Rexroth IndraDrive Edition 01 Rexroth IndraMotion MLD (2G .

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Electric Drivesand ControlsHydraulicsLinear Motion andAssembly TechnologiesPneumaticsRexroth IndraDriveRexroth IndraMotion MLD (2G)Commissioning as of MPx-18Commissioning ManualServiceR911341708Edition 01

Bosch Rexroth AGTitleDOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18Rexroth IndraDriveRexroth IndraMotion MLD (2G)Commissioning as of MPx-18Type of DocumentationDocument TypecodeInternal File ReferenceCommissioning 7c73cfa0a6846a501c5ff29-1-en-US-3Purpose of DocumentationThis document explains how to commission the drive and how to create asimple PLC program for IndraMotion MLD with IndraLogic 2G.Record of RevisionsSee chapter "About This Documentation", marginal note "Editions of ThisDocumentation"Copyright Bosch Rexroth AG 2013This document, as well as the data, specifications and other information setforth in it, are the exclusive property of Bosch Rexroth AG. It may not be re‐produced or given to third parties without its consent.LiabilityNoteThe specified data is intended for product description purposes only and shallnot be deemed to be a guaranteed characteristic unless expressly stipulatedin the contract. All rights are reserved with respect to the content of this docu‐mentation and the availability of the product.This document has been printed on chlorine-free bleached paper.

DOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18Bosch Rexroth AGI/83Table of ContentsTable of ContentsPage1About This Documentation. 32Introduction. Overview. 5Reference Documentations. 7Drive Systems, System Components. 7Motors. 7Cables. 8Firmware. 8Important Directions for Use . 11Appropriate Use . 11Introduction. 11Areas of Use and Application. 11Inappropriate Use. 12Safety Instructions for Electric Drives and Controls. 13Definitions of Terms. 13General Information. 14Using the Safety Instructions and Passing Them on to Others. 14Requirements for Safe Use. 14Hazards by Improper Use. 15Instructions with Regard to Specific Dangers. 16Protection Against Contact with Electrical Parts and Housings. 16Protective Extra-Low Voltage as Protection Against Electric Shock . 17Protection Against Dangerous Movements. 18Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting. 19Protection Against Contact with Hot Parts. 20Protection During Handling and Mounting. 20Battery Safety. 20Protection Against Pressurized Systems. 21Explanation of Signal Words and the Safety Alert Symbol. 21Preparation and Setup. 23Step 1: Check Hardware and Firmware Requirements. 23Hardware Requirements. 23Firmware Requirements. 23Step 2: Install Software. 24Step 3: Set up the Drive System. 24IndraMotion MLD-S. 24IndraMotion MLD-M. 26Step 4: Establish Communication between Drive Controller and Commissioning PC. 27Establishing an Ethernet Connection to the Drive Controller. 27

II/83Bosch Rexroth AGDOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18Table of .17.3.27.3.37.47.4.17.4.27.4.38Commissioning and Parameterization. 35Step 5: General Commissioning an Parameterization of the Drive. 35Step 6: Activate and Configure the Integrated PLC (IndraMotion MLD) . 37Activating IndraMotion MLD . 37MLD Settings . 37Activating MLD-M for Multi-Axis Applications. 39Step 7: Configure the Interfaces and Data Channels of MLD. 40General Information. 40Cyclic Data Channels. 41Acyclic Data Channels / Interfaces. 42Explanation of the MLD Data Channels. 42Programming. 63Step 8: Configure and Control the PLC. 63Overview. 63Configuring the PLC. 63Controlling the PLC. 64Step 9: Create a Program. 65Creating a New Program. 65Importing / Using an Existing Program. 68Specific Features of MLD-2G / Changes in Comparison to MLD-1G. 73Step 10: Load and Activate the Program. 74Loading the Program. 74Starting the Program. 75Creating a Boot Project. 76Step 11: Test the Program. 77Online Display. 77Monitoring Variables with Sampling Trace. 77Oscilloscope Function. 77Service and Support. 79Index. 81

DOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18Bosch Rexroth AG3/83About This Documentation1About This DocumentationEditions of This DocumentationEditionRelease 5First editionTab.1-1:Means of Representation in ThisDocumentationRecord of RevisionsTo facilitate reading this documentation, the table below contains the meansof representation and notations of recurring terms.What?How?For example.Paths and sequences of menus.are represented step bystep in boldfaceClick Window Show view PropertiesButtons and keys. are represented in anglebracketsClick Add orImportant facts which are to behighlighted in the body textBoldfaceFor remote axes, "Active" TRUE signals that .Parameter names, diagnostic mes‐sage names, function designationsQuotation marks"Axis2" to "Axis10" correspond to the remote axes.The remote axes contained in the list "P‑0‑1801.x.10,CCD: Addresses of projected drives" .Tab.1-2:Press Ctrl Alt Conventions of NotationAll important notes are highlighted. A symbol tells you what kind of note isused in the text. The symbols have the following significances:DANGER.DANGER indicates a hazardous situation which, if not avoided, will result indeath or serious injury.WARNING.WARNING indicates a hazardous situation which, if not avoided, could resultin death or serious injury.CAUTION.In case of non-compliance with this safety instruction, minor or moderate in‐jury could occur.NOTICE.In case of non-compliance with this safety instruction, property damage couldoccur.This box contains important information that should be taken intoconsideration.This symbol highlights useful tips and tricks.

4/83Bosch Rexroth AGDOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18About This DocumentationYour FeedbackYour experience is important for our improvement processes of products anddocumentations.If you discover mistakes in this documentation or suggest changes, you cansend your feedback to the following e-mail address:Dokusupport@boschrexroth.deWe need the following information to handle your feedback: The number indicated under "Internal File Reference". The page number.

DOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18Bosch Rexroth AG5/83Introduction2Introduction2.1OverviewThis documentation explains how to commission the drive, install IndraWorkswith MLD-2G and create a simple PLC program for IndraMotion MLD‑S andMLD‑M with the MPx‑18VRS firmware.The paragraphs below describe the steps required when usingRexroth IndraMotion MLD for the first time. We distinguish the following pha‐ses: Preparation and Setup Commissioning ProgrammingThe steps for setup and commissioning are only required for theinitial commissioning.The figure below shows an overview of the required commissioning steps.

6/83Bosch Rexroth AGDOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18IntroductionFig.2-1:Commissioning Rexroth IndraMotion MLD

DOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18Bosch Rexroth AG7/83Introduction2.2Reference Documentations2.2.1Drive Systems, System ComponentsDrive Systems with Single-Axis or Double-Axis Drive ControllersTitleKind of documentationDocument typecode1)Material numberDOK-INDRV*- R911 Project Planning ManualHCS01******-PRxx-EN-P322210Project Planning ManualKCU02 KSM02-PRxx-EN-P335703Project Planning ManualSYSTEM*****-PRxx-EN-P309636Project Planning ManualHMV-S-D HCS-PRxx-EN-P318790Project Planning ManualCxx02******-PRxx-EN-P338962Project Planning ManualADDCOMP****-PRxx-EN-P306140Rexroth IndraDrive CsDrive Systems with HCS01Mi Drive Systemswith KCU02, KSM02, KMS02Drive Systems with HMV01/02HMS01/02, HMD01, HCS02/03Supply Units, Power SectionsHMV, HMS, HMD, HCS02, HCS03Control SectionsCSE02, CSB02, CDB02, CSH02Additional Components and Accesso‐ries1)Tab.2-1:2.2.2In the document typecodes, "xx" is a wild card for the current edition ofthe documentation (example: PR01 is the first edition of a ProjectPlanning Manual)Documentations – Drive Systems, System ComponentsMotorsTitleKind of documentationRexroth IndraDyn Document typecode1)Material numberDOK-MOTOR*- R911 A Asynchronous Motors MAD / MAFProject Planning ManualMAD/MAF****-PRxx-EN-P295781H Synchronous Kit Spindle MotorsProject Planning ManualMBS-H******-PRxx-EN-P297895L Synchronous Linear MotorsProject Planning ManualMLF********-PRxx-EN-P293635L Ironless Linear Motors MCLProject Planning ManualMCL********-PRxx-EN-P330592S Synchronous Motors MKEProject Planning ManualMKE*GEN2***-PRxx-EN-P297663S Synchronous Motors MSKProject Planning ManualMSK********-PRxx-EN-P296289S Synchronous Motors MSMData SheetMSM********-DAxx-EN-P329338S Synchronous Motors QSKProject Planning ManualQSK********-PRxx-EN-P330321T Synchronous Torque MotorsProject Planning ManualMBT********-PRxx-EN-P2987981)Tab.2-2:In the document typecodes, "xx" is a wild card for the current edition ofthe documentation (example: PR01 is the first edition of a ProjectPlanning Manual)Documentations – Motors

