Rexroth IndraMotion MLC 04VRS Parameter

Transcription

1 Electric Drives Linear Motion and Hydraulics Assembly Technologies Pneumatics Service Rexroth IndraMotion MLC 04VRS Parameter R Edition 02 Parameter Description

2 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Title Type of Documentation Document Typecode Internal File Reference Purpose of Documentation Record of Revision Rexroth IndraMotion MLC 04VRS Parameters Parameter Description DOK-IM*MLC-A*C*PAR*V04-PA02-EN-P RS-ebac4f52368b53d80a6846a en-US-3 The documentation describes the Axis parameters (A Parameters), Control parameters (C Parameter), Kinematics parameters (K Parameters), Probe parameters (M Parameters), Programmable Limit Switch parameters (N Parameters) in the MLC 04VRS version and the interferences between parametrizing and programming. Edition Release Date Notes B325-01/EN First edition for MLC 04VRS, internal use only B325-02/EN MLC 04VRS Copyright Validity Publisher Note 2008 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). The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract. All rights are reserved with respect to the content of this documentation and the availability of the product. Bosch Rexroth AG Bgm.-Dr.-Nebel-Str. 2 D Lohr a. Main Phone +49 (0)93 52 / 40-0 Fax +49 (0)93 52 / Dept. BRC/EAY2 (vha/mepe) This document has been printed on chlorine-free bleached paper.

3 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Table of Contents Bosch Rexroth AG I/XV Table of Contents 1 Important Directions for Appropriate Introduction Areas of and Application Inappropriate Safety Instructions for Electric Drives Safety Instructions - General Information Using the Safety Instructions and Passing them on to Others How to Employ the Safety Instructions Explanation of Warning Symbols and Degrees of Hazard Seriousness Hazards by Improper Instructions with Regard to Specific Dangers Protection Against Contact with Electrical Parts and Housings Protection Against Electric Shock by Protective Extra-Low Voltage Protection Against Dangerous Movements Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting Protection Against Contact with Hot Parts Protection During Handling and Mounting Battery Safety Protection Against Pressurized Systems Page General General goal of the PLCopen Interaction between parameters and function modules IndraMotion MLC - Further Documentation Document Structure Parameter Types Definitions Overview as Table Overview: r-configurable Data Container, A-Parameters Data Exchange between Control and Drive General Information on the Data Exchange MLC MDT Configuration, IndraDrive, 40 Bytes MDT Configuration, Generic Drive MLC AT Configuration, IndraDrive, 40 Bytes AT Configuration, Generic Drive Overview: Diagnostic Parameters Overview: Command Parameters Overview: Control link - A- and C-Parameters Overview: Motion Profiles, A Parameters Overview: FlexProfile, A Parameters... 29

4 II/XV Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Table of Contents Page Overview: Touche Probe Overview: Programmable Limit Switch Module PLS (CFL01.1-N1), C / N Parameters Description of the Individual Parameters, Arranged According to their Types MLC Axis Parameters (A Parameters) General A , Logical axis number A , Axis name A , Axis type A , Drive address A , Drive type A , Axis configuration A , Link axis - master axis selection A , List of all A parameters A , List of all invalid A parameters A , Checksum of A parameters A , IDN list of checksum A parameter A , List of not transmitted A parameters A , Controller control word A , Controller status word A , Axis diagnostic message A , Axis status A , Extended axis status A , Axis diagnostic number A , Axis condition A , Drive telegram error counter A , Travel range limit A , Position polarity A , Positive position limit A , Negative position limit A , Positive velocity limit A , Negative velocity limit A , Bipolar acceleration limit A , Bipolar jerk limit A , Bipolar torque/force limit A , Modulo value A , Slave drive feed travel A , Torque/force data scaling type A , Torque/force data scaling factor A , Torque/force data scaling exponent A , Acceleration data scaling type A , Acceleration data scaling factor A , Acceleration data scaling exponent A , Velocity data scaling type A , Velocity data scaling factor A , Velocity data scaling exponent A , Position data scaling type... 61

5 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG III/XV Table of Contents Page A , Linear position data scaling factor A , Linear position data scaling exponent A , Rotational position resolution A , Temperature data scaling type A , Valve values scaling type A , Jog distance short A , Jog distance long A , Jog velocity slow A , Jog velocity fast A , Jog acceleration A , Jog deceleration A , Jog acceleration jerk A , Jog deceleration jerk A , Actual position A , Actual position, 8 Byte A , Actual velocity A , Actual acceleration A , Actual position, incremental A , Actual torque/force A , Interpolated position A , Interpolated position of control A , Interpolated velocity A , Interpolated torque/force A , Default address master axis A , Direction A , Jerk A , Positioning window for shortest way A , Force window A , Standstill window A , Velocity window A , Emergency deceleration A , Passing distance PTP A , Feedrate-Override A , Feedrate-Override control word A , Master position A , Master velocity A , Configuration user defined commanded data A A , Configuration user defined commanded data B A , Configuration user defined commanded data C A , Configuration user defined commanded data D A , Configuration user defined actual data A A , Configuration user defined actual data B A , Configuration user defined actual data C A , Configuration user defined actual data D A , Configuration user defined commanded data bit A A , Configuration user defined commanded data bit number A... 90

6 IV/XV Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Table of Contents Page A , r defined commanded data bit number A A , Configuration user defined commanded data bit B A , Configuration user defined commanded data bit number B A , r defined commanded data bit number B A , Configuration user defined commanded data bit C A , Configuration user defined commanded data bit number C A , r defined commanded data bit number C A , Configuration user defined commanded data bit D A , Configuration user defined commanded data bit number D A , r defined commanded data bit number D A , Configuration user defined actual data bit A A , Configuration user defined actual data bit number A A , r defined actual data bit number A A , Configuration user defined actual data bit B A , Configuration user defined actual data bit number B A , r defined actual data bit number B A , Configuration user defined actual data bit C A , Configuration user defined actual data bit number C A , r defined actual data bit number C A , Configuration user defined actual data bit D A , Configuration user defined actual data bit number D A , r defined actual data bit number D A , List of free configurable parameter in the MDT A , List of free configurable parameter in the AT A , List of configurable parameter in signal control word A , List of configurable parameter in signal status word A , Position synchronization window A , Velocity synchronization window A , Command: axis base parameter load A , Command: clear all axis errors A , Commanded position A , Commanded target position A , Commanded velocity A , Commanded acceleration A , Commanded deceleration A , Commanded jerk A , Commanded direction A , Cyclic commanded position A , Cyclic commanded torque A , Cyclic commanded velocity A , Cyclic commanded analog value A , Additive master axis position, process loop A , Filter time constant, add. master axis pos., process loop A , Gear ratio fine adjust, process loop A , Additive position command value, process loop A , Filter time constant additional pos. Command

