Electric Drives and Controls Pneumatics Service Linear Motion and Assembly Technologies Hydraulics

Electric Drives Linear Motion and
and Controls Hydraulics Assembly Technologies Pneumatics Service

Bosch Rexroth AG | Electric Drives Rexroth IndraMotion | Functional Description
and Controls
Title Rexroth IndraMotion

AxisInterface for IndraLogic 1G
Type of Documentation Functional Description
Document Typecode DOK-IM*MLC-TF*AX*IFV04-FK03-EN-P
Internal File Reference RS-a0a89829db1b777e0a6846a0006567eb-3-en-US-4
Purpose of Documentation This documentation describes the function blocks, functions, data types and
the example project of the AxisInterface. It provides an easy-to-operate inter‐
face for the drive functionality. Less code and commands with a higher per‐
formance accelerate the development of the application programs.
Record of Revision Edition Release Date Notes

120-2850-B336-01/EN 09.2007 First edition for 04VRS
120-2850-B336-02/EN 12.2008 Modifications and sup‐
plements for the MLC
04VRS and MPx06VRS
120-2850-B336/EN -03 09.2009 Modifications and sup‐
plements
Copyright © Bosch Rexroth AG, 2007

Copying this document, giving it to others and the use or communication of the
contents thereof without express authority, are forbidden. Offenders are liable
for the payment of damages. All rights are reserved in the event of the grant of
a patent or the registration of a utility model or design (DIN 34-1).
Validity 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.
Published by Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 ■ 97816 Lohr a. Main, Germany
Phone +49 (0)93 52/ 40-0 ■ Fax +49 (0)93 52/ 40-48 85
http://www.boschrexroth.com/
System Development Automation Motion Logic Control, KG (SyMu/MePe)
Note This document has been printed on chlorine-free bleached paper.
Functional Description | Rexroth IndraMotion Electric Drives | Bosch Rexroth AG I/IV
and Controls
Table of Contents
Table of Contents
Page
1 Overview........................................................................................................................ 5
2 Important Instructions on Use...................................................................................... 11

2.1 Intended Use........................................................................................................................................ 11
2.1.1 Introduction........................................................................................................................................ 11
2.1.2 Scope of Use and Application........................................................................................................... 11
2.2 Improper Use........................................................................................................................................ 12
3 Safety Instructions for Electric Drives and Controls .................................................... 13

3.1 Definitions of Terms.............................................................................................................................. 13
3.2 General Information.............................................................................................................................. 14
3.2.1 Using the Safety Instructions and Passing Them on to Others......................................................... 14
3.2.2 Requirements for Safe Use............................................................................................................... 14
3.2.3 Hazards by Improper Use.................................................................................................................. 15
3.2.4 Explanation of Safety Symbols and Hazard Classification................................................................ 16
3.3 Instructions with Regard to Specific Dangers....................................................................................... 16
3.3.1 Protection Against Contact with Electrical Parts and Housings......................................................... 16
3.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock ................................................ 17
3.3.3 Protection Against Dangerous Movements....................................................................................... 18
3.3.4 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting.............. 20
3.3.5 Protection Against Contact with Hot Parts......................................................................................... 20
3.3.6 Protection During Handling and Mounting......................................................................................... 21
3.3.7 Battery Safety.................................................................................................................................... 21
3.3.8 Protection Against Pressurized Systems........................................................................................... 21
4 AxisInterface Initial Configuration................................................................................ 23
5 AxisInterface Function Blocks...................................................................................... 27

5.1 MB_AxisInitType01............................................................................................................................... 27
5.2 MB_AxisInterfaceType01...................................................................................................................... 29
6 Operation Modes......................................................................................................... 33
6.1 Overview............................................................................................................................................... 33
6.2 Drive Ready.......................................................................................................................................... 35
6.3 Drive Halt.............................................................................................................................................. 35
6.4 Homing Drive........................................................................................................................................ 35
6.5 Absolute Positioning............................................................................................................................. 36
6.6 Relative Positioning.............................................................................................................................. 36
6.7 Additive Positioning.............................................................................................................................. 37
6.8 Velocity Control..................................................................................................................................... 38
6.9 Operation Mode Phase Synchronization.............................................................................................. 38
6.10 Operation Mode Velocity Synchronization............................................................................................ 39
II/IV Bosch Rexroth AG | Electric Drives Rexroth IndraMotion | Functional Description
and Controls
Table of Contents
Page
6.11 Operation Mode Electronic Cam........................................................................................................... 39
6.12 Operation Mode Electronic MotionProfile............................................................................................. 40
6.13 Operation Mode Electronic FlexProfile................................................................................................. 41
6.14 Operation Mode External Function Block............................................................................................. 42
7 Global Variables........................................................................................................... 45
8 Example Project Axis Interface.................................................................................... 47

8.1 Overview............................................................................................................................................... 47
8.2 State Machine for the System Startup.................................................................................................. 47
8.3 Axis Interface Visualizations................................................................................................................. 48
8.3.1 Overview............................................................................................................................................ 48
8.3.2 System Overview Visualization......................................................................................................... 48
8.3.3 Axis Overview Visualization............................................................................................................... 50
8.3.4 Positioning Mode Visualization.......................................................................................................... 52
8.3.5 Velocity Mode Visualization............................................................................................................... 53
8.3.6 Synchronization Mode Visualization.................................................................................................. 54
8.3.7 Visualization Synchronization Mode with Profiles............................................................................. 55
8.3.8 ImcInterface Control and Status Visualization................................................................................... 57
8.3.9 Adjusting............................................................................................................................................ 59
8.3.10 PLC Load Visualization..................................................................................................................... 61
9 AxisInterface User Extensions..................................................................................... 63

9.1 Overview............................................................................................................................................... 63
9.2 Extending the arAxisCtrl[ ] Structure..................................................................................................... 63
9.3 Extending the arAxisStatus[ ] Structure................................................................................................ 65
9.4 Modifying User-defined Types.............................................................................................................. 66
9.5 Extending the Program......................................................................................................................... 67
10 Axis Interface Structures.............................................................................................. 71

10.1 Overview............................................................................................................................................... 71
10.2 MB_AXIS_CONTROL_TYPE01 Structure............................................................................................ 71
10.2.1 MB_AXIS_CONTROL_TYPE01......................................................................................................... 71
10.2.2 MB_AXIS_CONTROL_TYPE01 Elements......................................................................................... 72
MB_AXIS_ADMINISTRATION Structure........................................................................................ 72
MB_AXIS_POSITIONING Structure............................................................................................... 75
MB_AXIS_VELOCITY Structure..................................................................................................... 77
MB_AXIS_SYNCHRONISATION Structure.................................................................................... 80
10.3 MB_AXIS_STATUS_TYPE01 Structure................................................................................................ 84
10.3.1 MB_AXIS_STATUS_TYPE01............................................................................................................ 84
10.3.2 MB_AXIS_STATUS_TYPE01 Elements............................................................................................ 85
MB_AXIS_ADMIN_STATUS Structure........................................................................................... 85
MB_AXIS_DIAGNOSIS Structure................................................................................................... 87
MB_AXIS_POS_STATUS Structure............................................................................................... 88
MB_AXIS_VEL_STATUS Structure................................................................................................ 89
Functional Description | Rexroth IndraMotion Electric Drives | Bosch Rexroth AG III/IV
and Controls
Table of Contents
Page
MB_AXIS_SYNC_STATUS Structure............................................................................................. 89
11 Special IndraMotion MLD Features............................................................................. 91

