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and Controls
Hydraulics
Pneumatics
Rexroth IndraDrive
Firmware for Drive Controllers
MPH-04, MPB-04, MPD-04
Firmware Version Notes
Service
R911315487
Edition 01
Title
Rexroth IndraDrive
Firmware for Drive Controllers
MPH-04, MPB-04, MPD-04
Type of Documentation
Document Typecode
Internal File Reference
Purpose of Documentation
Record of Revisions
Copyright
Description
Release
Date
Notes
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
01.2006
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 availability of the product.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. Main
Telephone +49 (0)93 52/40-0 Tx 68 94 21 Fax +49 (0)93 52/40-48 85
http://www.boschrexroth.com/
Dept. EDY
Note
Contents I
Contents
1
System Overview
1.1
1-1
1.2
1.3
1.4
1.5
1.6
Master Communication
2.1
2-1
2.2
2.3
2.4
2.5
2.6
Drive Control
3.1
3-1
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
II Contents
3.2
3.3
3.4
3.5
Operating Modes
4.1
4-1
4.2
4.3
4.4
4.5
Drive Functions
5.1
5-1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
6-1
6.1
6.2
6.3
7-1
7.1
7.2
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Notes on Application
Contents III
8-1
8.1
8.2
Index
9-1
10-1
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
IV Contents
Notes
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
System Overview
1.1
General Information
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
1.2
Drive Controllers
Overview
Standard Design of the IndraDrive Controllers
As a standard, IndraDrive controllers
components:
consist of
two hardware
Power section
Control section
power section
Compact
IndraDrive C
1 ... 110 kW
scalable power
uniform design
IndraDrive M
control section
ADVANCED single-axis
scalable performance
Modular
1 ... 120 kW
scalable functionality
BASIC single-axis
limited performance and interface flexibility
safety technology
BASIC double-axis
limited performance and interface flexibility
DF000108v01_en.fh7
Fig. 1-1:
Power Section
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Note:
Control Section
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Power Sections
The following power sections for the standard design of IndraDrive
controllers can be operated with the firmware MPx-04VRS:
IndraDrive M
IndraDrive C
Single-axis
power sections
Double-axis
power sections
Single-axis converters
in 300mm type of constr.
Single-axis converters
in 400mm type of constr.
HMS01.1N-W
HMD01.1N-W
HCS02.1E-W
HCS03.1E-W
in preparation:
HMS02.1N-W
in preparation:
HCS04.1E-W
Fig. 1-2:
Control Sections
Available Control Section Designs
The following control sections can be operated with the appropriate
MPx-04VRS firmware variant:
Configurable control sections
ADVANCED (single-axis; type CSH01.1C-...)
BASIC UNIVERSAL (single-axis; type CSB01.1C-...)
BASIC UNIVERSAL double-axis (type CDB01.1C-...)
Non-configurable control sections
BASIC OPENLOOP (single-axis; type CSB01.1N-FC-...)
BASIC SERCOS (single-axis; type CSB01.1N-SE-...)
BASIC PROFIBUS (single-axis; type CSB01.1N-PB-...)
BASIC ANALOG (single-axis; type CSB01.1N-AN-...)
Your sales representative will help you with the current status
of available control section types.
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
CSH01.1C
CSB01.1C
CDB01.1C
MPH-04VRS
MPB-04VRS
MPD-04VRS
analog interface
CO
CANopen/DeviceNet
ET
FC
analog/digital
for open-loop operation
PB
PROFIBUS-DP
PL
parallel interface
S3
SERCOS III
SE
SERCOS interface
cross communication
EN1
EN2
X
X
X
X
X
ENS
MA1
MD1
MD2
MEM
encoder emulator
L1
starting lockout
S1
safety technology
Optional modules
CCD
1)
Safety option
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
1):
Fig. 1-3:
Note:
1.3
Supported Motors
The table below contains an overview of the Rexroth motors which can be
operated at IndraDrive controllers.
Housing motors
synchronous
asynchronous
MHD
2AD
MKD
ADF
MKE
MAD (IndraDyn A)
MSK (IndraDyn S) MAF (IndraDyn A)
MAL
SF (Bosch)
Fig. 1-4:
Kit motors
synchronous
asynchronou
s
MLF (IndraDyn L)
MBS (Standard)
MBSxx2 (IndraDyn H)
MBT (IndraDyn T)
LSF
1MB
Measuring Encoder
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
1.4
Master Communication
In the MPx-04 firmware, the following master communication interfaces
are available:
SERCOS interface
SERCOS III
PROFIBUS-DP
CANopen interface
DeviceNet interface
parallel interface (not for double-axis type MPD)
analog interface (not for double-axis type MPD)
1.5
Overview
The application-specific scope of usable functions
FWA-INDRV*-MP*-04VRS drive firmware depends on
of
the
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Note:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
BASIC
Closed-Loop
ADVANCED
single-axis design
(firmware MPH04)
Open-Loop
IndraMotion MLD-S
Closed-Loop
IndraMotion MLD
main spindle
main spindle
main spindle
main spindle
synchronization
synchronization
synchronization
synchronization
servo
base package
open-loop
base package
closed-loop
additive
functional
package
alternative
functional
packages
servo
base package
open-loop
base package
closed-loop
base package
always contained
functional packages optional expansion packages
DF000109v03_en.fh
Fig. 1-5:
Note:
Base Packages
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Servo functions :
This package makes available all specific expansions for servo
applications, such as compensations and correction functions (e.g.
axis error correction, quadrant error correction).
1)
Synchronization :
With this package the possibilities of synchronization of the drive can
be used (support of synchronization modes, measuring encoder
function, probe function ...).