7 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG V/XV Table of Contents Page A , Additive velocity command value, process loop A , Angle offset begin of profile, process loop A , Filter time constant, angle offset profile, process loop A , Resulting master axis position A , Effective master axis position A , Effective master axis velocity A , Synchronous position command value A , Synchronous velocity A , Position command value ELS, CAM A , Cam shaft profile, access angle A , Effective velocity command value A , Master axis velocity A , Master control number A , Master axis number A , Additive master position command value A , Additive master position velocity A , Additive master position acceleration A , Master drive gear input revolutions A , Master drive gear output revolutions A , Gear ratio fine adjust A , Angel offset begin of profile A , Angle offset change rate A , Cam table preselection A , Cam shaft distance A , Gear reduction A , Additive slave position A , Additive slave position velocity A , Additive slave position acceleration A , Additive slave velocity A , Additive slave velocity acceleration A , Phase shift velocity A , Phase shift acceleration A , Synchronization init window for modulo format A , Synchronization direction A , Synchronization mode A , Position window A , Set selection motion profile A , Relative positioning motion profile A , Polarity master axis position A , Encoder configuration A , Encoder status A , Encoder gear numerator A , Encoder gear denominator A , Encoder filter type A , Encoder filter cutoff frequency A , Encoder reference position

8 VI/XV Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Table of Contents Page A , Command: set absolute measuring A , Encoder position offset A , Master axis switching position, motion profile A , Motion step 1, slave axis initial position A , Motion profile diagnostics, set A , Motion profile diagnostics, set A , Basic configuration, motion profile A , Number of motion profile steps, set A , Master axis velocity, set A , List of master axis initial positions, set A , List of motion step modes, set A , List of distances, set A , List of slave axis velocities, set A , Number of motion profile steps, set A , Master axis velocity, set A , List of master axis initial positions, set A , List of motion step modes, set A , List of distances, set A , List of slave axis velocities, set A , Control word, motion profile A , Status word, motion profile A , Current FlexProfile set A , Current FlexProfile step A , Master switch over position, FlexProfile A , Slave axis offset, FlexProfile A , Control word, FlexProfile A , Status word, FlexProfile A , Condition control variable, FlexProfile A , Condition status variable, FlexProfile A , Current Time-Master position, FlexProfile A , Master axis velocity, FlexProfile A , List of master axis sources, FlexProfile A , List of distances, FlexProfile A , List of master axis ranges, FlexProfile A , List of master axis ranges units, FlexProfile A , List of motion-law modes, FlexProfile A , List of step types, FlexProfile A , List of slave axis start velocities, FlexProfile A , List of slave axis start accelerations, FlexProfile A , List of slave axis start jerks, FlexProfile A , List of slave axis end velocities, FlexProfile A , List of slave axis end accelerations, FlexProfile A , List of slave axis end jerks, FlexProfile A , List of slave axis travelling velocities, FlexProfile A , List of slave axis limit accelerations, FlexProfile A , List of slave axis limit jerks, FlexProfile

9 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG VII/XV Table of Contents Page A , List of turning point displacements, FlexProfile A , Events: List of step assignments, FlexProfile A , Events: List of trigger-modes, FlexProfile A , Events: List of action-modes, FlexProfile A , Events: List of trigger-values, FlexProfile A , Events: List of trigger-values units, FlexProfile A , Command: Event checking and transfering, FlexProfile A , Diagnostics, FlexProfile A , Command: Profile checking and transfering, FlexProfile A , Checksum FlexProfile A , Master axis velocity, FlexProfile A , List of master axis sources, FlexProfile A , List of distances, FlexProfile A , List of master axis ranges, FlexProfile A , List of master axis ranges units, FlexProfile A , List of motion-law modes, FlexProfile A , List of step types, FlexProfile A , List of slave axis start velocities, FlexProfile A , List of slave axis start accelerations, FlexProfile A , List of slave axis start jerks, FlexProfile A , List of slave axis end velocities, FlexProfile A , List of slave axis end accelerations, FlexProfile A , List of slave axis end jerks, FlexProfile A , List of slave axis travelling velocities, FlexProfile A , List of slave axis limit accelerations, FlexProfile A , List of slave axis limit jerks, FlexProfile A , List of turning point displacements, FlexProfile A , Events: List of step assignments, FlexProfile A , Events: List of trigger-modes, FlexProfile A , Events: List of action-modes, FlexProfile A , Events: List of trigger-values, FlexProfile A , Events: List of trigger-values units, FlexProfile A , Command: Event checking and transfering, FlexProfile A , Diagnostics, FlexProfile A , Command: Profile checking and transfering, FlexProfile A , Checksum FlexProfile A , Master axis velocity, FlexProfile A , List of master axis sources, FlexProfile A , List of distances, FlexProfile A , List of master axis ranges, FlexProfile A , List of master axis ranges units, FlexProfile A , List of motion-law modes, FlexProfile A , List of step types, FlexProfile A , List of slave axis start velocities, FlexProfile A , List of slave axis start accelerations, FlexProfile A , List of slave axis start jerks, FlexProfile

10 VIII/XV Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Table of Contents Page A , List of slave axis end velocities, FlexProfile A , List of slave axis end accelerations, FlexProfile A , List of slave axis end jerks, FlexProfile A , List of slave axis travelling velocities, FlexProfile A , List of slave axis limit accelerations, FlexProfile A , List of slave axis limit jerks, FlexProfile A , List of turning point displacements, FlexProfile A , Events: List of step assignments, FlexProfile A , Events: List of trigger-modes, FlexProfile A , Events: List of action-modes, FlexProfile A , Events: List of trigger-values, FlexProfile A , Events: List of trigger-values units, FlexProfile A , Command: Event checking and transfering, FlexProfile A , Diagnostics, FlexProfile A , Command: Profile checking and transfering, FlexProfile A , Checksum FlexProfile A , Master axis velocity, FlexProfile A , List of master axis sources, FlexProfile A , List of distances, FlexProfile A , List of master axis ranges, FlexProfile A , List of master axis ranges units, FlexProfile A , List of motion-law modes, FlexProfile A , List of step types, FlexProfile A , List of slave axis start velocities, FlexProfile A , List of slave axis start accelerations, FlexProfile A , List of slave axis start jerks, FlexProfile A , List of slave axis end velocities, FlexProfile A , List of slave axis end accelerations, FlexProfile A , List of slave axis end jerks, FlexProfile A , List of slave axis travelling velocities, FlexProfile A , List of slave axis limit accelerations, FlexProfile A , List of slave axis limit jerks, FlexProfile A , List of turning point displacements, FlexProfile A , Events: List of step assignments, FlexProfile A , Events: List of trigger-modes, FlexProfile A , Events: List of action-modes, FlexProfile A , Events: List of trigger-values, FlexProfile A , Events: List of trigger-values units, FlexProfile A , Command: Event checking and transfering, FlexProfile A , Diagnostics, FlexProfile A , Command: Profile checking and transfering, FlexProfile A , Checksum FlexProfile MLC Control Parameters (C Parameters) General C , Language selection C , Hardware version

11 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG IX/XV Table of Contents Page C , PLC firmware version C , Firmware version C , BSP version C , Technology functions C , Extended technology functions C , Hardware configuration C , Hardware details C , Local bus configuration C , MC system status C , module bus configuration C , Hardware details of function module No C , Hardware details of function module No C , Hardware details of function module No C , Hardware details of function module No C , Control name C , Control address C , Serial number of control C , Project identification number C , Client access locking number C , Link ring identification number C , Control configuration C , System time C , Operation hour counter C , Start up delay time C , Temperature data scaling type - controller C , Control unit temperature C , Maximum control unit temperature C , r defined decimal number C , r defined text C , List of all C parameters C , List of all invalid C parameters C , Checksum of C parameters C , IDN list of checksum C parameter C , IDN list of import errors C , IP address C , Subnet mask C , Standard gateway C , r name C , MAC address C , Time to live C , UDP ports C , TCP port for acyclic channels C , Send Timeout C , TCP Max Connections C , Network remote access list C , Drive-Server Configuration

