Rexroth IndraMotion MTX Software Installation

Transcription

1 Electric Drives Linear Motion and Hydraulics Assembly Technologies Pneumatics Service Rexroth IndraMotion MTX Software Installation R Edition 02 Installation Instructions

2 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Title Type of Documentation Document Typecode Internal File Reference Purpose of Documentation Record of Revision Rexroth IndraMotion MTX Software Installation Installation Instructions DOK-MTX***-SOFTINS*V06-IB02-EN-P RS-a20c8bf38193ae330a6846a00024b676-2-en-US-5 This documentation describes the installation and updating of the Rexroth IndraMotion MTX NC control and the network settings. Edition Release Date Notes B343-01/EN First edition for 06VRS B343-02/EN Modifications integrated Copyright Validity Published by Note 2006 Bosch Rexroth AG Copying this document, giving it to others and the use or communication of the contents thereof without express authourity, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1). The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract. All rights are reserved with respect to the content of this documentation and the availability of the product. Bosch Rexroth AG Bgm.-Dr.-Nebel-Str. 2 D Lohr a. Main Phone +49 (0)93 52/ 40-0 Fax +49 (0)93 52/ Dept. System Development Machine Tools E. Wirthmann (DiLe) This document has been printed on chlorine-free bleached paper.

3 Installation Instructions Rexroth IndraMotion MTX Electric Drives Table of Contents Bosch Rexroth AG I/IV Table of Contents 1 General Information About Installation Setup Program and Installation Instructions System Requirements Control Modules IndraControl P40 and IndraControl P Brief Description... 1 Performance data Industrial PCs... 2 General... 2 Overview of Industrial PCs... 2 Documentation references Third-party PCs... 3 Hardware requirements for Rexroth IndraMotion MTX... 3 Hardware requirements for Rexroth IndraWorks Simulation Software requirements... 3 Software requirements for Rexroth IndraMotion MTX... 3 Software requirements for Rexroth IndraWorks Simulation Before You Start Installing the User Interface Using Virus Scanners Important Instructions for Use Appropriate Use Introduction Areas of Use and Application Inappropriate Use... 6 Page 3 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 Use 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 Carrying Out Setup Administrator Privileges... 17

4 II/IV Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Table of Contents Page General Access Data Log on as Administrator Initial Installation of Rexroth IndraWorks CD-ROM General Local CD-ROM Drive CD-ROM drive in a network Installation from Hard Disk Installing Rexroth IndraWorks Installation of System Variant IndraControl L40 (Emulation) Further Steps Before Commissioning an MTX Control Firewall Settings Windows firewall NFS Server and TeleBugger IndraControl P40/IndraControl P Update Network Driver Firmware Download Parallel Installation Uninstallationof Rexroth IndraWorks Data Archival/Backup Archiving the IndraWorks Project Archiving of Data that are Not Project-Specific Executing a Software Update of IndraWorks Executing an Update of IndraWorks Restoring Data Restoring Data That Are Not Project-Specific Restoring the IndraWorks Project IndraControl P60/P General Introduction Overview General Display of the startup phase General status information Status line Tool bars Main Menu Main Menu Startup Startup mode... 45

5 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG III/IV Table of Contents Page Data backup Archive Function Firmware Download Incorporating File Systems (Mount) General Using the dialog box Use the USB stick of the MTX as the mount directory General Configuration MTX Boot Parameter NFS Parameter Carry out a soft reset (SR) of the MTX Ethernet Interface Boot Parameters User Level Contextual Menu Call Parameters IP Address Overview Configuration of Communication Interface General Set IP address network adapter Set IP address of IndraControl P60/P40 plug-in card Ethernet connection of basic PC device Order of Network Connections Network Settings General information Enabling a CD Drive in a Network Connecting to a Network Enabled in the CD-ROM Drive Access to the IndraControl P60/P40 from an External PC (Routing) Overview Conditions Entering a route IndraControl L Firmware Download MTX Compact Using IW Engineering Desktop Incorporating File Systems (Mount) Handling Operator Panel/Status Display MTX Compact Additional information Windows-XP User Right Introduction Explanations of the Term Setup an XP user Enabling the necessary authorizations... 81

6 IV/IV Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Table of Contents Page Enabling of a file / directories Tips and additional notes Version Display Calling the Version Display Showing the Version Display Version information for MTX system Version Information of MTX Interface Components Version Information of MTX NC Kernel Components Version Information about LDX Component Service & Support Helpdesk Service Hotline Internet Helpful Information Index... 91

7 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 1/91 General Information About Installation 1 General Information About Installation 1.1 Setup Program and Installation Instructions What is installed? Who installs the program? The setup program installs the Rexroth IndraMotion MTX user interface. Installing the user interface requires experience in working with PCs and with the operating system. Administrator privileges are required for setup. Setup may be executed only by an experienced user with knowledge of operating systems and with administrator privileges. Setup program Documentation The setup program decompresses and installs the user interface and the associated files from the CD-ROM onto your hard disk. The user interface cannot be operated without this installation. Furthermore, it is possible to update and uninstall the software. This documentation informs you about how to install and set up the user interface on your hard disk, how to execute an update and how to remove the user interface. 1.2 System Requirements Read these installation instructions and, if necessary, additional documents before you install the software Control Modules IndraControl P40 and IndraControl P60 Brief Description Performance data As a scalable system, the Rexroth IndraMotion MTX control system currently consists of three system variants: IndraMotion MTX compact, based on the IndraControl L40 control module IndraMotion MTX standard, based on the IndraControl P40 control module IndraMotion MTX performance, based on the IndraControl P60 control module All the control modules provide both CNC and PLC functions. The highest configuration provides CNC performance allowing activation of up to 64 axes in 12 independent CNC processing channels. The standard equipment of the control modules includes interfaces allowing the activation of I/Os via PROFIBUS-DP, of intelligent drives via the SERCOS interface and of peripheral assemblies via Ethernet. A high-speed interface permits the module to be supplemented by additional field buses or interfaces. The IndraControl L40 control module in terminal format has been designed on a switch cabinet for top hat rail assembly. The control modules IndraControl P40 and IndraControl P60 are executed as PCI slot modules and will be used in a free slot of an industrial PC. Designation IndraControl L40 IndraControl P40 IndraControl P60 Number of axes max. 8 max. 8 max. 64 thereof spindles max. 2 max. 2 max. 8 Number of interpolated axes/ channel max. 4 max. 4 max. 8

8 2/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions General Information About Installation Designation IndraControl L40 IndraControl P40 IndraControl P60 Number of NC channels max. 2 max. 2 max. 12 SERCOS cycle time min. 6 ms (for 8-axis configuration, 4-axis interpolation) min. 6 ms (for 8-axis configuration, 4-axis interpolation) Block cycle time min. 6 ms min. 6 ms min. 250 µs min. 250 µs (for 8-axis configuration, 4-axis interpolation) Industrial PCs General Overview of Industrial PCs Fig.1-1: Power data of IndraControl L40, P40, P60 Plug-in cards IndraControl P40 and IndraControl P60 are inserted into a free PCI slot in Bosch Rexroth standard industrial PCs and high-end industrial PCs, as well as in third-party PCs. Documentation references Fig.1-2: Overview of Industrial PCs Documentation Type Material number Rexroth IndraControl VSP 16.1/40.1 DOK-SUPPL*-VSP*16/40**-PRxx-EN-P R Rexroth IndraControl VDP 16.1/40.1/60.1 DOK-SUPPL*-VDP16/40/60-PRxx-EN-P R Rexroth IndraControl VPP 16.1/40.1/60.1 DOK-SUPPL*-VPP*XX.1***-PRxx-EN-P R Rexroth VSB 40.1 DOK-SUPPL*-VSB*40.1***-PRxx-EN-P R Rexroth IndraControl L40 DOK-CONTRL-IC*L40*****-PRxx-EN-P R Rexroth VAM 11.1/41.1 DOK-SUPPL*-VAM*11/41**-PRxx-EN-P R Rexroth VAM 10.1/40.1 DOK-SUPPL*-VAM*10/40**-PRxx-EN-P R Rexroth VAK 10.1/40.1 DOK-SUPPL*-VAK*40.1***-PRxx-EN-P R

9 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 3/91 General Information About Installation Documentation Type Material number Rexroth VAK 11/41 DOK-SUPPL*-VAK*11/41**-PRxx-EN-P R Rexroth RECO Inline, PROFIBUS-DP DOK-CONTRL-R-IL*PBSSYS-AWxx-EN-P R Rexroth RECO Inline, PROFIBUS-DP Terminal and Module Power Supply Rexroth RECO Inline, Digital Input/Output Terminals DOK-CONTRL-R-IL*PB*-BK-FKxx-EN-P DOK-CONTRL-R-IL*DIO***-FKxx-EN-P R R Rexroth Fieldline, PROFIBUS Devices DOK-CONTRL-RF-FLS-PB**-PRxx-EN-P R Fig.1-3: Documentation references Third-party PCs Hardware requirements for Rexroth IndraMotion MTX The following hardware requirements apply for the utilization of Rexroth IndraMotion MTX on third-party PCs: IBM-compatible PC, at least Pentium III CPU clock frequency 933 MHz 512 MB RAM Graphic resolution 800x600 pixel Color intensity 16 bit Hardware requirements for Rexroth IndraWorks Simulation The following hardware requirements apply for the simulation in Rexroth IndraWorks on third-party PCs: IBM-compatible PC CPU clock frequency 966 MHz 512 MB RAM Graphic resolution 800x600 pixel Color intensity 16 bit Software requirements Software requirements for Rexroth IndraMotion MTX Microsoft Windows XP Professional with ServicePack 2 is required for the operation of Rexroth IndraMotion MTX. Software requirements for Rexroth IndraWorks Simulation The Rexroth IndraWorks simulation requires the following software requirements: Microsoft Windows XP Professional with ServicePack 2 Microsoft Windows 2000 with ServicePack 4 (is not supported from all components) Microsoft Windows Server 2003 (is not supported from all components)