1)
Note:
activated
The overview below illustrates how the individual functional packages are
depending on the respective hardware and the firmware type:
Firmware variant
Control section design
performance
basic functions
base
package
base
package
"open-loop"
(U/f)
Basic
base
package
"closed-loop"
(Servo)
Basic
FWA-INDRV*-MPB-04VRS
FWA-INDRV*-MPD-04VRS
FWA-INDRV*-MPH-04VRS
CSB0.1.1
(Basic single-axis)
CDB0.1.1
(Basic double-axis)
CSH0.1.1
(Advanced single-axis)
open-loop
closed-loop
open-loop
closed-loop
open-loop
closed-loop
Advanced
X
Advanced
Basic
servo
Advanced
alternative
functional
packages
Basic
X
X
synchronizat.
Advanced
Basic
main spindle
Advanced
additive
functional
package
IndraMotion
MLD
Basic
1)
Advanced
1)
Fig. 1-6:
1)
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Firmware Types
Version
Release
Language
Open-/closedloop
Alternative
expansion
packages
Additive
expansion
packages
Basic single-axis
FWA-INDRV*
-MPB-
04
VRS-
D5-
x-
xxx-
xx
Basic double-axis
FWA-INDRV*
-MPD-
04
VRS-
D5-
x-
xxx-
xx
Advanced single-axis
FWA-INDRV*
-MPH-
04
VRS-
D5-
x-
xxx-
xx
IndraDrive-Firmware
Fig. 1-7:
Function-Specific Abbreviations
in Type Designation of
IndraDrive Firmware
MPD
MPH
Firmware characteristic:
0
open-loop
closed-loop
SRV
SNC
MSP
ALL
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
NN
ML
TF
Note:
Your sales representative will help you with the current status
of available firmware types.
Base Packages
In the base packages of the firmware the minimum scope of
functionalities is available depending on the respective firmware
characteristic ("open-loop" or "closed-loop"). They contain the basic
functions of a drive firmware and a number of other fundamental
functions.
Basic Functions
The following basic functions are available for every drive and contain the
fundamental basic functions of a digital drive (available in the firmware
characteristics "open-loop" and "closed-loop"):
extensive diagnostic functions
drive-internal generation of diagnostic messages
monitor function
analog output
patch function
status displays, status classes
oscilloscope function
code of optional card
parameter value check
operating hours counter, logbook function, error memory
undervoltage monitor
output of control signals
limitations that can be parameterized
serial communication
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Firmware variant
Master
communication
closed-loop
open-loop
closed-loop
open-loop
closed-loop
multiplex channel
SERCOS interface
1)2)
1)2)
1)2)
1)2)
SERCOS III
X1)2)
X1)2)
X1)2)
X1)2)
X1)2)
1)2)
1)2)
1)2)
PROFInet
1)
X1)
X1)
X1)
X1)2)
X1)
X1)
1)2)
1)
X1)
CANopen
X1)
X1)
X1)
X1)
DeviceNet
X1)
X1)
X1)
X1)
parallel interface
X1)3)
X1)3)
X1)
X1)
analog interface
X
X
X
X
X
X
X
X
X
X
X4)
X4)
X4)
3)
3)
encoder correction
U/f operation
in
preparation
in
preparation
Axis
control
motor encoder
Motor
control
FWA-INDRV*-MPH04VRS
(Advanced single-axis)
open-loop
Motors
and
encoders
FWA-INDRV*-MPD04VRS
(Basic double-axis)
X
X
X
X
commutation setting
velocity loop
position loop
current limitation
torque/force limitation
Fig. 1-8:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Firmware variant
FWA-INDRV*-MPB04VRS
(Basic single-axis)
open-loop
torque/force control
Drive
functions
Error
reactions
Expanded
drive
functions
closed-loop
FWA-INDRV*-MPH04VRS
(Advanced single-axis)
open-loop
X
X
closed-loop
X
position control
drive-internal interpolation
drive-controlled positioning
Drive Halt
parking axis
drive-controlled homing
NC-controlled homing
E-Stop function
torque disable
vcmd reset
("emergency halt")
X1)
X1)
X1)
X1)
X1)
X1)
X1)5)
X1)5)
X1)5)
X1)5)
X1)
X1)
encoder emulation
position switch points
3)
MMC support
Handling,
diagnosis,
service
open-loop
velocity control
Operating
modes
closed-loop
FWA-INDRV*-MPD04VRS
(Basic double-axis)
X1)
X1)
X1)
3)
firmware handling
scaling/standardization
oscilloscope function
patch function
1)
2)
3)
4)
5)
Fig. 1-9:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
synchronization
Servo Function
Depending on the firmware variant and characteristic, the expansion
package "servo" has the following scope of functions:
Firmware variant
FWA-INDRV*-MPB-04VRS
(Basic single-axis)
open-loop
closed-loop
FWA-INDRV*-MPD-04VRS
(Basic double-axis)
open-loop
closed-loop
FWA-INDRV*-MPH-04VRS
(Advanced single-axis)
open-loop
closed-loop
X
1)
X
2)3)
X2)
X2)3)
X2)
X2)3)
X2)
X2)3)
X2)
1)
2)
3)
Fig. 1-10:
Note:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
2)3)
2)
probe function
2)
2)3)
Synchronization
Depending on the firmware variant and characteristic, the expansion
package "synchronization" has the following scope of functions:
Firmware variant
FWA-INDRV*-MPB-04VRS
(Basic single-axis)
FWA-INDRV*-MPD-04VRS
(Basic double-axis)
FWA-INDRV*-MPH-04VRS
(Advanced single-axis)
(open-loop)
(open-loop)
(open-loop)
(closed-loop)
X
(closed-loop)
X
(closed-loop)
X
phase synchronization
X
2)3)
X2)
X2)3)
X2)
X2)3)
X2)
X3)
X2)
X4)
X4)
2)3)
probe function
measuring encoder
2)
2)
3)
4)
Fig. 1-11:
Note:
2)
3)
FWA-INDRV*-MPB-04VRS
(Basic single-axis)
FWA-INDRV*-MPD-04VRS
(Basic double-axis)
FWA-INDRV*-MPH-04VRS
(Advanced single-axis)
(open-loop)
(open-loop)
(open-loop)
spindle positioning
(closed-loop)
X
(closed-loop)
X
(closed-loop)
X
drive-controlled oscillation
Fig. 1-12:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
IndraMotion MLD
PC-based PLC
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
IndraMotion MLC
Rexroth IndraWorks
commissioning software
Rexroth IndraMotion
MLD
integrated drive PLC
(multi-axis and single-axis motion)
Rexroth IndraMotion
MLC
stand-alone PLC
(multi-axis motion)
Rexroth IndraMotion
MLP
PC-based PLC
(multi-axis motion)
Rexroth IndraLogic
programming environment
DF000135v05_en.fh
Fig. 1-13:
Note:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
auxiliary functions
Safety related monitored shutdown
Safety related homing procedure
Safety related brake management (in preparation)
Safety related inputs/outputs for PROFIsafe
safety functions for "Safety related feedback"
Safety related diagnostic outputs
Safety related control of a door locking device (not with PROFIsafe)
1.6
Performance Data
Overview
Levels of Control Performance
For the control performance of the IndraDrive range we basically
distinguish three levels with regard to the clock rates (cycle times):
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-integrated 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 driveintegrated 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
(IndraMotion MLD)
TA_current
TA_velocity
TA_position
TMLD
TMastCom
The table below contains an overview of the clock rates depending on the
respective control performance. The detailed assignment of the clock rate
to control section design, performance level and parameter setting is
contained in the table in section "Control Section Design and
Performance" (see below).