11.1 Introduction........................................................................................................................................... 91
11.2 Parameterization................................................................................................................................... 91
11.3 PLC Programming................................................................................................................................ 92
12 Service and Support.................................................................................................... 95
Index............................................................................................................................ 97
IV/IV Bosch Rexroth AG | Electric Drives Rexroth IndraMotion | Functional Description
and Controls
Functional Description | Rexroth IndraMotion Electric Drives | Bosch Rexroth AG 5/99
and Controls
Overview
1 Overview
The AxisInterface pools and extends PLCopen motion FBs and provides an
easy-to-operate interface for the drive functionality. Less code and commands
with a higher performance accelerate the development of the application pro‐
grams. The AxisInterface contains control signals and parameters for the
various operation modes of the master axis and slave axis as well as the setting
options for the process values selected.
The AxisInterface is supported by both the MLC control system and the MLD
drive system. The following table shows the supported target systems and li‐
braries that contain the function blocks and data structures for the AxisInterface:
System support Drive firmware support Library

MLC control system MPx from 04VRS onwards (MPx03VRS
ML_AxisInterface.lib
MLC04VRS not supported)
MLD drive system

MPC/MPH (MPB not supported) from MPx from 07VRS onwards MX_AxisInterface.lib
07VRS onwards
Fig.1-1: AxisInterface Function Blocks
The AxisInterface is provided as an IndraMotion programming tem‐

plate or as a stand-alone interface for the axis functionality.
If it is used with the programming template, the user does not have
to concern himself with instance calls of the FBs within the project.
This functionality is completely integrated into the template and the
user just has to write a few lines of code.
But if the AxisInterface is used as a stand-alone functionality, the
user must create the instances of both FBs for each axis. This sec‐
tion contains descriptions and examples on how to use the AxisIn‐
terface as a stand-alone functionality.
6/99 Bosch Rexroth AG | Electric Drives Rexroth IndraMotion | Functional Description
and Controls
Overview
Fig.1-2: AxisInterface data structure of the interface

The following table shows the user interface for the AxisInterface data structure:
User interface Type Description

Control structure, including command values and variables to
arAxisCtrl[ ] MB_AXIS_CONTROL_TYPE01
activate the operation modes
Status structure, including diagnostic information and acknowl‐
arAxisStatus[ ] MB_AXIS_STATUS_TYPE01
edgements for the operation modes
Status structure and control structure, including actual values,
AxisData[ ] status bits and access to cyclically configurable user data (pro‐
cessed by the MotionControl in the firmware).
Fig.1-3: AxisInterface - User interface data structure

The TYPE01 designation, which appears in the FB names and their structures,
is planned for future extensions.
Between the AxisInterface 01VRS (MLC 03VRS) and 02VRS (MLC

04VRS), modifications were introduced that require adaptations in
the user program. The required adaptations are described in chap‐
ter 4 "AxisInterface Initial Configuration" on page 23.
and Controls
Overview
Fig.1-4: Overview on the data structures
Use the AxisNo of the AXIS_REF structure as index for the array,
e.g. arAxisCtrl[MyVirtualAxis.AxisNo].Admin. etc.
EnableCyclicScanning The internal handling of certain command values can be controlled by the arA‐
xisCtrl[ ].Admin.EnableCyclicScanning element. If "EnableCyclicScanning" is
set to TRUE, certain command values of the arAxisCtrl[ ] structure are scanned
cyclically and become effective immediately when a value changes.
and Controls
Overview
Fig.1-5: Cyclically scanned elements of arAxisCtrl[ ]
● During the activation of an operation mode (.Admin._Op‐

Mode), all input data is read regardless of the setting of the
"EnableCyclicScanning" input.
● If EnableCyclicScanning = TRUE, all input data highlighted in
green is read cyclically. This means that any change in values
is read immediately after an operation mode was activated.
● In contrast to that, all input data highlighted in blue is not scan‐
ned cyclically. This means that the values are only read if an
operation mode is activated.
● Data consistency is reached using EnableCyclicScanning
(FALSE -> write data -> TRUE).
Various IndraLogic visualizations based on the three structure elements de‐

scribed in this section are available in the example project for commissioning
purposes.
For details, see chapter 8.3 "Axis Interface Visualizations" on page 48.
What is new in this version? ● Renaming:
All FBs were renamed from ML or MX to the comprehensive prefix MB in
MLC and MLD to ensure a system-independent PLC programming. In all
the data types, the prefix MB_ was supplemented.
● Diagnostic information:
and Controls
Overview
A diagnostic number and a diagnostic text are now provided in the status
structure arAxisStatus[].Diag. Cyclic polling of the diagnostic number is
controlled vis arAxisCtrl[].Admin.DiagNbrRefreshTime. If the diagnostic
number changes, the diagnostic text is updated.
● FlexProfile operation mode:
The new "FlexProfile" operation mode introduced in MLC 04VRS is sup‐
ported by the AxisInterface. The profile-specific control variables for the
operation modes "MotionProfile" and "FlexProfile" are now combined in
the new structure arAxisCtrl[].SyncMode.Profile.
● Pointer to AxisData:
The new structure element arAxisStatus[].PtrAxisData permits access to
the AxisData structure of the respective axis using pointers.
For example:
arAxisStatus[i].PtrAxisData^.rActualPosition has the same meaning as
AxisData[i].rActualPosition.
As a result, the entire interface can be operated via the two structures
arAxisCtrl[] and arAxisStatus[]. However, note that the pointer can be ac‐
cessed only after the initialization was successfully completed (MB_Axi‐
sInitType01).
Between the AxisInterface 01VRS (MLC 03VRS) and 02VRS (MLC

04VRS), modifications were introduced that require adaptations in
the user program. The required adaptations are described in chap‐
ter 4 "AxisInterface Initial Configuration" on page 23.
and Controls
and Controls
Important Instructions on Use
2 Important Instructions on Use

