Bosch REXROTH IndraDrive Applications Manual
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Bosch REXROTH IndraDrive Applications Manual

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Summary of Contents for Bosch REXROTH IndraDrive

  • Page 1 Electric Drives Linear Motion and and Controls Hydraulics Assembly Technologies Pneumatics Service LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...
  • Page 2 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Title Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Type of Documentation Application Manual Document Typecode DOK-INDRV*-MLD-APPLI**-AW02-EN-P Internal File Reference RS-5bed5147cc1fce5f0a6846a00169d1a1-1-en-US-3 Purpose of Documentation By means of four application examples, this documentation shows an intro‐...

  • Page 3: Table Of Contents

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG I/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Table of Contents Table of Contents Page Introduction........................3 About This Documentation........................3 Reference Documentations........................3 1.2.1 IndraMotion MLD..........................3 1.2.2 Firmware.............................. 4 1.2.3 Drive System............................4 Important Directions for Use ..................5 Appropriate Use .............................
  • Page 4 II/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Table of Contents Page Intelligent Error Reaction..................... 35 Task Definition - Application Description....................35 Parameterizing/Configuring the Drive....................39 Programming............................44 Commissioning and Testing......................... 47 Visualization and Diagnostics....................... 47 Synchronous Multi-Axis Motion With Virtual Master Axis..........

  • Page 5: Introduction

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 3/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Introduction Introduction About This Documentation Purpose of Documentation By means of four application examples, this documentation shows an intro‐ duction to the programming of the drive-integrated PLC (IndraMotion MLD). It demonstrates various problems occurring in the production process which are resolved with IndraMotion MLD.

  • Page 6: Firmware

    4/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Introduction 1.2.2 Firmware Title Type of documentation Document typecode Part number Rexroth IndraDrive … Rexroth IndraDrive Functional Description DOK-INDRV*-MP*-05VRS**- R911320182 FKxx-EN-P Firmware for Drive Controllers In the document typecodes, "xx" is a wild card for the current edition of the documentation (example: FK02 is the second edition of a Functional Description);...

  • Page 7: Important Directions For Use

    Drive controllers have to be programmed before commissioning, making it pos‐ sible for the motor to execute the specific functions of an application. Drive controllers of the Rexroth IndraDrive line have been developed for use in single- and multi-axis drive and control tasks.

  • Page 8: Inappropriate Use

    Rexroth. Please carefully follow the specifications outlined in the general Safety Instructions! Components of the drive system Rexroth IndraDrive are products of category C3 (with restricted distribution) according to IEC 61800‑3. These components are not provided for use in a public low-voltage mains supplying residential areas.

  • Page 9: Safety Instructions For Electric Drives And Controls

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 7/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Safety Instructions for Electric Drives and Controls Safety Instructions for Electric Drives and Controls Definitions of Terms Application Documentation Application documentation comprises the entire documentation used to inform the user of the product about the use and safety-relevant features for config‐...

  • Page 10: General Information

    8/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Safety Instructions for Electric Drives and Controls 1) to be trained, instructed or authorized to switch electric circuits and devices safely on and off, to ground them and to mark them...

  • Page 11: Hazards By Improper Use

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 9/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Safety Instructions for Electric Drives and Controls concept in which measures of risk reduction for personal safety depend on electrical, electronic or programmable control systems. ● The information given in the application documentation with regard to the use of the delivered components contains only examples of applications and suggestions.

  • Page 12: Instructions With Regard To Specific Dangers

    10/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Safety Instructions for Electric Drives and Controls ● Risk of injury by improper handling! Injury by crushing, shearing, cutting, hitting! ● Risk of injury by improper handling of batteries! ●...

  • Page 13: Protective Extra-Low Voltage As Protection Against Electric Shock

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 11/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Safety Instructions for Electric Drives and Controls High housing voltage and high leakage current! Danger to life, risk of injury by electric shock! ● Before switching on and before commissioning, ground or connect the components of the electric drive and control system to the equipment grounding conductor at the grounding points.
  • Page 14 12/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Safety Instructions for Electric Drives and Controls Dangerous movements! Danger to life, risk of injury, serious injury or property damage! A risk assessment must be prepared for the installation or machine, with its specific conditions, in which the components of the electric drive and control system are installed.

  • Page 15: Protection Against Magnetic And Electromagnetic Fields During Operation And Mounting

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 13/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Safety Instructions for Electric Drives and Controls 3.3.4 Protection Against Magnetic and Electromagnetic Fields During Oper‐ ation and Mounting Magnetic and electromagnetic fields generated by current-carrying conductors or permanent magnets of electric motors represent a serious danger to persons with heart pacemakers, metal implants and hearing aids.