10 4/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions General Information About Installation 1.3 Before You Start Installing the User Interface If you have ordered a completely configured operator terminal with control modules, the user interface and the related firmware are already installed when the unit is delivered. For user access, the following values are preset (depending on the operating system): Windows XP access: User name: Rexroth Password: Rexroth User interface: User name: Admin Password: Admin 1.4 Using Virus Scanners The preinstalled operator terminal requires the following chapters only for updating the software. The user interface must be installed according to the following description if you use the operator terminal or a third-party PC with external control hardware or if you want to use the IndraControl P40/P60 control module on a third-party PC. During the Rexroth IndraMotion MTX system installation, Java scripts are used for special tasks (embedded setups such as.net Framework ServicePatch, IndraLogic, WinStudio). These are executed by MsiExex.exe. Some virus scanners, such as Norton Antivirus, see this as possible virus activity and issue a corresponding message. If such a message appears, it can be ignored.

11 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 5/91 Important Instructions for Use 2 Important Instructions for Use 2.1 Appropriate Use Introduction Areas of Use and Application Bosch Rexroth products represent state-of-the-art developments and manufacturing. They are tested prior to delivery to ensure operating safety and reliability. 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 of personnel. Bosch 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 forefeited. The user alone carries all responsibility of the risks. Before using Bosch Rexroth products, make sure that all the pre-requisites for appropriate use of the products are satisfied: Personnel that in a 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 the original state, in other words, no structural changes are permitted. It its 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 Rexroth IndraMotion MTX control is used to Programming contour and machining technology (feedrate, spindle speed, tool change) or a workpiece. Guiding a machining tool along a programmed bath. Feed drives, spindles and auxiliary axes of a machine tool are activated via SERCOS interface. This additionally requires I/O components for the integrated PLC which, in combination with the actual CNC, controls the machining process as a whole and also monitors this process with regard to technical safety. The unit may be operated only with the explicitly specified hardware component configurations and combinations and only with the software and firmware specified in the appropriate documentations and functional descriptions. The Rexroth IndraMotion MTX has been developed for control tasks in multiaxis installations. Typical applications are: lathes milling machines

12 6/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Important Instructions for Use 2.2 Inappropriate Use machining centers Using the Rexroth IndraMotion MTX 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". The Rexroth IndraMotion MTX 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 extreme maximum temperatures or if Bosch Rexroth has not specifically released Rexroth IndraMotion MTX for that intended purpose. Please note the specifications outlined in the general safety instructions!

13 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 7/91 Safety Instructions for Electric Drives 3 Safety Instructions for Electric Drives 3.1 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.

14 8/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions 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:

15 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 9/91 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.3-1: Hazard classification (according to ANSI Z 535) Hazards by Improper Use 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!

16 10/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Safety Instructions for Electric Drives CAUTION Risk of injury by improper handling of batteries! Observe the safety instructions! 3.2 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 volts. 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 units 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 electrical power installations. Before switching on the device, the equipment grounding conductor must have been permanently 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. For 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 electrical 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. 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.

17 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 11/91 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 These errors 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

18 12/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions 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/or 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.

19 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 13/91 Safety Instructions for Electric Drives DANGER Dangerous movements! Danger to life, risk of injury, severe bodily harm or material damage! For the above reasons, ensure personal safety by means of qualified and tested higher-level monitoring devices or measures integrated in the installation. They 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 commissioning. Do not operate the device if the emergency stop switch 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 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 commissioning. If necessary, perform a special electromagnetic compatibility (EMC) test on the installation.

20 14/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions 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.

21 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 15/91 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. Use suitable devices for mounting and transport. Avoid jamming and bruising by appropriate measures. Always use suitable tools. Use special tools if specified. Use 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.

22 16/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions 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. Use 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.

23 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 17/91 Carrying Out Setup 4 Carrying Out Setup 4.1 Administrator Privileges General Access Data Administrator privileges are necessary for making operating system settings and for installing the user interface. Preinstalled operator panels supplied by the manufacturer have the following access data: Windows XP: User name: Rexroth Password: Rexroth Log on as Administrator Log in as administrator: Windows XP: User name: Administrator Password: - (none) 4.2 Initial Installation of Rexroth IndraWorks CD-ROM General Local CD-ROM Drive Internal CD-ROM drive External CD-ROM drive Rexroth IndraWorks software is supplied only on CD-ROM. For that reason, a CD-ROM drive or network connection must be available for setup. Certain Rexroth industrial PCs (e.g. those in a switch cabinet) include a CD- ROM drive. To execute Setup, a portable CD-ROM drive can be connected to the USB port of the industrial PC.

24 18/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Carrying Out Setup CD-ROM drive in a network Fig.4-1: Locally connected CD-ROM drive If the industrial PC is connected to a network, the CD-ROM drive of any PC incorporated in the network can be used for setup (see "Network settings" chapter). 1. Install the Microsoft network. 2. Enable the CD-ROM drive of the connected PC. Fig.4-2: Installation from Hard Disk CD-ROM drive in a network If it is necessary to copy the data carrier (CD1, CD2) to the hard disk and then to install from there, the following must be observed: 1. Create a directory on the hard disk with the name: CD1 2. On this level create another directory with the name: CD2 IMPORTANT: The directory names must be named CD1 and CD2! 3. Copy the content of the first CD into directory CD1 4. Copy the content of the second CD into directory CD2 5. Start SETUP.EXE from the directory CD1 from the hard disk The installation runs automatically without demanding a CD change.

25 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 19/91 Carrying Out Setup Installing Rexroth IndraWorks In this description, we assume that you use CD-ROM drive "E" for setup. 1. Insert the CD into the CD-ROM drive. 2. Click Execute in the Start menu. 3. Type the letter for the drive together with ":\SETUP.EXE". When you install your system from a CD-ROM, enter, for instance, "E: \SETUP.EXE". Fig.4-3: Windows XP Run dialog box 4. Then click OK or confirm with <<Enter>> 5. Select the language for the setup program. Fig.4-4: Language selection The setup program is loaded. 6. A message appears if release notes exist for the current version. If you select "Display Release Notes", the corresponding PDF document opens after you press Next >.

26 20/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Carrying Out Setup Fig.4-5: Message about release notes 7. Exit Acrobat Reader after reading the release notes and heed the remaining setup instructions. 8. Accept the conditions of the license agreement. Fig.4-6: License agreement 9. Confirm by pressing Next >until the "Customer Information" dialog box is displayed.

27 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 21/91 Carrying Out Setup Fig.4-7: Customer information 10. Enter the name and company of the rightful user and press Next >; this brings you to the selection of the desired setup directory (target folder). 11. In the dialog box, select the drive and the destination folder where the user interface is to be installed. The hard disk of a standard VPP has two partitions (C: NTFS file system, D: FAT32 file system). The interface must be installed on drive C. Fig.4-8: Selecting the type of installation

28 22/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Carrying Out Setup By pressing the Next > button, you reach the Installation type dialog. 12. Select Advanced if you would like to select single components. Fig.4-9: Select installation type 13. Please select the component which should be installed. Fig.4-10: Press Next >.

29 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 23/91 Carrying Out Setup 14. Input dialog box for the MTX target name. mtxctrl is offered as the default entry. The MTX target name can have max. 7 characters. Pressing Next > brings you to the IP input dialog box. Fig.4-11: Entering the target name 15. Enter the IP address for the control card. Default: Pressing Next > brings you to the Start dialog box for the actual installation procedure. Fig.4-12: IP address of IndraControl P40/P Start the installation procedure by pressing Install

30 24/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Carrying Out Setup Fig.4-13: Starting the installation procedure The installation procedure now starts. The progress of installation is displayed in a progress bar. Fig.4-14: Progress of the installation procedure 17. During installation, you are asked to change the CD. 18. When requested, complete the setup by clicking Finish. After completion of the copying process, you will be prompted to restart Windows.

31 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 25/91 Carrying Out Setup Fig.4-15: End of the installation procedure You must restart Windows and/or your computer before you can use the program. After startup, the system files are updated and registrations, if required, are executed. This completes the setup Installation of System Variant IndraControl L40 (Emulation) Rexroth IndraMotion MTX is installed as emulation in connection with IndraControl L40. The installation is executed as described previously. The only difference is that the dialog boxes for entering the target name and the IP addresses do not appear. 4.3 Further Steps Before Commissioning an MTX Control Firewall Settings Windows firewall NFS Server and TeleBugger The service Windows Firewall/ common utilization of internet connection must not be exited! Otherwise the MTX emulation crashes without an error message after booting the PC. Firewall settings must be made before commissioning. To permit the mounting of directories on third-party computers and to allow remote debugging if errors occur, exceptions must be set for these programs. These programs are bnfsser.exe and TeleBug.exe in directory...\rexroth\indraworks\mtx\bin. The exceptions are set as follows:

32 26/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Carrying Out Setup 1. In the Start menu, open Start Settings Control Panels Windows Firewall. 2. Activate tab Exceptions and click Program Click Browse and switch to directory...\rexroth\indraworks\mtx \bin. Fig.4-16: Setting bnfsser.exe as an exception 4. Select file bnfsser.exe and open it. 5. Confirm the dialog box by pressing OK. This transfers the file to the list of exceptions. 6. Use the same procedure for file TeleBug.exe. This removes these programs from the firewall. IndraControl P40/IndraControl P60 Control card IndraControl P40/P60 must be taken from the firewall manually.

