Professional Documents
Culture Documents
com
Electric Drives
and Controls
Hydraulics
Pneumatics
Rexroth IndraDrive
Firmware for Drive Controllers
MPH-05, MPB-05, MPD-05
Firmware Version Notes
Service
R911320184
Edition 01
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
Title
Rexroth IndraDrive
Firmware for Drive Controllers
MPH-05, MPB-05, MPD-05
Type of Documentation
Document Typecode
Internal File Reference
Purpose of Documentation
Record of Revision
Copyright
Release Date
Notes
DOK-INDRV*-MP*-05VRS**-FV01-EN-P
02/2008
First edition
Validity
Published by
The specified data is for product description purposes only and may not be
deemed to be guaranteed unless expressly confirmed in the contract. All rights
are reserved with respect to the content of this documentation and the availa
bility of the product.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. Main
Telephone +49 (0)93 52/ 40-0 Fax +49 (0)93 52/ 40-48 85
http://www.boschrexroth.com/
Dept. BRC/EDY
E-mail: dokusupport@boschrexroth.de
Note
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
I/V
Table of Contents
Table of Contents
Page
1
1.1
1.1.1
1.2
1.2.1
1.2.2
1.3
1.4
1.4.1
1.4.2
1.5
1.5.1
1.5.2
1.5.3
2
2.1
2.1.1
2.1.2
2.2
2.2.1
2.3
2.3.1
2.4
2.4.1
2.5
2.5.1
2.6
2.6.1
System Overview........................................................................................................... 1
General Information................................................................................................................................ 1
Overview of Drive Firmware................................................................................................................ 1
Firmware Variants............................................................................................................................ 1
Organization of the Firmware........................................................................................................... 1
Drive Controllers..................................................................................................................................... 2
Power Sections.................................................................................................................................... 2
Control Sections.................................................................................................................................. 2
Available Control Section Designs................................................................................................... 2
Supported Control Section Configurations....................................................................................... 2
Overview of Master Communication....................................................................................................... 3
Overview of Functions/Functional Packages.......................................................................................... 4
Overview.............................................................................................................................................. 4
General Information.......................................................................................................................... 4
Firmware Types................................................................................................................................ 4
Additive Functional Packages............................................................................................................. 5
General Information.......................................................................................................................... 5
IndraMotion MLD (Drive-Integrated PLC)......................................................................................... 5
Integrated Safety Technology........................................................................................................... 6
Performance Data................................................................................................................................... 7
Overview.............................................................................................................................................. 7
Levels of Control Performance......................................................................................................... 7
Performance and Clock Rates.......................................................................................................... 7
Control Section Design and Performance........................................................................................... 8
PWM Frequency Reduction Depending on Load................................................................................ 9
Master Communication................................................................................................ 11
Basic Functions of Master Communication.......................................................................................... 11
Brief Description................................................................................................................................ 11
Device Control and State Machines.................................................................................................. 11
Overview......................................................................................................................................... 11
Operating Modes of Master Communication........................................................................................ 12
Introduction and Overview................................................................................................................. 12
Overview of Operating Modes and Possibilities of Command Triggering...................................... 12
Normal Operation (via Internal or External Control Unit)................................................................ 14
Local Setting-Up Mode/Emergency Mode ("Easy Startup Mode")................................................. 15
SERCOS interface................................................................................................................................ 15
Brief Description................................................................................................................................ 15
SERCOS III........................................................................................................................................... 16
Brief Description................................................................................................................................ 16
PROFIBUS-DP..................................................................................................................................... 17
Brief Description................................................................................................................................ 17
Ethernet/IP Interface............................................................................................................................. 19
Brief Description................................................................................................................................ 19
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
II/V
Table of Contents
Page
2.7
2.7.1
2.8
2.8.1
2.9
2.9.1
3
3.1
3.1.1
3.1.2
3.2
3.2.1
3.2.2
3.3
3.3.1
3.3.2
3.3.3
3.4
3.4.1
4
4.1
4.1.1
4.2
4.2.1
4.2.2
4.2.3
4.2.4
4.3
4.3.1
4.4
4.4.1
CANopen Interface............................................................................................................................... 20
Brief Description................................................................................................................................ 20
DeviceNet Interface.............................................................................................................................. 21
Brief Description................................................................................................................................ 21
Analog Interface.................................................................................................................................... 22
Brief Description................................................................................................................................ 22
Drive Control................................................................................................................ 33
Overview of Drive Control..................................................................................................................... 33
Basic Principles and Terms............................................................................................................... 33
Motor Control........................................................................................................................................ 34
General Information on Motor Control............................................................................................... 34
Overview of Motor Control Methods............................................................................................... 34
Voltage-Controlled Open-Loop Operation (U/f Control).................................................................... 35
Brief Description............................................................................................................................. 35
Field-Oriented Current Control (FOC Control)................................................................................... 36
Brief Description............................................................................................................................. 36
Sensorless Motor Operation, Flux-Controlled (FXC Control) ........................................................... 37
Brief Description............................................................................................................................. 37
Automatic Setting of Motor Control....................................................................................................... 39
Brief Description................................................................................................................................ 39
Closed-Loop Axis Control (Closed-Loop Operation)............................................................................ 41
General Information on Closed-Loop Axis Control............................................................................ 41
Control Loop Structure................................................................................................................... 41
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
III/V
Table of Contents
Page
4.4.2
4.5
4.5.1
5
5.1
5.1.1
5.2
5.2.1
5.3
5.3.1
5.4
5.4.1
5.5
5.5.1
5.6
5.6.1
5.7
5.7.1
5.7.2
5.7.3
5.7.4
5.7.5
6
6.1
6.1.1
6.2
6.2.1
6.3
6.3.1
6.4
6.4.1
Operating Modes......................................................................................................... 45
Torque/Force Control............................................................................................................................ 45
Brief Description................................................................................................................................ 45
Velocity Control..................................................................................................................................... 45
Brief Description................................................................................................................................ 45
Position Control with Cyclic Command Value Input.............................................................................. 46
Brief Description................................................................................................................................ 46
Drive-Internal Interpolation................................................................................................................... 48
Brief Description................................................................................................................................ 48
Drive-Controlled Positioning................................................................................................................. 49
Brief Description................................................................................................................................ 49
Positioning Block Mode........................................................................................................................ 50
Brief Description................................................................................................................................ 50
Synchronization Modes........................................................................................................................ 52
Basic Functions of the Synchronization Modes................................................................................. 52
Command Value Addition............................................................................................................... 52
Master Axis Adjustment.................................................................................................................. 52
Velocity Synchronization with Real/Virtual Master Axis..................................................................... 53
Brief Description............................................................................................................................. 53
Phase Synchronization with Real/Virtual Master Axis....................................................................... 54
Brief Description............................................................................................................................. 54
Electronic Cam Shaft with Real/Virtual Master Axis.......................................................................... 55
Brief Description............................................................................................................................. 55
Electronic Motion Profile with Real/Virtual Master Axis..................................................................... 57
Brief Description............................................................................................................................. 57
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
IV/V
Table of Contents
Page
6.5
6.5.1
7
7.1
7.1.1
7.2
7.2.1
7.3
7.3.1
7.4
7.4.1
7.5
7.5.1
7.6
7.6.1
7.7
7.7.1
7.8
7.8.1
7.9
7.9.1
7.10
7.10.1
8
8.1
8.1.1
8.2
8.2.1
8.3
8.3.1
8.4
8.4.1
8.5
8.5.1
8.6
8.6.1
8.7
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
V/V
Table of Contents
Page
8.7.1
9
9.1
9.1.1
9.2
9.2.1
10
10.1
10.1.1
11
11.1
11.1.1
11.1.2
11.1.3
12
12.1
12.2
12.3
12.4
Patch Function................................................................................................................................... 87
Brief Description............................................................................................................................. 87
Engineering/Diagnostic Interfaces............................................................................... 89
TCP/IP Communication........................................................................................................................ 89
Brief Description................................................................................................................................ 89
File Handling by FTP via Ethernet........................................................................................................ 90
Brief Description................................................................................................................................ 90
Commissioning............................................................................................................ 91
Commissioning Motors......................................................................................................................... 91
Initial Start in Easy Startup Mode...................................................................................................... 91
Brief Description............................................................................................................................. 91
Notes on Application.................................................................................................... 93
Functional Modifications With Regard to Previous Version.................................................................. 93
New and Modified Functions............................................................................................................. 93
New Functions................................................................................................................................ 93
Compatible Functional Extensions and Modifications.................................................................... 94
Incompatible Functional Modifications............................................................................................ 94
New or Modified Parameters............................................................................................................. 95
New Parameters............................................................................................................................. 95
Modified Parameters...................................................................................................................... 99
Parameters no Longer Available.................................................................................................. 102
New or Modified Diagnostic Messages........................................................................................... 102
New Diagnostic Messages........................................................................................................... 102
Modified Diagnostic Messages..................................................................................................... 103
Diagnostic Messages no Longer Available................................................................................... 104
Index.......................................................................................................................... 107
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
1/109
System Overview
System Overview
1.1
General Information
1.1.1
Firmware Variants
For the IndraDrive range, there are different application-related firmware types
available that are characterized by their scope of functions and their perform
ance:
MTH: Drives for Machine Tool Applications with SERCOS interface (Ad
vanced Performance and Functionality)
MPx: Drives for General Automation (Incl. Machine Tool Applications) with
SERCOS interface, Field Bus Interfaces, Parallel and Analog Interface
(the variants of design are MPH, MPB and MPD; see below)
The first two letters of the firmware designation identify the appli
cation and profile of the firmware:
FWAINDRV*MPH05VRSD5
FWAINDRV*MPB05VRSD5
FWAINDRV*MPD05VRSD5
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
2/109
System Overview
1.2
Drive Controllers
1.2.1
Power Sections
The following power sections for the standard design of IndraDrive controllers
can be operated with the firmware MPx-05VRS:
IndraDrive M
IndraDrive C
Single-axis converters in
300mm type of construc
tion
Single-axis converters in
400mm type of construction
HMS01.1N-W
HMD01.1N-W
HCS02.1E-W
HCS03.1E-W
HMS02.1N-W
HCS04.1E-W
Fig.1-1:
1.2.2
Control Sections
CSH01.xC...