  • Page 16: Battery Safety

    14/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Safety Instructions for Electric Drives and Controls ● Always use suitable tools. Use special tools if specified. ● Use lifting equipment and tools in the correct manner. ●...

  • Page 17: Explanation Of Signal Words And The Safety Alert Symbol

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 15/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Safety Instructions for Electric Drives and Controls Environmental protection and disposal! The agents (e.g., fluids) used to operate the product might not be environmentally friendly. Dispose of agents harmful to the environment separately from other waste.
  • Page 18 16/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...

  • Page 19: Requirements

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 17/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Requirements Requirements Firmware and Hardware Requirements Using the drive-integrated PLC (Rexroth IndraMotion MLD-S/M) requires the following hardware/firmware combinations: Control section for IndraDrive C/M: ● CSH01.*C (as of FWA-INDRV-MPH02VRS) ●...

  • Page 20: Programming

    IndraWorks Dialog to Enable the Functional Package "IndraMotion MLD" (Drive PLC) Possible configurations of IndraMotion MLD ● TF: IndraMotion MLD for using the self-contained Bosch Rexroth system solutions (technology functions) (with MPB firmware) ● ML: IndraMotion MLD for free programming of the single axis; including the use of the technology functions (with MPH/C firmware) ●...
  • Page 21 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 19/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Requirements ● Installation data carrier IndraWorks MLD in the "AddOns" directory ● Media directory LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...
  • Page 22 20/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...

  • Page 23: Double-Axis Positioning Control (Pick And Place)

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 21/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Double-Axis Positioning Control (Pick and Place) Task Definition – Application Description 5.1.1 General Information Workpieces are to be moved from one place to another place. The required axis motions are to be carried out one after the other.

  • Page 24: Sequence Of Motion

    22/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) 5.1.3 Sequence of Motion The chronological diagram below illustrates the sequence of motion of the dou‐ ble-axis positioning control "Pick and Place".
  • Page 25 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 23/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Mechanical Data According to the mechanical configuration, you have to set the scaling, gear and feed constant for the X- and Y-axes.
  • Page 26 24/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Fig.5-4: IndraWorks Dialog for CCD Settings The resulting axis addressing in MLD-M is: ● X-axis (axis address 2) → Axis 1 in MLD ●...
  • Page 27 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 25/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Configuring the Digital Inputs/Out‐ The digital inputs and outputs at the terminals X31/32 have to be parameterized puts at the Master at the X-axis (CCD master) in accordance with the following IndraWorks dialog.
  • Page 28 26/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) X31.3 P‑0‑0303, bit 1 → bPickerCloseAct Fig.5-8: Configuration "X31" of Y-Axis (CCD Slave) You can simply configure a dummy parameter for the digital input "I_1" of the CCD slave, because the status of the input is copied directly from parameter P‑0‑0303 (signal status of the digital inputs) to the CCD master (see also figure...
  • Page 29 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 27/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) P‑0‑0304 (signal status of the digital outputs) (see also figure "Configuring the Distributed Inputs/Outputs"). Configuring the "Distributed Inputs/ The settings shown in the following IndraWorks dialog are required to transmit Outputs"...

  • Page 30: Programming

    28/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Programming 1. Variable declaration In the variable declaration, the variables which are used are created and assigned to the inputs and outputs.
  • Page 31 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 29/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Fig.5-13: Starting the Application "Pick und Place" 4. Setting drive enable In the first step (step 0), the X- and Y-axes are switched to enable. When the axes are in control, the program jumps to the next step.
  • Page 32 30/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Fig.5-15: Step 10: Moving to the Picking Position 6. Moving to the placing position In the third step (step 20), the movement to the placing position is carried out.
  • Page 33 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 31/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Fig.5-16: Step 20: Moving to the Placing Position 7. Moving to the start position In the fourth step (step 30), it is first the Y‑axis and then the X‑axis which move to the start position.
  • Page 34 32/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Fig.5-17: Step 30: Moving to the Start Position 8. Resetting the sequence of steps In the fifth step (step 100), the "bPickerActiv" signal and the sequence of steps are reset.

  • Page 35: Commissioning And Testing

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 33/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Commissioning and Testing For commissioning and testing, the following steps have to be carried out: 1. Compile program and then load it to drive 2.
  • Page 36 34/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Double-Axis Positioning Control (Pick and Place) Fig.5-20: Oscilloscope Recording of X-Axis LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...