33 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 27/91 Carrying Out Setup 1. In the Start menu, open Start Settings Control Panels Windows Firewall. 2. Select tab "Advanced". Fig.4-17: Update Network Driver Advanced firewall settings 3. Deactivate entry LAN connection 2 by removing the checkmark. 4. Accept the settings by pressing OK. This removes the IndraControl P40/P69 from the firewall. The network driver for IndraControl P40/P60 establishes communication between the CPM60 control card and the IPC. The driver for IndraControl P40/ P60 is installed as follows: Open the Windows "Device manager" via "Start Settings Control Panel System, tab "Hardware". The new hardware Network adapter" which was detected by Windows should be marked with a yellow exclamation mark in the Device Manager. Click the right mouse button on the network adapter and select menu "Update driver...". The "Hardware update wizard" opens.

34 28/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Carrying Out Setup Firmware Download 4.4 Parallel Installation Select the option "Install software from a list or certain source" in the hardware update wizard and press Continue. Then select the option "Find a corresponding driver in this source" in the "Search and installation options" and enter path "LW\Program Files \Rexroth\IndraWorks\MTX\drivers" in "Find also in following sources". Exit the dialog box with "Next". The driver is now installed; after installation, it is entered under Network adapters as "PCC-P Numerical Controller". The control absolutely must be restarted after installation of the network driver. Afterwards, the IP address for the network adapter must be entered. See sections "Network Settings" and "IP Addresses". If the control was started for the first time after installation of control hardware IndraControl P40/P60, the assistant New hardware found is opened automatically (same procedure as described above!). After updating the IndraMotion MTX, the network driver should be updated. It is necessary to check if downloading firmware is necessary. The firmware version already installed must be compared with the version to load and, if necessary, the new firmware must be loaded. You can view the currently installed firmware version in the menu of the CMP 60 control under? - Firmware Version. Firmware Download is executed with the CMP 60 control. The control can be opened via Start Program Files Rexroth CMP60 CMP60 Control. Firmware Download can be executed with the menu bar via command Commands - Download. Alternatively, the icon for Firmware Download (topmost icon line, at the extreme left) can be used to call the Download Manager. Select the entry Monitor - Bootloader in the Firmware Download dialog box. The password is Software. Then exit the dialog with OK. Select the entry Firmware in the Firmware Download dialog box. Then exit the dialog box by clicking YES. After a successful download, execute a reset. After the software reset has been triggered, the CMP control starts up and stops at a "red zero". It is possible to install several different versions of the Rexroth IndraWorks software. Proceed as follows if you want to install a version in addition to one you already have. 1. Start installation as described under chapter "Installing Rexroth IndraWorks" on page 19. After the language is selected, a selection dialog box appears.

35 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 29/91 Carrying Out Setup Fig.4-18: Setting the installation type 2. Select New installation and close the dialog box by pressing Next >. This starts the installation. The remaining installation steps are the same as for a new installation. 4.5 Uninstallationof Rexroth IndraWorks Uninstallation using operating system Rexroth IndraWorks is uninstalled using the operating system (call: Start menu - Control Panel - Software). Select IndraWorks as the program to be uninstalled. The Rexroth IndraWorks installation CDs are not required for this. After uninstallation, you are asked whether ALL the data within the Installation folder are to be moved to the trash. CAUTION Loss of user data! Make sure that you save the user data before uninstalling the software if you want to keep them. Fig.4-19: End of the uninstallation procedure After completion of the uninstallation process, you will be prompted to restart Windows.

36 30/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Carrying Out Setup In order to update the system files, restart Windows and/or your computer. Uninstallation with parallel installations After startup, the system files are updated. This completes the uninstallation process. If several software versions have been installed, uninstallation can also be carried out via Setup. After Setup is started (see chapter "Installing Rexroth IndraWorks" on page 19), a selection dialog box appears. Fig.4-20: Selection dialog box - removing an installation 1. From the list, select the version that you want to remove. 2. Activate the selection Remove an installation. 3. Press Next > to continue with uninstallation.

37 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 31/91 Data Archival/Backup 5 Data Archival/Backup 5.1 Archiving the IndraWorks Project Archiving the IndraWorks project also includes the archiving of NC data. Start archiving in IndraWorks in Project - Archiving. Select the project to archive (normally the last active project) and press "Continue". Determine the name and path of the archive and press "Continue". Check the details and continue with "Finish" if all settings are correct. MTX archiving is now started. Acknowledge the welcome dialog box with "Continue". Select the portions to be archived and confirm with "Continue". If archive part "Remanent data of PLC" is selected, the PLC should be stopped using the CMP60 control before starting archiving. "Software" is the password to stop the PLC by pressing the "PLC" button. Confirm the information by pressing "Finish". Now the MTX archive is created. Exit the dialog box "Create MTX archive - summary" with "Close". Now the project archive is created. After successful archiving, a dialog box with a summary is displayed. Note: The project path of the archived IndraWorks project, as well as the name and path of the archive, should be noted! This information is necessary for subsequent restoring. 5.2 Archiving of Data that are Not Project-Specific These data are PLC data as well as GSD files and PLC libraries if they are not saved project-specifically but target-specifically. Special GSD files go to folder "C:\Program Files\Rexroth\IndraWorks\ IndraLogic\Targets\<target name>\userconfig" Special PLC libraries go to folder "C:\Program Files\Rexroth\ IndraWorks \IndraLogic\Targets\<target name>\lib" or "C:\Program Files\ Rexroth \IndraWorks\IndraLogic\Targets\Config".

38 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions

39 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 33/91 Executing a Software Update of IndraWorks 6 Executing a Software Update of IndraWorks 6.1 Executing an Update of IndraWorks CAUTION Loss of user data! Save the user data before a software update. In this description, we assume that you use CD-ROM drive "E" for installing the update. Then click OK and confirm with <Enter>>. 1. Insert the CD into the CD-ROM drive. 2. Click Execute in the Start menu. 3. Type the letter for the drive together with ":\SETUP.EXE". When you install your system from a CD-ROM, enter, for instance, "E: \SETUP.EXE". Fig.6-1: Windows XP Run dialog box 4. Then click OK and confirm with <Enter>>. 5. Select the language for the setup program. Fig.6-2: Language selection The installation program is loaded; a selection box with the list of existing installations appears.

40 34/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Executing a Software Update of IndraWorks Fig.6-3: Selection dialog box 6. From the list, select the version that you want to update. Activate the selection Update an installation. Exit the dialog box by pressing Next >. 7. A note indicating that an earlier version of IndraWorks was found appears. Fig.6-4: Message indicating IndraWorks update If you answer the query with Yes, the Info screen for executing the update appears. 8. The remaining procedure is the same as for an initial installation. Please follow the instructions on the screen.

41 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 35/91 Executing a Software Update of IndraWorks Fig.6-5: Info screen for updating IndraWorks 9. When requested, complete the setup by clicking Finish. After completion of the update process, you will be prompted to restart Windows. Fig.6-6: End of the update procedure You must restart Windows and/or your computer before you can use the program. After startup, the system files are updated and registrations, if required, are executed.

42 36/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Executing a Software Update of IndraWorks This completes the setup.

43 Installation Instructions Rexroth IndraMotion MTX Electric Drives 7 Restoring Data 7.1 Restoring Data That Are Not Project-Specific 7.2 Restoring the IndraWorks Project These data are PLC data as well as GSD files and PLC libraries if they are not saved project-specifically but target-specifically. Copy these special GSD files from the backup folder to folder C:\Program Files\Rexroth\IndraWorks\IndraLogic\Targets\<target name>\userconfig. Copy these special PLC libraries from the backup folder to folder C:\Program Files\Rexroth\IndraWorks\IndraLogic\Targets\<target name>\lib. Start IndraWorks Engineering. Execute in IndraWorks in Project - Restore. Select the project to restore and press Continue. Determine the destination directory and press Continue. The destination directory for the IndraWorks project must correspond with the source directory of the archive. The project paths must be identical before archiving and after restoration. See chapter 5 "Data Archival/Backup" on page 31. Check details and continue with Finish if all settings are correct. Project restoring is now started. After successful restoring, a dialog with a summary is displayed. Confirm this dialog box with Close. Open the restored project immediately with IndraWorks. In the IW project, start Motion Restore... MTX archive restoring is now started. Confirm the welcome dialog with Continue. Select the MTX archive to restore - only the archive part User FE PROM - and confirm with Continue. Confirm the entries with Finish. Now the MTX archive is restored. Exit the Restore MTX archive - summary dialog box with Close. In the IW project, activate Motion NC restart. Start CMP60 Control after a complete restart. Switch to Start up mode 66 and trigger a SoftReset (SR). Switch to Start up mode 0 and stop the PLC via the PLC button. The password to stop the PLC is Software. Exit the CMP60 Control. In the IW project, start Motion Restore... MTX archive restoring is now started. Confirm the welcome dialog with Continue. Bosch Rexroth AG 37/91 Restoring Data

44 38/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Restoring Data Select the MTX archive to restore and all the archive parts except the User FEPROM and confirm with Continue. Confirm the entries with Finish. Now the MTX archive is restored. Exit the Restore MTX archive summary dialog box by pressing Close. In the IW project, activate Motion NC restart. Trigger a download in the IW project under HMI BTV xxxx. Acknowledge the confirmation message by pressing OK. Start IndraLogic in the IW project under Logic. Load the PLC program into the control in IndraLogic.