12 X/XV Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Table of Contents Page C , Control word PLS C , Status word PLS C , Signal sources PLS C , Control signals PLS C , Outputs PLS C , Internal registers PLS C , Reference axes configuration list PLS C , Reference axis phase offset list PLS C , Output reference axes list PLS C , Hysteresis list PLS C , Switch on lead time list PLS C , Switch off lead time list PLS C , Track number list PLS C , Switch on position list PLS C , Switch off position list PLS C , Command: initialize track PLS C , Command: activate track PLS C , Output mode list PLS C , Duration list PLS C , Control word PLS C , Status word PLS C , Signal sources PLS C , Control signals PLS C , Outputs PLS C , Internal registers PLS C , Reference axes configuration list PLS C , Reference axis phase offset list PLS C , Output reference axes list PLS C , Hysteresis list PLS C , Switch on lead time list PLS C , Switch off lead time list PLS C , Track number list PLS C , Switch on position list PLS C , Switch off position list PLS C , Command: initialize track PLS C , Command: activate track PLS C , Output mode list PLS C , Duration list PLS C , Control word PLS C , Status word PLS C , Signal sources PLS C , Control signals PLS C , Outputs PLS C , Internal registers PLS C , Reference axes configuration list PLS C , Reference axis phase offset list PLS

13 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG XI/XV Table of Contents Page C , Output reference axes list PLS C , Hysteresis list PLS C , Switch on lead time list PLS C , Switch off lead time list PLS C , Track number list PLS C , Switch on position list PLS C , Switch off position list PLS C , Command: initialize track PLS C , Command: activate track PLS C , Output mode list PLS C , Duration list PLS C , Control word PLS C , Status word PLS C , Signal sources PLS C , Control signals PLS C , Outputs PLS C , Internal registers PLS C , Reference axes configuration list PLS C , Reference axis phase offset list PLS C , Output reference axes list PLS C , Hysteresis list PLS C , Switch on lead time list PLS C , Switch off lead time list PLS C , Track number list PLS C , Switch on position list PLS C , Switch off position list PLS C , Command: initialize track PLS C , Command: activate track PLS C , Output mode list PLS C , Duration list PLS C , Desired MC cycle time (Tcyc) C , Relative PLC time slot C , Power up cycle time C , Timing control word C , PLC configuration C , Actual MC cycle time (Tcyc) C , List actual time slice values C , List maximal time slice values C , List minimal time slice values C , Actual CPU-Load C , Maximum CPU-Load C , Minimum CPU-Load C , CPU-Load, value for warning C , Power up target motion mode C , Target motion mode C , Current motion mode

14 XII/XV Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Table of Contents Page C , Drive setup C , Extended drive information C , Configured Axis count C , List of detected drives C , List of not associated drives C , List of configured axes C , Axes configuration list C , Drive bus configuration C , Drive bus communication baudrate C , Drive bus fiber optic length C , Diagnosis recorder index C , Indexed diagnosis message C , Amount of diagnosis messages C , Last reset message C , Absolute index C , Display message C , Diagnosis C , Diagnosis number C , Diagnosis status word C , MLC-link - desired cycle time (Tcyc) C , MLC-link - configuration functional modes C , MLC-link - fiber optic length C , MLC-link - configuration master axes C , MLC-link - desired binary input values C , MLC-link - calibration dead time compensation C , MLC-link - actual cycle time (Tcyc) C , MLC-link - MDT error counter C , MLC-link - status link data C , MLC-link - status binary inputs C , MLC-link - status function module C , Oscilloscope - status word C , Oscilloscope - demand interval C , Oscilloscope - memory depth C , Oscilloscope - signal selective list C , Oscilloscope - number of measured values C , Oscilloscope - control word C , Oscilloscope - number of channels C , Oscilloscope - trigger mask C , Oscilloscope - trigger signal C , Oscilloscope - trigger threshold C , Oscilloscope - trigger edge C , Oscilloscope - count of measured value after trigger event C , Oscilloscope - trigger time stamp C , Oscilloscope - extern trigger signal C , Oscilloscope - intern trigger signal C , Command: control base parameter load

15 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG XIII/XV Table of Contents Page C , Command: load motion control parameters from FW-module C , Command: store motion control parameters in FW-module C , Command: delete files in SYSTEM partition on FW-module C , Command: delete files in OEM partition on FW-module C , Command: delete files in USER partition on FW-module C , Command: get extended drive info C , Command: export parameter C , Command: import parameter C , Command: reboot after firmware update C , Command: firmware reset C , Command: Change files after firmware update C , Command: clear all control errors C , Command: reset parameter C and C C , Command: reset parameter C and C C up to C , Point Tables (CAM Tables) on the Control C , CAM table C , Configured kinematics count C , List of not associated axes C , List of configured kinematics C , Kinematics configuration list C , Probe, IDN list signal selection MLC Kinematics Parameters (K Parameters) General K , Logical kinematics number K , Kinematics name K , Maximum path speed K , IPO stop time K , Positive software limit switches WC K , Negative software limit switches WC K , Axis number of kinematics K , Axes configuration list K , List of all K parameters K , List of all invalid K parameters K , Checksum of K parameters K , IDN list of checksum K parameter K , Acceleration change time on path K , Deceleration change time on path K , Kinematics diagnostic message K , Kinematics status K , Extended kinematics status K , Kinematics diagnostic number K , Transformation scheme K , Referencing of all axes K , Read POS with coordinate change K , WC axis monitoring K , Transformation lengths

16 XIV/XV Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Table of Contents Page K , Transformation factors K , World coordinate system offset K , Distance Units WC K , Velocity Units WC K , Acceleration Units WC K , Jerk Units WC K , Belt number of kinematics K , Coupling factors belt K , Coupling factors belt K , Coupling factors belt K , Coupling factors belt K , Jog distance short WC K , Jog distance long WC K , Jog velocity slow WC K , Jog velocity fast WC K , Jog acceleration WC K , Jog deceleration WC K , Jog acceleration jerk WC K , Jog deceleration jerk WC K bis K , Coordinate names K , Coordinate name C K , RoCoFeedrate-Override K , RoCoFeedrate-Override control word K , RoCoAcceleration-Override K , RoCoDeceleration-Override MLC Touch Probe Parameters (M Parameters) General M , Logical probe number M , Probe name M , Input selection, probe M , Signal selection, probe M , Control word, probe M , Status word, probe M , Command: probe activation M , Value positive edge, probe M , Value negative edge, probe M , Difference value, probe M , Timestamp positive edge, probe M , Timestamp negative edge, probe M , Reaction time compensation positive edge, probe M , Reaction time compensation negative edge, probe M , Expectation window start position positive edge, probe M , Expectation window end position positive edge, probe M , Expectation window start position negative edge, probe M , Expectation window end position negative edge, probe M , Maximum number of marker failures, probe

