraDrive - Box 81-03V DOK-ECODR3-DKC**.3****-PR05-DE-P DOK-ECODR3-DKC**.3-CS*-PR01-EN-P EcoDrive 03 -Project Planning Manual Rexroth Ecodrive Cs - Project Planning Manual DOK-DRIVE*-SGP-20VRS**-7201-EN-P Rexroth EcoDrive 03 - Box 72-01V DOK-INDRV*-HCS02.1****-PR01-EN-P DOK-INDRV*-HCS03.1****-PR01-EN-P Rexroth IndraDrive C Drive Controllers Power Sections HCS Project Planning Manual Rexroth IndraDrive C Drive Controllers Control Section HCS Project Planning Manual DOK-GENERL-EMV********-PR02-EN-P Electromagnetic Compatibility (EMC) in Drive and Control Systems - Project Planning Manual Fig. 1-15: Documentation: Drive components Visualization units PC based Order designation Title DOK-SUPPL*-BTV16/40/60-PR01-EN-P Rexroth BTV 16.2/40.2/ Project Planning Manual DOK-SUPPL*-IPC*40.2***-PR01-EN-P Rexroth IPC Project Planning Manual DOK-SUPPL*-VSB*40*****-PR01-EN-P Rexroth VSB Project Planning Manual DOK-SUPPL*-VDP16/40/60-PR01-EN-P Rexroth IndraControl VDP 16/40/60 - Project Planning Manual DOK-SUPPL*-VSP*16/40**-PR01-EN-P Rexroth IndraControl VSP 16/40 - Project Planning Manual DOK-SUPPL*-VPP*21.1***-PR01-EN-P Rexroth IndraControl VPP Project Planning Manual Fig. 1-16: Documentation: Visualization units Visualization units Windows CE based Order designation Title DOK-SUPPL*-VEP20/30/40-PR01-EN-P Rexroth VEP 20/30/40 - Project Planning Manual Fig. 1-17: Documentation: Visualization units

17 Rexroth SYNAX 200 References 1-11 Miniature control terminals VCP Order designation Title DOK-SUPPL*-VCP*01*****-PR01-EN-P Rexroth VCP 01 - Project Planning Manual DOK-SUPPL*-VCP02******-PR02-EN-P Rexroth VCP 02 - Project Planning Manual DOK-SUPPL*-VCP05******-PR02-EN-P Rexroth VCP 05 - Project Planning Manual DOK-SUPPL*-VCP08******-PR02-EN-P Rexroth VCP 08 - Project Planning Manual DOK-SUPPL*-VCP20******-PR02-EN-P Rexroth VCP 20 - Project Planning Manual DOK-SUPPL*-VCP25******-PR02-EN-P Rexroth VCP 25 - Project Planning Manual DOK-SUPPL*-VIC*BEDIEN-AW01-EN-P VCP operating concept - Application Manual Fig. 1-18: Documentation: Miniature control terminals VCP

18 1-12 References Rexroth SYNAX 200

19 Rexroth SYNAX 200 SYNAX 200 firmware version 12VRS SYNAX 200 firmware version 12VRS 2.1 Release notes on SYNAX 200 firmware version 12V01 The SYNAX 200 firmware version 12V01 was released Flash module labellings Module Labelling Firmware Flash module PFM01.1 PFM FW Kxx/yy SN xxxxx xxx FWC-PFM01*-SY*-12V01-D0 Kxx/yy FWC-PFM01*-SY*-12V01 for PPC-R2x and PPC-P11 Motion only Flash module PFM01.1 PFM FW Kxx/yy SN xxxxx xxx FWC-PFM01*-SL*-12V01-D0 Kxx/yy FWC-PFM01*-SL*-12V01 for PPC-R2x and PPC-P11 Motion + IndraLogic Flash-Modul PFM01.1 PFM FW Kxx/yy SN xxxxx xxx FWC-PFM01*-SLE-12V01-D0 Kxx/yy FWC-PFM01*-SLE-12V01 for PPC-R2x and PPC-P11 Motion + IndraLogic Fig. 2-1: Flash module labelling for version 12V01