45 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 39/91 IndraControl P60/P40 8 IndraControl P60/P General Introduction The MTX Control tool is a commissioning and diagnostic program for PC-based IndraMotion MTX CNC controls. It is used to configure, control and monitor the IndraControl P60/P40 CNC module. MTX Control is installed on the user panel as a Windows service; it starts automatically when the PC is switched on. When MTX Control is active, the following symbol appears in the task bar: Overview General Fig.8-1: "MTX Control" symbol MTX Control monitors the status of the control and displays basic status information. MTX Control is opened by: double-clicking the MTX Control symbol in the task bar, or opening the contextual menu by clicking the right mouse button and then choosing menu item View View. After MTX Control is opened, the MTX Control window is displayed as shown below. Display of the startup phase Fig.8-2: Start window The most important operating and display elements are described in the following: In normal operation (Ready), the display RUN appears on a green background. While the MTX is starting up, the individual phases that the control goes through, and thus the progress of the control startup, are displayed (see sect.chapter "Startup" on page 44).

46 40/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 General status information Status line Certain basic status information is summarized in a table and is indicated by green, red or gray LEDs: MTX Control error In the case of serious errors due to incorrect installation or to a hardware defect, an error code, incl. plain text, is issued. TCP/IP A green LED shows the faultless functioning of TCP/IP. TCP/IP communication problems are indicated by a red LED. Field bus A green LED indicates that the field bus is working properly. Field bus problems are indicated by a red LED. UPS A green LED indicates that the UPS is working properly. A red LED indicates an error. If a UPS does not exist, a gray LED is shown. Backup battery A green LED indicates that the backup battery has the correct status. If the backup battery is discharged or if a backup battery does not exist, a red LED is shown. The following information is displayed in the status bar: IP address The IP address entered in the Windows network configuration is shown. Changes to this address can be made in the Windows control panel. If you want to change the default settings generated during installation, it is recommended that the network administrator carry this out. Working mode Monitor program stuck or does not exist monitor running download active software downloaded software started Monitor program running Firmware download running Firmware download complete Normal operation Tool bars Fig.8-3: Working mode User level 2 (Service/Development) is required to access the functions of the first tool bar. The functions can be accessed by clicking the mouse or by pressing key combination Shift + F1 to Shift + F5. In some functions, the symbol changes according to the switch state.

47 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 41/91 IndraControl P60/P40 Fig.8-4: Firmware Download (see also chapter "Firmware Download" on page 51) Reprogram the firmware. This is done, for example, to update to a newer firmware version. MTX Shutdown The MTX is shut down in a controlled manner. Then the internal data are backed up (option). The data are backed up by creating the two files MtxpRoot.pxf and MtxpSram.dat in the Home directory of the MTX. Hardware Reset Triggers a hardware reset, which is followed by a startup of the MTX. Backup mode ON (default) After the control is shut down, a data backup is executed. Backup mode OFF Data backup is switched off. If it is determined during the shutdown that the permitted battery voltage is too low, the data are backed up even if this is OFF. UPS mode automatic (default) MTX control executes an automatic recognition of the UPS. If a UPS exists, UPS mode is activated; otherwise, UPS mode is deactivated. Bosch Rexroth UPSs are detected automatically. UPS mode ON If a third-party UPS that cannot be detected automatically is used, UPS mode can be switched on manually. UPS mode OFF Startup mode (see also chapter "Startup mode" on page 45) Functions of the first tool bar The functions of the second tool bar can be accessed mainly in user level 1 or 2 (MTB or Development/Service). The functions can be accessed by clicking the mouse or by pressing function keys F1 to F12. In some functions, the symbol changes according to the switch state. Call online help Detailed display of the MTX firmware version Software reset followed by startup Read archive (see chapter "Archive Function" on page 50) Create archive (see chapter "Archive Function" on page 50) Incorporate (mount) external file systems (see section chapter "Incorporating File Systems (Mount)" on page 53)

48 42/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 Configuration of Ethernet interface (see chapter "Ethernet Interface" on page 56) Exiting of MTX Control However, the control continues to run. This function should not be used because, if MTX Control is inactive when the user panel is shut down, a shutdown of the MTX is not triggered and the data are not backed up. Remote debugger is activated (green) Remote debugger is exited (red) PLC is started (green) PLC is stopped (red) PLC outputs are disabled PLC outputs are enabled PLC fixing is cancelled (green) PLC is fixed (red) Main Menu Main Menu Fig.8-5: Functions of the second tool bar All the functions that are provided by the two tool bars can also be accessed from the main menu. In addition, the main menu provides a few additional commands. The commands of the main menu, with brief descriptions, can be found in section chapter "Main Menu" on page 42. The MTX Control main menu contains all the functions that are provided by the tool bars, as well as a few additional functions that are required only in exceptional cases. The following table shows the menu structure and explanations for the individual functions:

49 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 43/91 IndraControl P60/P40 Menu entry Commands Submenu Firmware Download Shutdown Hardware Reset Load boot parameters Cleanup Memory Cleanup SRAM Cleanup FE PROM Software Reset Explanation see chapter "Firmware Download" on page 51 Proper shutdown of the MTX followed by data backup. Triggers a hardware reset, which is followed by a startup of the MTX. see chapter "Boot Parameters" on page 57 Deletes the DRAM with the exception of the monitor and boot loader memory areas. This function is required only in exceptional cases in Development. Deletes the SRAM (root file system, permanent CPL variables, residual PLC data, residual system data). This function is required only in exceptional cases. Deletes the FEPROM (firmware, FEPROM file system). This function is required only in exceptional cases. Triggers a software reset, which is followed by a startup of the MTX. Archive restore see chapter "Archive Function" on page 50 Archive create see chapter "Archive Function" on page 50 Mount Integrating the external file systems (see chapter "Incorporating File Systems (Mount)" on page 53) Ethernet configuration Password Toolbars Tools PLC Run/Stop Clear Force Output Enable/ Disable Show System Errors Set Level 0 Change Developer toolbar MTB toolbar Remote Debugger Configuration of Ethernet interface (see chapter "Ethernet Interface" on page 56) Start and stop the PLC Delete PLC fix Enable or disable PLC outputs Display critical system errors Reset to user level 0 (see chapter "User Level" on page 58) Modification of password (see chapter "User Level" on page 58) Show/hide the tool bar for Service/Development Show/hide the MTB tool bar Activate and exit the remote debugger Window Hide Window Close MTX Control Foreground Default size Move the MTX Control window to the foreground or the background Reset to default window size

50 44/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 Menu entry Submenu Explanation? Info about MTX Control Firmware Version Software Options Hardware Info Online Help Display the software version of the MTX Control Detailed display of the firmware version Display the applied software options Hardware information (PCB number, version, serial number) Call online help Startup Fig.8-6: Menu structure in main menu The MTX starts up if the user panel is switched on or if a software or hardware reset is activated. The startup occurs synchronized in 12 phases that are displayed in the MTX Control: P: -3 Determines the existing hardware P: -2 RTOS startup, configure file systems P: -1 Start RTOS monitor P: 1 Initialize basic NCS communication P: 2 Initialize TCP/IP P: 3 Initialize BAPAS database P: 4 SERCOS initialization P: 5 Start NCB-TCP server P: 6 Start SERCOS startup P: 7 Mount the NFS file systems P: 8 Synchronization with SERCOS P: 9 Enable NCB-TCP server (communication with user interface) RUN Normal operation Fig.8-7: Display of startup phases The display differs as follows in the case of critical system errors, boot panic errors and an active shutdown of the MTX: SF BP SD A critical system fault has occurred A boot panic error has occurred Shutdown active Fig.8-8: Error status display If the monitor is active, the monitor status is displayed: M: A Ethernet active M: 8 Ethernet inactive M: L Loading active

51 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 45/91 IndraControl P60/P40 M: d Deletion active M: NMI The monitor is in an NMI routine (error or power down) M: E Internal error in monitor M: H Hardware unknown Startup mode Fig.8-9: Display of active monitor The startup mode determines the behavior of the MTX during startup. A change to the startup mode becomes effective only during the next startup. Startup mode Meaning 0 Normal operation All existing data and file systems are retained. The root file system is checked during startup. If a defective file system is detected, a critical system error is displayed. A new (empty) root file system is automatically created during the next startup. 1 PLC stop The behavior corresponds to startup mode 0 with the difference that the PLC remains in the STOP state and the PLC user program is not processed. 2 Reloading the PLC boot project The PLC boot project is loaded to the user FEPROM. Any PLC boot project that exists in the root file system is discarded. Otherwise, the behavior corresponds to startup mode 0. 3 Protected startup In extreme cases, faulty machine parameter settings can make it impossible to start up a control. Startup mode 3 is used to carry out a startup in this situation, regardless of the set machine parameters. A startup with the minimum configuration occurs and the set machine parameters are ignored. After the startup, the invalid machine parameter settings can be corrected and a new startup with startup mode 0 can be carried out. 4 Deleting the permanent CPL variables The permanent CPL variables will be deleted; otherwise the behavior corresponds to startup mode 0. 5 Cold start The power-up management logic is not run; otherwise, the behavior corresponds to startup mode 0. 6 Bootstrap A new root file system is created; as a result, all the data of the old file system are lost. If an intact user FEPROM file system exists, the PLC boot project and configuration data are loaded from there. 7 Creation of the user FEPROM file system The user FEPROM is created; as a result, all the data of the old file system are lost. This is required, for example, if a user FEPROM file system is defective. The root file system remains. The permanent CPL variables will be deleted.

