Motion logic. Drive based IndraMotion MLD
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1 Drive based IndraMotion MLD
2 2 Bosch Rexroth AG Electric Drives and Controls Documentation Brochures Instructions Compact and powerful Certified safety technology Drive-integrated motion logic control according to IEC Electronic synchronization of up to 10 servo-axes Intuitive engineering with the software framework IndraWorks Optional technology and communication interfaces With IndraMotion MLD, motion and PLC functions merge to form a modern, open automation platform for modular machine concepts. The distributed control architecture establishes a compact motion-logic system, based on the scalable IndraDrive platform, so that higher-order controls are no longer necessary The drive-based solution is available as a single-axis control for simple applications as well as a multi-axis control for applications with a maximum of 10 axes. Ready-to-use function libraries simplify the use of the intelligent drive functions of IndraDrive. In addition, function blocks according to PLCopen provide access to standardized motion-control functions. The open technology and communication interfaces simplify integration of IndraMotion MLD in your automation design. Technical data MLD-M IndraDrive Cs MLD-M IndraDrive C/M MLD-S IndraDrive Cs MLD-S IndraDrive C/M MLD-S IndraDrive Mi Controller Runtime system Integrated motion logic system Multitasking Data management Code, data, retentive data, user data Storage Boot project PLC project as packed archive file User data to the internal memory and a removable storage medium Support System events Probe function, control User memory Total: code, data 4 MB 4 MB 512 kb 512 kb 512 kb Remanent memory Total: system, user 32 kb 32 kb 32 kb 32 kb 32 kb On-board diagnosis and settings Status display (boot, sercos, test) Errors, warnings, messages, system reset Display Display, keys
3 Electric Drives and Controls Bosch Rexroth AG 3 Ethernet settings (IP Display, keys address) Voltage monitoring, watchdog Relay output ready for operation IndraMotion Service Tool On-board communication interfaces Sercos III Automation bus (master) Sercos II Real-time motion bus PROFIBUS Slave PROFINET IO Device (slave) EtherNet/IP Adapter (slave) Ethernet TCP/IP CANopen Slave RS232 On-board Function module Options Encoder Number max. 2 max. 2 max. 2 max. 2 max. 1 Encoder emulation Number max. 1 max. 1 HMI IndraControl VCP, VCH IndraControl VEP, VEH IndraControl VSP, VPP, VSB/VDP, VPB/ VDP Inputs/outputs Ethernet TCP/IP, OPC Ethernet TCP/IP, OPC Ethernet TCP/IP, OPC On-board Digital inputs Number Digital inputs/outputs Number (any adjustments) High-speed digital Number/sampling 2/500 µs 2/41 µs 2/500 µs 1/83 µs 2/500 µs inputs (probe) time Analog inputs/outputs 1 / - 1 / 2 1 / - max. 2 / - Local Analog inputs/outputs max. 2 / 2 max. 2 / 2 Digital inputs/outputs max. 16/16 max. 16/16 Distributed via Inline (IP20) Sercos III On-board Logic-Control PLC runtime system IndraLogic 1G kernel Program organization Loading and executingiec applications Conforming with IEC According to IEC
4 4 Bosch Rexroth AG Electric Drives and Controls Task management Freely configurable tasks (priority 0-20) Cycle-synchronous processing of the I/O process image Sercos III synchronous processing of the I/O process image Min. PLC cycle time Min. motion cycle time PLC processing times Typical processing time for 1,000 instructions in µs Motion control Cyclic, free-running, event-controlled, externally eventcontrolled Synchronous to the 1 ms 1 ms 1 ms 1 ms 1 ms system cycle Setpoint generator 0.25 ms 0.25 ms 1 ms 1 ms 1 ms Command mix (real, integer, bool, etc.) Bool operations Word operations Number of axes Synchronization(ELS electronic line shaft) Real/virtual/encoder/ 1 / 10 / 2 / 1 1 / 10 / 2 / 1 1 / 1 / 2 / 0 1 / 1 / 2 / 0 1 / 1 / 2 / 0 grouped Virtual axes(virtual masters) Encoder axes(real masters) Real axes(servo drives) Link axes(cross communication) Dynamic synchronization Master axis cascading Positioning Single-axis Electronic gears Electronic cams Intermediate point tables(in the drive, max. 1,024 intermediate points) Electronic motion profile(in the control, motion profiles with max. 8 segments) Torque control Speed control Motion commands according to PLCopen (choice) MC_MoveAbsolute MC_MoveRelative MC_MoveVelocity MC_CamIn, MC_ CamOut MC_GearIn, MC_ GearOut