20 2-14 SYNAX 200 firmware version 12VRS Rexroth SYNAX New functions Support of new hardware The SYNAX 200 version 12VRS supports the components: following new hardware PPC-link mounting card DAQ04 With the new PC-104-Option card DAQ04 for PPC-link, the following new functionalities are supported: Sercos transfer rate in SYNAX and link ring up to 16 MBaud Support of up to 64 PPC-link participants Scalable link cycle time dependent on the max. link participants (2ms, 4ms, 8ms) Support of passive link participants. This are link participants which send no main axis positions to the link; they only can send main axis positions of other participants to the drives. Thereby the length of the link telegram can be minimized Sercos-Phase run-up in the link double ring is also possible at interrupted primary ring Master axis encoder card With the new PC104 option card for PPC-R2x and PPC-P it's possible to read in a master axis encoder directly on the MotionControl. Up to 2 EnDat-encoder can be connected, e.g. Rexroth types GDS02.1 or GDM02.1. Scalable Sercos cycle time in the SYNAX-Ring Adjustable Sercos cycle time in the SYNAX-Ring dependent on the number of drives in the ring (2ms, 4ms, 8ms, 10ms, 16ms). Free configurable cyclical SERCOS data container In the cyclical data container between MotionControl and drive master data telegram (MDT) and drive telegram (AT) in each case two free configurable parameter can be configured. Note: The use of the free configurable cyclical SERCOS data container is only meaningful from drive firmware version Indradrive MPxV03, since this drive firmware has a 8 byte wider cyclical channel.

21 Rexroth SYNAX 200 SYNAX 200 firmware version 12VRS 2-15 Support of onboard IO s on the PPC Three binary inputs and two binary outputs are supported by the PPC. These IO's are on interface X1 and can be used by the help of the I/O logic, resp. by the integrated PLC. Execution of binary SYNAX IO s The binary SYNAX IO control signals (main axis, following axis, Motion Control, interconnection) can be executed now in the SERCOS cycle. Note: For the Motion Logic firmware it is the default setting, in the Motion-Only firmware it must be adjusted in parameter Y PPC configured options. Continous probe input function This is a simple alternative to configure a continous probe input function of the drive for any purposes. Data exchange between PPC s with Indralogic An integrated PLC is able to exchange data via ethernet with another integrated PLC on a PPC via so called network variables. This data exchange is possible in both directions. Furthermore so called broadcast messages to all integrated controls are possible. Note: The data exchange via network variables is only available with the target "SYNAX MotionLogic 12VRS (PPC-R)". Communication with the programming software Indralogic via Ethernet The communication with the programming software Indralogic is also possible now via Ethernet. This enables faster program downloads. Simple configuration of the cyclical process data channel between MotionControl and integrated PLC The cyclical process data channel between MotionControl and integrated PLC is now comfortable adjustable at only one place in IndraLogic by the help of selection dialogues. For the cyclical exchanged parameter diagnostics in the IndraLogic marker memory are available now.

22 2-16 SYNAX 200 firmware version 12VRS Rexroth SYNAX 200 New library-, function block- and I/O - notations in IndraLogic In the course of standardization of library-, function block-, function- and I/O- notations at Bosch Rexroth, the notations become adapted. Library notaion SL11 BinaryIO_MS11.lib AcyclicComm_MSV01.lib AcyclicComm_MS11.lib CamTable_MSV01.lib AdvanceMath.lib LoopControl.lib Diagnosis.lib CommonTypes.lib Utilities.lib ProfibusComm_MS11.lib Library notaion SL12 MS_BaseSL12.lib MSV_AcyclicComm.lib MS_AcyclicComm.lib MSV_CamTable.lib MS_AdvanceMath.lib MS_LoopControl.lib RIL_Diagnosis.lib RIL_CommonTypes.lib RIL_Utilities.lib MS_ProfibusComm.lib Fig. 2-2: Overview of the modified notations in SYNAX MotionLogic - version11andversion12 MS_ProfibusComm.lib Notation in SL11 FN_ASCII_TO_WORD FN_LOCK_ACCESS FN_UNLOCK_ACCESS FB_PB_RD_LIST_SF1 FB_PB_WR_LIST_SF1 FB_PB_CHANGE_PHASE_SIS FB_PB_RD_PHASE_SIS FB_PB_ABORT_TRANS_SIS FB_PB_RD_ATTRIBUTE_SF1 FB_PB_RD_DATASTATUS_SF1 FB_PB_RD_DATALIST_SF1 FB_PB_RD_PARAMETER_SF1 FB_PB_WR_DATALIST_SF1 FB_PB_WR_PARAMETER_SF1 FB_PB_RD_MUX_DATA32 FB_PB_WR_MUX_DATA32 Notation in SL12 MS_ASCIIToWordPb MS_LockAccessPb MS_UnlockAccessPb MS_ReadListArrayParameterPb MS_WriteListArrayParameterPb MS_ChangePhasePb MS_ReadPhasePb MS_AbortServicePb MS_ReadAttributePb MS_ReadDataStatusPb MS_ReadDbParameterPb MS_ReadParameterPb MS_WriteDbParameterPb MS_WriteParameterPb MS_ReadMuxLayer32Pb MS_WriteMuxLayer32Pb Fig. 2-3: Overview of the modified notations of the function blocks and functions in SYNAX MotionLogic - version 11 and version 12