CSB01.xC...
CDB01.xC...
Firmware variant
MPH-05VRS
MPB-05VRS
MPD-05VRS
Analog interface
CO
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
3/109
System Overview
Control section type
CSH01.xC...
CSB01.xC...
CDB01.xC...
Firmware variant
MPH-05VRS
MPB-05VRS
MPD-05VRS
CD
ET
PB
PROFIBUS-DP
PL
Parallel interface
S3
SERCOS III
SE
SERCOS interface
Cross communication
CCD 1)
EN2
ENS
MA1
MD1
MD2
MEM
Encoder emulation
Starting lockout
S1
Safety technology
1)
Fig.1-2:
1.3
SERCOS interface
SERCOS III
PROFIBUS-DP
CANopen interface
DeviceNet interface
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
4/109
System Overview
1.4
1.4.1
Overview
General Information
application-specific
scope
of
usable
functions
The
FWAINDRV*MP*-05VRS drive firmware depends on
of
the
- and
Firmware Types
Structure of the Firmware Type
Designation
The type designation of the IndraDrive firmware consists of the following type
code elements:
Base pack
age of variant
(depending Version
on control
section)
IndraDrive
firmware
Release
Lan
guage
Alternative
OL/CL expansion
packages
Additive ex
pansion
packages
Basic single-axis
FWA-INDRV*
-MPB-
05
VRS-
D5-
x-
xxx-
xx
Basic double-axis
FWA-INDRV*
-MPD-
05
VRS-
D5-
x-
xxx-
xx
Advanced single-axis
FWA-INDRV*
-MPH-
05
VRS-
D5-
x-
xxx-
xx
OL
CL
Fig.1-3:
Function-Specific Abbreviations in
Type Designation of IndraDrive
Firmware
Open-loop characteristic
Closed-loop characteristic
Firmware characteristic:
0 open-loop
1 closed-loop
TF IndraMotion MLD for using the technology functions (for MPB firm
ware)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
5/109
System Overview
1.4.2
General Information
The so-called additive functional packages are part of the optional expansion
packages. Additive functional packages can be used in addition to the base
function and one of the alternative functional packages (additive activation).
At present, there is the following additive functional package available (in dif
ferent designs):
The figure below illustrates the integration of "Rexroth IndraMotion MLD" in the
automation platform "Rexroth IndraMotion":
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
6/109
System Overview
Fig.1-4:
In normal operation
Auxiliary functions
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
7/109
System Overview
1.5
Performance Data
1.5.1
Overview
Advanced performance
Highest degree of control performance by high internal clock rates for
the control loops and the signal processing of inputs/outputs or drive-in
tegrated PLC (IndraMotion MLD)
Basic performance
Standard control performance by medium internal clock rates for the
control loops and the signal processing of inputs/outputs or drive-integra
ted PLC (IndraMotion MLD)
Economy performance
Low control performance by reduced clock rates for the control loops
and the signal processing of inputs/outputs or drive-integrated PLC (In
draMotion MLD)
The table below contains an overview of the clock rates depending on the re
spective control performance. The detailed assignment of the clock rate to
control section design, performance level and parameter setting is contained
in the table "Performance depending on the control section design" in the sec
tion "Control Section Design and Performance" (see below).
Performance
Advanced
Basic
Economy
1)
Fig.1-5:
TA_current
TA_velocity
TA_position
TMLD
TMastCom
62,5/83,3/125
125
250
1000
250
62,5/83,3/125/250
250
500
2000
500
83,3/125/250
500
1000
2000
1000 1)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
8/109
System Overview
The control performance is not equivalent to the control section de
sign (Advanced or Basic), because it is determined by several
factors (e.g. P00556, bits 2 and 5).
The available performance depends on the following requirements and param
eter settings:
1.5.2
Control section design (CSH, CSB or CDB) and the corresponding drive
firmware (MPH, MPB and MPD)
Control
section/
firmware
CSH01.1/
MPH
Functional
package 1)
All
All, except
SY and
MLD
CSB01.1/
MPB
SY and
MLD
P-0-0556
PWM re
TA_current
duc. 4)
Perform
ance level
fPWM 2)
Basic
2 kHz 3)
No
Basic
4 kHz
Basic
8 kHz
Basic
12 kHz
Basic
TA_velocity
TA_position
TMLD
TMastCom
250 s
500 s
500 s
1000 s
500 s
No
125 s
250 s
500 s
1000 s
500 s
No
125 s
250 s
500 s
1000 s
500 s
Yes
83.3 s
250 s
500 s
1000 s
500 s
16 kHz
Yes
62.5 s
250 s
500 s
1000 s
500 s
Advanced
4 kHz
No
125 s
125 s
250 s
1000 s
250 s
Advanced
8 kHz
No
62.5 s
125 s
250 s
1000 s
250 s
Advanced
16 kHz
Yes
62.5 s
125 s
250 s
1000 s
250 s
Basic
2 kHz 3)
No
250 s
250 s
500 s
--
500 s
Basic
4 kHz
No
125 s
250 s
500 s
--
500 s
Basic
8 kHz
No
125 s
250 s
500 s
--
500 s
Economy
2 kHz 3)
No
250 s
500 s
1000 s
--
1000 s 5)
Economy
4 kHz
No
125 s
500 s
1000 s
--
1000 s 5)
Economy
8 kHz
No
125 s
500 s
1000 s
--
1000 s 5)
Economy
12 kHz
Yes
83.3 s
500 s
1000 s
--
1000 s 5)
Economy
2 kHz 3)
No
250 s
500 s
Economy
4 kHz
No
125 s
500 s
Economy
8 kHz
No
125 s
500 s
Economy
12 kHz
Yes
83.3 s
500 s
Bit 2 Bit 5
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
9/109
System Overview
Control
section/
firmware
Functional
package 1)
CDB01.1/
MPD
All
PWM re
TA_current
duc. 4)
fPWM 2)
Basic
4 kHz
No
Basic
8 kHz
No
1)
2)
3)
4)
5)
P-0-0556
Fig.1-6:
1.5.3
P-0-0556
Perform
ance level
Bit 2 Bit 5
TA_velocity
TA_position
TMLD
TMastCom
125 s
250 s
500 s
--
1000 s
125 s
250 s
500 s
--
1000 s
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
11/109
Master Communication
Master Communication
2.1
2.1.1
Brief Description
General Information
Features
Address assignment
Communication address to be freely parameterized (via master com
munication, serial and control panel) via parameter "P04025, Drive
address of master communication"
Command processing
Drive commands to be externally activated (via master communication,
serial and control panel)
Multiplex channel
The state machine of the master communications is briefly outlined
in this section; it will be described in detail, i.e. including the indi
vidual status transitions, in the main chapter of the respective
master communication.