2.1 Intended Use
2.1.1 Introduction
Rexroth products are developed and manufactured according to the state of
the art . Before delivery, they are checked for operational safety.
Personal injuries and damage to property due to incorrect use of the

products!
The products have been designed for use in an industrial environment and may
WARNING only be used properly. When they are not used as intended, situations may
arise resulting in damage to person or material.
Rexroth, as the manufacturer of the products, shall not assume any

warranty, liability or payment of damages in case of damage re‐
sulting from a non-intended use of the products. If the user fails to
use the products as intended, the user shall assume sole respon‐
sibility for any resulting risks.
Before using Rexroth products, the following prerequisites must be fulfilled to

ensure their proper use:
● Anyone using our products must read and understand the corresponding
safety notes and intended use of the product.
● If the products are hardware, they must be kept in their original state, i.e.
no constructional modifications should be made. Software products may
not be decompiled; their source codes may not be modified.
● Damaged or defective products must not be installed or put into operation.
● It must be ensured that the products are installed according to the regu‐
lations specified in the documentation.
2.1.2 Scope of Use and Application

IndraControl and its function modules are intended for Motion/Logic applica‐
tions.
To control and monitor IndraControl and its function modules, it may be to con‐
nect additional sensors and actuators.
IndraControl and its function modules must only be used with the
accessories and mounting parts listed in this documentation. Do not
install or connect components not expressly specified in this docu‐
mentation. This also applies to cables and lines.
The unit may be operated only with the explicitly specified compo‐
nent configurations and combinations and only with the software
and firmware specified in the appropriate functional description.
Before commissioning, every drive controller must be programmed to ensure

that the motor executes the appropriate functions for the application.
IndraControl and its function modules have been developed for use in single
and multi-axis drive and control tasks.
To allow for application-specific requirements in the machine operating and
visualization terminal, our product range comprises device types with various
equipment and interfaces.
and Controls
Important Instructions on Use
Typical scopes of use where IndraControl and its function modules can be ap‐
plied are:
● [Handling and assembly systems]
● [Packaging and food machines]
● [Printing and paper-processing machines]
IndraControl and its function modules must only be operated under the mount‐
ing and installation conditions, the position, and the ambient conditions (tem‐
perature, type of protection, moisture, EMC, etc.) specified in this documenta‐
tion.
2.2 Improper Use

The use of IndraControl and its function modules in applications other than
those specified or described in the documentation and the technical data is
considered as "improper".
IndraControl and its function modules must not be used if ...
● they are subjected to operating conditions not corresponding to the speci‐
fied ambient conditions. They must not be operated under water, under
extreme temperature fluctuations, or within extreme maximum tempera‐
tures.
● the intended application is not explicitly approved by Rexroth. Please note
the specifications outlined in the general safety instructions!
and Controls
Safety Instructions for Electric Drives and Controls
3 Safety Instructions for Electric Drives and Controls

3.1 Definitions of Terms
Application Documentation The entire documentation used to inform the user of the product about the use
and safety-relevant features for configuring, integrating, installing, mounting,
commissioning, operating, maintaining, repairing and decommissioning the
product. The following terms are also used for this kind of documentation: User
Guide, Operation Manual, Commissioning Manual, Instruction Manual, Project
Planning Manual, Application Manual, etc.
Component Combination of elements with a specified function, which are part of a piece of
equipment, device or system. Components of a drive and control system are,
for example, supply units, drive controllers, mains choke, mains filter, motors,
cables, etc.
Control System Several interconnected control components placed on the market as a single
functional unit.
Device Finished product with a defined function, intended for users and placed on the
market as an individual piece of merchandise.
Drive System A group of components consisting of electric motor(s), motor encoder(s) and
cable(s), supply units and drive controllers, as well as possible auxiliary and
additional components, such as mains filter, mains choke, etc.
Electrical Equipment Objects used to generate, convert, transmit, distribute or apply electrical ener‐
gy, such as machines, transformers, switching devices, cables, lines, power-
consuming devices, circuit board assemblies, plug-in units, control cabinets,
etc.
Installation Several devices or systems interconnected for a defined purpose and on a de‐
fined site which, however, are not intended to be placed on the market as a
single functional unit.
Machine Entirety of interconnected parts or units at least one of which is movable. Thus,
a machine consists of the appropriate machine drive elements, as well as con‐
trol and power circuits, which have been assembled for a specific application.
A machine is, for example, intended for processing, treatment, movement or
packaging of a material. The term "machine" also covers a combination of ma‐
chines which are arranged and controlled in such a way that they function as a
unified whole.
Manufacturer Individual or legal entity bearing responsibility for the design and manufacture
of a product which is placed on the market in the individual's or legal entity's
name. The manufacturer can use finished products, finished parts or finished
elements, or contract out work to subcontractors. However, he must always
have overall control and possess the required authority to take responsibility
for the product.
Product Produced device, component, part, system, software, firmware, among other
things.
Project Planning Manual Part of the application documentation used to support the dimensioning and
planning of systems, machines or installations.
Qualified Persons In terms of this application documentation, qualified persons are those persons
who are familiar with the installation, mounting, commissioning and operation
of the components of the drive and control system, as well as with the hazards
this implies, and who possess the qualifications their work requires. To comply
with these qualifications, it is necessary, among other things,
● to be trained, instructed or authorized to switch electric circuits and devi‐
ces safely on and off, to ground them and to mark them,
and Controls
● to be trained or instructed to maintain and use adequate safety equipment,

● to attend a course of instruction in first aid.
User A person installing, commissioning or using a product which has been placed
on the market.
3.2 General Information

3.2.1 Using the Safety Instructions and Passing Them on to Others
Do not attempt to install and operate the electric components of the drive and
control system without first reading all documentation provided with the product.
Read and understand these safety instructions and all user documentation prior
to working with these components. If you do not have the user documentation
for the components, contact your responsible Bosch Rexroth sales partner. Ask
for these documents to be sent immediately to the person or persons respon‐
sible for the safe operation of the components.
If the component is resold, rented and/or passed on to others in any other form,
these safety instructions must be delivered with the component in the official
language of the user's country.
Improper use of these components, failure to follow the safety instruc‐

tions in this document or tampering with the product, including disabling
of safety devices, could result in property damage, injury, electric shock
WARNING or even death.
Observe the safety instructions!
3.2.2 Requirements for Safe Use