23 Rexroth SYNAX 200 SYNAX 200 firmware version 12VRS 2-17 Notation in SL11 FIELDBUS_IN FIELDBUS_OUT ACYCLIC_IN ACYCLIC_OUT CYCLIC_IN CYCLIC_OUT Notation in SL12 MS_PB_FIELDBUS32_IN MS_PB_FIELDBUS32_OUT MS_PB_ACYCLIC_IN MS_PB_ACYCLIC_OUT MS_PB_CYCLIC32_IN MS_PB_CYCLIC32_OUT Fig. 2-4: Overview of the modified notations of data types in SYNAX MotionLogic - version 11 and version 12 MS_AdvanceMath.lib Notation in SL11 IL_DegToRad IL_RadToDeg IL_MaxValue IL_LinearInterpolation Notation in SL12 MS_DegToRad MS_RadToDeg MS_MaxValue MS_LinearInterpolation Fig. 2-5: Overview of the modified notations of function blocks and functions in SYNAX MotionLogic - version 11 and version 12 Notation in SL11 ValueTable Notation in SL12 MS_COORDINATE_PAIR_ TYPE02 Fig. 2-6: Overview of the modified notations of data types in SYNAX MotionLogic - version 11 and version 12 MS_LoopControl.lib Notation in SL11 IL_TwoPointType01 IL_PT1Type01 Notation in SL12 MS_TwoPointType01 MS_PT1Type01 Fig. 2-7: Overview of modified notations of function blocks and functions in SYNAX MotionLogic - version 11 and version 12

24 2-18 SYNAX 200 firmware version 12VRS Rexroth SYNAX 200 New functionalities in libraries of the integrated PLC In the so far libraries for the integrated PLC the adjacent listed new functionalities are available in IndraLogic. MSV_CamTable.lib Notation Type Description MSV_CamTableType06 MSV_CamTableType07 MSV_CamTableType08 MSV_CamTableType09 MSV_CamTableType10 MSV_CamTableType11 MSV_CamTableType12 FB FB FB FB FB FB FB The function block MSV_CamTableType06 calculates a camdisk table with 1024 base elements on basis of predetermined coordinate pairs consisting of position [degrees] and velocity. The function block MSV_CamTableType07 calculates a camdisk table with 1024 base elements on basis of predetermined coordinate pairs consisting of position [degrees] and velocity. The function block MSV_CamTableType08 calculates a camdisk table with 1024 base elements on basis of predetermined coordinate pairs consisting of position [degrees] and acceleration The function block MSV_CamTableType09 calculates a camdisk table with 1024 base elements on basis of predetermined coordinate pairs consisting of position [degrees] and position. The function block MSV_CamTableType10 calculates a camdisk table with 1024 base elements on basis of predetermined coordinate pairs consisting of position [degrees] and position. The function block MSV_CamTableType11 calculates a camdisk table for the technology function cross cutter, resp. rotation shears on basis of VDI2143. It combines MSV_CamTableType02 and MSV_CamTableType03 in a common function block. The function block MSV_CamTableType12 calculates a camdisk table with 1024 base elements for the technology function print repeat range correction on basis of VDI2143. Fig. 2-8: Overview of the new function blocks and functions in library MSV_CamTable.lib MS_AdvanceMath.lib Notation Type Description MS_DegToInc MS_IncToDec MS_RadToInc MS_IncToRad FNC FNC FNC FNC The function MS_DegToInc converts the predertermined angle in degree (0 <=x<360 ) to the corresponding increment value (0<=x<2^20). The function MS_IncToDec converts the predetermined angle in increments (0<=x<2^20) to the corresponding angle in degree (0 <=x<360 ). The function MS_RadToInc converts the predetermined angle in radian (0<=x<2*PI) to the corresponding increment value (0<=x<2^20). The function MS_IncToRad converts the predetermined angel in increments (0<=x<2^20) to the corresponding angle in radian (0<=x<2*PI). Fig. 2-9: Overview of the new function blocks and functions in library MS_AdvanceMath.lib