52 46/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 Startup mode Meaning 8 Identical to startup mode 9 9 Debug mode This is the usual debugging mode if the control should not automatically start up after a reset. After the basic monitor is initialized, the boot loader is activated and the subsystems are loaded automatically. 10 Debug mode (without automatic loading) After the basic monitor is initialized, the boot loader is activated. Then loading can take place using TCP/IP. 11 Debug mode (without activating the boot loader) The basic monitor is initialized. Then loading can take place using TCP/ IP. 12 Identical to startup mode Identical to startup mode Identical to startup mode Debug mode (basic monitor start) Only the basic monitor is activated Data backup Fig.8-10: Startup mode CNC module IndraControl P60/P40 has a non-volatile memory: the flash EPROM memory is permanent; no buffering is required. During the firmware download, the firmware and the FEPROM file system are copied to the flash EPROM. These areas change only during a firmware download; on the other hand, the user FEPROM is designed to be used to store configuration data it can be changed at any time. The SRAM is designed for user data. Residual PLC data, permanent CPL variables and residual system data are stored here. Furthermore, the root file system is located in the SRAM. It contains parts programs and tables as well as any other user data. Since the SRAM is battery-buffered, the data are retained even after the system is switched off. As an additional safety feature, the data in the SRAM are backed up when the MTX is shut down:

53 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 47/91 IndraControl P60/P40 Fig.8-11: Data backup File mtxproot.pxf contains the entire root file system. File mtxpsram.dat contains residual PLC data, permanent CPL variables and residual system data. Backing up the data in the SRAM can be suppressed by switching off backup mode (see section chapter "Tool bars" on page 40). The consistency of the data in the SRAM is checked when the system is switched back on. The accuracy of the consistency check depends on the existence of a UPS. Normally, UPS mode Automatic (see chapter "Tool bars" on page 40) is active, i.e. the USV is detected automatically. If a UPS exists, a checksum is generated for the data areas in the SRAM when shutting down. If a UPS does not exist, a checksum is not calculated when shutting down. As a result, a checksum is not checked during the next startup; instead, only a simple consistency check is carried out. If there is no error, the MTX starts up normally. If there is an error, startup does not occur; instead, the user is informed of the error situation:

54 48/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 Fig.8-12: Error situation The backup files that were created last are indicated as follows:? File exists and contains no errors. --- File does not exist. HW File has a checksum error. Hardware incompatibility Can occur after hardware replacement. Fig.8-13: Indication of backup files The interrupted startup can be continued with one of the following options. The password for the user level is required for this: Clean startup: control startup without using the existing backup files. Startup with the last saved data files: control startup with the existing backup files (if these contain no errors). No startup No startup occurs; the monitor is activated.

55 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 49/91 IndraControl P60/P40 If the HELP button is pressed, a note with the following explanations is issued: Fig.8-14: Help dialog box After the desired start options have been selected and the START button is pressed, another message box is displayed: Fig.8-15: Message box

56 50/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 The startup is carried out by pressing the Continue button. WARNING Regardless of the selected start option, check the MTX data after a successful startup. Invalid or expired data can cause personal injury or material damage to the machine, the drives or the workpiece. As a result, it is absolutely required that parts programs, ZO tables, correction tables, tool tables, as well as permanent CPL variables, residual PLC data and system files be checked! Archive Function The archive function allows you to save the MTX user data and to restore them at a later point in time. The archived data are saved to a mounted directory in the form of an archive. If needed, the archive can be read to restore all the data. An archive is generated using the menu Commands/Archive create or directly using symbol. An archive is read to restore data using the menu Commands/Archive restore or using symbol. Parts programs and the PLC must be stopped before an archive can be generated or restored. The data can be archived/restored either wholly or selectively. The data areas are selected in the subsequent window: Fig.8-16: Data area selection User - FEPROM All the files that are stored in the user FEPROM RAM - Filesystem All the files that are stored in the root file system Machine parameters MTX machine parameters Tool Tables MTX tool tables Permanent CPL-Variables Permanent CPL variables Remanent PLC data Remanent data of PLC

57 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 51/91 IndraControl P60/P Firmware Download System data MTX system data After pressing the OK button or the Enter key, another dialog box opens in which the name and path of the archive (extension =.tar) is entered. The archive is saved to a mounted directory. The dialog box is closed if the Cancel button or the Esc key is pressed. Pressing OK starts the archiving procedure, which can take a few minutes. Any errors that occur are recorded in a log file, which is automatically displayed when archiving is complete. Firmware Download is used to update the MTX firmware. This is necessary, for example, after you have updated the MTX software on your user panel. The firmware is transferred from the hard disk to the MTX and is saved to the flash EPROM. Downloading is started using the menu (Commands/Firmware Download) or directly using symbol. The user data should be archived before executing Firmware Download. See section chapter "Archive Function" on page 50 to find out how to generate an archive. All parts programs must be stopped before executing Firmware Download. The PLC must also be brought into the Stop state. The following message explicitly notifies the user that the MTX will be stopped before Firmware Download: Fig.8-17: Alert message After the note has been acknowledged by pressing the YES button, the components that are to be loaded are selected. Normally, only the first component, i.e. only the firmware, needs to be selected.

58 52/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 Fig.8-18: Selection window The selection is also completed by pressing the OK button; the actual loading procedure starts then. The following display appears during the loading procedure: Fig.8-19: Loading process After a successful loading procedure, the MTX must be restarted using Hardware Reset. If errors occur during Firmware Download, they are logged in file mtxcontrol.tlg. The portion of the file that informs the user of errors that have occurred appears as follows.

59 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 53/91 IndraControl P60/P40 Fig.8-20: Error message Incorporating File Systems (Mount) General In addition to the internal root file system, the MTX offers the possibility of incorporating external file systems using NFS. NFS (Network File System) is a standard used to distribute file system resources in the network. An NFS server provides one or more file systems in the network (exporting) that can be mounted (importing) by NFS clients. It is possible to mount any directory onto the hard disk of the local user panel or a USB memory stick, a disk drive or a CD/DVD drive on the USB port of the user panel in the internal directory tree of the MTX. On the other hand, directories on external PCs (e.g. a file server) that are connected via the network to the local user panel can be incorporated. If a standard installation has been made, directory c:\mnt is mounted and the control is attached in the file system under mount point /mnt. Further file systems are incorporated using the menu Commands/Mount or directly using symbol : Fig.8-21: Mount dialog window The left side of the dialog box that then opens contains a list of the currently incorporated directories (MOUNT LIST). The right side (MOUNT PATH) shows the file system of the local PC. Additional directories that are also to be incorporated can be selected by navigating in this area.

60 54/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 Using the dialog box Arrow Keys Navigation in both areas Double-click right mouse button In the MOUNT PATH area The selected path is adopted in the list of incorporated directories. The list can contain up to 10 entries. If an existing entry is highlighted before the transfer, it is overwritten by the new path. In the MOUNT LIST area Ctrl+S The selected entry is removed from the list. The same as double-clicking the right mouse button in the MOUNT PATH area. Function Key F2 The properties of the entry highlighted in the list of incorporated directories can be modified. When changing the name, ensure that this always starts with a "/" and that the name does not already exist in another entry. If an error occurs, a corresponding error message is issued. Other properties in addition to the name can be modified: r+ r- c+ c- The selected directory is incorporated in read-only format. The data can be read from the MTX, but they cannot be modified. The selected directory is incorporated in read and write format. Activates the cache for this directory Deactivates the cache for this directory Function Key F5 Updates the display Escape Key Exits the dialog box. All changes are discarded. Return Key Adopts the changes and closes the dialog box. Tab Key Switches between the MOUNT PATH and MOUNT LIST areas. Closes the Edit window for the name in table MOUNT LIST. After the dialog box is closed by pressing Enter, the entered data are saved as boot parameters, i.e. the changes are saved in the boot parameter file and transferred to the MTX. The boot parameters are evaluated only during the next startup of the MTX, i.e. you must execute a software or hardware reset to let the new settings go into effect.