17 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG XV/XV Table of Contents Page M , Number of marker failures, positive edge, probe M , Number of marker failures, negative edge, probe M , Status input, probe M , Enabling, probe M , Counter values positive edge, probe M , Counter values negative edge, probe M , Counter difference values, probe MLC Programmable Limit Switch Parameters (N Parameters) Overview: Programmable Limit Switch Module PLS (CFL01.1-N1), C / N Parameters N , Logical number, PLS N , Name, PLS N , Control word, PLS N , Signal sources, PLS N , Control signals, PLS N , Outputs, PLS N , Internal registers, PLS N , Reference axes configuration list, PLS N , Reference axis phase offset list, PLS N , Output reference axes list, PLS N , Hysteresis list, PLS N , Switch on lead time list, PLS N , Switch off lead time list, PLS N , Track number list, PLS N , Switch on position list, PLS N , Switch off position list, PLS N , Command: initialize track, PLS N , Command: activate track, PLS N , Output mode list, PLS N , Duration list, PLS A/C Parameters Cover S/P Parameters IndraDrive: A/C Parameters Overlay S/P Parameters HNC Devices: A/C Parameters Overlay S/P Parameters SercosDrive: A/C Parameters Overlay S/P Parameters Service and Support Helpdesk Service Hotline Internet Helpful Information Index

18 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description

19 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 1/480 Important Directions for 1 Important Directions for 1.1 Appropriate Introduction Rexroth products represent state-of-the-art developments and manufacturing. They are tested prior to delivery to ensure operating safety and reliability. WARNING Personal injury and property damage caused by inappropriate use of the products! The products may only be used in the manner that is defined as appropriate. If they are used in an inappropriate manner, then situations can develop that may lead to property damage or injury to personnel Areas of and Application Rexroth, as manufacturer, is not liable for any damages resulting from inappropriate use. In such cases, the guarantee and the right to payment of damages resulting from inappropriate use are forfeited. The user alone carries all responsibility of the risks. Before using Rexroth products, make sure that all the pre-requisites for appropriate use of the products are satisfied: Personnel that in any way, shape or form uses our products must first read and understand the relevant safety instructions and be familiar with appropriate use. If the product takes the form of hardware, then they must remain in their original state, in other words, no structural changes are permitted. It is not permitted to decompile software products or alter source codes. Do not mount damaged or faulty products or use them in operation. Make sure that the products have been installed in the manner described in the relevant documentation. The IndraControl of Rexroth and its function modules are suitable for motion/ logic applications. The IndraControl and its function modules may only be used with the accessories and parts specified in this document. If a component has not been specifically named, then it may not be either mounted or connected. The same applies to cables and lines. Operation is only permitted in the specified configurations and combinations of components using the software and firmware as specified in the relevant function descriptions. IndraControl and its function modules have been developed for use in single or multiple-axis drives and control tasks. To ensure an application-specific use, the machine operator and visualization panels are available with differing equipment and different interfaces. Typical applications of IndraControl and its function modules are: [Handling and assembly systems] [Packaging and foodstuff machines] [Printing and paper processing machines]

20 2/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Important Directions for 1.2 Inappropriate [Machine tools] IndraControl and its function modules may only be operated under the assembly, installation and ambient conditions as described here (temperature, system of protection, humidity, EMC requirements, etc.) and in the position specified. Using IndraControl and its function modules outside of the above-referenced areas of application or under operating conditions other than described in the document and the technical data specified is defined as "inappropriate use". IndraControl and its function modules may not be used if they are subject to operating conditions that do not meet the above specified ambient conditions. This includes, for example, operation under water, in the case of extreme temperature fluctuations or extremely high maximum temperatures or if Rexroth has not specifically released them for that intended purpose. Please note the specifications outlined in the general safety instructions!

21 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 3/480 Safety Instructions for Electric Drives 2 Safety Instructions for Electric Drives 2.1 Safety Instructions - General Information Using the Safety Instructions and Passing them on to Others Do not attempt to install or commission this device without first reading all documentation provided with the product. Read and understand these safety instructions and all user documentation prior to working with the device. If you do not have the user documentation for the device, contact your responsible Bosch Rexroth sales representative. Ask for these documents to be sent immediately to the person or persons responsible for the safe operation of the device. If the device is resold, rented and/or passed on to others in any other form, these safety instructions must be delivered with the device in the official language of the user's country. WARNING Improper use of these devices, failure to follow the safety instructions in this document or tampering with the product, including disabling of safety devices, may result in material damage, bodily harm, electric shock or even death! Observe the safety instructions! How to Employ the Safety Instructions Read these instructions before initial commissioning of the equipment in order to eliminate the risk of bodily harm and/or material damage. Follow these safety instructions at all times. Bosch Rexroth AG is not liable for damages resulting from failure to observe the warnings provided in this documentation. Read the operating, maintenance and safety instructions in your language before commissioning the machine. If you find that you cannot completely understand the documentation for your product, please ask your supplier to clarify. Proper and correct transport, storage, assembly and installation, as well as care in operation and maintenance, are prerequisites for optimal and safe operation of this device. Only assign trained and qualified persons to work with electrical installations: Only persons who are trained and qualified for the use and operation of the device may work on this device or within its proximity. The persons are qualified if they have sufficient knowledge of the assembly, installation and operation of the product, as well as an understanding of all warnings and precautionary measures noted in these instructions. Furthermore, they must be trained, instructed and qualified to switch electrical circuits and devices on and off in accordance with technical safety regulations, to ground them and to mark them according to the requirements of safe work practices. They must have adequate safety equipment and be trained in first aid. Only use spare parts and accessories approved by the manufacturer.

22 4/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Safety Instructions for Electric Drives Follow all safety regulations and requirements for the specific application as practiced in the country of use. The devices have been designed for installation in industrial machinery. The ambient conditions given in the product documentation must be observed. Only use safety-relevant applications that are clearly and explicitly approved in the Project Planning Manual. If this is not the case, they are excluded. Safety-relevant are all such applications which can cause danger to persons and material damage. The information given in the documentation of the product with regard to the use of the delivered components contains only examples of applications and suggestions. The machine and installation manufacturer must make sure that the delivered components are suited for his individual application and check the information given in this documentation with regard to the use of the components, make sure that his application complies with the applicable safety regulations and standards and carry out the required measures, modifications and complements. Commissioning of the delivered components is only permitted once it is sure that the machine or installation in which they are installed complies with the national regulations, safety specifications and standards of the application. Operation is only permitted if the national EMC regulations for the application are met. The instructions for installation in accordance with EMC requirements can be found in the section on EMC in the respective documentation (Project Planning Manuals of components and system). The machine or installation manufacturer is responsible for compliance with the limiting values as prescribed in the national regulations. Technical data, connection and installation conditions are specified in the product documentation and must be followed at all times. National regulations which the user must take into account European countries: according to European EN standards United States of America (USA): National Electrical Code (NEC) National Electrical Manufacturers Association (NEMA), as well as local engineering regulations regulations of the National Fire Protection Association (NFPA) Canada: Canadian Standards Association (CSA) Other countries: International Organization for Standardization (ISO) International Electrotechnical Commission (IEC) Explanation of Warning Symbols and Degrees of Hazard Seriousness The safety instructions describe the following degrees of hazard seriousness. The degree of hazard seriousness informs about the consequences resulting from non-compliance with the safety instructions:

23 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 5/480 Safety Instructions for Electric Drives Warning symbol Signal word Danger Degree of hazard seriousness acc. to ANSI Z Death or severe bodily harm will occur. Warning Caution Death or severe bodily harm may occur. Minor or moderate bodily harm or material damage may occur. Fig.2-1: Hazard classification (according to ANSI Z 535) Hazards by Improper DANGER High electric voltage and high working current! Risk of death or severe bodily injury by electric shock! Observe the safety instructions! DANGER Dangerous movements! Danger to life, severe bodily harm or material damage by unintentional motor movements! Observe the safety instructions! WARNING High electric voltage because of incorrect connection! Risk of death or bodily injury by electric shock! Observe the safety instructions! WARNING Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electrical equipment! Observe the safety instructions! Hot surfaces on device housing! Danger of injury! Danger of burns! Observe the safety instructions! CAUTION CAUTION Risk of injury by improper handling! Risk of bodily injury by bruising, shearing, cutting, hitting or improper handling of pressurized lines! Observe the safety instructions!