25 Rexroth SYNAX 200 SYNAX 200 firmware version 12VRS 2-19 MS_ProfibusComm.lib Notation Type Description MS_ReadMuxLayer64Pb MS_WriteMuxLayer64Pb FB FB The function block MS_ReadMultiplexLayer64 is used for reading a multiplex layer (64 words fieldbus data). The function block MS_WriteMultiplexLayer64 is used for writing a multiplex layer (64 wods fieldbus data). Fig. 2-10: Overview of the new function blocks and functions in library MS_ProfibusComm.lib MS_LoopControl.lib Notation Type Description MS_PIDType01 FB The function block MS_PIDType01 implements a PID controller with pause, preset and anti-reset-windup. Fig. 2-11: Overview of the new function blocks and functions in library MS_LoopControl.lib MS_BaseSL12.lib Notation Type Description MS_COORDINATE_PAIR_ TYPE01 STRUCT Coordinate pair (LREAL, LREAL) MS_COORDINATE_PAIR_ TYPE02 STRUCT Coordinate pair (DINT, DINT) Fig. 2-12: Overview of new data types in library MS_BaseSL12.lib

26 2-20 SYNAX 200 firmware version 12VRS Rexroth SYNAX 200 New libraries in the integrated PLC Additionally to the so far libraries the following new libraries with subsequent listed content are available. MSV_CheckRtv.lib Notation Type Description CheckBounds CheckDivByte CheckDivWord CheckDivDWord CheckDivReal CheckRangeSigned CheckRangeUnsigned The library contains blocks for automatic monitoring of the PLC program code related to runtime errors (division by zero, range exceeding in arrays and variables). FNC FNC FNC FNC FNC FNC FNC The function CheckBounds is used for automatic check related to range exceeeding of the array index. The function CheckDivByte is used for automatic check of the divisor related to a division by zero. The function CheckDivWord is used for automatic check of the divisor related to a division by zero. The function CheckDivDWord is used for automatic check of the divisor related to a division by zero. The function CheckDivReal is used for automatic check of the divisor related to a division by zero. The function CheckRangeSigned is used for automatic check related to the exceeding of the value range of a variable. The function CheckRangeUnsigned is used for automatic check related to the exceeding of the value range of a variable. Fig. 2-13: Overview of the new function blocks and functions in library MSV_CheckRtv.lib Note: The check takes place implicit by integration of the library, i.e. the functions must not be integrated in the program another time NetVarUdp_LIB_V23.lib The library contains blocks for use of network variables and the parameter manager, i.e. for data exchange between two or several controls. Note: The library NetVarUdp_LIB_V23.lib is only available on target "SYNAX MotionLogic 12VRS (PPC-R)". New browser commands In IndraLogic new browser commands are available. By the help of this commands, e.g. to detect the actualisation rate of the cyclic exchanged parameter, the PLC program can be optimized. New tool for the determination of installed system components In IndraLogic in register "Resources" in folder "Tools" the tool SYNAX 200 Information for determination of installed system componenents like installed targets, version of installed IndraLogic, SynTop etc. is available.

27 Rexroth SYNAX 200 SYNAX 200 firmware version 12VRS Porting a PLC project based on SYNAX Version 11 to a SYNAX Version 12 based PLC project Variant 1 Without conversion tool Save the existing project by a new name. Open the new saved project and change in register "Resources" in folder Target settings the configuration in the pull-down menu to None. Remove all listed libraries in register "Resources" in folder Library manager. Change in register "Resources" in folder Target settings the configuration in the pull-down-menu to SYNAX200-MotionLogic 12VRS (PPC-R), resp. "SYNAX200-MotionLogic 12VRS (PPC-P)". Reset these setting at open control configuration using Extras/Standard configuration and insert all necessary I/Os at the corresponding place. For orientation you can open IndraLogic another time with the original project. Insert again all not yet loaded necessary libraries, exchange renamed blocks and then compile the PLC project. Variant 2 With conversion tool via export file (in preparation) Export the complete project. Compile the export file by the help of the conversion tool. Create a new project with the corresponding target and import the converted export file. Due to changes, add in the control configuration the removed I/Os by help of the logfile at the corresponding place. Insert again all not yet loaded necessary libraries, exchange renamed blocks and then compile the PLC project.