2.1.2
Overview
The drive status (e.g. Drive Halt, drive errors) represents a specific internal and
external drive behavior. The drive status can be exited by defined events (e.g.
drive commands, switching of operating modes). Corresponding status transi
tions are assigned to the events. The status transitions or the interaction of
control and status bits are called status machine.
We distinguish between:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
12/109
Master Communication
S00127
S00128
S00420
S00422
P04088
Fig.2-1:
2.2
2.2.1
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
13/109
Master Communication
Fig.2-2:
Operating Modes and Changes of
States
The overview below shows the basically possible operating states and the ac
tions required for change/transition from one operating mode to the other.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
14/109
Master Communication
Fig.2-3:
Device Control and State Machine
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
15/109
Master Communication
The PLC integrated in the drive (IndraMotion MLD) takes over command
triggering of the axis or, in conjunction with cross communication (CCD),
of an entire axis group.
Configuration via parameter P01367 (see also "Stand-alone motion
control" in the separate documentation "IndraMotion MLD, Application
Manual")
Emergency mode in the case of bus failure (freezing the last command
values)
Even if the master communication fails, it is possible to continue oper
ating the drive in an emergency mode via the (local) inputs/outputs at the
device.
Using the emergency mode requires the corresponding configura
tion in the parameter "P04088, Master communication, configu
ration"; the automatic activation of the easy startup mode can be
set in this parameter, if necessary.
2.3
SERCOS interface
2.3.1
Brief Description
General Features
Firmware-Specific Features
Data transfer via fiber optic cables; except for converter in motor (in this
case, copper conductor)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
16/109
Master Communication
The number of configurable bytes in the MDT/AT depends on the
relation of the position cycle time (P-0-0556, bit 2) to the SERCOS
cycle time.
SERCOS cycle time = position cycle time max. length 16 bytes
SERCOS cycle time > position cycle time max. length 32 bytes
For more detailed information see SERCOS specification.
New or Modified Parameters
2.4
SERCOS III
2.4.1
Brief Description
It is possible to operate IndraDrive controllers with a SERCOS III interface as
master communication module. This requires the control section with the op
tional module "SERCOS III" (S3). Via this optional module it is possible to
exchange real-time data with a SERCOS III master.
The following communication channels are distinguished:
General Features
Firmware-Specific Features
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
17/109
Master Communication
The number of configurable bytes in the MDT/AT depends on the
relation of the position cycle time (P-0-0556, bit 2) to the SERCOS
cycle time:
The NRT channel is only possible, if a time slot of more than 125
s is available.
New or Modified Parameters
2.5
PROFIBUS-DP
2.5.1
Brief Description
It is possible to operate IndraDrive controllers with a PROFIBUS interface as
master communication module. Via this module it is possible to exchange realtime data with a PROFIBUS-DP master.
The following communication channels are distinguished:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
18/109
Master Communication
Fig.2-4:
Support of all data rates according to IEC 611582, with exclusive use of
PROFIBUS-DP (9.6 kBaud, 19.2 kBaud, 45.45 kBaud, 93.75 kBaud,
187.5 kBaud, 500 kBaud,1.5 MBaud, 3 MBaud, 6 MBaud, 12 Mbaud)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
19/109
Master Communication
2.6
Ethernet/IP Interface
2.6.1
Brief Description
It is possible to operate drives of the IndraDrive range with an Ethernet/IP in
terface as master communication module. On the basis of a control section of
the CSH01.2C type, the drive firmware supports the protocol "Ethernet/IP
Specification Version 2.0" according to ODVA.
Via this interface, it is possible to transmit both real-time data via an I/O con
nection (Class 1 connection) and parameters of the drive via "Explicit
Message" (Class 3 connection).
To achieve high system flexibility, all data are accessible via objects. With
Ethernet/IP interface, these objects can be addressed through class, instance
and attribute. Some of these objects can be assigned to the I/O connection as
real-time data and thus be cyclically transmitted. There is also the option of
transmitting via "Explicit Message", but no objects defined in the real-time
channel (P04081) may be written by the master via "Explicit Message".
Features
Hardware Requirements
Pertinent Parameters
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
20/109
Master Communication
2.7
CANopen Interface
2.7.1
Brief Description
It is possible to operate IndraDrive controllers with a CANopen interface as
master communication module. This requires the control section with the op
tional module "CANopen/DeviceNet" (CO). Via this optional module, it is pos
sible to exchange real-time data with a CANopen master. The "CANopen"
protocol (according to Draft Standard DS301, version 4.0.2) has been imple
mented in the drive controller.
Communication Channels
Features
Baud rates of 20, 50, 125, 250, 500, 800 and 1000 kbit/s specified by
CANopen according to DS301 are supported
LED displays at the front panel of the master communication module for
simple diagnosis of bus functions and most important communication re
lationships between drive and field bus (2 LEDs: "Run" status and "Error"
status)
All parameters of the drive can be directly read via SDO and, if permitted,
can be written
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
21/109
Master Communication
2.8
DeviceNet Interface
2.8.1
Brief Description
It is possible to operate IndraDrive controllers with a DeviceNet interface as
master communication module. This requires the control section with the op
tional module "CANopen/DeviceNet" (CO). Via this optional module it is possi
ble to exchange real-time data with a DeviceNet master. The drive supports the
protocol "DeviceNet" according to ODVA version 2.0.
We distinguish the following communication channels:
To achieve the highest possible system flexibility, all parameters of the drive
are accessible via objects. With DeviceNet, these objects can be addressed
through class, instance and attribute. Some of these objects can be assigned
to the "polled I/O" as real-time data and thus be cyclically transmitted. There is
also the option of transmitting via "Explicit Message", but no objects defined in
the real-time channel (P04081) may be written by the master via "Explicit
Message".
Features
All parameters of the drive can be acyclically read via "Explicit Message"
and, if allowed, can be written
LED displays at the front panel of the master communication module for
simple diagnosis of bus functions and most important communication re
lationships between drive and field bus (2 LEDs: module status and
network status)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
22/109
Master Communication
2.9
Analog Interface
2.9.1
Brief Description
Overview
Fig.2-5:
Fig.2-6:
This section describes the basic functions of the analog interface and contains
notes on commissioning and parameterization. The individual functions used,
"analog inputs" and "encoder emulation", are described in separate chapters.
Features
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
23/109
Master Communication
Analog inputs (14 bit) to be assigned to parameters, with offset and scaling
to be set (number depending on control section design)
Channel B: T = 2 ms
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
25/109
3.1
3.1.1
Brief Description
With the controllers of the IndraDrive range it is possible to control both syn
chronous motors and asynchronous motors.
Types of construction
Rotary motors
Linear motors
Both types can be used in housing design (motor with an output shaft that in
cludes the bearing) or in kit design (stator and rotor as individual components).
Thermal Monitoring
When IndraDrive is used, the controlled motors are protected against thermal
damage when they are provided with a temperature sensor connected to the
controller. The controllers are equipped for evaluating the following temperature
sensors:
The firmware provides the option to collect dynamic operating data of the motor
and store them in the motor or the controller (operating hours counter, thermal
and mechanical operating data, operational performance).