Performance
Advanced
Basic
Economy
1):
Fig. 1-14:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
TA_current
62.5/83.3/125
62.5/83.3/125/250
125/250
1)
1)
TA_velocity
TA_position
TMLD
TMastCom
125
250
1000
500
250
500
2000
500/1000
500
1000
2000
2000
Note:
CSH01.1/MPH
Functional
packages
Perform.
level
Switching
frequency
CSB01.1/MPB
TA_posit.
TMLD
TMastCom.
250 s
500 s
500 s
1000 s
500 s
Basic
4000 Hz
125 s
250 s
500 s
1000 s
500 s
Basic
8000 Hz
125 s
250 s
500 s
1000 s
500 s
Basic
12000 Hz
83,3 s
250 s
500 s
1000 s
500 s
Basic
16000 Hz
62,5 s
250 s
500 s
1000 s
500 s
Advanced
4000 Hz
125 s
125 s
250 s
1000 s
500 s
Advanced
8000 Hz
62,5 s
125 s
250 s
1000 s
500 s
Advanced 16000 Hz
62,5 s
125 s
250 s
1000 s
500 s
2)
250 s
250 s
500 s
--
1000 s
2000 Hz
Basic
4000 Hz
125 s
250 s
500 s
--
1000 s
Basic
8000 Hz
125 s
250 s
500 s
--
1000 s
250 s
500 s
1000 s
--
2000 s
Economy 2000 Hz
2)
Economy
4000 Hz
125 s
500 s
1000 s
--
2000 s
Economy
8000 Hz
125 s
500 s
1000 s
--
2000 s
250 s
500 s
1000 s 2000 s
2000 s
Economy 2000 Hz
"synchronization"
and "IndraMotion"
TA_velocity
2000 Hz 2)
all
TA_current
Basic
Basic
CDB01.1/MPD
P-0-0556
bit 2 bit 5
1)
2)
Economy
4000 Hz
125 s
500 s
1000 s 2000 s
2000 s
Economy
8000 Hz
125 s
500 s
1000 s 2000 s
2000 s
Basic
4000 Hz
125 s
250 s
500 s
--
1000 s
Basic
8000 Hz
125 s
250 s
500 s
--
1000 s
all
1):
can be set via P-0-0001
2):
only with power section HCS04.1 and MAD/MAF
P-0-0556:
Config word of axis controller
Fig. 1-15: Performance depending on the control section design
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Notes
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Master Communication
2.1
Features
All variants of master communication supported by IndraDrive have the
following functional features in common:
address assignment
communication address to be freely parameterized (via master
communication, serial and control panel) via parameter P-0-4025,
Drive address of master communication
command processing
drive commands to be externally
communication, serial and control panel)
activated
(via
master
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
field bus
status machine
parallel/analog
status machine
SERCOSstatus machine
device
status machine
communic.
phase 4
communic.
phase 3
Data Exchange
Data Exchange
communic.
phase 2
communic.
phase 1
operating mode
(AH, AF, ...)
S-0-0128
C5200
S-0-0422
C0200
S-0-0420
C0400
S-0-0127
C0100
parameter mode
communic.
phase 0
Check Config
communic.
phase -1
Set Param
booting
process
initialization
booting
process
booting
process
device
status machine
DF000191v01_en.fh
S-0-0127:
C0100 Communication phase 3 transition check
S-0-0128:
C5200 Communication phase 4 transition check
S-0-0420:
C0400 Activate parameterization level 1 procedure command
S-0-0422:
C0200 Exit parameterization level procedure command
Fig. 2-1:
Overview: status machines of master communications and device
Multiplex Channel
New or Modified Diagnostic
Messages
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
2.2
Master
communication
Features
PROFIBUS,
CANopen,
DeviceNet
PROFIBUS,
CANopen,
DeviceNet
PROFIBUS,
CANopen,
DeviceNet
FFFDh
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Word1
Format
u16 (1 word)
u16 (1 word)
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
2.3
SERCOS III
Overview
It is possible to operate IndraDrive controllers with a SERCOS III interface
as master communication module. This requires the control section with
the master communication option "SERCOS III" (S3). Via this module it is
possible to exchange real-time data with a SERCOS III master.