Read the following instructions before initial commissioning of the electric com‐
ponents of the drive and control system in order to eliminate the risk of injury
and/or property damage. You must follow these safety instructions.
● Bosch Rexroth is not liable for damages resulting from failure to observe
the safety instructions.
● Read the operating, maintenance and safety instructions in your language
before commissioning. If you find that you cannot completely understand
the application documentation in the available language, please ask your
supplier to clarify.
● Proper and correct transport, storage, mounting and installation, as well
as care in operation and maintenance, are prerequisites for optimal and
safe operation of the component.
● Only qualified persons may work with components of the drive and control
system or within its proximity.
● Only use accessories and spare parts approved by Bosch Rexroth.
● Follow the safety regulations and requirements of the country in which the
electric components of the drive and control system are operated.
● Only use the components of the drive and control system in the manner
that is defined as appropriate. See chapter "Appropriate Use".
● The ambient and operating conditions given in the application documen‐
tation at hand must be observed.
● Safety-relevant applications are only allowed if clearly and explicitly speci‐
fied in the application documentation "Integrated Safety Technology". If
and Controls
this is not the case, they are excluded. Safety-relevant are all such appli‐
cations which can cause danger to persons and property damage.
● The information given in the application documentation with regard to the
use of the delivered components contains only examples of applications
and suggestions.
The machine and installation manufacturer must
– make sure that the delivered components are suited for his individual
application and check the information given in this application docu‐
mentation with regard to the use of the components,
– make sure that his individual application complies with the applicable
safety regulations and standards and carry out the required meas‐
ures, modifications and complements.
● Commissioning of the delivered components is only allowed once it is sure
that the machine or installation in which the components are installed
complies with the national regulations, safety specifications and standards
of the application.
● Operation is only allowed if the national EMC regulations for the applica‐
tion are met.
● The instructions for installation in accordance with EMC requirements can
be found in the section on EMC in the respective application documenta‐
tion.
The machine or installation manufacturer is responsible for compliance
with the limit values as prescribed in the national regulations.
● The technical data, connection and installation conditions of the compo‐
nents are specified in the respective application documentations and must
be followed at all times.
National regulations which the user must take into account
● European countries: According to European EN standards
● United States of America (USA):
– National Electrical Code (NEC)
– National Electrical Manufacturers Association (NEMA), as well as
local engineering regulations
– Regulations of the National Fire Protection Association (NFPA)
● Canada: Canadian Standards Association (CSA)
● Other countries:
– International Organization for Standardization (ISO)
– International Electrotechnical Commission (IEC)
3.2.3 Hazards by Improper Use

● High electrical voltage and high working current! Danger to life or serious
injury by electric shock!
● High electrical voltage by incorrect connection! Danger to life or injury by
electric shock!
● Dangerous movements! Danger to life, serious injury or property damage
by unintended motor movements!
● Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electric drive systems!
● Risk of burns by hot housing surfaces!
and Controls
● Risk of injury by improper handling! Injury by crushing, shearing, cutting,

hitting!
● Risk of injury by improper handling of batteries!
● Risk of injury by improper handling of pressurized lines!
3.2.4 Explanation of Safety Symbols and Hazard Classification

The safety instructions describe the following hazard classification. The hazard
classification informs about the consequences resulting from non-compliance
with the safety instructions:
Safety symbol Signal Hazard classification according to ANSI Z535.4-2002

word
Danger Death or serious injury will occur.
Warning Death or serious injury could occur.
Caution Minor or moderate injury or property damage may oc‐

cur.
Fig.3-1: Hazard Classification (According to ANSI Z535.4-2002)
3.3 Instructions with Regard to Specific Dangers

3.3.1 Protection Against Contact with Electrical Parts and Housings
This section concerns components of the drive and control system
with voltages of more than 50 volts.
Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating components of the drive and control
system, it is unavoidable that some parts of these components conduct dan‐
gerous voltage.
and Controls
High electrical voltage! Danger to life, risk of injury by electric shock or

serious injury!
● Only qualified persons are allowed to operate, maintain and/or repair the
WARNING electric components of the drive and control system.
● Follow the general installation and safety regulations when working on
power installations.
● Before switching on, the equipment grounding conductor must have been
permanently connected to all electric components in accordance with the
connection diagram.
● Even for brief measurements or tests, operation is only allowed if the
equipment grounding conductor has been permanently connected to the
points of the components provided for this purpose.
● Before accessing electrical parts with voltage potentials higher than 50 V,
you must disconnect electric components from the mains or from the pow‐
er supply unit. Secure the electric component from reconnection.
● With electric components, observe the following aspects:
Always wait 30 minutes after switching off power to allow live capacitors
to discharge before accessing an electric component. Measure the elec‐
trical voltage of live parts before beginning to work to make sure that the
equipment is safe to touch.
● Install the covers and guards provided for this purpose before switching
on.
● Never touch electrical connection points of the components while power
is turned on.
● Do not remove or plug in connectors when the component has been pow‐
ered.
● As a basic principle, residual-current-operated circuit-breakers cannot be
used for electric drives to prevent direct contact.
● Secure built-in devices from penetrating foreign objects and water, as well
as from direct contact, by providing an external housing, for example a
control cabinet.
High housing voltage and high leakage current! Danger to life, risk of
injury by electric shock!
● Before switching on and before commissioning, ground or connect the
WARNING components of the drive and control system to the equipment grounding
conductor at the grounding points.
● Connect the equipment grounding conductor of the components of the
drive and control system permanently to the main power supply at all
times. The leakage current is greater than 3.5 mA.
● Establish an equipment grounding connection with a copper wire of a
cross section of at least 10 mm2 (8 AWG) or additionally run a second
equipment grounding conductor of the same cross section as the original
equipment grounding conductor.
3.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock

Protective extra-low voltage is used to allow connecting devices with basic in‐
sulation to extra-low voltage circuits.
All connections and terminals with voltages between 5 and 50 volts at the com‐
ponents of the Bosch Rexroth drive and control system are PELV ("Protec‐
tive Extra-Low Voltage") systems. It is allowed to connect devices equipped
and Controls
with basic insulation (such as programming devices, PCs, notebooks, display

units) to these connections.
Danger to life, risk of injury by electric shock! High electrical voltage by

incorrect connection!
If extra-low voltage circuits of devices containing voltages and circuits of more
WARNING than 50 volts (e.g., the mains connection) are connected to Bosch Rexroth
products, the connected extra-low voltage circuits must comply with the re‐
quirements for PELV ("Protective Extra-Low Voltage").
3.3.3 Protection Against Dangerous Movements