24 6/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Safety Instructions for Electric Drives CAUTION Risk of injury by improper handling of batteries! Observe the safety instructions! 2.2 Instructions with Regard to Specific Dangers Protection Against Contact with Electrical Parts and Housings This section concerns devices and drive components with voltages of more than 50 Volt. Contact with parts conducting voltages above 50 Volts can cause personal danger and electric shock. When operating electrical equipment, it is unavoidable that some parts of the devices conduct dangerous voltage. DANGER High electrical voltage! Danger to life, electric shock and severe bodily injury! Only those trained and qualified to work with or on electrical equipment are permitted to operate, maintain and repair this equipment. Follow general construction and safety regulations when working on power installations. Before switching on the device, the equipment grounding conductor must have been non-detachably connected to all electrical equipment in accordance with the connection diagram. Do not operate electrical equipment at any time, even for brief measurements or tests, if the equipment grounding conductor is not permanently connected to the mounting points of the components provided for this purpose. Before working with electrical parts with voltage potentials higher than 50 V, the device must be disconnected from the mains voltage or power supply unit. Provide a safeguard to prevent reconnection. With electrical drive and filter components, observe the following: Wait 30 minutes after switching off power to allow capacitors to discharge before beginning to work. Measure the electric voltage on the capacitors before beginning to work to make sure that the equipment is safe to touch. Never touch the electrical connection points of a component while power is turned on. Do not remove or plug in connectors when the component has been powered. Install the covers and guards provided with the equipment properly before switching the device on. Before switching the equipment on, cover and safeguard live parts safely to prevent contact with those parts. A residual-current-operated circuit-breaker or r.c.d. cannot be used for electric drives! Indirect contact must be prevented by other means, for example, by an overcurrent protective device according to the relevant standards. Secure built-in devices from direct touching of electrical parts by providing an external housing, for example a control cabinet.

25 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 7/480 Safety Instructions for Electric Drives For electrical drive and filter components with voltages of more than 50 volts, observe the following additional safety instructions. DANGER High housing voltage and high leakage current! Risk of death or bodily injury by electric shock! Before switching on, the housings of all electrical equipment and motors must be connected or grounded with the equipment grounding conductor to the grounding points. This is also applicable before short tests. The equipment grounding conductor of the electrical equipment and the devices must be non-detachably and permanently connected to the power supply unit at all times. The leakage current is greater than 3.5 ma. Over the total length, use copper wire of a cross section of a minimum of 10 mm 2 for this equipment grounding connection! Before commissioning, also in trial runs, always attach the equipment grounding conductor or connect to the ground wire. Otherwise, high voltages may occur at the housing causing electric shock Protection Against Electric Shock by Protective Extra-Low Voltage Protective extra-low voltage is used to allow connecting devices with basic insulation to extra-low voltage circuits. All connections and terminals with voltages between 5 and 50 volts at Rexroth products are PELV systems. 1) It is therefore allowed to connect devices equipped with basic insulation (such as programming devices, PCs, notebooks, display units) to these connections and terminals. WARNING High electric voltage by incorrect connection! Risk of death or bodily injury by electric shock! If extra-low voltage circuits of devices containing voltages and circuits of more than 50 volts (e.g. the mains connection) are connected to Rexroth products, the connected extra-low voltage circuits must comply with the requirements for PELV. 2) Protection Against Dangerous Movements Dangerous movements can be caused by faulty control of connected motors. Some common examples are: improper or wrong wiring of cable connections incorrect operation of the equipment components wrong input of parameters before operation malfunction of sensors, encoders and monitoring devices defective components software or firmware errors Dangerous movements can occur immediately after equipment is switched on or even after an unspecified time of trouble-free operation. 1) "Protective Extra-Low Voltage" 2) "Protective Extra-Low Voltage"

26 8/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Safety Instructions for Electric Drives The monitoring in the drive components will normally be sufficient to avoid faulty operation in the connected drives. Regarding personal safety, especially the danger of bodily harm and material damage, this alone cannot be relied upon to ensure complete safety. Until the integrated monitoring functions become effective, it must be assumed in any case that faulty drive movements will occur. The extent of faulty drive movements depends upon the type of control and the state of operation.

27 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 9/480 Safety Instructions for Electric Drives DANGER Dangerous movements! Danger to life, risk of injury, severe bodily harm or material damage! Ensure personal safety by means of qualified and tested higher-level monitoring devices or measures integrated in the installation. These measures have to be provided for by the user according to the specific conditions within the installation and a hazard and fault analysis. The safety regulations applicable for the installation have to be taken into consideration. Unintended machine motion or other malfunction is possible if safety devices are disabled, bypassed or not activated. To avoid accidents, bodily harm and/or material damage: Keep free and clear of the machine s range of motion and moving parts. Possible measures to prevent people from accidentally entering the machine s range of motion: use safety fences use safety guards use protective coverings install light curtains or light barriers Fences and coverings must be strong enough to resist maximum possible momentum. Mount the emergency stop switch in the immediate reach of the operator. Verify that the emergency stop works before startup. Don t operate the device if the emergency stop is not working. Isolate the drive power connection by means of an emergency stop circuit or use a safety related starting lockout to prevent unintentional start. Make sure that the drives are brought to a safe standstill before accessing or entering the danger zone. Additionally secure vertical axes against falling or dropping after switching off the motor power by, for example: mechanically securing the vertical axes, adding an external braking/ arrester/ clamping mechanism or ensuring sufficient equilibration of the vertical axes. The standard equipment motor brake or an external brake controlled directly by the drive controller are not sufficient to guarantee personal safety! Disconnect electrical power to the equipment using a master switch and secure the switch against reconnection for: maintenance and repair work cleaning of equipment long periods of discontinued equipment use Prevent the operation of high-frequency, remote control and radio equipment near electronics circuits and supply leads. If the use of such devices cannot be avoided, verify the system and the installation for possible malfunctions in all possible positions of normal use before initial startup. If necessary, perform a special electromagnetic compatibility (EMC) test on the installation.