Adjusting Motor/Controller
In the case of Rexroth motors, this can be done without any problem be
cause the manufacturer provides a specific data set for adjusting each
motor type. The data are documented by the manufacturer as parameter
values, stored and made available in motor-specific parameters.
IndraDrive allows controlling and monitoring holding brakes that are mechani
cally connected to the motor:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
26/109
3.1.2
Brief Description
For preventive maintenance and service purposes, the firmware provides the
option to collect dynamic operating data of the motor and store them in the
motor or the controller.
The operating hours counter for motors allows planning maintenance intervals,
minimize machine downtimes and reduce maintenance costs.
Features
Pertinent Parameters
3.2
3.2.1
Brief Description
Motor holding brakes are used to hold axes with drive enable having been
switched off. This is particularly important for non-equilibrated vertical axes.
With IndraDrive controllers it is possible to control and monitor motor holding
brakes in a wear-resistant way.
Holding brakes at Rexroth motors normally aren't designed for de
celerating when in operation. Increased wear caused by decelera
tion in operation can destroy the holding brake at an early stage!
The following motor holding brake types are possible:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
27/109
Control of the holding brake is linked with drive enable, considering holding and
releasing delays. In special cases it may be appropriate to avoid this program
med link and release or apply the holding brake independently. This, too, is
possible with IndraDrive!
New or Modified Parameters
3.2.2
Brief Description
If the brake torque of holding brakes is too low due to wear and corrosion, this
can interrupt the service and endanger safety in machines and installations.
IndraDrive controllers have the advantage of monitoring the effectiveness of
the holding brake and recording the monitoring intervals:
3.3
Measuring Systems
3.3.1
Brief Description
Control Loops and Measuring Sys
tems
Operating drives in the closed control loop requires measuring systems in order
to metrologically acquire the current status of the physical value to be control
led, the so-called actual value.
The following drive control loops are distinguished:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
28/109
The actual value of the torque/force control loop is generated by means of the
internal current measurement. The measuring system is inaccessible for the
user and has a fixed configuration.
Possibilities of Position Measuring
For acquiring the actual values of the velocity and position control loop there
are position measuring systems available that provide the user possibilities of
configuration. Position measurement can be carried out:
- or
Both at the motor and at the mechanical axis system (measurement via
motor encoder and "external" or "optional" encoder).
Position measurement via motor encoder is always required, meas
urement at the mechanical axis system is optional, the encoder at
the mechanical axis system is therefore called "optional encoder".
It is also called "external encoder" because this encoder is not in
stalled internally at the motor, but externally at the axis.
Position measuring systems are available for the different kinds of motion in
adapted types of construction:
Rotary encoders
Linear encoders
Depending on their design and the mechanical arrangement at the axis, the
position encoders can be evaluated as
- or
Precision, Resolution
Monitoring Functions
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
29/109
3.3.2
Brief Description
Evaluating Position Measurement
Depending on their design and the mechanical arrangement at the axis, posi
tion encoders can be evaluated by IndraDrive controllers as
- or
For kit motors or directly at the mechanical axis system, the following measuring
systems, that can be evaluated in absolute form, can be used:
The actual position values of an absolute encoder first only relate to the encoder
itself. Due to the mostly undefined mounting situation of the encoder to motor
or mechanical axis system, it is necessary to determine the position offset be
tween encoder and axis zero point once at the initial commissioning.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
30/109
3.3.3
Brief Description
Evaluating Position Measurement
IndraDrive controllers can evaluate the signals of both absolute and relative
measuring systems, if the encoder signals correspond to the specification.
The disadvantages of relative encoders as opposed to encoders that can be
evaluated in absolute form are as follows:
Aspects of Use
The costs of the encoder are mostly lower given equal absolute precision
and number of lines or division period length.
Due to the above disadvantages, relative measuring systems are not used as
motor encoders for synchronous Rexroth housing motors. For asynchronous
motors there aren't any disadvantages when using relative motor encoders.
For kit motors it can be necessary, however, to use relative encoders as motor
encoders if absolute encoders of the required design are not available:
Great encoder lengths for long travel distances in the case of linear motors
The actual position values of relative encoders first do not have any position
reference. In any axis position the actual position value of the respective relative
encoder, when switching the drive on, is written with the so-called initial position
value, if no other encoder being in reference has been connected.
There are two ways to establish the axis-related absolute distance:
- or
3.4
3.4.1
Brief Description
Motor Encoders
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
31/109
The precision and resolution of the position measurement is decisive for the
quality of the actual values, especially in the velocity and position control loop.
External Encoders
HSF encoders for MHD, 2AD and ADF motors of high precision require
ments
Resolver encoders for MKD and MKE motors for lower precision require
ments
- or
The mentioned measuring systems can be used as motor encoders for thirdparty kit motors and third-party housing motors. The combined encoders are
an exception; they can only be used for Rexroth synchronous linear motors!
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
32/109
Especially with rotary kit motors it is sometimes impossible to connect the motor
encoder directly to the motor shaft. IndraDrive provides the possibility to eval
uate a motor encoder connected via a gear.
For synchronous motors in combination with a motor encoder which
can be evaluated in absolute form, the advantage of setting the
commutation offset only once (see above) can only be used with an
encoder gear with i = 1 or when there is no encoder gear available!
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
33/109
Drive Control
Drive Control
4.1
4.1.1
Control mode
Torque/force control
Field-oriented
current control
Fig.4-1:
Functional
principle of
motor
Encoder
available
Required base
package
Method of control
Yes
Closed-loop
No
Open-loop
Asynchro
nous
Yes
Closed-loop
No
--
Synchro
nous
Yes
Closed-loop
No
--
Asynchro
nous
Yes
Closed-loop
FOC control
No
Open-loop
FXC control
Synchro
nous
Yes
Closed-loop
FOC control
No
Closed-loop
FOCsl control
Asynchro
nous
Yes
Closed-loop
FOC control
No
Closed-loop
FXC control 1)
Synchro
nous
Yes
Closed-loop
FOC control
No
Closed-loop
FOCsl control
Asynchro
nous
Not relevant
U/f control
FOC control
No procedure available
FOC control
No procedure available
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
34/109
Drive Control
4.2
Motor Control
4.2.1
Motor control with position feedback via a motor encoder (field-oriented current
control FOC) is the highest-quality method of motor control providing the best
control performance. It can be used for synchronous and asynchronous motors
and, within the precision and performance of motor and controller determined
by the hardware, allows unrestricted motor operation in the following operating
modes:
Velocity control
Torque/force control
For sensorless motor control, there are different model-based methods avail
able for synchronous and asynchronous motors.
Regarding the possible operating modes when using these methods, observe
the following restrictions:
Set the motor control method in parameter "P00045, Control word of current
controller". Make sure that the requirements regarding functional principle of
motor and motor encoder have been fulfilled for specified motor control mode.
The table below contains an overview for selecting the method.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
35/109
Drive Control
Motor encod
er?
Functional princi
ple of motor
With
Synchronous mo
tor
motor encoder
Without
motor encoder
Motor control
method
FOC
Asynchronous
motor
Synchronous mo
tor
FOCsl
FXC
Asynchronous
motor
U/f control
Fig.4-2:
New or Modified Parameters
4.2.2
Brief Description
The drive function "voltage-controlled open-loop operation of asynchronous
motors without encoder in U/f control" is made available in the base package
"open-loop" in the "velocity control" mode. When the expansion package "syn
chronization" has been enabled, the operating mode "velocity synchronization
with real/virtual master axis" is additionally available.
Fig.4-3:
Stall protection loop (PI loop that can be optionally activated to prevent
breakdown of the machine when the torque limits are attained)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
36/109
Drive Control
4.2.3
Current limitation loop to protect the output stage of the drive controller,
as well as limitation to the effective peak current
Brief Description
Base package of variants MPH, MPB and MPD in closed-loop characteristic
Fig.4-4:
The current loop was preset for all motors by Bosch Rexroth and
the parameter values have been stored in the motor encoder data
memory or in the commissioning tool (IndraWorks D, DriveTop).