28 2-22 SYNAX 200 firmware version 12VRS Rexroth SYNAX New parameters, I/Os and diagnostics New Y parameters List of new Y parameters ID no. Name of parameter Y Master encoder card - error class Y Master encoder card - error group Y Master encoder card - error number Y Master encoder card - position value encoder 1 Y Master encoder card - position value encoder 2 Y Target cycle time Y Cycle: minimal possible cycle time Y Cycle: calculation time Y Cycle: transmission time and realtime calculations Y Master encoder card - hardware version Y Master encoder card - firmware version Y Master encoder card - encoder system Y Master encoder card - encoder type Y Master encoder card - encoder options Y Internal I/O: PPC outputs 2, output bits Y Internal I/O: PPC outputs 3, output bits Y Internal I/O: PPC outputs 4, output bits Y Internal I/O: PPC outputs 5, output bits Y Internal I/O: PPC outputs 6, output bits Y External I/O: Status PPC onboard inputs X1-I Y External I/O: Status PPC onboard outputs X1-Q Y Integrated PLC - Name of stored bootproject Y Free memory in the PLC file system Y Fieldbus PLC list data container 1 Y Fieldbus PLC list data container 2 Y Fieldbus PLC list data container 3 Y Fieldbus PLC list data container 4 Fig. 2-14: New Y parameters New C parameters List of new C parameters ID no. C C Name of parameter SM - absolute reference SM - absolute reference offset, actual value Fig. 2-15: New C parameters

29 Rexroth SYNAX 200 SYNAX 200 firmware version 12VRS 2-23 New A parameters List of new A parameters ID no. A A A A A A A A A A Name of parameter Configuration data container 2 Byte - MDT Configuration data container 4 Byte - MDT Configuration data container 2 Byte - AT Configuration data container 4 Byte - AT Command value data container 2 Byte - MDT Command value data container 4 Byte - MDT Command value data container 2 Byte - AT Command value data container 4 Byte - AT Configuration cycle digital drive I/O Control word continuous probe function Fig. 2-16: New A parameters New inputs/outputs New inputs Designation I/O logic Designation PLC Function _E:L#.23 FMA_SET_ABS_POS Set absolute reference, secondary master axis _E:C01.13 MEC_CLEAR_ERROR Master encorder card - clear error _E:F#.42 SI_STATE_E10 Check input status (E10) _E:F#.43 SI_ACTIV_NO_TOL_TIME SI-functionality will be active before tolerance time Fig. 2-17: New inputs New outputs Designation I/O logic Designation PLC Function _A:L#.11 FMA_SET_ABS_POS_ACK Acknowledge set absolute reference, secondary master axis _A:L#.40 FMA_ABS_POS_ACK Absolute reference available, secondary master axis _A:C01.14 MEC_ERROR_ENCODER_ 1 Master encoder card - error encoder 1 _A:C01.15 _A:C01.16 MEC_ERROR_ENCODER_ 2 MEC_CLEAR_ERROR_AC K Master encoder card - error encoder 2 Master encoder card - acknowledge clear error _A:C01.30 IFS_CHANGED IFS changed - hardware change not secure Fig. 2-18: New outputs