28 10/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Safety Instructions for Electric Drives Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting Magnetic and electromagnetic fields generated by current-carrying conductors and permanent magnets in motors represent a serious personal danger to those with heart pacemakers, metal implants and hearing aids. WARNING Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electrical equipment! Persons with heart pacemakers and metal implants are not permitted to enter following areas: Areas in which electrical equipment and parts are mounted, being operated or commissioned. Areas in which parts of motors with permanent magnets are being stored, repaired or mounted. If it is necessary for somebody with a pacemaker to enter such an area, a doctor must be consulted prior to doing so. The noise immunity of present or future implanted heart pacemakers differs greatly so that no general rules can be given. Those with metal implants or metal pieces, as well as with hearing aids, must consult a doctor before they enter the areas described above. Otherwise health hazards may occur Protection Against Contact with Hot Parts CAUTION Hot surfaces at motor housings, on drive controllers or chokes! Danger of injury! Danger of burns! Do not touch surfaces of device housings and chokes in the proximity of heat sources! Danger of burns! Do not touch housing surfaces of motors! Danger of burns! According to the operating conditions, temperatures can be higher than 60 C, 140 F during or after operation. Before accessing motors after having switched them off, let them cool down for a sufficiently long time. Cooling down can require up to 140 minutes! Roughly estimated, the time required for cooling down is five times the thermal time constant specified in the Technical Data. After switching drive controllers or chokes off, wait 15 minutes to allow them to cool down before touching them. Wear safety gloves or do not work at hot surfaces. For certain applications, the manufacturer of the end product, machine or installation, according to the respective safety regulations, has to take measures to avoid injuries caused by burns in the end application. These measures can be, for example: warnings, guards (shielding or barrier), technical documentation Protection During Handling and Mounting In unfavorable conditions, handling and mounting certain parts and components in an improper way can cause injuries.

29 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 11/480 Safety Instructions for Electric Drives CAUTION Risk of injury by improper handling! Bodily injury by bruising, shearing, cutting, hitting! Observe the general construction and safety regulations on handling and mounting. suitable devices for mounting and transport. Avoid jamming and bruising by appropriate measures. Always use suitable tools. special tools if specified. lifting equipment and tools in the correct manner. If necessary, use suitable protective equipment (for example safety goggles, safety shoes, safety gloves). Do not stand under hanging loads. Immediately clean up any spilled liquids because of the danger of skidding Battery Safety Batteries consist of active chemicals enclosed in a solid housing. Therefore, improper handling can cause injury or material damage. CAUTION Risk of injury by improper handling! Do not attempt to reactivate low batteries by heating or other methods (risk of explosion and cauterization). Do not recharge the batteries as this may cause leakage or explosion. Do not throw batteries into open flames. Do not dismantle batteries. When replacing the battery/batteries do not damage electrical parts installed in the devices. Only use the battery types specified by the manufacturer. Environmental protection and disposal! The batteries contained in the product are considered dangerous goods during land, air, and sea transport (risk of explosion) in the sense of the legal regulations. Dispose of used batteries separate from other waste. Observe the local regulations in the country of assembly Protection Against Pressurized Systems According to the information given in the Project Planning Manuals, motors cooled with liquid and compressed air, as well as drive controllers, can be partially supplied with externally fed, pressurized media, such as compressed air, hydraulics oil, cooling liquids and cooling lubricating agents. Improper handling of the connected supply systems, supply lines or connections can cause injuries or material damage.

30 12/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Safety Instructions for Electric Drives CAUTION Risk of injury by improper handling of pressurized lines! Do not attempt to disconnect, open or cut pressurized lines (risk of explosion). Observe the respective manufacturer's operating instructions. Before dismounting lines, relieve pressure and empty medium. suitable protective equipment (for example safety goggles, safety shoes, safety gloves). Immediately clean up any spilled liquids from the floor. Environmental protection and disposal! The agents used to operate the product might not be economically friendly. Dispose of ecologically harmful agents separately from other waste. Observe the local regulations in the country of assembly.

31 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 13/ General General goal of the PLCopen The basic idea of the PLC open is to facilitate the access to the controlled drives for controlling motion processes for the PLC user according to the PLC possibilities and its programming philosophy Interaction between parameters and function modules Typical PLC equivalents of the motion data formats Seen from the drive technology point of view (Motion), the data assigned to a drive / an axis such as actual values, limit values, commanded values, controller parameters etc is named as parameters and according to the parameter application available for read and/or write access. The data type of the respective parameter is specified by the SERCOS Standard for example. Also refer to MLC axis parameters (A Parameters), refer to page 33, MLC control parameters (C Parameters), refer to page 262, MLC-MLC kinematics parameters (K Parameters), refer to page 390, MLC probe parameter (M parameters), refer to page 423, MLC Programmable Limit Switch parameters (N Parameters), refer to page 436. Seen from the PLC technology point of view it is about the variables representing the content of the parameters by means of the data type allowed through the EN ByteVar 2Byte 2ByteVar 4Byte 4ByteVar 8Byte 8ByteVar BINARY WORD DWORD LWORD UINT_HEX UINT ARRAY of BYTE UDINT ARRAY of BYTE ULINT ARRAY of BYTE UINT_DEC UINT ARRAY of BYTE UDINT ARRAY of BYTE ULINT ARRAY of BYTE INT_DEC INT ARRAY of BYTE DINT ARRAY of BYTE LINT ARRAY of BYTE TEXT STRING UINT_IDN WORD ARRAY of BYTE MLC_IDN DWORD FLOAT REAL ARRAY of BYTE ARRAY of BYTE DOUBLE LREAL ARRAY of BYTE Fig.3-1: PLC of the MLC data formats

32 14/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Using parameters by means of PLC functions modules The transmission of values from the PLC to the axis / drive and from the axis / drive to the PLC is to be considered in detail: v max a max b max Fig.3-2: maximum speed value specified by the user maximum acceleration value specified by the user maximum speed value specified by the jerk Motion from point Sa to point Se The PLC should control the motion from point S a to point S e. The maximum values for speed, jerk, acceleration and deceleration if required are necessary as additional information. These have to be lower than the maximum values allowed for the drive. The limitation of the values permitted for the drive is automatically ensured. Fig.3-3: PLCopen module MC_MoveAbsolute With a rising edge on the "Execute" input, the input values on the module instance are applied to the "Commanded" parameters: Position: "A , Commanded position" Velocity: "A , Commanded velocity" Acceleration: "A , Commanded acceleration" Deceleration: "A , Commanded deceleration"

33 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 15/480 PLC access to parameter values using function module Die "A , Commanded position" is copied to the "A , Commanded target position" for MC_MoveAbsolute. The specification of the commanded jerk is not requested by the module. The value of the parameter "A , Commanded jerk" is applied without any modifications. The calculation of the complete motion process is carried out after copying the values from the inputs of the function modules instances to the A parameters and then to the S and P parameters of the drive for IndraDrive or for HNC devices using SERCOS interfaces. - or - after copying the values from the inputs of the function module instances to the A parameters of the axis on the control. Then, the commanded values are transferred to the drives. The PLC function modules M*_Read...Parameter and M*_Write...parameters permit the reading of the parameter values and/or - under certain boundary conditions - the writing into the parameters (parameter attribute "Editability"). The name of the variable is created using the name of the respective parameter: Example: parameter A has the parameter number FP_A_0_0100, Can be changed: READ_ONLY. Fig.3-4: Parameter access via function module (FBD editor) The modules read via the service channel and require several PLC cycles. PLC access to parameter values using direct variables A faster access from the PLC to the requested parameter can be achieved using the direct variable. Each access to such a variable triggers a reading process in the source or a writing process in the target (functional access). PLC access to parameter values via Shared Memory 1 2 Fig.3-5: RA1_DAT AT #MD...:ML_AXISDATA; (*axis name RA1*) Name for parameter A Parameter access via direct variable The fastest access from the PLC on the requested parameter can be carried out using the Shared Memory (common memory of Motion and PLC). For every axis, selected parameters are enabled for access. In contrast to the direct variables, this memory of the operating system is updated and ready in every PLC cycle. A multiple access to the same variable is - in contrast to the direct variables - possible without any time delay.