The master communication interface with SERCOS III interface is
optionally available for the following configurable control sections:
single-axis BASIC UNIVERSAL
(CSB01.1C)
single-axis ADVANCED
(CSH01.1C)
Features
General Features
Firmware-Specific Features
32 bytes
32 bytes
Note:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Pertinent Parameters
Specific parameters for SERCOS III communication:
S-0-0001, SERCOS-III: NC cycle time (TNcyc)
S-0-1002, SERCOS-III: SERCOS cycle time (TScyc)
S-0-1005, SERCOS-III: Minimum feedback acquisition time (T5)
S-0-1006, SERCOS-III: AT transmission starting time (T1)
S-0-1007, SERCOS-III: Feedback acquisition starting time (T4)
S-0-1008, SERCOS-III: Command value valid time (T3)
S-0-1009, SERCOS-III: RTC offset in MDT
S-0-1010, SERCOS-III: MDT lengths
S-0-1011, SERCOS-III: RTC offset in AT
S-0-1012, SERCOS-III: AT lengths
S-0-1013, SERCOS-III: SVC offset in MDT
S-0-1014, SERCOS-III: SVC offset in AT
S-0-1015, SERCOS-III: ring delay
S-0-1016, SERCOS-III: slave delay (SYNCCNT-P, SYNCCNT-S)
S-0-1017, SERCOS-III: IP channel transmission starting time
S-0-1018, SERCOS-III: SYNC delay (P-count, S-count)
S-0-1019, Master communication: MAC address
S-0-1020, Master communication: IP address
S-0-1021, Master communication: network mask
S-0-1022, Master communication: gateway address
S-0-1023, SERCOS-III: SYNC jitter
S-0-1024, SERCOS-III: ring control
S-0-1025, SERCOS-III: ring status
S-0-1026, SERCOS-III: hardware code
S-0-1028, SERCOS-III: MST error counter
S-0-1029, SERCOS-III: MDT error counter
S-0-1030, SERCOS-III: AT error counter
S-0-1031, SERCOS-III: signal assignment
S-0-1095, SERCOS-III: diagnostic message
S-0-1134, SERCOS-III: Master control word
S-0-1135, SERCOS-III: Drive status word
Additional pertinent parameters according to "SERCOS interface":
S-0-0014, Interface status
S-0-0015, Telegram type parameter
S-0-0016, Configuration list of AT
S-0-0024, Config. list of the master data telegram
S-0-0096, Slave arrangement (SLKN))
S-0-0097, Mask class 2 diagnostics
S-0-0098, Mask class 3 diagnostic
S-0-0143, Sercos interface version
S-0-0185, Length of the configurable data record in the AT
S-0-0186, Length of the configurable data record in the MDT
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
2.4
PROFIBUS-DP
Overview
Drive controllers of the IndraDrive range have a master communication
module with PROFIBUS interface. Via this module it is possible to
exchange real-time data with a PROFIBUS-DP master.
Using the master communication "PROFIBUS-DP" requires the following
control section design:
single-axis BASIC PROFIBUS (not configurable)
(CSB01.1N-PB)
(CSB01.1C)
single-axis ADVANCED
(CSH01.1C)
(CDB01.1C)
master slave
param. channel
PROFIsafe
slave master
param. channel
PROFIsafe
Fig. 2-3:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Note:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
2.5
CANopen Interface
Overview
It is possible to operate IndraDrive controllers with a CANopen interface
as master communication module. This requires the control section with
the master communication option "CANopen/DeviceNet" (CO). Via this
module it is possible to exchange real-time data with a CANopen master.
The "CANopen" protocol (according to Draft Standard DS301,
version 4.0.2) has been implemented in the drive controller.
The master communication interface with CANopen interface is optionally
available for the following configurable control sections:
single-axis BASIC UNIVERSAL
(CSB01.1C)
single-axis ADVANCED
(CSH01.1C)
Features
simple configuration through use of "predefined connection set" and
"minimum boot-up" according to DS301
baud rates of 20, 50, 125, 250, 500, 800 and 1000 kbit/s specified by
CANopen according to DS301 are supported
configurable cyclic data up to 12 parameters (incl. field bus control
word and field bus status word) in both data directions
(max. 24 bytes or 12 words)
multiplex channel permanently configured in one PDO pair
functional compatibility with EcoDrive functions through profile
selection (I/O mode)
node monitoring (heartbeat function)
LED displays on the front panel of the command communication
module for simple diagnosis of bus functions and most important
communication relationships 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
upload/download function for all parameters of the drive possible with
SDO services
event-controlled transmission of process data can be switched off
CANopen Device profile DSP402 is not supported; field bus profiles
according to DSP402 are partly supported
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Pertinent Parameters
Communication Parameters
2.6
DeviceNet Interface
Overview
It is possible to operate IndraDrive controllers with a DeviceNet interface
as master communication module. This requires the control section with
the master communication option "CANopen/DeviceNet" (CO). Via this
module it is possible to exchange real-time data with a DeviceNet master.
The drive supports the protocol "DeviceNet" according to ODVA
version 2.0.
The master communication interface with DeviceNet interface is optionally
available for the following configurable control sections:
single-axis BASIC UNIVERSAL
(CSB01.1C)
single-axis ADVANCED
(CSH01.1C)
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Features
DeviceNet interface completely galvanically decoupled
"Open Pluggable Connector" according to specification 2.0
(Phoenix COMBICON connector)
"DeviceNet Generic Device" according to specification ODVA 2.0
easy configuration by implementing "Group 2 only Server"
support of all data rates:
125 kbit/s (up to a distance of 500 m)
250 kbit/s (up to a distance of 250 m)
500 kbit/s (up to a distance of 100 m)
freely configurable process data channel (max. 24 words, max.