61 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 55/91 IndraControl P60/P40 Incorporating directories on external PCs, such as a file server in the user panel network, can be accomplished only by manually modifying the boot parameter file. You can find more information in section chapter "Boot Parameters" on page Use the USB stick of the MTX as the mount directory General Configuration The root directory of a USB stick should be mounted. The MTX will name the directory USB. Mounting a subfolder on an USB stick is not recommended. This will lead to various errors in connection with a soft reset when the stick is not inserted. MTX Boot Parameter Fig.8-22: Root directory of a mounted USB stick 1. Adjust file...\indraworks\mtx\mtxctrl\pccpboot ini as follows. Program: #BPAR #STUPFILE NFSMOUNT :/C/mnt /mnt rw c+ NFSMOUNT :/e /USB rw c- #ESTUPFILE #NET IPADDR SNMASK GWADDR #ENET #EBPAR

62 56/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 Only one mount directory at a time can be cached internally with c+. All other mounts should be chached with c-. 1. Select menu item Load boot parameter in the MTX control. NFS Parameter Fig.8-23: Load boot parameter 1. Adjust file...\indraworks\mtx\bin\export.us as follows: Program: C:\mnt mtxctrl localhost E:\ mtxctrl localhost 1. Reload (right mouse button on symbol in the taskbar) Fig.8-24: Carry out a soft reset (SR) of the MTX. Reloading "export.us" Ethernet Interface Fig.8-25: Executing a soft reset CNC module IndraControl P60/P40 has an on-board Ethernet interface.

63 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 57/91 IndraControl P60/P40 The interface is configured using the menu (Commands/Ethernet Configuration or directly using symbol. The current settings are displayed in the following entry screen Boot Parameters Fig.8-26: Entry screen The displayed parameters IP address, Subnet screen and Standard gateway can be modified. The new values are adopted by pressing the OK button. The entered data are saved as boot parameters, i.e. the changes are saved in the boot parameter file and transferred to the MTX. The boot parameter will not be evaluated until the next startup of the MTX. A software or hardware reset must be executed so that the new settings can go into effect. If the entry screen is closed by pressing Cancel, all the changes are discarded and the parameters remain as they were. If the Ethernet interface is not configured, all parameters have a value of zero. The IndraControl P60/P40 is integrated as a network card into the Windows operating system. As a result, from a logic point of view, two interfaces exist. The first interface uses the PCI bus. This interface is used mainly for communication with the MTX interface and with the PLC programming system. It is configured in the Windows Control Panel. The second interface is the Ethernet interface on the IndraControl P60/P40 module (on-board), whose configuration is described here. The MTX boot parameters are located in file mtxpboot< PCP number >.ini in the home directory of the control. (The PCB number can be determined using the menu entry in the main menu also see chapter "Main Menu" on page 42.) In every software or hardware reset, the boot parameters are read from this file and copied to the SRAM. Then startup occurs with the current boot parameters. If the mount parameters or the Ethernet interface configuration is changed, the set values are saved to the boot parameter file and are copied to the SRAM. The boot parameter file contains information about the incorporated external file systems and the configuration parameters of the Ethernet interface.

64 58/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 #BPAR #STUPFILE NFSMOUNT :/c/mnt /mnt rw c+ #ESTUPFILE #NET IPADDR SNMASK GWADDR #ENET #EBPAR The section starting with #STUPFILE is used to input the mount parameters; it is completed with #ESTUPFILE. An entry with keyword NFSMOUNT exists for every incorporated file system. The listed parameters depend on the entries made during installation. The example above applies to the default installation. Another section is identified by #NET and #ENET. The Ethernet interface parameters are located in this section. To avoid the incorrect setting of parameters, the boot parameter file should not be modified manually. Modifications should be made only with the corresponding MTX Control dialog boxes (see section chapter "Incorporating File Systems (Mount)" on page 53 and chapter "Ethernet Interface" on page 56) User Level Numerous functions are password-protected to prevent access to unauthorized persons. MTX Control administrates three user levels: Level 0 (user): functions that every user may use. Level 1 (machine manufacturer): commands to control the MTX and the integrated PLC. Level 2 (service/developer): commands for specific stopping and starting of the MTX control (data loss possible). Higher user levels automatically also have access to all the functions of the subordinate user level. Changes to the user level always are in effect only until midnight. When the date changes, the user level is automatically reset to 0. An explicit reset can be carried out using the menu Password/Set level 0. If a function that is not permitted in the current user level is selected, a request for entering the password for the required user level appears. The following is an example for user level 2:

65 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 59/91 IndraControl P60/P40 Fig.8-27: Password entry After the correct password has been entered and confirmed by pressing Enter, the requested function is executed. The entry can be cancelled by pressing Esc; in this case, the requested function is not executed. The passwords defined by Bosch Rexroth can be changed at any time. This is accomplished using the menu Password/Change. Then the following entry screen is displayed: Fig.8-28: Change password Proceed as follows to change a password: Select box for password level (select the user level) The user level for which the password is to be changed is set here. Enter old password The password can be changed only by entering a valid password. Enter the current valid password here. Enter new password After the new password has been entered, it must be entered again in the same window for confirmation. The text above the entry field changes from Enter new password to Verify new password. If the entries agree, the password change goes into effect by pressing the OK button or Enter. If Esc or the Cancel button is pressed, changing the password can be cancelled at any time.

66 60/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P Contextual Menu Call Parameters If you click the right mouse button on the MTX Control symbol in the taskbar, the MTX Control contextual menu opens. It provides the following possibilities: View MTX Control is opened. You can find a description of the most important display and operating elements in section chapter "Overview" on page 39. Help Exit Call online help. Exit MTX Control. The control continues to run anyway. This function should not be used because, if MTX Control is inactive when the user panel is shut down, a shutdown of the MTX is not triggered and the data are not backed up. During installation, MTX Control is installed as a Windows service on the user panel. Starting MTX Control as a Windows application using the command line or using a link is thus not necessary. The following is provided for information purposes only. Call parameters generally begin with the character / or - (e.g. /install or - install). The individual parameters have the following meanings: install Installs MTX control as a Windows service. This occurs during installation. remove Uninstalls the Windows service MTX Control. This occurs, for example, during uninstallation of the MTX software. no service task view Starts MTX Control as an application. The MTX Control symbol is shown in the taskbar if MTX Control is active. Opens the MTX control window. target <IP address or target name> Shows the IP address or the name of the MTX with which MTX Control is connected. If this parameter is missing, a connection is made to the first MTX in the system. h or? Displays the list of parameters described here. 8.2 IP Address Overview Each basic PC device contains an IndraControl P60/P40 plug-in card with an internal network connection in a separate subnet an Ethernet connection.

67 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 61/91 IndraControl P60/P40 Example: Fig.8-29: Plug-in card in basic PC device Configuration of Communication Interface General Set IP address network adapter The data exchange between the basic PC device and the IndraControl P60/ P40 plug-in card takes place using TCP/IP. The IndraControl P60/P40 plug-in card and the network adapter are treated as an internal subnet with fixed IP addresses. During configuration, the IndraControl P60/P40 plug-in card is assigned a fixed IP address which makes it possible for the basic PC device to communicate with this card. In addition, a default setting is assigned to the symbolic name for the IndraControl P60/P40 plug-in card. Check and make note of the settings if changes are to be made to the current IP addresses. All following settings correspond to the Setup defaults. Proceed as follows to check or adjust TCP/IP settings for the network adapter of the IndraControl P60/P40 plug-in card: 1. Select the Windows XP menu: Start Settings Network Connections.

68 62/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 2. Choose LAN connection PCC-P Numerical Controller. 3. Choose File Properties. 4. Choose TCP/IP Internet protocol. 5. Press the Properties button. 6. Check the settings for the IP address and the subnet screen: The IP address is: The subnet screen is: Fig.8-30: IP Addresses Set IP address of IndraControl P60/P40 plug-in card If the IP addresses mentioned above differ from the defaults in the standard installation, take note of the current IP addresses for the next software update so that you can adapt your control to the local network. The IndraControl P60/P40 plug-in card is known as PCC-P Numerical Controller in the system. Proceed as follows to check or adjust the IP addresses for the IndraControl P60/P40 plug-in card: 1. Select the Windows XP menu: Start Settings Network Connections. 1. Choose LAN connection PCC-P Numerical Controller. 2. Choose File Properties.

69 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 63/91 IndraControl P60/P40 3. Press the Configure button. 4. Select tab Advanced. 5. In the Property window, check and, if necessary, adjust the following entries: PCC-P Default Gateway:The default address of the network adapter is: It must always be located in the following subnet. PCC-P IP Address: The default IP address is: PCC-P Name: Symbolic name of the plug-in card installed in Setup (default: mtxctrl ). PCC-P Subnet Mask: The default subnet is: Fig.8-31: Ethernet connection of basic PC device Settings of IndraControl P60/P40 plug-in card If the basic PC device is also connected to a network, communication takes place using the Ethernet connection via TCP/IP. A fixed IP address is also required for this connection. Check and make note of the TCP/IP and network card settings for the existing hardware components if changes are to be made to the current IP addresses. The IP addresses may have to be adjusted if:

70 64/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P Order of Network Connections 8.3 Network Settings General information a search is made for another IP address for the basic PC device during a software update. several basic PC devices are located in a company network and additional basic PC devices will be added using IndraControl P60/P40. the address of the company network has changed. the entries were overwritten after reinstalling Windows on the basic PC device. When Windows XP is installed, a standard network connection which is called LAN connection is set up automatically. The basic PC device can be connected to a network with this connection. This LAN connection must be first in the order of network connections. If the basic PC device is equipped with an IndraControl P60/P40 control module; after driver installation, another network connection is displayed - this must be the second network connection. The name of the second network connection can be selected freely (e.g. IndraControl P60). The order of network connections can be checked or corrected as follows: Start Settings Network connections "Extended" tab Extended settings In the connections window: 1. LAN connection 2. IndraControl P60/P40 3. any further network connections Enabling a CD Drive in a Network Access authorizations By highlighting the corresponding network connection and then clicking Arrow up or Arrow down, the order can be modified in the Connections window. You can obtain detailed information about the TCP/IP protocol or about the network settings from your network administrator and/or in the Microsoft operating system documentation. It is recommended that your network administrator make all network-related settings. Before a CD-ROM drive can be accessed from another computer (client PC), it must be enabled, i.e. permission to use this unit on the computer in which the drive is installed (server PC) must have been granted. In Windows, the administrator can set up groups with a user profile for corresponding privileges to enable network drives. If no such group has been defined, only the administrator can carry out enablement. 1. Insert the CD with the software into the CD-ROM drive of the server PC. 1. Click the symbol My Computer and then CD-ROM. 2. Select menufile Enabling and safety... Enabled as. 3. Select tab Enablement. 4. Activate Enable this folder in the network.