Dangerous movements can be caused by faulty control of connected motors.
Some common examples are:
● Improper or wrong wiring or cable connection
● Operator errors
● Wrong input of parameters before commissioning
● Malfunction of sensors and encoders
● Defective components
● Software or firmware errors
These errors can occur immediately after equipment is switched on or even
after an unspecified time of trouble-free operation.
The monitoring functions in the components of the drive and control system will
normally be sufficient to avoid malfunction in the connected drives. Regarding
personal safety, especially the danger of injury and/or property damage, this
alone cannot be relied upon to ensure complete safety. Until the integrated
monitoring functions become effective, it must be assumed in any case that
faulty drive movements will occur. The extent of faulty drive movements de‐
pends upon the type of control and the state of operation.
and Controls
Dangerous movements! Danger to life, risk of injury, serious injury or

property damage!
● A risk assessment must be prepared for the installation or machine, with
WARNING its specific conditions, in which the components of the drive and control
system are installed. As a result of the risk assessment, the user must
provide for monitoring functions and higher-level measures on the instal‐
lation side for personal safety. The safety regulations applicable to the
installation or machine must be taken into consideration. Unintended ma‐
chine movements or other malfunctions are possible if safety devices are
disabled, bypassed or not activated.
To avoid accidents, injury and/or property damage:
● Keep free and clear of the machine’s range of motion and moving machine
parts. Prevent personnel from accidentally entering the machine’s range
of motion by using, for example:
– Safety fences
– Safety guards
– Protective coverings
– Light barriers
● Make sure the safety fences and protective coverings are strong enough
to resist maximum possible kinetic energy.
● Mount emergency stop switches in the immediate reach of the operator.
Before commissioning, verify that the emergency stop equipment works.
Do not operate the machine if the emergency stop switch is not working.
● Prevent unintended start-up. Isolate the drive power connection by means
of an emergency stop circuit or use a safe starting lockout.
● Make sure that the drives are brought to a safe standstill before accessing
or entering the danger zone.
● Additionally secure vertical axes against falling or dropping after switching
off the motor power by, for example,
– mechanically securing the vertical axes,
– adding an external braking/arrester/clamping mechanism or
– ensuring sufficient equilibration of the vertical axes.
● The standard equipment motor holding brake or an external holding brake
controlled by the drive controller is not sufficient to guarantee personal
safety!
● Disconnect electrical power to the components of the drive and control
system using the master switch and secure them from reconnection for:
– Maintenance and repair work
– Cleaning of equipment
– Long periods of discontinued equipment use
● Prevent the operation of high-frequency, remote control and radio equip‐
ment near electric/electronic components of the drive and control system
and their supply leads. If the use of these devices cannot be avoided,
check the machine or installation, before initial commissioning of the drive
and control system, for possible malfunctions when operating such high-
frequency, remote control and radio equipment in its possible positions of
normal use. It might possibly be necessary to perform a special electro‐
magnetic compatibility (EMC) test.
and Controls
3.3.4 Protection Against Magnetic and Electromagnetic Fields During Oper‐

ation and Mounting
Magnetic and electromagnetic fields generated by current-carrying conductors
or permanent magnets of electric motors represent a serious danger to persons
with heart pacemakers, metal implants and hearing aids.
Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electric components!
● Persons with heart pacemakers and metal implants are not allowed to
WARNING enter the following areas:
– Areas in which components of the drive and control systems are
mounted, commissioned and operated.
– Areas in which parts of motors with permanent magnets are stored,
repaired or mounted.
● If it is necessary for somebody with a heart pacemaker to enter such an
area, a doctor must be consulted prior to doing so. The noise immunity of
implanted heart pacemakers differs greatly so that no general rules can
be given.
● Those with metal implants or metal pieces, as well as with hearing aids,
must consult a doctor before they enter the areas described above.
3.3.5 Protection Against Contact with Hot Parts

Hot surfaces of components of the drive and control system. Risk of
burns!
● Do not touch hot surfaces of, for example, braking resistors, heat sinks,
CAUTION supply units and drive controllers, motors, windings and laminated cores!
● According to the operating conditions, temperatures of the surfaces can
be higher than 60 °C (140 °F) during or after operation.
● Before touching motors after having switched them off, let them cool down
for a sufficiently long time. Cooling down can require up to 140 minutes!
The time required for cooling down is approximately five times the thermal
time constant specified in the technical data.
● After switching chokes, supply units and drive controllers off, wait 15 mi‐
nutes to allow them to cool down before touching them.
● Wear safety gloves or do not work at hot surfaces.
● For certain applications and according to the respective safety regulations,
the manufacturer of the machine or installation has to take measures to
avoid injuries caused by burns in the end application. These measures
can be, for example: Warnings at the machine or installation, guards
(shieldings or barriers) or safety instructions in the application documen‐
tation.
and Controls
3.3.6 Protection During Handling and Mounting

Risk of injury by improper handling! Injury by crushing, shearing, cutting,
hitting!
● Observe the relevant statutory regulations of accident prevention.
CAUTION ● Use suitable equipment for mounting and transport.
● Avoid jamming and crushing by appropriate measures.
● Always use suitable tools. Use special tools if specified.
● Use lifting equipment and tools in the correct manner.
● Use suitable protective equipment (hard hat, safety goggles, safety shoes,
safety gloves, for example).
● Do not stand under hanging loads.
● Immediately clean up any spilled liquids from the floor due to the risk of
slipping.
3.3.7 Battery Safety

Batteries consist of active chemicals in a solid housing. Therefore, improper
handling can cause injury or property damage.
Risk of injury by improper handling!

● Do not attempt to reactivate low batteries by heating or other methods (risk
of explosion and cauterization).
CAUTION ● Do not attempt to recharge the batteries as this may cause leakage or
explosion.
● Do not throw batteries into open flames.
● Do not dismantle batteries.
● When replacing the battery/batteries, do not damage the electrical parts
installed in the devices.
● Only use the battery types specified for the product.
Environmental protection and disposal! The batteries contained in

the product are considered dangerous goods during land, air, and
sea transport (risk of explosion) in the sense of the legal regulations.
Dispose of used batteries separately from other waste. Observe the
national regulations of your country.
3.3.8 Protection Against Pressurized Systems

According to the information given in the Project Planning Manuals, motors and
components cooled with liquids and compressed air can be partially supplied
with externally fed, pressurized media, such as compressed air, hydraulics oil,
cooling liquids and cooling lubricants. Improper handling of the connected sup‐
ply systems, supply lines or connections can cause injuries or property damage.
and Controls
Risk of injury by improper handling of pressurized lines!

● Do not attempt to disconnect, open or cut pressurized lines (risk of explo‐
sion).
WARNING ● Observe the respective manufacturer's operating instructions.
● Before dismounting lines, relieve pressure and empty medium.
● Use suitable protective equipment (safety goggles, safety shoes, safety
gloves, for example).
● Immediately clean up any spilled liquids from the floor due to the risk of
slipping.
Environmental protection and disposal! The agents (e.g., fluids)

used to operate the product might not be environmentally friendly.
Dispose of agents harmful to the environment separately from other
waste. Observe the national regulations of your country.
and Controls
AxisInterface Initial Configuration
4 AxisInterface Initial Configuration

Initial configuration The AxisInterface must be initialized before its functionality can be used. The
following steps activate the AxisInterface in the IndraLogic.
Many of the steps described in this section are already in example

project "AxisInterface_Example_MLC04VRS". This project can be
imported into the IndraLogic and used as a guide for new projects.
1. After an IndraWorks project is created, start IndraLogic using the Logic

icon.
2. Click on the IndraLogic Resource tab and double-click on the Library
Manager to add the library ML(X)_AxisInterface.lib to the current
IndraLogic project.
3. Add an object to the global variables and name it "Global_Axis_Inter‐
face". Then, generate the following code:
Fig.4-1: Global variables of the AxisInterface