15 IDN) in both data directions via drive parameters P-0-4080 and
P-0-4081
monitoring of the process data channel (watchdog function)
all parameters of the drive can be acyclically read via "Explicit
Message" and, if allowed, can be written
LED displays on the front panel of the command communication
module for simple diagnosis of bus functions and most important
communication relationships between drive and field bus (2 LEDs:
module status and network status)
Pertinent Parameters
Communication Parameters
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Drive Control
3.1
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
3.2
Motor Control
P-0-0001
FWA variant
P-0-0556, bit 2
Performance
62.5 s
16000
MPH
Basic
83.3 s
12000
MPH
Basic
125 s
8000
MPH
MPB
MPD
Basic
125 s
4000
MPH
MPB
MPD
Basic
250 s
2000
MPH
MPB
Basic
62.5 s
16000
MPH
Advanced
83.3 s
12000
MPH
Advanced
62.5 s
8000
MPH
Advanced
125 s
4000
MPH
Advanced
1)
Note:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
3.3
master
axis
positioning
block no.
target
position
position
cmd value
synchronization
modes
bit 3
positioning
block
mode
acceleration
feedforward
P-0-0040
S-0-0348
S-0-0032
P-0-0180
P-0-0556
bit 0
S-0-0104
drivecontrolled
positioning
P-0-0434
position
control with
cyclic
cmd value
input
S-0-0189
+
S-0-0038
S-0-0039
S-0-0091
+
IPO
fine
position
loop interpolator
S-0-0048
P-0-0691
actual
value
adjustment
P-0-0059
P-0-0455
P-0-0454
nlimit
S-0-0051
S-0-0053
+
S-0-0040
current
loop
S-0-0092
P-0-0109
P-0-0048
P-0-0049
DF000194v01_en.fh
Features
Fig. 3-2:
Note:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
3.4
Commutation Setting
subsequent
optimization
of
3.5
Power Supply
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Operating Modes
4.1
Torque/Force Control
In the "torque/force control" mode a torque/force command value is
preset for the drive. If required this command value can be filtered. When
the operating mode is activated the diagnostic message is "A0100 Torque
control".
torque/force
command value
torquegenerating
current cmd value
Fig. 4-1:
Features
current loop
DF0054v1.fh7
4.2
Velocity Control"
In the "velocity control" mode a velocity command value is preset for the
drive. The velocity command value is limited by ramps and filters.
velocity command
value
velocity loop
effective
velocity command
value
Fig. 4-2:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
current loop
torque/force
command value
DF0026v1.fh7
Features
4.3
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
4.4
positioning
block
positioning
generator
cmd value
interpolation
target
position
position
controller
effective
pos. cmd value
velocity
controller
velocity cmd
value
current
controller
torque/force
cmd value
DF000087v01_en.fh7
Fig. 4-3:
Features
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
4.5
Synchronization Modes
position
command
value,
positioning
Fig. 4-4:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
for
the
effective
master
axis
of
the
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Features
dynam.
synchronization
command
value
addition
adjustment
pos. format
master axis
adjustment
virtual
master
axis pos.
(internal)
P-0-0776
P-0-0778
internal
cmd value
P-0-0434
P-0-0761
P-0-0777
P-0-0779
DF000218v01_en.fh
P-0-0052:
Actual position value of measuring encoder
P-0-0053:
Master axis position
P-0-0434:
Position command value of controller
P-0-0761:
Master axis position for slave axis
P-0-0776:
Effective master axis position
P-0-0777:
Effective master axis velocity
P-0-0778:
Synchronous position command value
P-0-0779:
Synchronous velocity
Fig. 4-5:
Function blocks of the operating mode "phase synchronization with
real/virtual master axis"
Variants of the Operating Mode
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
dynam.
synchronization
command
value
addition
master axis
adjustment
virtual
master
axis pos.
(internal)
adjustment
pos. format
P-0-0776
P-0-0778
internal
cmd value
P-0-0434
P-0-0761
P-0-0777
P-0-0779
DF000219v01_en.fh
P-0-0052:
Actual position value of measuring encoder
P-0-0053:
Master axis position
P-0-0434:
Position command value of controller
P-0-0761:
Master axis position for slave axis
P-0-0776:
Effective master axis position
P-0-0777:
Effective master axis velocity
P-0-0778:
Synchronous position command value
P-0-0779:
Synchronous velocity
Fig. 4-6:
Function blocks of the operating mode "cam shaft with real/virtual
master axis"
Variants of the Operating Mode
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
dynam.
synchronization
command
value
addition
master axis
adjustment
virtual
master
axis pos.
(internal)
P-0-0776
adjustment
pos. format
P-0-0778
internal
cmd value
P-0-0434
P-0-0761
P-0-0777
P-0-0779
DF000211v01_en.fh
P-0-0052:
Actual position value of measuring encoder
P-0-0053:
Master axis position
P-0-0434:
Position command value of controller
P-0-0761:
Master axis position for slave axis
P-0-0776:
Effective master axis position
P-0-0777:
Effective master axis velocity
P-0-0778:
Synchronous position command value
P-0-0779:
Synchronous velocity
Fig. 4-7:
Function blocks of the operating mode "motion profile with
real/virtual master axis"
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Drive Functions
5.1
If the position data reference was only set for one encoder, the
actual position values of both encoders remain equal as long
as mechanical axis system and encoder systems are
mechanically connected without slip (slip control is possible!).