  • Page 37: Intelligent Error Reaction

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 35/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction Intelligent Error Reaction Task Definition - Application Description This is an exemplary project for an error reaction by IndraMotion MLD and MPx04 firmware. By means of this example, we will de‐...
  • Page 38 36/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction ● As an alternative, the drive moves to a defined absolute position, when a digital input is set. ● Removing the Enable signal at the digital input terminates/aborts the error reaction of the drive.
  • Page 39 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 37/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction Error detection Positioning Analog velocity input Fig.6-2: Sequence of Motion of the Application "Intelligent Error Reaction" Step 1: Error detection As soon as the function has been activated via the Enable signal "bEna‐...
  • Page 40 38/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction error is to take place. According to the settings, the parameterized reaction is carried out. The setting as to which error class the reaction is to take place is made in the parameter P‑0‑1370, bit 1 to 3 (bit 1: reaction to F2xxx;...

  • Page 41: Parameterizing/Configuring The Drive

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 39/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction Parameterizing/Configuring the Drive Starting from the basic parameters, you have to make some fundamental set‐ tings for the example of application "intelligent error reaction"; the following paragraphs will only give a brief explanation of these fundamental settings.
  • Page 42 40/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction Fig.6-4: IndraWorks Dialog for Setting the Mechanical Data (Example) MLD Configuration The drive PLC does not have permanent control. Motion and control in "normal operation" take place via the master communication. The drive PLC takes over control only for the error reaction.
  • Page 43 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 41/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction Fig.6-5: IndraWorks Dialog for MLD Configuration Fig.6-6: MLD Configuration Display Format "Register Gx" Configuring the Digital I/Os The screenshot below shows the IndraWorks dialog for setting the digital inputs/ outputs (X31/X32).
  • Page 44 42/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction X31.3 P‑0‑1390, bit 0 (%IX0.0) bEnable X31.4 P‑0‑1390, bit 1 (%IX0.1) bStart X32.6 P‑0‑1410, bit 0 (%QX0.0) bActive X32.7 P‑0‑1410, bit 0 (%QX0.1) bInPos Fig.6-7: IndraWorks Dialog for Configuring the Digital Inputs/Outputs X31/X32 The states of the digital inputs are evaluated by assigning the bits of P‑0‑1390...
  • Page 45 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 43/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction X32.4/ P‑0‑1374 X32.5 Fig.6-8: IndraWorks Dialog for Configuring the Analog Input Via the analog input, an analog velocity command value is input in the global register of the drive PLC (P‑0‑1374).

  • Page 46: Programming

    44/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction Programming 1. Variable declaration In the variable declaration, the variables which are used are created and assigned to the inputs and outputs. Fig.6-9: Variable Declaration 2.
  • Page 47 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 45/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction 3. Taking control to the drive PLC As long as "bEnable" has been set, the program in step 2 (Step 10) waits for a rising edge of "bStart" (P‑0‑1390, bit 1, %IX0.1). After the edge has been detected, MLD gets control.
  • Page 48 46/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction As long as "bEnable" has been set, the drive moves in step 4 (Step 30) with command velocity preset via the analog input and parameter P‑0‑1374.

  • Page 49: Commissioning And Testing

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 47/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction Commissioning and Testing For commissioning and testing, the following steps have to be carried out: 1. Compile program and then load it to drive 2. Start drive PLC 3.
  • Page 50 48/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction Fig.6-15: Sampling Trace via IndraLogic LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...
  • Page 51 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 49/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Intelligent Error Reaction Fig.6-16: Oscilloscope Recording of the Axis LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...
  • Page 52 50/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...

  • Page 53: Synchronous Multi-Axis Motion With Virtual Master Axis

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 51/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Synchronous Multi-Axis Motion With Virtual Master Axis Task Definition – Application Description 7.1.1 General Information This part is based on the application example 1 "double-axis positioning control (Pick and Place)".
  • Page 54 52/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis relatively synchronized to the master axis, the virtual master axis is continu‐ ously moved via the function block "MC_MoveVelocity". The cyclic sequence of motion consists of two motion steps: ●...

  • Page 55: Parameterizing/Configuring The Drive

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 53/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Parameterizing/Configuring the Drive 7.2.1 Overview Fig.7-3: Configuring the Application Example Starting from basic parameters in the CCD master axis, you have to make some fundamental settings for the example of application "synchronous multi-axis...