4. Create a program, (e.g. AxisInterfaceType01Prog in the example project)
that calls function block MB_AxisInterfaceType01 for MAX_AXIS_NUM
axes. This function block interprets the values in "arAxisCtrl" and updates
these in "arAxisStatus". It is also possible to call the function block in sep‐
arate programs if it is required due to the project structure.
5. Click on the Resource tab, then double-click on the Task Configuration
and specify the AxisInterfaceType01Prog as a PlcTask to be called cycli‐
cally (interval = e.g. T#20ms).
6. Create an initialization program that is called once during the start or every
time the phase switches from the parameterization to the operating mode
(e.g. InitProg in the example project).
● Use the MBAxisInitType01 FB for the basic initialization of arAxisCtrl
and arAxisStatus for each axis used.
In the example project, depending on the parameterization, this is
executed by the ML_AxisInitAllAxisType01 FB.
● The structure arAxisCtrl[ ] can be defined as retain data. In this case,
initialize all NOT RETAIN values with defined values (for defined
values, see "STATE_INIT" in InitProg).
If the structure is not defined as RETAIN, all the elements that differ
from the default value must be initialized.
and Controls
7. Use arAxisCtrl[ ], arAxisStatus[ ] and AxisData[ ] to program your appli‐

cation.
Converting AxisInterface projects The following adaptation to the AxisInterface are necessary to convert a project
from the AxisInterface 01VRS (MLC 03VRS) to the AxisInterface 02VRS (MLC
04VRS) described here.
Before carrying out the following changes, create an IndraWorks

project archive. If adaptations are made to example project program
parts that were not intended to be modified, these may be lost.
1. Mark the control in the IndraWorks project and open the context menu
using the right mouse button. Select the Properties dialog box and change
the "Firmware version" from MLC03VRS to MLC04VRS in the "Configu‐
ration" tab.
2. Only if the example project was used as the basis and if the program parts
in the "AxisInterface" folder and the supplied visualizations were not
changed:
● Import from MLC-CD3:
\\AddOns\AxisInterface\Updates\AXISINTERFACE_EXAM‐
PLE_MLC04VRS_UPDATE.EXP and
\\AddOns\AxisInterface\Updates\ML_AXISINTERFACE_VI‐
SUS.EXP
● Exclude program AxisInterface/_Readme and all programs in the
AxisInterface/Documentation folder from translation.
3. Global variables:
Rename the structures
● AXIS_CONTROL_TYPE01 in MB_AXIS_CONTROL_TYPE01
● AXIS_STATUS_TYPE01 in MB_AXIS_STATUS_TYPE01.
The constant MAX_AXIS_IF_CYCLES in the Global_Axis_Interface is no
longer required.
4. Task configuration:
Change the call "ImcInterface()" to "MB_ImcInterface()".
5. The following structure elements were moved / renamed and must be
adapted when they are used in the user program:
● arAxisStatus[i].Active -> arAxisStatus[i].Admin.Active
● arAxisCtrl[i].SyncMode.AdjCamShaftDist -> arAxisCtrl[i].SyncMode.AdjCamShaftDistance
● arAxisCtrl[i].Comment -> arAxisStatus[i].Admin.Name
● arAxisCtrl[i].SyncMode.InputRev -> arAxisCtrl[i].SyncMode.InputRevolution
● arAxisCtrl[i].SyncMode.OutputRev -> arAxisCtrl[i].SyncMode.OutputRevolution
● arAxisCtrl[i].SyncMode.CamShaftDist -> arAxisCtrl[i].SyncMode.CamShaftDistance
● arAxisCtrl[i].SyncMode.AdjCamShaftDist -> arAxisCtrl[i].SyncMode.AdjCamShaftDistance
6. If the structures arAxisCtrl / arAxisStatus were extended, the modifications

from MB_AXIS_CONTROL_TYPE01 or MB_AXIS_STATUS_TYPE01
must be incorporated into the user structures. All structures were renamed
from AXIS_xxx to MB_AXIS_xxx.
7. If the imported AxisInterfaceType01Prog and ML_AxisInitAllAxisType01
FBs mentioned under 2 are not used, consider the following:
and Controls
● The ML_AxisInterfaceType01 FB was renamed in MB_AxisInterfa‐

ceType01. Input Enable is omitted.
● The ML_AxisInitType01 FB was renamed in MB_AxisInitType01.
The VAR_IN_OUT Comment and ActiveStatus are omitted.
VAR_IN_OUT AxisDataPtrStatus and DiagStatus were added.
and Controls
and Controls
AxisInterface Function Blocks
5 AxisInterface Function Blocks

5.1 MB_AxisInitType01
Short Description The function block "MB_AxisInitType01" is used to initialize the AxisInterface
for a single axis. The function block must be called only once when the program
is started or each time the phase is switched from the parameterization mode
to the operating mode.
Interface description
Fig.5-1: MB_AxisInitType01 function block
I/O type Name Data type Comment

VAR_INPUT Execute BOOL The initialization is started via a rising edge
on "Execute".
ReadModuloValue BOOL Depending on the parameter settings, the
modulo value for rotary axes is written to
the Adjustment structure of PosModeCtrl
and SyncModeCtrl.AdjPhaseOffset. The
modulo value is set to zero for all other set
values. The default value is TRUE.
EnableCyclicScanning BOOL Activates the cyclic testing and transfer of
the modified inputs for the current opera‐
tion mode - relevant for the values in arA‐
xisCtrl[ ] with the comment: cyclically tested
AND transferred in case of change. The
default value is TRUE.
VAR_OUTPUT Done BOOL Set when the function block has completed
processing.
Active BOOL Set when the function block is active (not in
idle mode).
Error BOOL Indicates that an error has occurred in the
function block instance.
ErrorID ERROR_CODE Short note on the error cause
ErrorIdent ERROR_STRUCT Detailed information on the error
and Controls