71 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 65/91 IndraControl P60/P40 5. Enter CD as the enablement name. Fig.8-32: Enabling a network drive You can recognize the enabled CD-ROM drive by its Connecting to a Network Enabled in the CD-ROM Drive symbol. The computer to which access to the CD-ROM drive is to be assigned (client PC) must connect the enabled CD-ROM drive of the server PC with its file system (directory). Search for the enabled CD directory CD on the server PC: 1. Choose Network environment. 2. Press the Search button in the toolbar. 3. Enter the name of the server PC (e.g. IPCREXIND01) and click the Search button. 1. Click the symbol of the server PC and search for the enabled drive CD. 2. Click CD and choose File - Network Connect...

72 66/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl P60/P40 3. Now assign a drive letter (e.g. Z: ) to CD. If this is set up by the administrator, access to the server PC requires a password before a network connection can be established. 4. Insert the CD-ROM into the drive. 5. In Windows Explorer, check whether the contents of the CD are read. Fig.8-33: Connecting a network drive Access to the IndraControl P60/P40 from an External PC (Routing) Overview Applications such as IndraWorks or IndraLogic can access a basic PC device with an IndraControl P60/P40 plug-in card from any network PC via Ethernet. In this case, a route must be entered on the network PC. Conditions Fig.8-34: Example of external access The network PC and the basic PC device must be located in the same subnet. Example (subnet ): Network PC: IP address

73 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 67/91 IndraControl P60/P40 Entering a route Basic PC device: IP address IP forwarding must be activated in the basic PC device. Automatic entry in the Registry for installation of the IndraControl P60/ P40software. A route for subnet must be entered on the network PC. To do this, run the following MS-DOS command line: route add -p <subnet address> MASK <subnet mask> <IP address of basic PC device> Example: route add -p MASK (Parameter -p stands for permanent route)

74 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions

75 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 69/91 IndraControl L40 9 IndraControl L Firmware Download MTX Compact Using IW Engineering Desktop The firmware of IndraControl L40 can be updated via Engineering Desktop using the Firmware Management dialog box. The dialog box is called using the contextual menu of the device node IndraMotion MTX L40 or - for the selected device node - with the menu item of the same name: Fig.9-1: Calling the Firmware Download dialog box The device name and IP address of the device are displayed in the Firmware Management dialog box. The stored versions of firmware packages are listed in the selected Firmware directory in the left half of the dialog box. The firmware version of the selected device is displayed in the right half. A firmware download is executed as follows: 1. Bring the PLC to STOP; no firmware download is possible otherwise. 2. Select the directory with the firmware packages. 3. Select the desired firmware package using the version designation. 4. Check the checkbox Restart after download. This checkbox is normally selected to automatically boot the selected firmware package after the firmware download. 5. The download is carried out by pressing the <Download> button. 6. A booting process must be triggered for activation of the firmware. This happens automatically when the checkbox Restart after download is selected.

76 70/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl L40 Fig.9-2: The Firmware Management dialog box The progress of the firmware download is shown by a progress bar. The download can be cancelled (e.g. if the wrong firmware package was selected by mistake). After cancellation, a new firmware package should be loaded immediately to ensure that the firmware is complete during the following boot procedure. 9.2 Incorporating File Systems (Mount) In addition to the internal root file system, the MTX offers the possibility of incorporating external file systems using NFS. NFS (Network File System) is a standard used to distribute file system resources in the network. An NFS server provides one or more file systems in the network (export) that can be mounted (import) by NFS clients. It is possible to mount any directory onto the hard disk of the local user panel or a USB memory stick, a disk drive or a CD/DVD drive on the USB port of the user panel in the internal directory tree of the MTX. On the other hand, directories on external PCs (e.g. a file server) that are connected via the network to the local user panel can be incorporated. Add mounted directories or edit existing ones in the Engineering project using menu item "Configure mount directories" on device node "IndraMotion MTX L40". After the required data have been loaded from the control, the following dialog box appears:

77 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 71/91 IndraControl L40 Fig.9-3: Overview of the MTX compact mount directories Here you can see an overview of the directories mounted in the control. The following information is displayed: Target address: address of the server with NFS enablement Target directory: name of enamblement Mount name: name of the directory in the file system of the control Read only: +: read access only -: read and write access Cache +: Cache for the directory is activated -: Cache for the directory is deactivated Only one mount directory can be cached. Use the buttons to add an entry or to edit or delete a selected entry. The maximum number of entries is 10. Editing occurs in a separate dialog box:

78 72/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl L40 Fig.9-4: Editing mount directories Ensure that the directories entered here have been enabled properly. 9.3 Handling Operator Panel/Status Display MTX Compact The boot procedure The operator panel informs the user of the status of control IndraControl L40 during the boot process and during operation. Selected operations are additionally possible. During booting of the IndraControl L40, the single phases are shown on the display. The phases are subdivided in the following sections: 1. Starting the operating system: BOOT1.nn After activating the CML40, the display remains dark for a few seconds. Than the start of operating system is displayed by the increasing digits nn 2. Starting the Firmware loader: BOOT2.nn 3. Loading the firmware module: BOOT3.nn Loading the firmware module is documented by displaying module number nn. 4. Loading the control configuration: BOOT4.nn The FEPROM file system and the file mtxtboot.ini with the mount point definitions belongs to the control configuration. 5. Booting the control firmware: BOOT-Pnn Boot phases of the IndraControl L40 are defined uniquely in control family IndraMotion MTX : P: -3 Determines the existing hardware P: -2 RTOS startup, configure file systems P: -1 Start RTOS monitor P: 1 Initialize basic NCS communication P: 2 Initialize TCP/IP P: 3 Initialize BAPAS database P: 4 SERCOS initialization

79 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 73/91 IndraControl L40 P: 5 Start NCB-TCP server P: 6 Start SERCOS startup P: 7 Mount the NFS file systems P: 8 Synchronization with SERCOS P: 9 Enable NCB-TCP server (communication with user interface) RUN Normal operation Boot lockout and specification of startup mode Fig.9-5: Display of startup phases The IndraControl L40 boots in the standard case with startup mode 0 (normal mode). If another startup mode should be specified, the boot process must first be prevented (boot lockout). The boot lockout will be active if the <ESC> key is held down after loading the control configuration - i.e. at the end of phase BOOT4.nn. The IndraControl L40 now expects that the startup mode be entered. The startup mode can be selected with the arrow keys. The selected startup mode can be discarded with <ESC>; the default value 0 is preselected. By pressing the <Enter> key, the boot process is continued with the selected startup mode. The meaning of the startup modes is described in the following table: Startup mode Meaning 0 Normal operation All existing data and file systems are retained. The root file system is checked during startup. If a defective file system is detected, a critical system error is displayed. A new (empty) root file system is automatically created during the next startup. 1 PLC stop The behavior corresponds to startup mode 0 with the difference that the PLC remains in the STOP state and the PLC user program is not processed. 2 Reloading the PLC boot project PLC boot project is loaded to the user FEPROM. Any PLC boot project that exists in the root file system is discarded. Otherwise, the behavior corresponds to startup mode 0. 3 Protected startup In extreme cases, faulty machine parameter settings can make it impossible to start up a control. Startup mode 3 is used to carry out a startup in this situation, regardless of the set machine parameters. A startup with the minimum configuration occurs and the set machine parameters are ignored. After the startup, the invalid machine parameter settings can be corrected and a new startup with startup mode 0 can be carried out. 4 Deleting the permanent CPL variables The permanent CPL variables will be deleted, otherwise the behavior corresponds to startup mode 0. 5 Cold start The power-up management logic is not run; otherwise, the behavior corresponds to startup mode 0.

