Rexroth IndraDrive - LSA Control

The Drive & Control Company Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Application Manual Edition 02 R911338914 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01

Bosch Rexroth AG Title DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Type of Documentation Document Typecode Internal File Reference Purpose of Documentation Application Manual DOK-INDRV*-MLD3-**VRS*-AP02-EN-P RS-77461bce0f8a914b0a6846a501d9a219-2-en-US-3 This documentation describes the specific functionalities of Rexroth IndraMotion MLD as of the MPx-18 firmware. Starting with this firmware version, IndraLogic 2G is supported; therefore, this documentation additionally explains how to convert IndraLogic 1.x projects to IndraLogic 2G projects. Record of Revision Edition Release Date DOK-INDRV*-MLD3-**VRS*-APRS-EN-P 2014-08 Copyright Notes See chapter "About this documentation", margin‐ al note "Editions of this documentation" Bosch Rexroth AG 2014 This document, as well as the data, specifications and other information set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be re‐ produced or given to third parties without its consent. Liability Editorial Department The specified data is intended for product description purposes only and shall not be deemed to be a guaranteed characteristic unless expressly stipulated in the contract. All rights are reserved with respect to the content of this docu‐ mentation and the availability of the product. Dept. DC-IA/EDY1 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01

DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Bosch Rexroth AG I/267 Table of Contents Table of Contents Page 1 1.1 1.2 1.3 1.3.1 1.3.2 1.3.3 1.3.4 1.3.5 1.4 1.5 1.5.1 1.5.2 1.5.3 1.5.4 1.5.5 1.5.6 1.5.7 2 2.1 2.1.1 2.1.2 2.2 3 3.1 3.2 3.2.1 3.2.2 3.2.3 3.3 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 3.3.6 3.3.7 3.3.8 3.4 Introduction. 5 About this documentation. 5 Structure of the documentation. 8 Documentations. 8 Overview. 8 Drive systems, system components. 9 Motors. 9 Cables. 10 Firmware. 10 Reference documentations. 11 Product presentation. 11 Introduction and overview. 11 Brief description. 12 IndraMotion MLD-S. 13 IndraMotion MLD-M. 14 Digital and analog I/O extensions. 15 Terms, basic principles. 17 Function overview and system properties. 18 Important directions for use . 29 Appropriate use . Introduction. Areas of use and application. Inappropriate use. 29 29 29 30 Safety instructions for electric drives and controls. 31 Definitions of terms. 31 General information. 32 Using the Safety instructions and passing them on to others. 32 Requirements for safe use. 32 Hazards by improper use. 33 Instructions with regard to specific dangers. 34 Protection against contact with electrical parts and housings. 34 Protective extra-low voltage as protection against electric shock . 35 Protection against dangerous movements. 36 Protection against electromagnetic and magnetic fields during operation and mounting. 37 Protection against contact with hot parts. 38 Protection during handling and mounting. 38 Battery safety. 38 Protection against pressurized systems. 39 Explanation of signal words and the Safety alert symbol. 40 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01

II/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Table of Contents Page 4 4.1 4.2 4.3 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5 4.3.6 4.4 4.4.1 4.4.2 4.4.3 4.4.4 4.4.5 4.5 4.5.1 4.5.2 4.5.3 4.5.4 4.5.5 4.5.6 4.5.7 4.5.8 4.6 4.6.1 4.6.2 4.6.3 4.6.4 5 5.1 5.2 5.2.1 5.2.2 5.2.3 5.2.4 5.3 6 6.1 6.2 6.2.1 6.2.2 Basic functions of Rexroth IndraMotion MLD. 41 Overview. 41 Definition of terms. 41 Device control. 42 General information. 42 Master communication. 42 Axis control. 43 Axis. 43 PLC runtime. 43 MLD options for influencing axis control. 44 Commanding axes. 46 Basics on axis control. 46 Implementing motion commanding in the axis. 50 Basic functional principle of motion function blocks in conformity with PLCopen. 51 Axis addressing. 53 Notes on application and programming. 57 Task system. 59 Definition of terms. 59 Brief description. 59 Task properties. 61 Motion task . 61 Task monitoring (watchdog). 64 Runtime measurements. 65 Task configuration. 69 Task cycle times and timing. 69 IndraMotion MLD error handling. 70 IndraMotion MLD operating behavior. 70 General (for MLD-S and MLD-M). 71 Configuring the error reaction in MLD-S. 76 MLD-M error handling and reaction. 77 MLD communication interfaces and data channels. 83 Introduction and overview. 83 IndraMotion MLD data channels. 85 Cyclic data channels. 85 Acyclic data channels / interfaces. 103 Configuring the inputs and outputs (I/O configuration of MLD). 116 Cyclic data in MLD-M system mode. 125 sercos I/O. 130 Visualization and engineering interfaces. 133 Overview. Interfaces for connecting communication partners. Ethernet interface (TCP/IP). Master communication interface. LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01 133 135 135 137

DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Bosch Rexroth AG III/267 Table of Contents Page 6.3 6.3.1 6.3.2 6.3.3 6.3.4 7 7.1 7.1.1 7.1.2 7.1.3 7.2 7.3 7.3.1 7.3.2 7.3.3 7.3.4 7.3.5 7.4 7.4.1 7.4.2 7.4.3 7.4.4 8 8.1 8.1.1 8.1.2 8.1.3 8.2 8.2.1 8.2.2 8.3 8.4 8.4.1 8.4.2 8.4.3 8.5 8.5.1 8.5.2 8.5.3 8.5.4 8.5.5 8.5.6 8.5.7 Connecting IndraControl (VCP/VE*). Introduction and overview. Configuring the symbols for variable/parameter access. Notes on utilization for IndraControl VCP. Handling/diagnostics and service functions. 138 138 140 143 160 Notes on commissioning and application. 165 Requirements for using Rexroth IndraMotion MLD. Firmware and hardware requirements. Software requirements. Requirements for communication . Programming in IndraWorks MLD. Applications for Rexroth IndraMotion MLD. Overview. Using technology functions. Free programming of Rexroth IndraMotion MLD. PLC project structure. Programming and commissioning steps. Comparing the "IndraDrive Cs" range with the "IndraDrive C"/"IndraDrive M" range. Introduction. Physical interfaces. Byte order. MLD performance comparison. 165 165 165 165 166 167 167 167 170 182 187 208 208 208 208 212 Programming information. 213 Industrial standards for programming . 213 General information. 213 IEC 61131. 213 PLCopen. 213 Libraries for Rexroth IndraMotion MLD. 214 General properties of the libraries. 214 Libraries. 215 Accessing files on the optional memory card. 217 Start behavior and boot project. 219 General information. 219 Brief description. 219 Notes on usage and programming. 220 Guidelines for programming with IndraLogic. 220 Overview. 220 Structuring PLC projects. 221 Programming languages. 222 Global data. 223 Program header. 223 History. 224 Type identifiers. 224 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01

IV/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Table of Contents Page 8.5.8 8.5.9 8.5.10 8.5.11 8.5.12 9 9.1 9.2 9.2.1 9.2.2 9.2.3 9.2.4 9.2.5 9.2.6 9.2.7 9.3 9.3.1 9.3.2 9.4 9.4.1 9.4.2 9.4.3 9.4.4 10 10.1 10.2 10.3 10.3.1 10.3.2 10.3.3 11 Instance identifiers. Definition of standard interfaces in function blocks. Error handling. Versioning libraries. Code optimization. 226 228 232 232 234 Diagnostic and service functions. 237 Overview and introduction. 237 Device Editor. 237 Device Editor, General Information. 237 Status. 237 Files. 237 Log. 238 PLC Settings. 239 PLC Shell. 240 Information. 240 Diagnostic functions. 241 Standard drive diagnostic functions. 241 MLD diagnostic functions. 242 Service functions. 245 Service functions of the PLC (IndraMotion MLD). 245 Changing firmware. 246 Firmware version upgrade. 248 Replacing the Controller. 250 Converting projects. 255 Introduction. Requirements in MLD-1G. Adding to MLD-2G. Adding a project. Compiling errors after converting projects. Adjustments in MLD-2G. 255 255 256 256 257 258 Service and support. 261 Index. 263 LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01

DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Bosch Rexroth AG 5/267 Introduction 1 Introduction 1.1 About this documentation Editions of this documentation Edition Release date Notes DOK-INDRV*-MLD2-2G*VRS-AP01-EN-P 2014-01 First edition Corrections – DOK-INDRV*-MLD2-2G*VRS-AP02-EN-P Tab. 1-1: Means of representation in this documentation 2014-08 Information on available memory Amendments: – WinStudio configuration required when connecting an HMI (IndraControl VE*) via Ethernet – Description of context menu for "Application" – Information: "Advanced" perform‐ ance level cannot be configured when "MLD-M" system mode has been configured for MPC Record of revisions To make it easier to read this documentation, the table below contains the means of representation and notations of recurring terms. What? How? For example. Important facts that should be highlighted in the body text Boldface "IndraDrive Cs" provides an analog input. There is no analog output. Parameter names, diagnostic Quotation marks message names, function designations Tab. 1-2: In the I/O configuration (IndraWorks), the inputs were linked to parameter "P-0-1390, PLC input WORD0". Conventions of notation Helpful information and tips are highlighted in the text. A symbol tells you what kind of information is used in the text: This box contains important information that should be taken into consideration. This symbol indicates useful tips and tricks. Signal words in accordance with ANSI Z535.6-2011 draw the reader's atten‐ tion to hazards (see "Explanation of signal words and the safety alert sym‐ bol"). Your feedback Your experiences are important to our efforts in improving products and doc‐ umentation. If you discover errors in this documentation or would like to suggest changes, you can send your feedback to the following e-mail address: Dokusupport@boschrexroth.de LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01

6/267 Bosch Rexroth AG DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Introduction Please include the following information so we can process your feedback: The number indicated on the back of the front page under "Internal File Reference" The page number LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01

DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18 Bosch Rexroth AG LSA Control S.L. www.lsa-control.com comercial@lsa-control.com ( 34) 960 62 43 01 7/267