34 16/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description 1 AxisData AT %MB...: ARRAY[1..MB_MAX_AXIS_NUMBER] OF ML_AXISDATA_SM; 2 Axis with axis number 2 and axis number RA1 3 ractualposition_i: (Artificial) name for parameter A Fig.3-6: Parameter access in the Shared Memory IndraMotion MLC - Further Documentation No. Title Designation /1/ Rexroth IndraControl L40, Project Planning DOK-CONTRL-IC*L40*****-PR..-EN-P /2/ PLC-Programming with Rexroth IndraLogic 1.2; Operation- and Programming Instruction DOK-CONTRL-IL**PRO*V02-AW..-EN-P /3/ Rexroth Inline PROFIBUS DP; al Description DOK-CONTRL-R-IL*PBSSYS-AW..-EN-P /4/ Rexroth Inline PROFIBUS DP-Terminal and Module Supply; al Description DOK-CONTRL-R-IL*PB*-BK-FK..-EN-P /5/ Rexroth IndraWorks Engineering; Operation- and Programming Guide DOK-IWORKS-ENGINEE*V..-AW..-EN-P /6/ Rexroth WinStudio; Getting Started Guide DOK-CONTRL-WIS*PC**V06-KB..-EN-P /7/ Rexroth IndraMotion MLC Cam-Builder; al Description DOK-IM*MLC-CAM*B***V01-FK..-EN-P /10/ Rexroth IndraDrive; Firmware for Drive Units MPH-03, MPB-03, MPD-03, al Description /11/ Rexroth IndraDrive; Firmware for Drive Units MPH-04, MPB-04, MPD-04, al Description /12/ Rexroth IndraDrive, Drive Controllers, MPx-02; MPx-03; MPx-04, Parameter Description /13/ Rexroth IndraDrive, MPx02, MPx03, MPx04 and HMV, Troubleshooting Guide DOK-INDRV*-MP*-03VRS**-FK..-EN-P DOK-INDRV*-MP*-04VRS**-FK..-EN-P DOK-INDRV*-GEN-**VRS**-PA..-EN-P DOK-INDRV*-GEN-**VRS-WA..-EN-P /20/ Rexroth IndraMotion MLC04VRS; al Description DOK-IM*MLC-SYSTEM**V04-FK..-EN-P /21/ Rexroth IndraMotion MLC04VRS; Parameters DOK-IM*MLC-A*C*PAR*V04-PA..-EN-P /22/ Rexroth IndraMotion MLC04VRS; Diagnostics DOK-IM*MLC-DIAGN***V04-WA..-EN-P /23/ Rexroth IndraMotion MLC04VRS, PLCopen Blocks, s and Data Types DOK-IM*MLC-PLCOPEN*V04-FK..-EN-P /24/ Rexroth IndraMotion MLC04VRS; Modules DOK-IM*MLC-FM******V04-FK..-EN-P /25/ Rexroth IndraMotion MLC04VRS; First Steps DOK-IM*MLC-F*STEP**V04-KB..-EN-P /30/ Rexroth IndraMotion MLC, Technology Blocks of the ML_TechnologyCommon Library /31/ Rexroth IndraMotion MLC, Technology Blocks of the ML_Technology Library DOK-IM*MLC-TECHCOM*V02-AW..-EN-P DOK-IM*MLC-TECHFB**V02-AW..-EN-P Fig.3-7: Further Documentation

35 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 17/ Document Structure Parameter Types Definitions C Parameters A Parameters K Parameters M Parameters N Parameters S Parameters P Parameters Data length: Format: IndraMotion MLC has different parameter types at its disposal. The parameters as a whole are named system parameter. The C parameters describe the control function. Currently, one C parameter exists in the IndraMotion system. The A parameters describe the behavior of the individual axes. Thus, there is one parameter set for one axis. Since all parameters are not supported by each axis type, the range of validity is specified in the parameter descriptions. K parameters describe the kinematics functions. In each kinematics exists one K parameter. M parameters describe the probe functions. In each probe function exists one M parameter. K parameters describe the position switch functions. In each position switch exists one N parameter. The S parameters correspond to the default parameters specified in the SER COS interface standard. The P parameters are manufacturer-specific and product-specific parameter defined by Rexroth in accordance with the SERCOS interface standard. Every system parameter is identified by its unique ident number. This description is divided into 2 sections: General description This section contains information about single parameters, its amount of values and presetting notes. Description of the attributes The characteristic value and properties of the parameters are listed in a table. They are required to complete the description, but the detailed information is not used very often. The following abbreviations are used: 2BYTE - the length of the datum is 2 bytes. 4BYTE - the data length is 4 bytes. 8BYTE - the data length is 8 bytes. 1BYTE_VAR - List of data elements. Each data is byte long. 2BYTE_VAR - List of data elements. Each data is byte long. 4BYTE_VAR - List of data elements. Each data is byte long. 8BYTE_VAR - List of data elements. Each data is byte long. BINARY - binary display format. UINT_HEX - hexadecimal display format. UINT_DEC - unsigned decimal display format. INT_DEC - signed decimal display format. TEXT - the datum is a text (8 bit - ANSI characters). UINT_IDN - the datum is a SERCOS ID number (IDN) of 2 bytes. UINT_IDN - the datum is an ID number (IDN) of 4 bytes. FLOAT - the datum is a floating point (4 bytes).

36 18/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description Can be changed? Where is it saved? MinMax test: Type can be edited: MinMax can be edited: Probe: PLC direct access: Initial value: Initial value HNC: DOUBLE - the datum is a floating point (8 bytes). READ_ONLY - the datum cannot be edited. P0 - the datum can be edited in the "P0" operating mode of the motion component. P2 - the datum can be edited in the "P2" operating mode of the motion component. P2+Stop) - the datum can be edited in the "P2" parametrization mode of the motion component. Additionally, the PLC component has to be in "Stop" mode. BB - the datum can be edited in the "BB" operating mode of the motion component. P0, P2, BB - the datum can always be edited. RAM - the datum is located in the RAM. Therefore, it is not saved when the power is switched off. NVRAM - the datum is saved automatically in the NVRAM. FLASH - the datum is kept in the FLASH of the control. - no check. + the datum is checked regarding its minimum values and maximum values allowed during the writing. - no. + type can be edited online by Firmware. - no. +MinMax values can be edited online by Firmware. - no. + Parameter is contained in "C , Probe, IDN list signal selection". Data access from PLC on the parameter -, RD: Direct variable reading access possible, WR, -: Direct variable writing access possible, WR/RD: Direct variable writing+reading possible, -, -: means no direct variable access possible. the initial value is loaded in the respective parameter by the firmware before the modifications are carried out by the running program or the following commands. the initial value is loaded for the HNC axis in the respective parameter by the firmware before the modifications are carried out by the running program or the following commands. 3.2 Overview as Table Overview: r-configurable Data Container, A-Parameters Via the following A-Parameters the user can organize the transfer of setpoints and actual values between control and the individual drives (IndraDrives, HNC Drives). r defined commanded data A , Configuration user defined commanded data A A , Configuration user defined commanded data B A , Configuration user defined commanded data C A , Configuration user defined commanded data D