  • Page 56: Ccd Master Axis

    54/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis 7.2.2 CCD Master Axis Enabling of Functional Packages This application example additionally requires the base package "Closed- Loop" and the enabling of the optional functional package "Synchronization".
  • Page 57 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 55/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-5: IndraWorks Dialog of the Scaling Settings for the CCD Master Axis CCD Configuration Via the CCD communication (SERCOS III), MLD in the CCD master axis can command the CCD master axis itself and up to 7 other CCD slave axes in the MLD-M system mode.
  • Page 58 56/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-6: IndraWorks Dialog of the Basic CCD Settings With MPx04 Firmware With the MPx05 firmware, you must carry out the required configuration via the corresponding window of the IndraWorks dialog (see screenshot): 1.
  • Page 59 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 57/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-7: IndraWorks Dialog of the Basic CCD Settings With MPx05 Firmware MLD Configuration In the drive PLC, you have to select the option "permanent control" for the CCD master.
  • Page 60 58/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-8: IndraWorks Dialog of MLD Configuration Master Axis Generator/Master Axis The master axis position is derived from the value of the parameter "P‑0‑0758, Format Converter Virtual master axis, actual position value"...
  • Page 61 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 59/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-9: IndraWorks Dialog for Setting the Master Axis Generator Signal Control Word In the IndraWorks dialog shown below, configure the signal control word for the CCD master axis.
  • Page 62 60/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-10: IndraWorks Dialog for Configuring the Signal Control Word With this setting, the bits in the parameter "P‑0‑1390, PLC input WORD0 AT %IB0"...

  • Page 63: Ccd Slave Axis

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 61/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis 7.2.3 CCD Slave Axis Again starting from the completion of the action "load basic parameters", make the following settings for the CCD slave axes.
  • Page 64 62/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-12: IndraWorks Dialog to set the Position Synchronization Mode "Electronic Motion Profile" In the parameter "P‑0‑0703, Number of motion steps, set 0", you have defined 2 of 8 possible motion steps with these settings.
  • Page 65 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 63/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Scaling Settings The scaling settings for the CCD slave axis are made as for the CCD master axis. Establishing Reference Carry out "set absolute position" procedure or "homing" for the actual position value 1 (S‑0‑0051).

  • Page 66: Programming

    64/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Programming The exemplary program has been divided into several code sections which are illustrated in simplified form in the figure below.
  • Page 67 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 65/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis MB_GearInPos Declaration fbGearInPosAxis1: MB_GearInPos; Task Activation and parameterization of the operation mode "phase syn‐ chronization" in the CCD master axis. Slave Axis 1 (with MLD-M, always corresponds to master axis;...
  • Page 68 66/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-14: Code Section 2.3 LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...
  • Page 69 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 67/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-15: Declaration of Input Variables for Motion Function Blocks In this program section, all motion function blocks which are used are called once per task cycle with the condition specified for the corresponding Execute input.
  • Page 70 68/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-16: Code Section 2.1.1 Step 2 (iPowerStep): AH (drive) In step 2, drive enable is set for both real axes. This is done for each axis via the function block "MC_Power".
  • Page 71 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 69/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis virtual master axis generator is activated by writing the value "1" to the direct variable "DV_P_0_0917". Afterwards, the operation mode "phase synchroni‐...

  • Page 72: Commissioning And Testing

    70/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Commissioning and Testing The exemplary program has been designed in such a way that it can be tested as an independent program.

  • Page 73: Notes On Programming And Parameterization For Other Relevant Types Of Master Axis Linking

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 71/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis 11. Compile program and then load it to drive. 12. Set bit 0 of signal control word via switch (via this bit, the so-called "auto‐...

  • Page 74: Real Axis In Ccd Slave Moves Synchronously To Real Axis In Ccd Master

    72/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis 7.5.2 Real Axis in CCD Slave Moves Synchronously to Real Axis in CCD Master Example There are applications in which axes are to carry out the same motion as the real CCD master axis.

  • Page 75: Real Axis In Ccd Master And Ccd Slave Move Synchronously To Measuring Encoder Position In Ccd Slave

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 73/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Real Axis in CCD Master and CCD Slave Move Synchronously to Measuring Encoder Position in CCD Master Example Two axes are to move phase-synchronously to the measuring encoder position of the CCD master axis.
  • Page 76 74/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis To solve this task, it is first necessary to transmit the measuring encoder posi‐ tion of the CCD slave axis to the CCD master axis. For this purpose, make the following parameter setting in the CCD dialog of IndraWorks: Fig.7-23:...

  • Page 77: Position Command Value Linking (Gantry Axis)

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 75/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis 7.5.4 Position Command Value Linking (Gantry Axis) Real Axis in CCD Slave Moves Synchronously to CCD Master (Gantry Group) Example Gantry axes are used very often to realize synchronous motion between 2 axes by means of position command value linking.
  • Page 78 76/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Synchronous Multi-Axis Motion With Virtual Master Axis Fig.7-24: IndraWorks Dialog: CCD: Process Data, Command Values Programming The secondary operation mode 7 ("drive-controlled position control") in the CCD slave axis can be activated via the function block "MX_SetOpMode".