Principle of Field-Oriented Current
Control
In the case of field-oriented current control, the internal control task consists in
generating the transformed currents Id and Iq in controlled form:
The figure below illustrates the principle of field-oriented current control for op
eration with motor encoder:
v-loop
I-loop
Fig.4-5:
Velocity loop
Current loop
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
37/109
Drive Control
Working Ranges
General Features
In the case of asynchronous motors, field-oriented current control has the fol
lowing features in addition to the general features:
4.2.4
Brief Description
Base package of variants MPH, MPB and MPD in open-loop and closed-loop charac
teristic
Fig.4-6:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
38/109
Drive Control
and can be used in the "velocity control" mode and in position-controlled oper
ating modes which use position encoder 2 (external encoder).
When using the firmware expansion package "synchronization", you can also
run the operating mode "velocity synchronization with real/virtual master axis".
Fig.4-7:
Features
Limitation of the maximum stator frequency slope that results from the
command velocity change
Slip compensation (estimated motor slip taken into account for calculating
actual velocity value)
To minimize the stationary speed deviations, due to slip, from the com
mand value when the asynchronous motor is loaded
Pertinent Parameters
Motor speed does not tend to oscillation in partial load operation and noload operation
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
39/109
Drive Control
Control parameters:
4.3
4.3.1
Brief Description
Base package of variants MPH, MPB and MPD in open-loop and closed-loop charac
teristic
Fig.4-8:
For operating motors, it is necessary to collect the values for motor parameters
(resistance values, inductances, ...), in order to determine the motor control
parameters (flux loop, voltage loop, current loop, ...) with these values.
Depending on the manufacturer and type of the motor to be controlled, the
values for motor parameters and motor control parameters are made available
to the controller in different ways.
Motors by Bosch Rexroth
For Rexroth motors, the values for the motor and motor control parameters are
optimized and made available by the manufacturer. The automatic setting of
the motor control parameters by the drive firmware is not required and not al
lowed for Rexroth motors!
Third-Party Motors
2.
2.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
40/109
Drive Control
Calculating the values of the motor control parameters from the motor
parameters for synchronous motors and, if necessary, for asynchronous
motors (after manual input of motor data in motor parameters)
Basically, the prerequisite is the form "Manufacturer-Side Data of
Synchronous Motors" or "Manufacturer-Side Data of Asynchronous
Motors" which is to be completed by the motor manufacturer!
Overview
P04032
Fig.4-9:
Determining the motor and motor control parameters for motors without
motor encoder data memory
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
41/109
Drive Control
In addition to collecting or determining the motor and motor control
parameters, further data on measuring system, temperature sen
sor, motor temperature model, motor holding brake and, if neces
sary, position and velocity loop are required.
New or Modified Parameters
4.4
4.4.1
The internal controller cycle times (current, velocity and position) depend on
the following conditions and parameters:
In accordance with these factors, the following cycle and switching times can
be obtained:
ADVANCED control BASIC control sec
sections
tions
PWM switching frequency
Max. 16 kHz
Max. 8 kHz
62.5 s
125 s
125 s
250 s
250 s
500 s
Fig.4-10:
4.4.2
Brief Description
In order to facilitate the parameterization of the drive, the IndraDrive firmware
offers an automatic control loop setting in closed-loop operation. By means of
the parameters "P-0-0163, Damping factor for autom. controller adjust" and
"P00164, Application for autom. controller adjust", the result of the control loop
setting (obtained control loop dynamics) can be influenced.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
42/109
Drive Control
For the execution of the automatic control loop setting, it is neces
sary to move the drive. An optimization of the velocity control loop
and the position control loop is carried out.
Features
Definition of a travel range for movement control for the automatic control
loop setting by
- or
Velocity loop
Position loop
Acceleration feedforward
4.5
Limitations
4.5.1
Brief Description
Current limitation and torque/force limitation avoid mechanical overload of the
axis and thermal overload of motor and controller.
Torque/force limit values due to axis conditions and processing take effect stat
ically as positive and negative limits of the torque/force command value. The
thermal overload protection might possibly reduce these limits dynamically,
depending on the current thermal load of motor and controller.
Features
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
43/109
Drive Control
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
45/109
Operating Modes
Operating Modes
5.1
Torque/Force Control
5.1.1
Brief Description
Base package of variants MPH, MPB and MPD in closed-loop characteristic
Fig.5-1:
Fig.5-2:
Features
Torque/force control with regard to the sum of the command values preset
in parameters "S00080, Torque/force command value" and "S00081,
Additive torque/force command value"
Limitation of the preset command value to limit value that can be para
meterized
5.2
Velocity Control
5.2.1
Brief Description
Base package of the variants MPH, MPB and MPD
Fig.5-3:
In the "velocity control" mode, a velocity command value is preset for the drive.
The velocity command value is limited by ramps and filters.
Fig.5-4:
Features
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
46/109
Operating Modes
Smoothing of velocity control loop difference via filter that can be para
meterized
Control word and status word especially for "velocity control" mode
(P01200 and P01210)
5.3
5.3.1
Brief Description
Base package of variants MPH, MPB and MPD in closed-loop characteristic
Fig.5-5:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
47/109
Operating Modes
In the "position control" mode, a cyclic position command value is preset for the
drive in NC cycle time. This command value is fine interpolated in the drive and
jerk-limited via filters, if necessary, before being transmitted to the position loop.
To minimize the lag error, variable acceleration feedforward is available in ad
dition to variable velocity feedforward.
There are different forms of the "position control" mode which result in the cor
responding diagnostic messages when the operating mode was activated.
Fig.5-6:
Features
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
48/109
Operating Modes
5.4
Drive-Internal Interpolation
5.4.1
Brief Description
Base package of variants MPH, MPB and MPD in closed-loop characteristic
Fig.5-7:
Fig.5-8:
Features
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
49/109
Operating Modes
New or Modified Parameters
5.5
Drive-Controlled Positioning
5.5.1
Brief Description
Base package of variants MPH, MPB and MPD in closed-loop characteristic
Fig.5-9:
Fig.5-10:
Features
Monitoring the target position for observing the position limit values (see
"S00049, Positive position limit value", "S00050, Negative position limit
value")
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
50/109
Operating Modes
Taking position limit values into account when accepting target position,
positioning velocity and positioning acceleration
5.6
5.6.1
Brief Description
Base package of variants MPH, MPB and MPD in closed-loop characteristic
Fig.5-11:
Fig.5-12:
Features
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
51/109
Operating Modes
Note: With field bus drives, the I/O mode and control via the parallel in
terface are exceptions. In these cases, acceptance takes place by a 0-1
edge of bit 0 in P04060.
Block selection and acknowledgment via separate parameters (hand
shake principle)
Fields of Application
Relative positioning
Absolute positioning
Positioning while taking command value mode into account (shortest dis
tance, positive direction, ...)
There is none or only a very simple higher-level control unit available and
control is realized via digital I/Os only or a field bus control word (I/O mode
with field bus interface).
There are quick reaction times or block advances required. The required
motion profiles can be represented in the drive by the maximum possible
64 positioning blocks.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
52/109
Operating Modes
5.7
Synchronization Modes
5.7.1
Fig.5-13:
New or Modified Parameters
Possible signal sources for the effective master axis of the synchronization
modes:
For internal adjustment or processing of the master axis information, there are
the following options:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
53/109
Operating Modes
5.7.2
Brief Description
Expansion package synchronization (order code SNC) for the variants MPH, MPB and
MPD in open-loop and closed-loop characteristic
Fig.5-14:
The figure below illustrates the interaction of the individual subfunctions (func
tion blocks) of the "velocity synchronization" mode:
P00048
P00052
P00053
P00761
P00777
Fig.5-15:
Variants of the Operating Mode
Velocity synchronization is used, for example, for simple transport rolls of print
ing machines. The drive runs with a velocity synchronous to the master axis.