"Drive-Controlled Homing
Procedure" Command
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
5.2
Error Reactions
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Error Classes
Error class
Error reaction
F2xxx
non-fatal error
F3xxx
non-fatal safety
technology error
F4xxx
interface error
F6xxx
F7xxx
F8xxx
fatal error
F9xxx
E-xxxx
Fig. 5-1:
Note:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
5.3
Compensation Functions/Corrections
Command
Determine
detent
torque
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
5.4
5.5
Pertinent Parameters
P-0-0185, Control word of encoder 2 (optional encoder)
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
5.6
positioning
input
master axis
effective
virtual
pos. cmd value
Fig. 5-2:
oper. mode
velocity
cmd value
position
control loop
torque/force
cmd value
DF000195v01.fh
Features
As device function, the virtual master axis generator has been realized
with the following characteristics:
nd
rotary:
0.0001 degrees
virtual
axis
in
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
The function blocks for the virtual axis must behave exactly like those
for a real axis. The diagnostic and error messages, however, are
different.
Pertinent Parameters
P-0-0756, Virtual master axis, scaling type
P-0-0757, Virtual master axis, modulo value
P-0-0758, Virtual master axis, actual position value
P-0-0759, Virtual master axis, actual velocity value
P-0-0760, Virtual master axis, positioning control word
P-0-0761, Master axis position for slave axis
P-0-0766, Virtual master axis, positioning command value
P-0-0767, Virtual master axis, effective target position
P-0-0768, Virtual master axis, positioning status
P-0-0769, Virtual master axis, command value mode
P-0-0770, Virtual master axis, positioning command value
P-0-0771, Virtual master axis, positioning acceleration
P-0-0772, Virtual master axis, positioning deceleration
P-0-0774, Virtual master axis, positioning window shortest
distance
P-0-0911, Virtual master axis, positioning window
P-0-0912, Virtual master axis, standstill window
P-0-0913, Virtual master axis, positioning jerk
P-0-0914, Virtual master axis, velocity threshold positioning
P-0-0917, Control word of master axis generator
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
5.7
Classification of Switchable
Parameters
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
5.8
higher-level
control unit
PLC
X31
X8
X4
optional module
"CCD"
for ADVANCED
X32
X7
X31
X4
X7
X32
X31
Ethernet TCP/IP
X8
X4
X7
X32
X31
X10
X8
X4
X32
X10
X41
X10
X41
X10
X8
X41
X7
X41
commissioning
all axes
without replugging
slave axes
field bus
SERCOS III
Rexroth
X2
X2
H20
Esc
Enter
MASTER
X2
H20
Esc
Enter
SLAVE 1
optional master communication
module "S3" for
BASIC single-axis/double-axis
and ADVANCED
Fig. 5-3:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
X2
H20
Esc
H20
Esc
Enter
SLAVE 2
Enter
SLAVE 3
DF000188v01_en.fh
CCD Modes
Features
The table below contains the main features and important data of the
CCD modes:
Command
triggering
(Motion Control)
CCD
master
CCD
slave
remote
remote
CCD
basic mode
local
local
MLD-M
system mode
local
remote
MLD-M
CCD
system mode
PROFIBUS
DeviceNet
CANopen
--
SERCOS
Parallel/
analog
Max.
number of
slaves
--
--
yes
yes
yes
yes
remote:
control by external master
remote MLD-M: control by MLD-M in CCD master
local:
control by local MLD-S of the respective axis
Fig. 5-4:
Main features of the CCD modes
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Communication Data
1 ms, 2 ms, 4 ms
The overview below shows the dependency between cycle time, CCD
mode and maximum number of slaves:
Data length
(bytes/slave)
CCD
cycle time
CCD
system mode
500 s
1 master + 1 slave
1 master + 1 slave
1000 s
1 master +3 slaves
1 master +5 slaves
4000 s
1 master +5 slaves
1 master +7 slaves
48
Fig. 5-5: Maximum number of slaves depending on CCD cycle time and CCD
mode
100 MBaud
2 bytes
In the case of collective field bus connection in the system mode, only
the freely configurable profile (0xFFFE and 0xFFFD) is supported in
the master!
Apart from the exchange of cyclic process data (MDT, AT), all CCD
slaves can be parameterized via the parameterization interfaces
(Ethernet, serial, master communication) available at the CCD master.
Fields of Application
Typical fields of application for cross communication:
control tasks for multi-axis applications
anti backlash
synchronous operation control
load control of several axes
simple command value linkage
position command value linkage (Gantry axes)
torque/force linkage
simple motion controls (in preparation)
with decentralized command value adjustment for single-axis
positioning and master axis linkage
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Note:
Note:
Hardware Requirements
Using the drive function "cross communication" requires the following
control section design:
CCD Master
control section in ADVANCED design with optional module CCD at
optional slot 3
CSH-01.2C-xx-xxx-xxx-CCD-xx-x-..
CCD slaves
control section with master communication interface "SERCOS III"
(S3); possible with the following designs:
BASIC UNIVERSAL single-axis
CSB-01.1C-S3-xxx-xx-x
Note:
Pertinent Parameters
Note:
The parameters listed below are only required for the CCD
master!
These list parameters are available once in the CCD master for all CCD
slaves:
P-0-1600, CCD: configuration
P-0-1601, CCD: addresses of projected drives
P-0-1602, CCD: timing settings
P-0-1605, CCD: command communication phase
P-0-1606, CCD: actual communication phase
P-0-1611, CCD: configuration list signal status word
P-0-1612, CCD: configuration list signal control word
P-0-1613, CCD: assignment list signal status word
P-0-1614, CCD: assignment list signal control word
P-0-1615, CCD: extrapolated cmd value IDN list signal selection
P-0-1616, CCD: extrapolated cmd value signal selection
P-0-1617, CCD: number of extrapolation steps
P-0-1618, CCD: extrapolated command value
P-0-1621, CCD: configuration list master communication cmd
values
P-0-1622, CCD: configuration list master communication actual
values
P-0-1623, CCD: configuration list master cmd values
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
5.9
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Hardware Requirements
Firmware Requirements
Hardware option
Safety related
motion
Safety related
stopping process
Drive interlock
L1
S1
S1
S1
BASIC OPENLOOP
(CSB01.1N-FC)
BASIC SERCOS
(CSB01.1N-SE)
BASIC PROFIBUS
(CSB01.1N-PB)
BASIC ANALOG
(CSB01.1N-AN)
BASIC UNIVERSAL
(CSB01.1C; single-axis)
BASIC UNIVERSAL
(CDB01.1C; double-axis)
ADVANCED
(CSH01.1C)
Fig. 5-6:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Notes
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
6.1
Expansion packages servo (order code SRV) and synchronization (order code SNC) in all designs
The edge reversal of a digital voltage signal can trigger the quick stop of
an axis, if the drive is ready for this action. For quick stop, a velocity
command value reset is internally triggered which causes the axis to
decelerate. The following conditions are taken into account in this case:
the current torque/force limit value for drives in closed-loop operation
the maximum stator frequency change (P-0-0569) for drives in openloop operation
When the drive has detected the quick stop signal, it ignores the setting of
command values by the control master, decelerates in a drive-controlled
way and remains in a drive-internal operating mode until the readiness for
quick stop is reset.