30 2-24 SYNAX 200 firmware version 12VRS Rexroth SYNAX 200 New diagnostic messages Y Error number Display Y Diagnostic text PPC system Y Diagnostic info Binary output Clear with 28 F28 "Note: NVRAM data has been repaired" 10000h F15 "PPC link - target cycle time too large (see Y )" 46 F15 "PPC link - different cycle times detected (see Y )" 10000h h F15 "PPC link - address of passive PPC not permitted" n = address F15 "Target cycle time too small, see Y " 10000h F15 "Register control and continuous probe function not possible" 200 F15 "Invalid parameter in data container of MDT configured" 201 F15 "Invalid parameter in data container of AT configured" n = address n = address n = address F15 "Multiplexing of MDT - data container not possible" n = address F15 "Multiplexing of AT - data container not possible" n = address F15 "Drive firmware doesn't support process controllers" n = address F15 "Drive doesn't support probe input 2." n = address F15 "Side register controller needs operation mode positioning" n = address F15 "SLE-Version: Maximum 8 axes allowed" 10000h A:C01.01 _A:C F15 "SLE-Version: Fieldbus interface not possible" 10000h A:C01.01 _A:C F15 "SLE-Version: Maximum 4 process controllers allowed" 10000h A:C01.01 _A:C F15 "SLE-Version: Register controller not possible" 10000h A:C01.01 _A:C F15 "SLE-Version: Master encoder card not possible" 10000h A:C01.01 _A:C F85 "Master encoder card - initialization error" 10000h F85 "Master encoder card - execution error" 10000h F15 "RM - Configuration not permitted (C-7). Master axis: xx" 323 F15 "Master encoder card missing (C ). Master axis: xx" 10000h h F18 "Master encoder card - system error" 10000h A:C01.01 _A:C01.14 and _A:C _E:C F18 "Master encoder card - encoder error" 10000h A:C01.01 _A:C01.14 and _A:C F18 "Master encoder card - cycle-counter is dead" 10000h A:C01.01 _A:C01.14 and _A:C01.15 _E:C01.13 _E:C01.13 Fig. 2-19: New diagnostic messages

31 Rexroth SYNAX 200 SYNAX 200 firmware version 12VRS Changed and extended functions Register controller The number of the max. possible register controllers is increased to 16. The correction window is now also possible for indirect correction. New controlled variables group command value 1 and 2. Tension controller with load cell The binary input process controller "pause" is now also supported by the tension controller with load cell. Fieldbus communication The telegram length for the cyclical process data channel by Ethernet Profibus DeviceNet was enlarged from 32 words up to 64 words. In addition, the cyclical process data channel may be active in all Sercos communication phases (phase 0.. 4) if it is configured in parameter Y Fieldbus control bits. For Y-Parameter, C-Parameter it is then active in all Sercos phases. For A-Parameter, S/P-Parameter it is always active from Sercos phase 4. The fieldbus interfaces Interbus-S ControlNet are no longer supported.

32 2-26 SYNAX 200 firmware version 12VRS Rexroth SYNAX Changed and extended parameters, I/Os and diagnostics Changed Y parameters List of changed Y parameters ID no. Y Y Y Name of parameters Integrated PLC configuration Analogue channels - select target parameters PPC-link - control word Y Internal I/O: PPC outputs 2, output bits Y Y Y Y Y Operation time counter Fieldbus/Ethernet 1 Configuration list of process input data Fieldbus/Ethernet 1 Configuration list of process output data Fieldbus - control bits Command store motion-control-parameters in FW-module Y Internal I/O: PPC outputs 3, output bits Y Internal I/O: PPC outputs 4, output bits Y Internal I/O: PPC outputs 5, output bits Y Internal I/O: PPC outputs 6, output bits Y Y Y Y Y Y Y Y Y Y Y Y Y Y Ethernet 2 Configuration list of process output data Ethernet 3 Configuration list of process output data Ethernet 4 Configuration list of process output data Ethernet 2 Configuration list of process input data Ethernet 3 Configuration list of process input data Ethernet 4 Configuration list of process input data PPC - IP address Fieldbus - External IO, PPC input word 1-32 Fieldbus - External IO, PPC output word 1-32 Fieldbus - PLC input variable data container 1 (Y363 = 64) PPC - Configured options Fig. 2-20: Changed Y parameters Individual Y parameter changes Y Integrated PLC configuration Bits 9 and 10 were added. Y Analogue channels - select target parameters Permissible entries were added. Y PPC-link - control word Bit 5 (participant structure) was added.