The track speed at the circumference of the transport roll or the winder is preset
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
54/109
Operating Modes
by the electric gear. A defined tension can be set by the fine adjustment of the
gear.
New Pertinent Parameter
5.7.3
Brief Description
Expansion package synchronization (order code SNC) for the variants MPH, MPB and
MPD in closed-loop characteristic
Fig.5-16:
In the operating mode "phase synchronization with real/virtual master axis", the
drive follows a preset master axis position in an absolute or relative phase syn
chronous way.
The real master axis velocity is generated by a measuring encoder, the virtual
master axis velocity is preset by the master or the integrated master axis gen
erator.
Features
Determination of the position command value from the master axis posi
tion using the electronic gear with fine adjust, adjustable master axis
polarity
The figure below illustrates the interaction of the individual subfunctions (func
tion blocks) of the "phase synchronization" mode:
P00052
P00053
P00434
P00761
P00776
P00777
P00778
P00779
Fig.5-17:
Position synchronization
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
55/109
Operating Modes
For machining processes that only require relative phase synchronization, e.g.
synchronization of belts or feed rollers without defined starting point, a relative
position reference to the master axis is established. During the first synchroni
zation, there is only an adjustment to the synchronous velocity but no position
adjustment carried out.
5.7.4
Brief Description
Expansion package synchronization (order code SNC) for the variants MPH, MPB and
MPD in closed-loop characteristic
Fig.5-18:
In the operating mode "electronic cam shaft with real/virtual master axis", there
is a fixed relationship between the master axis position and the slave axis.
The real master axis velocity is generated by a measuring encoder, the virtual
master axis velocity is preset by the master or the integrated master axis gen
erator.
Features
4 cam shaft profiles with a max. of 1024 data points (P00072, P00092,
P00780, P00781)
4 cam shaft profiles with a max. of 128 data points (P00783, P00784,
P00785, P00786)
Freely definable switch angle for cam shaft and cam shaft distance
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
56/109
Operating Modes
The figure below illustrates the interaction of the individual subfunctions (func
tion blocks) of the "electronic cam shaft" mode:
P00052
P00053
P00434
P00761
P00776
P00777
P00778
P00779
Fig.5-19:
Position synchronization
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
57/109
Operating Modes
5.7.5
Brief Description
Expansion package synchronization (order code SNC) for the variants MPH, MPB and
MPD in closed-loop characteristic
Fig.5-20:
In the operating mode "electronic motion profile with real/virtual master axis",
there is a fixed relationship between the master axis position and the slave axis.
The real master axis velocity is generated by a measuring encoder, the virtual
master axis velocity is preset by the master or the integrated master axis gen
erator.
Features
Standard profiles realized by 5th order polynomial or, in the case of rest
in rest, alternatively by inclined sine curve
The figure below illustrates the interaction of the individual subfunctions (func
tion blocks) of the "electronic motion profile" mode:
P00052
P00053
P00434
P00761
P00776
P00777
P00778
P00779
Fig.5-21:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
58/109
Operating Modes
Variants of the Operating Mode
Position synchronization
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
59/109
6.1
Error Reactions
6.1.1
Brief Description
The error reaction "best possible deceleration" (to be set in parameter
"P00119, Best possible deceleration") is carried out automatically in the case
of the following states:
Travel range errors and errors of safety technology (F6xxx and F7xxx)
The setting in parameter P00119 is ignored in the case of the following errors:
One of the following reactions for "best possible deceleration" can be set in
parameter P00119:
Torque disable
Velocity Command Value Reset While Maintaining the Maximum Acceleration (S00138)
Base package of variants MPH, MPB and MPD in closed-loop characteristic
Fig.6-1:
P00119, Bit 03 = 4;
P00119, Bit 47 = 4
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
60/109
- or
6.2
E-Stop Function
6.2.1
Brief Description
Base package of variants MPH, MPB and MPD in open-loop and closed-loop charac
teristic
Fig.6-2:
The E-Stop function is used to shut down the drive with selectable drive reaction
(see Parameter Description "P00008, Activation E-Stop function") via a digital
input of the drive controller.
To use the E-Stop function, you have the following options:
6.3
6.3.1
Brief Description
Expansion packages servo function (order code SRV) and synchronization (order code
SNC) of variants MPH, MPB and MPD in closed-loop characteristic
Fig.6-3:
Motors for which the magnetic excitation is realized with permanent magnets
(e.g. synchronous motors) in many cases show cogging torques or cogging
forces. Cogging torques/cogging forces already act on the moving component
of the motor in the de-energized state and aim at moving it to a stable position.
When the motor is put into motion by control, the cogging torques/cogging
forces act on the motor in a decelerating or accelerating way, according to the
position. For applications in which minimum lag error or very constant velocity
is important, the position-dependent cogging torques/cogging forces can have
a negative effect.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
61/109
6.4
6.4.1
Brief Description
Expansion package synchronization (order code SNC) of variants MPH, MPB and
MPD in closed-loop characteristic
Fig.6-4:
The measuring wheel mode is used for material feed axes, e.g. in sheet-metal
machining. For direct measurement of the infeed of moved material, a rotary
encoder that is detecting the infeed length is driven via a measuring wheel with
frictionally engaged contact to the material surface.
The position control loop is closed via motor encoder and measuring wheel
encoder, possible slip between motor and material does not cause incorrect
measured values of material length.
The measuring wheel mode may only be activated when contact
has been established between measuring wheel and material sur
face.
Fig.6-5:
New or Modified Parameters
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
62/109
6.5
6.5.1
Brief Description
Expansion package main spindle (order code MSP) of variants MPH and MPB in
closed-loop and open-loop characteristic
Fig.6-6:
IndraDrive devices have been equipped with eight parameter sets; it is possible
to switch between these sets in operation. One of the switchable parameter
sets is always active. Switching takes place upon command of the control mas
ter.
Notes on Applications
Adjusting the control loop gains to different load inertia or load masses
(e.g. with very different workpieces)
Application parameters
Winding parameters
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
63/109
7.1
7.1.1
Brief Description
Overview
Fig.7-1:
Bus Topology
Configuration of the CCD slaves and communication with the external control
unit always takes place via the CCD master drive, as the individual CCD slaves
are connected to the master via a SERCOS III interface. Therefore, external
access always takes place via the CCD master which, apart from the optional
module for CCD ("SERCOS III master connection"), has a master communi
cation interface (e.g. PROFIBUS).
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
64/109
Fields of Application
Command value linkage of the CCD axes (e.g. master/slave, Gantry axis)
by transmission of freely configurable process data
Data channels:
Parameterization of all axes of the CCD group via interfaces of the CCD
master (RS232, Engineering Port, field bus, )
Firmware Requirements
Restrictions
Anti backlash
Torque/force linkage
I/O extension by connection of I/O modules for SERCOS III via CCD
The higher-level master mostly is a PLC with a field bus which does not
have real-time and synchronization ability (PROFIBUS, DeviceNet).
For using the drive function "cross communication", observe the following as
pects regarding the firmware:
All drives of a CCD group (CCD master and CCD slaves) have to be op
erated with the same firmware version.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
65/109
As for integrated safety technology, this firmware function does not require
separate enabling of functional packages; the function of drive cross com
munication is available with the corresponding hardware design.