To keep the delay between edge reversal of the signal and triggering of
quick stop as short as possible, the rapid digital input for probe 1 is used
for this function. This realizes the quickest signal evaluation under the
following conditions:
sampling time for signals at probe input approx. 0.05 s
For sufficient noise immunity, signal edge reversal must last for at
least 4.0 s in order to be safely detected!
Hardware Requirements
Quick stop via probe input can only be used for drives the control sections
of which have a rapid digital input (probe input 1).
The following control section designs are available:
no rapid digital input ( quick stop via probe input not possible):
CSB01.1N-FC- BASIC OPENLOOP
CSB01.1N-AN- BASIC ANALOG
one rapid digital input:
CSB01.1N-SE- BASIC SERCOS
CSB01.1N-PB- BASIC PROFIBUS
CSB01.1C
BASIC UNIVERSAL (single-axis)
one rapid digital input per axis:
CDB01.1C-
BASIC UNIVERSAL (double-axis)
two rapid digital inputs:
CSH01.1C-...
ADVANCED
The terminal designations of the "rapid" digital inputs are contained in the
documentation "Project Planning Manual for Control Sections".
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Pertinent Parameters
S-0-0130, Probe value 1 positive edge
S-0-0170, Probing cycle procedure command
S-0-0401, Probe 1
S-0-0405, Probe 1 enable
S-0-0409, Probe 1 positive latched
S-0-0426, Signal select probe 1
S-0-0428, Probe, IDN list signal selection
P-0-0226, Probe, extended control word
P-0-0300, Digital I/Os, assignment list
P-0-0301, Digital I/Os, bit numbers
P-0-0302, Digital I/Os, direction
6.2
Encoder Emulation
Features
cyclic calculation of the position or increments output by the emulator
in the position loop clock (see "Performance Data" in chapter "System
Overview")
freely selectable position signals for emulation (P-0-0900, P-0-0901)
resolution that can be parameterized (incremental encoder emulation
in lines/revolution; absolute encoder emulation in bits/revolution)
scaling-related emulation (SSI and incremental) S-0-0076
synchronization of SSI emulation to SSI clock can be activated
dead-time compensation that can be activated for incremental encoder
emulation (P-0-0902, bit 3)
zero pulse that can be shifted for incremental encoder emulation
(P-0-0904)
parameterizable cyclic zero pulse output for incremental encoder
emulation referring to zero pulse distance (P-0-0904) and position data
reference (P-0-0902)
incremental encoder emulation can be switched off in operation
( pause)
internal clock increase of incremental encoder emulation to reduce
zero pulse jitter and frequency jitter (not for BASIC ANALOG control
sections)
signal-related and motor-encoder-related emulation to be freely
selected
( influence on position of zero pulse!)
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
6.3
Analog Outputs
Overview
According to the control section type, IndraDrive controllers already have
analog outputs in their basic configuration (without optional modules).
Configurable control sections can be upgraded with this function by using
the optional module MA1. The number and function of the analog outputs
differ according to the type and configuration of control section (see
"Hardware Requirements" below).
The figure below illustrates the interaction of the two analog output
channels with the analog outputs.
P-0-0427
bit 13
P-0-0427
bit 12
bit 8
P-0-0425
select
drive parameters acc.
to P-0-0426
P-0-0427
bit 10
P-0-0427
bit 5
P-0-0427
bit 4
P-0-0422
select
drive parameters acc.
to P-0-0426
P-0-0420
(output on MA1)
D
P-0-0417
Out 6
analog output 4
(output on MA1)
D
P-0-0415
Out 4
analog output 2
(control section)
D
P-0-0140
Out 2
P-0-0419
P-0-0423
P-0-0427
analog output 6
P-0-0427
bit 2
analog output 5
(output on MA1)
D
P-0-0416
Out 5
analog output 3
(output on MA1)
D
P-0-0414
Out 3
analog output 1
(control section)
D
P-0-0139
Out 1
P-0-0418
DF000092v02_en.fh
MA1:
Fig. 6-1:
The drive function "analog outputs" allows using analog signal values for
commissioning and optimizing drives with appropriate measuring devices
(e.g. oscilloscope, multimeter), as well as for visualizing the contents of
drive parameters.