VAR_IN_OUT Axis AXIS_REF Axis to be initialized in the AxisInterface
AdminCtrl MB_AXIS_ADMINISTRATION Axis management
Connect arAxisCtrl[i].Admin
PosModeCtrl MB_AXIS_POSITIONING Positioning operation modes
Connect arAxisCtrl[i].PosMode
VelModeCtrl MB_AXIS_VELOCITY Velocity control operation mode
Connect arAxisCtrl[i].VelMode
SyncModeCtrl MB_AXIS_SYNCHRONISATION Synchronization operation modes
Connect arAxisCtrl[i].SyncMode
AxisDataPtrStatus POINTER TO ML_AXISDATA_SM Pointer to AxisData of this axis
Connect arAxisStatus[i].PtrAxisData
AdminStatus MB_AXIS_ADMIN_STATUS Status management of the axis
Connect arAxisStatus[i].Admin
DiagStatus MB_AXIS_DIAGNOSIS Diagnostic information on the axis
Connect arAxisStatus[i].Diag
Fig.5-2: I/O interface on the MB_AxisInitType01
It is not possible to transfer the entire instance of the MB_Axis_Con‐

trol_Type01 and MB_Axis_Status_Type01 structures (e.g. arA‐
xisCtrl[ ] / arAxisStatus[ ]) to the function block using one input. This
was done to allow special supplements to the existing code for the
user application. More details under "User Supplements".
Therefore, the required elements of the MB_Axis_Control_Type01
and MB_Axis_Status_Type01 are transferred as separate inputs.
The MB_AxisInitType01 FB initializes the following structure elements with de‐

fault values:
Structure element Default

AdminCtrl._OpMode ModeAB
AdminCtrl.ClearError FALSE
AdminCtrl.SetAbsRef FALSE
AdminCtrl.EnableCyclicScanning EnableCyclicScanning input
AxisDataPtrStatus ADR(AxisData[Axis.AxisNo])
AdminCtrl.Axis.CntrlNo LOCAL_CNTRL
AdminCtrl.Axis.AxisNo Axis.AxisNo input
PosModeCtrl.Adjust.Enable FALSE
VelModeCtrl.Adjust.Enable FALSE
SyncModeCtrl.AdjCamShaftDistance.Enable FALSE
SyncModeCtrl.AdjFineadjust.Enable FALSE
SyncModeCtrl.AdjPhaseOffset.Enable FALSE
DiagStatus.Number 0
and Controls
Structure element Default

DiagStatus.Message reading not activated
AdminStatus.Active TRUE for enabled drives
AdminStatus.AxisType Enumeration type AXIS_CONFIG
Axis name depending on the parame‐
AdminStatus.Name
ter settings
Fig.5-3: Structure elements initialized by the function block

The structure elements listed above are only initialized if the ReadModulo =
TRUE input and the following state exist:
● VelModeCtrl.Adjust.ModuloValue = 0
● SyncModeCtrl.AdjCamShaftDistance.ModuloValue = 0
● SyncModeCtrl.AdjFineadjust.ModuloValue = 0
● If the axis scaling is set to absolute format:
– PosModeCtrl.Adjust.ModuloValue = 0
– SyncModeCtrl.AdjPhaseOffset.ModuloValue = 0
● If the axis scaling is set to modulo format:
– PosModeCtrl.Adjust.ModuloValue = Modulo value
– SyncModeCtrl.AdjPhaseOffset.ModuloValue = Modulo value
Error handling The function block does not generate any special error codes. Only error codes
of the internally used FBs to read the parameters are transferred.
5.2 MB_AxisInterfaceType01
Short Description Function block "MB_AxisInterfaceType01" is used to configure the AxisInter‐
face for a single axis. This function block must be called cyclically as long as
the user is in the operating mode.
Due to the missing error recovery Defdb00105763 "Writing of elec‐

tronic gear was swapped by the AxisInterface", the FB was re‐
named in the MLD system. The usage of the electronic device in
the user program has to be checked by the user. In order to indicate
an incompatible modification for the user, the FB MB_AxisInterfa‐
ceType01 was renamed into MB_AxisInterfaceType1a to generate
a compilation error when using the new library.
Interface description
Fig.5-4: MB_AxisInterfaceType01 function block

and Controls

VAR_IN_OUT AdminCtrl MB_AXIS_ADMINISTRATION Axis management
Connect arAxisCtrl[i].Admin
PosModeCtrl MB_AXIS_POSITIONING Positioning operation modes
Connect arAxisCtrl[i].PosMode
VelModeCtrl MB_AXIS_VELOCITY Velocity control operation mode
Connect arAxisCtrl[i].VelMode
SyncModeCtrl MB_AXIS_SYNCHRONISATION Synchronization operation modes
Connect arAxisCtrl[i].SyncMode
AdminStatus MB_AXIS_ADMIN_STATUS Status management of the axis
Connect arAxisStatus[i].Admin
DiagStatus MB_AXIS_DIAGNOSIS Status diagnostics of the axis
Connect arAxisStatus[i].Diag
PosStatus MB_AXIS_POS_STATUS Status of positioning operation modes
Connect arAxisStatus[i].PosMode
VelStatus MB_AXIS_VEL_STATUS Status of velocity operation mode
Connect arAxisStatus[i].VelMode
SyncModeStatus MB_AXIS_SYNC_STATUS Status of synchronization operation mode
Connect arAxisStatus[i].SyncMode
Fig.5-5: I/O interface of the MB_AxisInterfaceType01
It is not possible to transfer the entire instance of the MB_Axis_Con‐

trol_Type01 and MB_Axis_Status_Type01 structures (e.g. arA‐
xisCtrl[ ] / arAxisStatus[ ]) to the function block using one input. This
was done to allow special supplements to the existing code for the
user application. More details under "User Supplements".
Therefore, the required elements of the MB_Axis_Control_Type01
and MB_Axis_Status_Type01 are transferred as separate inputs.
The function block checks the inputs of arAxisCtrl[ ] and internally generates
the requested commands for the axis. The outputs of arAxisStatus[ ] are up‐
dated depending on the result of this command. For example, setting arA‐
xisCtrl[ ].Admin._OpMode from ModeAb to ModePosAbs leads to the following
sequence:
● Check the required states to activate a motion command such as "Axis in
Ab"
● Activate PLCopen function block MC_Power
● Wait for the acknowledgement that the power of the axis has been added
(AH/AF)
● Activate PLCopen function block MC_MoveAbsolute with the command
values of PosModeCtrl
● Acknowledge arAxisStatus[ ].Admin._OpModeAck to ModePosAbs (Bit
MODE_POS_ABS)
● Scan the values of PosModeCtrl.Position and PosModeCtrl.Velocity and
reactivate MC_MoveAbsolute in the case of modifications
and Controls
Error handling In DiagStatus.ErrorIdent.Additional1/Additional2, the function block generates

the following error messages for table "F_RELATED_TABLE", 16#0170:
ErrorID Additional1 Additional2 Description