The parameters listed below only exist for the CCD master:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
66/109
7.2
7.2.1
Brief Description
Extension packages IndraMotion MLD (order code ML, MA or TF)
Fig.7-2:
IEC-61131-3-conform
Online Change
Debugging
Offline simulation
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
67/109
Firmware Requirements
Features/Characteristic Values
The functional packages "IndraMotion MLD" include the following general fea
tures/characteristic values:
Task types:
Memory resources:
Digital inputs/outputs:
Analog inputs/outputs:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
68/109
SERCOS-III I/O
32 buffered parameters
32 unbuffered parameters
Name, unit and limit values of the global registers can be configured
via PLC functions
Other features:
File access from the PLC (save source code on MMC, ...)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
69/109
7.3
Digital Inputs/Outputs
7.3.1
Brief Description
General Information
Base package of variants MPH, MPB and MPD in open-loop and closed-loop charac
teristic
Fig.7-3:
4 digital inputs/outputs
3 digital inputs
3 digital inputs/outputs
4 digital inputs
No analog input
4 digital inputs/outputs
6 digital inputs
All inputs/outputs (except for the relay contact) designed for level of 0 V
(LOW) or 24 V (HIGH)
Signal states of digital inputs can be directly read by the control master
Digital outputs can be directly controlled by the control master, if not used
on drive-side
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
70/109
7.4
Analog Inputs
7.4.1
Brief Description
Base package of variants MPH, MPB and MPD in open-loop and closed-loop charac
teristic
Fig.7-4:
Overview
P00210
P00213
P00214
P00215
P00216
P00217
P00218
Fig.7-5:
Features
Analog input 1
Analog input, assignment A, target parameter
Analog input, assignment A, scaling per 10V full scale
Analog input, assignment A, signal value at 0V
Analog input, assignment A, dead zone
Analog input, time constant input filter
Analog input, control parameter
General features:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
71/109
Dead zone to be entered for suppressing the zero drift for both analog
channels
Offset and amplification adjust for both analog channels via command
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
72/109
7.5
Analog Outputs
7.5.1
Brief Description
Base package of variants MPH, MPB and MPD in open-loop and closed-loop charac
teristic
Fig.7-6:
Overview
MA1
Fig.7-7:
The drive function "analog outputs" allows using analog signal values for com
missioning and optimizing drives with appropriate measuring devices (e.g.
oscilloscope, multimeter), as well as for visualizing the contents of drive pa
rameters.
Features
General features:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
73/109
Switching of the behavior at the limits of voltage range that can be dis
played between overflow and limitation
When cyclic communication fails, the value "0" is written to the parameters
which causes 0 V to be output via the analog outputs.
7.6
7.6.1
Brief Description
Expansion package synchronization (order code SNC) of variants MPH, MPB and
MPD in closed-loop and open-loop characteristic
Fig.7-8:
The master axis generator serves for generating a master axis position, which
is used as input variable for the position synchronization operation modes and
the operation mode "velocity synchronization".
There are three ways of generating the master axis position:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
74/109
Fig.7-9:
Features
Possibilities of generating the master axis position for the slave axis
Features of generating the virtual actual position value with the master axis
generator:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
75/109
Format conversion from position format "virtual master axis" to master axis
format (modulo value "virtual master axis" 2P00084 P00750)
MC_MoveVelocity / MX_MoveVelocity
MC_MoveAbsolut / MX_MoveAbsolut
MC_MoveAdditiv / MX_MoveAdditiv
MC_MoveRelativ / MX_MoveRelativ
MC_Stop
MB_Stop
Note:
The function blocks for the virtual axis must behave exactly like those for
a real axis. The diagnostic and error messages, however, are different.
Features of the secondary master mode:
7.7
7.7.1
Brief Description
Base package of variants MPH, MPB and MPD in closed-loop characteristic
Fig.7-10:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
76/109
7.8
Encoder Emulation
7.8.1
Brief Description
Base package of variants MPH, MPB and MPD in closed-loop characteristic
Fig.7-11:
This allows, for example, evaluating the signals in a higher-level master in order
to close the position loop in the external control unit in conjunction with the freely
parameterizable resolution and the data reference.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
77/109
Signal emulation
- and In the form of incremental encoder signals, a higher-level numeric control (NC)
receives information about the velocity of the motor connected to the controller.
By integration of these signals, the control unit receives the required position
information and it is thereby possible to close a higher-level position control
loop.
Emulation takes place in scaling-dependent (see S00076) or en
coder-related form; the resolution is input in lines/revolution (1 line
corresponding to 4 increments) or in mm or inch.
Features of Incremental Encoder
Emulation
Absolute encoder emulation means that the drive controller has the option of
simulating a real absolute encoder in SSI data format. It is thereby possible to
transmit the position in the SSI data format to the connected control unit (NC)
and to close the position control loop via the control unit.
Emulation takes place in scaling-dependent form (see S00076)
and the resolution is input in bits.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
78/109
7.9
Probe Function
7.9.1
Brief Description
Base package of the variants MPH, MPB and MPD in closed-loop characteristic [in
conjunction with the extension package synchronization (order code SNC) also avail
able for open-loop characteristic]
Fig.7-12:
Features
2 probe inputs per axis; depending on the hardware design of the control
section (CSH, CSB, CDB) two rapid probe inputs or one rapid and
one slow probe input
For control sections with only one probe input (rapid digital input), another
digital input can be used as probe input
Sampling time for probe signals depends on performance which has been
set or is available:
Note: For sufficient noise immunity, signal edge reversal must last for at
least 4.0 s in order to be safely detected!
New or Modified Parameters
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
79/109
S00401, Probe 1
S00402, Probe 2
7.10
Measuring Encoder
7.10.1
Brief Description
Expansion package synchronization (order code SNC) of variants MPH, MPB and
MPD in closed-loop and open-loop characteristic
Fig.7-13:
Position Measurement
Measuring encoders are used for position evaluation of a rotary motion that
takes effect as a command variable for drive control. The actual position value
of the measuring encoder therefore is of command value nature for drive con
trol, the measuring encoder acts as a master axis encoder, for example.
Depending on its design and the mechanical arrangement at the axis, the
measuring encoder can be evaluated as
- or
Relative Position Measurement
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
80/109
Precision, Resolution
Monitoring Functions
The correct position information of the measuring encoder is required for correct
recording of a command variable. The encoder signals are therefore monitored
for validity and compliance with the allowed tolerances.
In addition, it is possible to monitor drives with an encoder that can be evaluated
in absolute form for compliance with the position when switching on compared
to the last time the drive was switched off.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
81/109
8.1
Parameters, Basics
8.1.1
Brief Description
Parameters
Data Memory
All relevant operating data are mapped to parameters and stored in the con
troller.
Several non-volatile data memories are available in an IndraDrive device:
In the controller
The controller memory contains the drive firmware and the controller-spe
cific parameter values.
Replacing the controller for servicing (loading the current parameter val
ues saved before servicing)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
82/109
8.2
Device Configuration
8.2.1
Brief Description
There are operating hours counters available in the drive that separately record
the operating time for control section and power section. The respective oper
ating time is displayed in the parameters P00190 or P00191. These times
are directly stored from the control section or power section so that assignment
is maintained also for servicing.
Pertinent Parameters
8.3
8.3.1
Overview
Activating Extended Display, Com
mand Menu and Service Menu
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
83/109
Fig.8-1:
Command Menu
Activating the extended display, the command menu and the service
menu
Starting from the extended display, you can activate the command menu by
pressing the "Up" key. In this menu, you can make several settings:
Set the drive address (drive number in the bus system of the master com
munication)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
84/109
Fig.8-2:
Defining the MMC Storage Mode
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
85/109
Service Menu
Starting from the command menu, you can activate the service menu by press
ing the "Up" key. It supports the following actions:
Copy parameters:
Storing the parameter values and, if necessary, the PLC retain data
from the device-internal, non-volatile memories (onboard flash and,
if available, memory of optional module "MDx") on the MMC
8.4
MultiMediaCard (MMC)
8.4.1
Brief Description
The MultiMediaCard (MMC) is a storage medium that can be inserted in the
slot provided for this purpose on the front of the controller. The MMC can store
drive firmware, drive parameters and other files (such as PLC programs or userside files, e.g. with document properties). The MMC can be used optionally.
As stationarily (permanently) plugged storage medium, the MMC can be used
as:
Transmitting drive parameter sets and firmware to other drives for serial
commissioning via command
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
86/109
Without firmware or parameter loss the controller can be changed from MMC
device status "device without MMC or temporary backup MMC" to the status
"device with stationarily plugged MMC (programming module mode)" and vice
versa.