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Features
General Information
BASIC OPENLOOP
0 to 5 V
available quantization:
19.5 mV (= 5V/2^8)
The optional module MA1 was developed according to VDE 0411part 500 (programmable logic controllers) and should be used according
to the specifications contained in this standard.
connection via 15-pin D-Sub connector
2 analog outputs with 12 bits each
output voltage range:
10 V with reference to 0 VA
available quantization:
5 mV (= 10V/2^11)
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Hardware Requirements
Analog output
Control
section type
1
(P-0-0139)
2
(P-0-0140)
3
(P-0-0414)
4
(P-0-0415)
5
(P-0-0416)
6
(P-0-0417)
CSH01.1C
An1
An2
MA1
(optional slot 2:
AA1)
MA1
(optional slot 2:
AA2)
--
--
CSB01.1C
--
--
MA1
(optional slot 2:
AA1)
MA1
(optional slot 2:
AA2)
--
--
CDB01.1C
An1
An2
MA1
(optional slot 3:
AA1)
MA1
(optional slot 3:
AA2)
MA1
(optional slot 4:
AA1)
MA1
(optional slot 4:
AA2)
CSB01.1N-FC
An1
An2
--
--
--
--
CSB01.1N-AN
--
--
--
--
--
--
CSB01.1N-SE
--
--
--
--
--
--
CSB01.1N-PB
--
--
--
--
--
--
MA1:
Fig. 6-2:
Note:
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Notes
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
7.1
7.2
of
or
of
or
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Notes
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Notes on Application
8.1
New Applications
The firmware MPx-04VRS provides the following new possibilities of
application:
drive cross communication for command value linkage
motor switching in operation by extended functions "parameter set
switching" and "parking axis"
8.2
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
to
drive
parameters
for
DeviceNet
master
to
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
subsequent
optimization
of
position
command
value,
positioning
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Command
Determine
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
detent
torque
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Modified Parameters
The following parameters were extended or modified in firmware version
MPx-04VRS:
S-0-0048, Additive position command value
S-0-0115, Position feedback 2 type
S-0-0128, C0200 Communication phase 4 transition check
S-0-0139, C1600 Parking axis command
S-0-0277, Position feedback 1 type
S-0-0292, List of all operating modes
S-0-1019, Master communication: MAC address
S-0-1020, Master communication: IP address
S-0-1021, Master communication: network mask
S-0-1022, Master communication: gateway address
P-0-0001, Switching frequency of the power output stage
P-0-0054, Additive master axis position
P-0-0060, Filter time constant additional pos. Command
P-0-0072, Cam shaft profile 1
P-0-0074, Encoder type 1 (motor encoder)
P-0-0075, Encoder type 2 (optional encoder)
P-0-0076, Encoder type 3 (measuring encoder)
P-0-0088, Control word for synchronous operation modes
P-0-0089, Status word for synchronous operating modes
P-0-0092, Cam shaft profile 2
P-0-0117, Activation of NC reaction on error
P-0-0143, Synchronization velocity
P-0-0155, Synchronization mode
P-0-0185, Control word of encoder 2 (optional encoder)
P-0-0218, Analog input, control parameter
P-0-0226, Probe, extended control word
P-0-0328, Type of position encoder for measuring encoder
P-0-0427, Control parameter of analog output
P-0-0525, Holding brake control word
P-0-0555, Status word of axis controller
P-0-0556, Configuration of axis controller
P-0-0612, Control word for setting absolute measuring
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Notes
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Index 9-1
Index
A
Advanced performance 1-19
analog output 6-3
axis control
position loop 3-3
velocity loop 3-3
B
basic functions of master communication 2-1
basic functions of the synchronization modes 4-4
Basic performance 1-19
best possible deceleration 5-3
C
CANopen interface 2-10
CCD See cross communication
clock rates 1-19
closed-loop axis control 3-1
closed-loop axis control (closed-loop operation) 3-3
closed-loop operation 3-1
compatible functional expansions 8-2
configurations of the control section 1-4
control section configurations 1-4
control section designs 1-4
control sections, overview 1-4
controllers, overview 1-2
cross communication 5-9
cycle times 1-19
D
deceleration, best possible 5-3
detent torque compensation 5-4
device control 2-2
DeviceNet interface 2-11
diagnostic messages, new and modified 8-10
drive control 3-1
drive controllers
control sections 1-4
overview 1-2
power sections 1-4
E
Economy performance 1-19
electronic cam shaft with real/virtual master axis 4-7
electronic motion profile with real/virtual master axis 4-9
encoder emulation 6-2
error classes 5-3
error reactions 5-2
best possible deceleration 5-3
establishing position data reference See establishing position data reference for
absolute measuring systems
for absolute measuring systems 5-1
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
9-2 Index
F
firmware types 1-11
firmware variants 1-1
functional modifications with regard to previous version 8-1
functional packages 1-7
additive functional packages 1-17
alternative functional packages 1-15
base packages 1-12
I
I/O mode (positioning and preset velocity) 2-3
incompatible functional modifications 8-2
IndraMotion MLD 1-17, 5-14
integrated safety technology 1-18
M
master axis adjustment 4-5
master axis generator, virtual 5-6
master communication 2-1
CANopen interface 2-10
DeviceNet interface 2-11
overview 1-7
PROFIBUS-DP 2-8
SERCOS III 2-5
measuring systems
supported measuring systems 1-6
N
notes on application 8-1
O
operating modes
electronic cam shaft with real/virtual master axis 4-7
electronic motion profile with real/virtual master axis 4-9
phase synchronization with real/virtual master axis 4-5
positioning block mode 4-3
synchronization modes 4-4
torque/force control 4-1
velocity control 4-1
velocity synchronization with real/virtual master axis 4-5
P
parameter set switching 5-8
parameters
loading, storing and saving 7-1
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Index 9-3
Q
quick stop, via probe input 6-1
R
redundant motor encoder 5-5
release update 7-1
replacing the firmware 7-1
basic principles, terms 7-1
S
safety technology 1-18
scaling the drive functionality 1-7
SERCOS analog converter 1-3
SERCOS III 2-5
status machine 2-2
synchronization modes 4-4
synchronization of the slave axis, dynamic 4-5
system overview 1-1
T
torque/force control
block diagram 4-1
V
velocity control
block diagram 4-1
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
9-4 Index
Notes
DOK-INDRV*-MP*-04VRS**-FV01-EN-P
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