8/83Bosch Rexroth AGDOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18Introduction2.2.3CablesTitleKind of documentationRexroth Connection CablesIndraDrive and IndraDynSelection Data1)Tab.2-3:2.2.4Document typecode1)Material numberDOK-CONNEC- R911 CABLE*INDRV-CAxx-EN-P322949In the document typecodes, "xx" is a wild card for the current edition ofthe documentation (example: CA02 is the second edition of the docu‐mentation "Selection Data")Documentations – CablesFirmwareTitleKind of documentationDocument typecode1)Material numberR911 Rexroth IndraDriveApplication ManualDOK-INDRV*-MP*-18VRS**APxx-EN-P338673Release e BookDOK-INDRV*-GEN1-PARA**RExx-EN-P328651Reference on tion ce on 8FunctionsRexroth IndraDriveMPx-18Version NotesRexroth IndraDriveMPx-16 to MPx-18ParametersRexroth IndraDriveMPx-16 to MPx-18Diagnostic MessagesRexroth IndraDriveIntegrated Safety Technologyas of MPx-1x (Safe Torque Off)Rexroth IndraDriveIntegrated Safety Technologyas of MPx-1x (Safe Motion)Rexroth IndraDriveRexroth IndraMotion MLD (2G)Libraries as of MPx-18Rexroth IndraDrive2)RexrothIndraMotion MLD (2G)as of MPx-18

DOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18Bosch Rexroth AG9/83IntroductionTitleKind of documentationDocument typecode1)Material numberR911 Rexroth IndraDrive2)RexrothCommissioning ce on MLD (2G)as of MPx-18Rexroth IndraMotionMLD 13VRSService Tool1)2)Tab.2-4:In the document typecodes, "xx" is a wild card for the current edition ofthe documentation (example: RE02 is the second edition of a Refer‐ence Book)In preparationDocumentations – Firmware

10/83Bosch Rexroth AGDOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18

DOK-INDRV*-MLD3-F*STEP-CO01-EN-PRexroth IndraDrive Rexroth IndraMotion MLD (2G) Commissioning as of MPx-18Bosch Rexroth AG11/83Important Directions for Use3Important Directions for Use3.1Appropriate Use3.1.1IntroductionRexroth products reflect the state-of-the-art in their development and theirmanufacture. They are tested prior to delivery to ensure operating safety andreliability.WARNINGPersonal injury and property damage causedby incorrect use of the products!The products have been designed for use in industrial environments and mayonly be used in the appropriate way. If they are not used in the appropriateway, situations resulting in property damage and personal injury can occur.Rexroth as manufacturer is not liable for any damages resultingfrom inappropriate use. In such cases, the guarantee and theright to payment of damages resulting from inappropriate use areforfeited. The user alone carries all responsibility of the risks.Before using Rexroth products, the following pre-requisites must be met toensure appropriate use of the products:3.1.2 Personnel that in any way, shape or form uses our products must firstread and understand the relevant safety instru

Rexroth IndraDrive Integrated Safety Technology as of MPx-1x (Safe Motion) Application Manual DOK-INDRV*-SI3*SMO-VRS-APxx-EN-P 338920 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) Libraries as of MPx-18 Reference Book DOK-INDRV*-MLD-SYSLIB3-RExx-EN-P 338916 Rexroth IndraDrive 2)Rexroth IndraMotion MLD (2G) as of MPx-18

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