  • Page 79: Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis)

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 77/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) Task Definition – Application Description 8.1.1...

  • Page 80: Requirements/Settings

    For more detailed information on the different control sections, see the hard‐ ware documentation for the control sections "Rexroth IndraDrive - Control Sections for Drive Controllers" (Project Planning Manual). For the example de‐ scribed below, we use a control section of the CSH01.1C type. See the Project Planning Manual of this control section for the pin and connector assignment.
  • Page 81 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 79/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) Measuring amplifier (MV = "Messverstärker") Fig.8-3: Connection of a CSH01.1C Control Section Configuring the Analog Input To allow processing the sensor signal in the MLD as a feedback, the value of the analog input must be mapped to a PLC register.
  • Page 82 80/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) ● Rejection Range → Set the rejection range to 0 V. ● Scaling per 10 V → This value depends on the sensor, measuring amplifier and the parameterized units.
  • Page 83 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 81/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) Using the value "490 500" in the dialog window "Scaling per 10 V" you achieve that the acceleration value is displayed in the desired unit "mm/s ".

  • Page 84: Programming

    82/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) Programming 8.3.1 System Structure Fig.8-6: System Structure In our example, we use an axis which is operated in position control. The ac‐...

  • Page 85: Funktion Block "Mx_Pid_Regler

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 83/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) 8.3.2 Funktion Block "MX_PID_Regler" Interface Description Fig.8-7: Interfaces of the Function Block "MX_PID_Regler" Name Type Description...
  • Page 86 84/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) The function block "MX_PID_Regler" generally is a PID loop with feedforward function and PT1 filters for feedforward and the D-component.

  • Page 87: Accessing Drive Parameters

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 85/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) 8.3.3 Accessing Drive Parameters The control is based on process data which can be generated from the drive via parameter access.

  • Page 88: Generating The Command Value Characteristic

    86/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) 8.3.4 Generating the Command Value Characteristic The generation of the command value characteristic takes the parameters "P‑0‑0434, Position command value of controller"...

  • Page 89: Overall Structure Of Process Control

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 87/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) 8.3.5 Overall Structure of Process Control Process control is activated by setting, through the Boolean "bStart", the Enable input of the instance of "MX_PID_Regler"...

  • Page 90: Visualization And Diagnostics

    88/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) Fig.8-13: Task Configuration Via the IndraLogic menu under "Online → Login", the task configuration can be loaded to the PLC with the program call and started with "Online →...
  • Page 91 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 89/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) Fig.8-14: Coordinate Orientation With the pictured setup, the process control for vibration damping was imple‐ mented and the compensation of the parasitic vibration recorded by means of the oscilloscope function at the place of installation of the acceleration sensor.

  • Page 92: Visualization And Diagnostics

    90/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) Visualization and Diagnostics The oscilloscope recording below shows the acceleration command value and the actual acceleration value. It additionally shows the actuating variable of the process loop ("P‑0‑0059, Additive position command value, controller") and the...
  • Page 93 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 91/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Vibration Damping With Superimposed Process Loop (Process Control With Intelligent Servo Axis) Fig.8-17: Detailed View of the Signal Sequence LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...
  • Page 94 92/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...

  • Page 95: Service And Support

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 93/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Service and Support Service and Support Our service helpdesk at our headquarters in Lohr, Germany and our worldwide service will assist you with all kinds of enquiries. You can reach us around the clock - even on weekend and on holidays.
  • Page 96 94/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...

  • Page 97: Index

    DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 95/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Index Index Accessing drive parameters........ 85 ...Inappropriate use AH (drive)............68 Consequences, exclusion of liability ....5 Aligning the installation automatically....68 IndraLogic............81 Analog velocity input........38, 45 Initialization............
  • Page 98 96/97 Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Index Sequence of motion........22, 51 Task definition............. 35 Sequence of the error reaction......36 Task definition – Application description..... 21 Setting drive enable..........29 Settings in the dialog........... 79 Signal control word..........
  • Page 99 DOK-INDRV*-MLD-APPLI**-AW02-EN-P Bosch Rexroth AG 97/97 Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples Notes LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...
  • Page 100 Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Tel. +49 (0)93 52-40-0 +49 (0)93 52-48 85 www.boschrexroth.com/electrics Printed in Germany R911324034 DOK-INDRV*-MLD-APPLI**-AW02-EN-P LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01...

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