33 Rexroth SYNAX 200 SYNAX 200 firmware version 12VRS 2-27 Y Internal I/O: PPC outputs 2, output bits The text has been changed. Y Operation time counter The weighting/unit has been changed to 10^4 h. The storage type has been changed from nvram to RAM. Y Fieldbus/Ethernet 1 Configuration list of process input data The maximum length was changed from 2048 byte to 4096 byte. Y Fieldbus/Ethernet 1 Configuration list of process output data The maximum length was changed from 2048 byte to 4096 byte. Y Fieldbus - control bits Bit 28 was added. Default values for the SY version (Motion only) and for the SL version (MotionLogic) were added. Y Command store motion-control-parameters in FW-module Text was added. Access "Write protected in operating mode" has been changed to "No write protection". Y Internal I/O: PPC outputs 3, output bits Number of the link participants has been changed from 32 to 64. Examples have been changed. Y Internal I/O: PPC outputs 4, output bits Number of the link participants has been changed from 32 to 64. Examples have been changed. Y Internal I/O: PPC outputs 5, output bits Number of the link participants has been changed from 32 to 64. Examples have been changed. Y Internal I/O: PPC outputs 6, output bits Number of the link participants has been changed from 32 to 64. Examples have been changed. Y Ethernet 2 Configuration list of process output data The maximum length was changed from 2048 byte to 4096 byte.

34 2-28 SYNAX 200 firmware version 12VRS Rexroth SYNAX 200 Y Ethernet 3 Configuration list of process output data The maximum length was changed from 2048 byte to 4096 byte. Y Ethernet 4 Configuration list of process output data The maximum length was changed from 2048 byte to 4096 byte. Y Ethernet 2 Configuration list of process input data The maximum length was changed from 2048 byte to 4096 byte. Y Ethernet 3 Configuration list of process input data The maximum length was changed from 2048 byte to 4096 byte. Y Ethernet 4 Configuration list of process input data The maximum length was changed from 2048 byte to 4096 byte. Y PPC - IP address The default value was corrected from to Y Y Fieldbus - External IO, PPC input word 1-32 The memory was changed from FLASH to nvram. Y Y Fieldbus - External IO, PPC output word 1-32 The memory was changed from FLASH to RAM. Y Y Fieldbus - PLC input variable data container 1 (Y363 = 64) The memory was changed from RAM to nvram. Y PPC - configured options Bits 2, 8, 9 and 10 were added.

35 Rexroth SYNAX 200 SYNAX 200 firmware version 12VRS 2-29 Changed C parameters List of changed C parameters ID no. C C C C C Name of parameters RM - control word Step width: phase offset, gear input Step width: phase offset, gear output Phase offset adjusting speed, gear input Phase offset adjusting speed, gear output Fig. 2-21: Changed C parameters Individual C parameter changes C RM - control word Bits 8, 9, 10 and 11 were added. C Step width: phase offset, gear input The maximum input value has been changed from degree to degree. C Step width: phase offset, gear output The maximum input value has been changed from degree to degree. C Phase offset adjusting speed, gear input The minimum input value has been changed from 0 to C Phase offset adjusting speed, gear output The minimum input value has been changed from 0 to Changed A parameters List of changed A parameters ID no. Name of parameters A Axis type A Synchronization mode A Process control - control word 1 A Process controller - proportional gain 1 A Configuration list signal status word (IndraDrive) A Assign list signal status word (IndraDrive) A Configuration list signal control word (IndraDrive) A Assign list signal control word (IndraDrive) A Register control - target parameter selection A Group command value additive 1 A Process control - control word 2 A Group command value additive 2 Fig. 2-22: Changed A parameters

36 2-30 SYNAX 200 firmware version 12VRS Rexroth SYNAX 200 Individual A parameter changes A Axis type Bit 8 was added. A Synchronization mode Bit combination "Electronic profile of motion" (bit 11, 12) was added. A Process control - control word 1 The default value was changed from 0x to 0xC A Process controller - proportional gain 1 The weighting was changed from 0,0001 to The default value was changed from to A Configuration list signal status word (IndraDrive) The name was changed. A Assign list signal status word (IndraDrive) The name was changed. A Configuration list signal control word (IndraDrive) The name was changed. A Assign list signal control word (IndraDrive) The name was changed. A Register control - target parameter selection The bit combination "Select target parameters with direct correction" (bit 0, 1, 2) was expanded by bit 3. The bit combination "Select target parameters with indirect correction" (bit 8, 9, 10) was expanded by bit 11. A Group command value additive 1 The text has been changed. A Process control - control word 2 The default value was changed from 0x to 0x A Group command value additive 2 The text has been changed.