5 Electric Drives and Controls Bosch Rexroth AG 5 Extended motion commands (choice) MB_ReadListParameter MB_WriteListParameter MB_GearInPos MB_PhasingSlave MB_Home MB_ClearAllError Extended system functions (choice) Programmable limit switch Encoder Fault tolerance for failure of connected devices Deactivation of I/O Drives Ring healing and redundancy Technology functions (choice) Crank kinematics Cross cutters Flying cutoff Tension control Register control Winders Smart belt Diagnosis Diagnosis(status, warning, error) Debugging monitor for IEC applications Drive systems Electric axes Function blocks(software) Parameter access to diagnosis memory(software) Locally via display(control hardware) Axis monitoring(e.g. capacity, encoders, limit values) Diagnosis memory(64 kb, max. 999 messages) IndraDrive IndraDrive Mi With MPB firmware IndraDrive Cs Control communication Min. PLC cycle time Hybrid axes Sercos III Synchronous to the sercos cycle 1 ms 1 ms 1 ms 1 ms 1 ms
6 6 Bosch Rexroth AG Electric Drives and Controls Engineering and operation IndraWorks IndraMotion Service Tool Standard in preparation Option Components Engineering and operation Description Page Details Software tools IndraWorks Engineering The universal tool for efficient software engineering Software tools CamBuilder Software tools VI-Composer HMI Description Page Details Manual operator panel Controller-based IndraControl VCH Manual operator panel Embedded-based IndraControl VEH 30 HMI/industrial PC Compact operator panels IndraControl VCP I/O Description Page Details Block I/O modules Sercos III analog R-ILB S3 AI4 AO2 Block I/O modules Sercos III digital R-ILB S3 24 DI16 DIO16 Servo drives Description Page Details Electric Drives and Controls Product Catalog Servo drives IndraDrive Servo drives Ordering information
7 Electric Drives and Controls Bosch Rexroth AG 7 Type code Description Material number: FWA-INDRV*-MPH-07VRS-D5-1-ALL- MA FWA-INDRV*-MPH-07VRS-D5-1-ALL- ML FWA-INDRV*-MPB-07VRS-D5-1-NNN- TF FWS-MLDTFA-RFS-05VRS-D0 FWS-MLDTFB-RFS-05VRS-D0 FWS-MLDTFA-RFE-02VRS-D0 FWS-MLDTFA-SPF-04VRS-D0 Firmware IndraDrive ADVANCED with option MA Firmware IndraDrive ADVANCED with option MA Firmware IndraDrive BASIC with Option TF Technology function Rollfeed Standard for IndraMotion MLD-S, based on IndraDrive Advanced Technology function Rollfeed Standard for IndraMotion MLD-S, based on IndraDrive Basic Technology function Rollfeed Extended for IndraMotion MLD-S, based on IndraDrive Advanced Technology function Flying Shear for IndraMotion MLD-S, based on IndraDrive Advanced R R R R R R R
8 Bosch Rexroth AG Postfach Lohr, Germany Bgm.-Dr.-Nebel-Str Lohr, Germany Tel Fax Local contact information can be found at: Bosch Rexroth AG 2012 Subject to modification. Printed in Germany The data specified above only serve to describe the product. As our products are constantly being further developed, no statements concerning a certain condition or suitability for a certain application can be derived from our information. The information given does not release the user from the obligation of own judgment and verification. It must be remembered that our products are subject to a natural process of wear and aging.
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