80 74/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions IndraControl L40 Startup mode Meaning 6 Bootstrap A new root file system is created; as a result, all the data of the old file system are lost. If an intact user FEPROM file system exists, the PLC boot project and configuration data are loaded from there. 7 Creation of the user FEPROM file system The user FEPROM is created; as a result, all the data of the old file system are lost. This is required, for example, if a user FEPROM file system is defective. The root file system remains. The permanent CPL variables will be deleted. 8 Identical to startup mode 9 9 Debug Mode This is the usual debugging mode if the control should not automatically start up after a reset. After the basic monitor is initialized, the boot loader is activated and the subsystems are loaded automatically. 10 Debug mode (without automatic loading) After the basic monitor is initialized, the boot loader is activated. Then loading can take place using TCP/IP. 11 Debug mode (without activating the boot loader) The basic monitor is initialized. Then loading can take place using TCP/ IP. 12 Identical to startup mode Identical to startup mode Identical to startup mode Debug mode (basic monitor start) Only the basic monitor is activated. Display of PLC status (right half of display) Fig.9-6: Startup mode After complete startup the of IndraControl L40, the current status of the PLC is displayed in the right half of the display. The following can be displayed: STOP RUN BRK SCYC ERR??? Fig.9-7: Operational states of PLC PLC is in STOP state. The PLC program was stopped. If this status is directly after startup of the IndraControl L40, no boot project is active. PLC is in RUN state. The loaded PLC program is executed. PLC is on a break point. The PLC program is interrupted because of troubleshooting. PLC perates in single-cycle mode. Every PLC cycle must be enabled manually. PLC program was interrupted because of a runtime error. PLC reports an unknown status. This display refers to a firmware error and should never occur.

81 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 75/91 IndraControl L40 Display of SERCOS phase (left display half) Error Displays After complete startup of the IndraControl L40, the current status of the SERCOS ring is displayed in the left display half. The following can be displayed: P-1 P0 P1 P2 P3 P4 Fig.9-8: Displaying the SERCOS phases The SERCOS ring is not closed, no drives have been recognized. Am attempt to close the SERCOS ring is made. An attempt is made to identify all participants in the SERCOS ring. The timing in the SERCOS ring is determined and set. The drives were parameterized All SERCOS participants are ready for operation. Severe errors were output on the display during operation. These errors can only be eliminated by a reboot. If necessary, a suitable startup mode must be selected previously. SF BP SD A critical system fault has occurred A boot panic error has occurred Shutdown active Reboot Fig.9-9: Error status display The errors will be specified in more detail by a four-digit number. They are described in detail in the document "Diagnosis messages". Pressing the key <ESC> and < > for approx. 8 seconds can trigger a reboot.

82 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions

83 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 77/91 Additional information 10 Additional information 10.1 Windows-XP User Right Introduction Explanations of the Term If you are logged on in Windows XP with user rights, the system is - due to the high rights - susceptible to viruses, Trojan horses and other safety risks. In the following chapter it is described which settings must be executed on the system to operate the IndraMotion MTX interface with a logged on user who has only Windows XP User rights. The following instructions must be executed from a system administrator. Unfortunately the term User is used double in WindowsXP. Therefore the following determinations are met: User: XP user: XP: Setup an XP user Create a new user The term User is utilized for the right group in the user administration of Windows XP. According to Microsoft, users can not execute accidental or intended modifications on the system. This users can execute certified applications but not the most common applications. The term XP User is utilized for the actual XP user. Here, always the Windows XP operating system is meant. 1. Open the user administration in the computer with the right mouse button and select Administration

84 78/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Additional information Fig.10-1: XP computer administration Computer administration is opened. 2. Select Local Users and Group User in the computer administration 3. Select New user... with the right mouse button or select the available user in the right window and select Properties with the right mouse button. The properties window of user is opened.

85 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 79/91 Additional information Fig.10-2: Creating a new XP user 4. Enter the basic data for the new XP user. The user name and the password should be entered at least. Data will be applied via the <Create> button. Thus, a new Windows XP user is created. Fig.10-3: Filled XP user dialog

86 80/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Additional information Check or modify the rights of the available XP user. 1. Select the available user account and select with Right mouse button Properties. Fig.10-4: Properties dialog for XP user In the Membership tab, the XP user group can be seen and assigned newly. 2. Check or modify the group membership of the selected XP user. The XP user should only have user rights! The XP user groups can be added or deleted via the <Add> or <Remove> buttons. If <Advanced> is pressed in the Add dialog, the available user groups were displayed with <Search>. The Windows XP User group must be selected here. The XP user group is applied with <Ok>.

87 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 81/91 Additional information Fig.10-5: Selecting the XP user groups Additional group rights should always be deleted The XP user is now created Enabling the necessary authorizations If further users should be created, the process must be repeated. Otherwise, the user management must be quit. To utilize the user interface, it is necessary to enable certain directories or files for the user. Data which are necessary for the safe operation of interface, will be stored via user interface in this directories or files. The user must get full access for this directories or files. If subdirectories are available in this directories, full access is required there. The following directories must be enabled: Enable project directory (any directory for the project utilized from the user) Enable user data directory ( <Installation Path>\Indraworks\User )

88 82/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Additional information Enabling mount directories. The drives mounted for the control must have full access. According to the specification, the mount drive is on <C:\mnt> after installation Enable IndraLogic data ( <Installation Path>\Indraworks\IndraLogic ) Enable global data directory. ( C:\Documents and Settings\All Users\Application Data\Rexroth ) Enable Gateway Directory. ( <Windows>\Gateway Files ) Following files must have full access: <Windows>\CrypKey.ini <Windows>\dziplog.txt Enabling of a file / directories <Installation Path>: Path which was selected for installation (default path : C:\Program Files\Rexroth) <Windows>: Path for Windows XP installation (default path: C:\Windows) Please check if the rights were also applied in all substructures. 1. Select the path to enable in the Windows XP explorer. Select with <Right mouse button> Enabling and safety. Select Safety tab. Select User group in the Groups and user names window or the created XP user. If the group or user is not available, it can be supplemented via <Add>. Fig.10-6: Display the authorizations 2. Set Allow full access for the user in the Authorization window. Apply the modified authorizations with <Ok> or <Apply>.

89 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 83/91 Additional information The group or the user has now full access Tips and additional notes 10.2 Version Display Calling the Version Display Showing the Version Display This process must be executed for all directories or files to enable. If a project is created in <Default path> below the XP user and it is tried to open this project from another XP user (only user rights), access to this project is not available. A common project directory should be created here. All users should get full access to this directory. After a crash or hanging of interface, programs that are still open in the task manager can not be exited (no authorization). The operating system must be exited and restarted. During restart of the operating system, the control is restarted. Please wait with the restart until the workpiece is completed. The Version display (a.k.a. info dialog box) displays information about the currently installed software version. The info dialog box can be called only if the menu bar is active. The menu bar is activated/deactivated using <ALT+M>. When the menu bar is active, the Version display can be called using Help Info... When the info dialog box is opened, information about the installed systems in the interface is displayed.

90 84/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Additional information Version information for MTX system 1 Suite version of the interface 2 Installed systems 3 Version information for the system or component selected under "2" Fig.10-7: Info dialog box with display of the installed systems The <Advanced> button is used to also display the components (in field 2 ) of the installed interface and their version information. Press button <Copy info> to read out the information from all installed files and to copy this to Notepad. Then this information can be saved to a file of your choosing. <Copy info> is used for support if problems occur in the interface. The Copy info procedure may take several minutes (depending on the installed systems). During this time, it is not possible to cancel the copying procedure or to work elsewhere. Button <Extra info> is not available for every entry in field 2. <Extra info> can be used to provide additional information for a system or a component. The information for the MTX system consists of at least the following parts: 1. IndraMotion MTX (system version information) 2. MTX firmware (version information about the firmware of the currently selected control) 3. MTX logical device (version information about the communication interface of the MTX) 4. IW-MTX (version information about the user software (HMI)) If a problem occurs, you should have the version information for this system / these components. Support can be provided only if you have this information.

91 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 85/91 Additional information It may also be necessary to read out the version information of other components Version Information of MTX Interface Components If the <Extra info> button is pressed when the IW-MTX is selected, a display appears indicating which software options (licenses) have been enabled for the MTX system. Fig.10-8: Display of enabled software options Version Information of MTX NC Kernel Components The version information displays information about the MTX NC kernel. No version information is shown for this component in the info dialog box. Version information about the active control is displayed only after the <Extra info> button is pressed. <Extra info> is available only in Operation Desktop. No device is selected in Engineering Desktop. Information about the control (e.g. firmware) is displayed here using the corresponding node in the tree. Tab Firmware is used to display the firmware in the NC kernel. Firmware information about all main and subsidiary components is displayed.

92 86/91 Bosch Rexroth AG Electric Drives Rexroth IndraMotion MTX Installation Instructions Additional information Fig.10-9: Firmware display of all components in the MTX NC kernel Tab Info mount is used to display information about the MTX kernel file system. Here, you can see which drives are mounted. Fig.10-10: Display of the mounted drives in the MTX control The logical name (the name that is shown in the Navigator tree), the physical name (the name that is used to physically address the drive), the file system and the file access rights for this area are displayed for every drive. The following file access rights are displayed: rw: read and write access r: read access only frw: read and write access to FEPROM. Here, writing is possible only by copying in the Navigator. It is not possible to directly edit files here. c+: the drive is cached Mount drives with the NTFS file system are usually not located in the NC kernel, but rather on a PC/BTV. Tab <Hardware> is used to display information about the hardware. Information about the hardware includes: Designation Serial number

93 Installation Instructions Rexroth IndraMotion MTX Electric Drives Bosch Rexroth AG 87/91 Additional information Hardware version Fig.10-11: Information about the hardware Version Information about LDX Component Entry MTX Logical Device (LDX) provides information about the communication interface. Fig.10-12: Display of information for the MTX logical device