37 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 19/480 r defined actual data A , Configuration user defined actual data A A , Configuration user defined actual data B A , Configuration user defined actual data C A , Configuration user defined actual data D r defined commanded data (Boolean) A , Configuration user defined commanded data bit A A , Configuration user defined commanded data bit number A A , r defined commanded data bit number A A , Configuration user defined commanded data bit B A , Configuration user defined commanded data bit number B A , r defined commanded data bit number B A , Configuration user defined commanded data bit C A , Configuration user defined commanded data bit number C A , r defined commanded data bit number C A , Configuration user defined commanded data bit D A , Configuration user defined commanded data bit number D A , r defined commanded data bit number D r defined actual data (Boolean) A , Configuration user defined actual data bit A A , Configuration user defined actual data bit number A A , r defined actual data bit number A A , Configuration user defined actual data bit B A , Configuration user defined actual data bit number B A , r defined actual data bit number B A , Configuration user defined actual data bit C A , Configuration user defined actual data bit number C A , r defined actual data bit number C A , Configuration user defined actual data bit D A , Configuration user defined actual data bit number D A , r defined actual data bit number D Lists A , List of free configurable parameter in the MDT A , List of free configurable parameter in the AT A , List of configurable parameter in signal control word A , List of configurable parameter in signal status word Data Exchange between Control and Drive General Information on the Data Exchange The data exchange between the control and the drives is executed via the SERCOS bus using the master data telegram (control drives) and the drive telegrams (drive control)

38 20/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description. The following chapter provides a rough overview on the information available in the individual parameters. It is distinguished between an MLC MDT Configuration, IndraDrive, 40 Bytes 40 byte MDT interface or a 40 byte AT interface (functions are calculated in the drive, available from IndraDrive MPx03 onwards) and an MDT interface or an AT interface (functions are calculated in the control, Generic-Drive, SERCOS-Drive after PackProfile). Every parameter may be transferred only once within a telegram. It is not allowed to transfer a parameter and a bit from that parameter. The interface is provided with a total of 40 byte data containers. The first 3 containers have already been assigned (2 bytes/ 2 bytes/ 4 bytes): S , Data container A: addressing S , Signal control word P , Master axis position. The 4 containers, each of 4 bytes, whose content depends on the function (depending on the function block or operating mode) run - according to the address stored in the first container - in multiplex operation (see fig.).

39 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 21/480 Fig.3-8: MLC MDT configuration, IndraDrive, 40 bytes

40 22/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description S , Signal control word Due to its use, the signal control word is separated into 12 specified bits and 4 bits that can be preselected using the parameter editor or the IndraWorks interface (Real axis (IndraDrive) PopUp menu Communication Signal control word). They remain constant up to the next reconfiguration. Parameter "A , List of configurable parameter in signal control word" contains the possible parameters whose values can be transferred. Fig.3-9: S , Signal control word (IndraWorks) Task Container A Container B Container C Container D defines the drive parameter A A A A defines the bit in the drive parameter A A A A contains the value that is to be written on the bit of the parameter A A A A byte containers configurable by the user Fig.3-10: MDT Configuration, Generic Drive d parameters of a signal control word This is completed by 4 containers, each of 4 bytes, that can either be preselected via the parameter editor or the IndraWorks interface (Real axis (IndraDrive) PopUp menu Communication Cyclic SERCOS data channel). They remain constant up to the next reconfiguration. Parameter "A , List of free configurable parameter in the MDT" contains the possible parameters whose values can be transferred. Container for data transport A , Configuration user defined commanded data A, A , Configuration user defined commanded data B, A , Configuration user defined commanded data C, A , Configuration user defined commanded data D. The transfer mechanism described in the MLC MDT configuration, IndraDrive, 40 bytes can be used. The mechanism is simplified since the calculation is already executed in the control and not on the drive.

41 Parameter Description Rexroth IndraMotion MLC 04VRS Electric Drives Bosch Rexroth AG 23/480 S , Signal control word Only the parameter "S , Position command value" is transferred as default parameter. This applies to all the drives running as SERCOS drive (Generic Drive). Prerequisite is the Support of the S ,Signal control word by the drive. If S is supported and the user configured at least 1 bit, the parameters S , Signal control word, and S ,Position command value,are configured in the MDT. Due to its use, the signal control word is separated into 12 bits that are not used and 4 bits that can be preselected using the parameter editor or the IndraWorks interface (Real axis (IndraDrive) PopUp menu Communication Signal control word). They remain constant up to the next reconfiguration. Parameter "A , List of configurable parameter in signal control word" contains the possible parameters whose values can be transferred. Task Container A Container B Container C Container D defines the drive parameter A A A A defines the bit in the drive parameter A A A A contains the value that is to be written on the bit of the parameter A A A A byte containers configurable by the user Fig.3-11: d parameters of a signal control word If this is permitted by the drive, it is completed by 4 containers, each of 4 bytes which can either be preselected via the parameter editor or the IndraWorks interface (Real axis (IndraDrive) PopUp menu Communication Cyclic SERCOS data channel). They remain constant up to the next reconfiguration. Parameter "A , List of free configurable parameter in the MDT" contains the possible parameters whose values can be transferred. Container for data transport MLC AT Configuration, IndraDrive, 40 Bytes A , Configuration user defined commanded data A, A , Configuration user defined commanded data B, A , Configuration user defined commanded data C, A , Configuration user defined commanded data D. The used containers follow the master data telegram. The interface is provided with a total of 40 byte data containers. The first 3 containers have already been assigned (2 bytes/ 2 bytes/ 4 bytes): S , Data container A: addressing S , Signal status word P , Actual position value of measuring encoder. The 4 containers, each of 4 bytes, whose content depends on the function (depending on the function block or operating mode) run - according to the address stored in the first container - in multiplex operation (see fig.).

42 24/480 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MLC 04VRS Parameter Description S , Signal status word Fig.3-12: MLC AT configuration, IndraDrive, 40 bytes Due to its use, the signal status word is separated into 12 specified bits and 4 bits that can be preselected using the parameter editor or the IndraWorks interface (Real axis (IndraDrive) PopUp menu Communication Signal status word). They remain constant up to the next reconfiguration. Parameter "A , List of configurable parameter in signal status word" contains the possible parameters whose values can be transferred. Fig.3-13: S , Signal status word (IndraWorks) Task Container A Container B Container C Container D defines the drive parameter A A A A defines the bit in the drive parameter A A A A contains the value that was read from the bit of the parameter A A A A byte containers configurable by the user Fig.3-14: d parameters for the signal status word This is completed by 4 containers, each of 4 bytes, that can either be preselected via the parameter editor or the IndraWorks interface (Real axis (IndraDrive) PopUp menu Communication Cyclic SERCOS data channel). They remain constant up to the next reconfiguration. Parameter "A , List of free configurable parameter in the AT" contains the possible parameters whose values can be transferred.