Bosch REXROTH IndraDrive Applications Manual page 47

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DOK-INDRV*-MLD-APPLI**-AW02-EN-P

Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples

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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. As soon as IndraMotion MLD has con‐

trol, the program jumps to the step with the corresponding reaction,

depending on the configured type of reaction (P‑0‑1370, bit 0). When

"bEnable" was reset, the error reaction is completed in Step 100 (see be‐

low).

Fig.6-11:

Step 10: Setting Drive Enable

4. Positioning

As long as "bEnable" has been set, the return motion is started or pro‐

cessed in step 3 (Step 20). When the return position has been reached,

i.e. when "bInPos" (P‑0‑1410, bit 1, %QX0.1) has been set or "bEnable"

was reset, the error reaction is completed in Step 100 (see below).

Fig.6-12:

Step 20: Positioning

5. Analog velocity input

Bosch Rexroth AG

45/97

Intelligent Error Reaction

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