The MMC commands can be started via the control panel. This is
especially advantageous when replacing devices!
It is only allowed to use MMCs by Bosch Rexroth (type designation
PFM02.1-****-FW)! For storage media of other manufacturers we
cannot assume any guarantee for faultless operation.
New or Modified Parameters
8.5
Firmware Replacement
8.5.1
Basic Principles
Explanation of Terms
Release update
An old firmware release (e.g. MPH05 V06) in the device is replaced by a
new firmware release (e.g. MPH05 V08).
Version upgrade
The old firmware version (e.g. MPH 04 V20) in the device is replaced by
a new firmware version (e.g. MPH 05 V08).
Firmware for IndraDrive is replaced using the following hardware and software:
MultiMediaCard (MMC)
8.6
8.6.1
Brief Description
The scope of functionality of the IndraDrive firmware can be scaled by the user.
This allows adjusting the scope of firmware functions to the respective require
ments and, if necessary, reducing its complexity.
The drive functionality is scaled by licensing (enabling) optional expansion
packages that are available in addition to the standard base package of the
respective IndraDrive firmware.
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
87/109
8.7
8.7.1
Patch Function
Brief Description
The patch function can be used for reading and writing any storage location (or
internal variable) as a data object via the master communication, the analog
output or the oscilloscope feature.
In conjunction with the analog output or the oscilloscope feature, this function
ality can be used for locating errors.
The PLC patch function serves for diagnosis of internal signal states and inter
nal data of the PLC by developers and instructed users.
When using the patch display in the oscilloscope you have to take
into account that first the patch address and then the oscilloscope
signal is assigned. This must be repeated after every change in the
patch address.
As it is a function for exclusive use by the development staff, the
patch display parameters P00485 and P00491 write-protected
with the master password.
The configuration parameters of the patch function are not stored
in the flash but are lost when the drive is switched off.
New or Modified Parameters
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
89/109
Engineering/Diagnostic Interfaces
Engineering/Diagnostic Interfaces
9.1
TCP/IP Communication
9.1.1
Brief Description
It is possible to communicate with an IndraDrive controller via standard Ethernet
telegrams. These Ethernet telegrams contain TCP/IP or UDP/IP telegrams for
application-side connection. For communication with the device, the CSMA/CD
access method is applied. As connection options, a variety of interfaces are
available, such as the Engineering Port of the control section CSH01.2 or a free
port of a SERCOS III interface (master or slave).
For SERCOS III, in addition to the time-controlled transmission of SERCOStype Ethernet telegrams (MDT and AT), an NRT channel (NonRealTime or IP
channel) exists, for which telegrams are sent in a specially reserved time slot.
Therefore, for SERCOS III, another option for asynchronous data transmission
is available in addition to the existing service channel, that is very well suitable
for large amounts of data due to the maximum lengths of useful data of approx.
1500 bytes.
Possible Applications
With the utilization of the Ethernet communication in the drive, different appli
cation options are available, which are summarized in the following table.
Connection
Server application
SIS protocol
Parameterization via SIS-based parameter services, integra Addressed client-sidedly via SCP in Indra
ted in TCP
Works
Com-Server
Access to parameters and PLC variables for HMI connection VCP / VEP
3S-TCP
1. IL programming environment
2. See 3S gateway for OPC server
3S-UDP
FTP server
FTP server for uploading (writing to target device) and down FTP client program on the master comput
loading (reading from target device) of files of the MMC
er, engineering PC, ...
Fig.9-1:
Pertinent Parameters
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
90/109
Engineering/Diagnostic Interfaces
9.2
9.2.1
Brief Description
Via an integrated FTP server, IndraDrive devices with Ethernet communication
can access the data of the MMC programming module by means of FTP con
nection. This allows reading or writing data/directories on the MMC.
Fig.9-2:
Features
Hardware Requirements
Pertinent Parameters
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
91/109
Commissioning
10
Commissioning
10.1
Commissioning Motors
10.1.1
Brief Description
The so-called "easy startup mode" allows moving the drive without connected
or active control unit (or master communication master) or external command
value box. When using a Rexroth motor with encoder data memory, this is also
possible without using a commissioning PC, because all motor and controller
parameters are stored in the encoder data memory.
The easy startup mode is therefore particularly suited for initial
commissioning of individual axes, as well as for maintaining an
emergency mode when the control unit has failed.
Features
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
92/109
Commissioning
Fig.10-1:
New or Modified Parameters
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
93/109
Notes on Application
11
Notes on Application
11.1
11.1.1
New Functions
PLC function blocks for setting the name, unit and limits of global PLC
registers
Diagnostic texts displayed in the standard control panels (in the case of
errors, warnings and command errors)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
94/109
Notes on Application
CANopen interface:
Synchronous operation
Possibility of inputting the target boot run-up phase for controllers with
parallel, analog or field bus interface
Number of axes in CCD system mode and CCD basic mode increased to
9 slaves
CCD cycle time can be set (can also be unequal master communication
cycle time)
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
95/109
Notes on Application
11.1.2
New Parameters
The following new parameters were introduced in firmware version MPx05:
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
96/109
Notes on Application
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
97/109
Notes on Application
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
98/109
Notes on Application
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
99/109
Notes on Application
Modified Parameters
The following parameters were extended or modified in firmware version
MPx05 in compatible form:
S-0-0401, Probe 1
S-0-0402, Probe 2
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
100/109
Notes on Application
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
101/109
Notes on Application
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
102/109
Notes on Application
11.1.3
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
103/109
Notes on Application
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
104/109
Notes on Application
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
105/109
12
12.1
Helpdesk
Our service helpdesk at our headquarters in Lohr, Germany, will assist you with
all kinds of inquiries.
Contact us:
By fax
+49 (0) 9352 40 49 41
12.2
By e-mail: service.svc@boschrexroth.de
Service Hotline
Out of helpdesk hours please contact our German service department directly:
+49 (0) 171 333 88 26
or
+49 (0) 172 660 04 06
Hotline numbers for other countries can be found in the addresses of each
region (see below).
12.3
Internet
Additional notes regarding service, maintenance and training, as well as the
current addresses of our sales and service offices can be found on
http://www.boschrexroth.com
Outwith Germany please contact our sales/service office in your area first.
12.4
Helpful Information
For quick and efficient help please have the following information ready:
Your phone and fax numbers as well as your e-mail address so we can
contact you in case of questions
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
107/109
Index
Index
A
Digital inputs 69
Digital inputs/outputs 69
Digital outputs 69
Drive control 33
Basic principles and terms 33
Overview 33
Drive-controlled positioning 49
Block diagram 49
Drive controllers
Control sections 2
Power sections 2
Drive firmware, overview 1
Drive-integrated PLC 5
Drive-integrated PLC (Rexroth IndraMotion MLD)
66
Drive-internal interpolation 48
Block diagram 48
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
108/109
Index
Functions, new and modified 93
FXC control 37
Limitations 42
Current and torque/force limitation 42
Motor parameters
Automatic setting 39
Motors
Basics 25
General information for operation with IndraDrive
25
MultiMediaCard 85
New functions 93
Notes on application 93
Parameters
Basics 81
Loading, storing and saving 81
Parameters, new or modified 95
Parameter set switching 62
Patch function
General patch function 87
PLC patch function 87
Performance data 7
Phase synchronization with real/virtual master axis
54
PLC patch function 87
Position control
Block diagram 46
Positioning block mode 50
Power sections, overview 2
Probe function 78
PROFIBUS-DP 17
Release update 86
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
109/109
Index
Resolution of measuring systems 27
Rexroth IndraMotion MLD 66
Torque/force limitation 42
U/f control 35
TCP/IP communication 89
Torque/force control
Block diagram 45
U
V
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
Notes
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 (0)93 52-40-50 60
Fax
+49 (0)93 52-40-49 41
service.svc@boschrexroth.de
www.boschrexroth.com
R911320184
Printed in Germany
DOK-INDRV*-MP*-05VRS**-FV01-EN-P