STATE_MACHINE_ERROR, (16#0005) 16#0006 16#0000 Invalid FB state
Drive reports an error in
DEVICE_ERROR, (16#0008) 16#1500 16#0000
AxisData[ ]
INPUT_INVALID_ERROR, (16#0001) 16#1501 16#0000 Invalid operation mode selected
RESOURCE_ERROR, (16#0003) 16#1502 16#0000 Drive is not in AB
INPUT_INVALID_ERROR, (16#0001) 16#1503 16#0000 Invalid AdminCtrl.Axis.AxisNo
Fig.5-6: ML(X)_AxisInterfaceType01 error codes

and Controls
and Controls
Operation Modes
6 Operation Modes
6.1 Overview
There are two methods to activate an operation mode:
1. Selection via Enum values
Assigning a value of TYPE AXIS_MODE to
arAxisCtrl[ ].Admin._OpMode:
arAxisCtrl[].Admin._OpMode: = ModePosAbs;
or
arAxisCtrl[].Admin._OpMode: = ModeAB;
2. Using the bit access
Delete "_OpMode" via programming... first
The set a bit using the bit access functionality.
arAxisCtrl[].Admin.MODE_POS_ABS: = TRUE;
Setting several bits in arAxisCtrl[].Admin._OpMode causes

an error and the drive switches to AB.
Before an operation mode can be activated, values must be assigned to every

respective attribute. All attributes have default values. Some have values not
equal to zero while others are defined as 0. Due to the special demands, a value
has to be assigned to them.
Only the attributes (e.g. position and velocity) that are used or
whose default value was changed must be declared before the cur‐
rent operation mode switchover is carried out.
The following example shows the correct programming sequence of an oper‐

ation mode switchover:
and Controls
Operation Modes
Fig.6-1: Example of an absolute positioning mode switchover
The status acknowledgement (arAxisStatus[].Admin.) for an

operation mode is implemented as follows.
Example:
1. The status acknowledgement
arAxisStatus[].Admin.MODE_POS_ABS
returns TRUE only if the command for switching the axis to the
absolute positioning mode was executed.
2. The status acknowledgement
arAxisStatus[].Admin.CmdDone
is supported only for homing the drive and for positioning op‐
eration modes.
If a positioning operation mode such as
arAxisCtrl[].Admin.MODE_POS_ABS
is activated, the
arAxisStatus[].Admin.MODE_POS_ABS
output is set to TRUE if the drive switches to the positioning
operation mode and starts to turn.
When the drive reached its target position,
is set.
The following section describes the operation modes supported by Axis Inter‐
face Type01 and the attributes that can be assigned.
and Controls
Operation Modes
6.2 Drive Ready

Activating this operation mode switches the drive to AB (Drive Ready) and
switches the torque off. The following command activates the operation mode:
The Axis Interface uses the MC_Power and MC_Stop PLCopen

FBs internally to carry out the switchover.
The following table contains the attributes supported by this operation mode:
Cyclic
Element Name Type Default
scanning
Admin.StopDeleration REAL 100.0 No
arAxisCtrl[ ]
Admin.Axis AXIS_REF No
Fig.6-2: Attributes drive ready
6.3 Drive Halt

Activating this operation mode switches the drive to AH (Drive Halt) and main‐
tains the torque.
The following command activates the operation mode:
arAxisCtrl[].Admin._OpMode: = ModeAH;
or
arAxisCtrl[].Admin.MODE_AH: = TRUE;
The Axis Interface uses the MC_Power and MC_Stop PLCopen

Cyclic
scanning
Admin.StopDeleration REAL 100.0 No
arAxisCtrl[ ]
arAxisStatus Admin.MODE_AH BOOL Omitted
Fig.6-3: Attributes drive halt
6.4 Homing Drive

Activating this operation mode executes the command for homing the drive. It
controls axes with incremental encoders in the homing procedure.
arAxisCtrl[].Admin._OpMode: = ModeHoming;
or
arAxisCtrl[].Admin.MODE_HOMING: = TRUE;
The following acknowledgement must follow the operation mode command. It
returns TRUE when the drive reached its homing position.
and Controls
Operation Modes
The Axis Interface uses the MC_Power and MC_Home PLCopen

Cyclic
scanning
arAxisCtrl[ ] Admin.Axis AXIS_REF No
Admin.MODE_HOMING BOOL Omitted
arAxisStatus[ ]
Admin.CmdDone BOOL Omitted
Fig.6-4: Attributes home drive
6.5 Absolute Positioning

Activating this operation mode causes an absolute motion to a previously
specified target position.
arAxisCtrl[].Admin._OpMode: = ModePosAbs;
or
arAxisCtrl[].Admin.MODE_POS_ABS: = TRUE;
returns TRUE when the drive reached its target position.
The Axis Interface uses the MC_Power and MC_MoveAbsolute

PLCopen FBs internally to carry out the switchover.
Cyclic
scanning
PosMode.Position REAL 0.0 Yes
PosMode.Velocity REAL 10.0 Yes
arAxisCtrl[ ] PosMode.Acceleration REAL 10.0 No
PosMode.Deceleration REAL 10.0 No
Admin.MODE_POS_ABS BOOL Omitted
arAxisStatus[ ]
Fig.6-5: Attributes absolute positioning
6.6 Relative Positioning

Activating this operation mode causes a relative motion to a previously speci‐
fied target position by adding PosMode.Distance to the current actual position.
arAxisCtrl[].Admin._OpMode := ModePosRel;
or
and Controls
Operation Modes
arAxisCtrl[].Admin.MODE_POS_REL := TRUE;
The Axis Interface uses the MC_Power and MC_MoveRelative

Cyclic
scanning
PosMode.Distance REAL 0.0 Yes
Admin.MODE_POS_REL BOOL Omitted
arAxisStatus[ ]
Fig.6-6: Attributes relative positioning
6.7 Additive Positioning

Activating this operation mode causes an additive motion to a previously speci‐
fied target position by adding PosMode.Distance to the current target position.
arAxisCtrl[].Admin._OpMode: = ModePosAdd;
or
arAxisCtrl[].Admin.MODE_POS_ADD: = TRUE;
The Axis Interface uses the MC_Power and MC_MoveAdditive

Cyclic
scanning
PosMode.Distance REAL 0.0 Yes
and Controls
Operation Modes
Cyclic
scanning
Admin.MODE_POS_ADD BOOL Omitted
arAxisStatus[ ]
Fig.6-7: Attributes additive positioning
6.8 Velocity Control

Activating this operation mode executes motions at a previously specified ve‐
locity until a stop command is issued.
arAxisCtrl[].Admin._OpMode: = ModeVel;
or
arAxisCtrl[].Admin.MODE_VEL: = TRUE;
The Axis Interface uses the MC_Power and MC_MoveVelocity

Cyclic
scanning
VelMode.Velocity REAL 10.0 Yes
VelMode.Acceleration REAL 10.0 No
arAxisCtrl[ ]
VelMode.Deceleration REAL 10.0 No
arAxisStatus[ ] Admin.MODE_VEL BOOL Omitted
Fig.6-8: Attributes velocity control
6.9 Operation Mode Phase Synchronization

When this operation mode is activated, the drive is operated using an electronic
gear with fine adjustment. This functionality causes a phase synchronization
between the master axis and the selected slave axis.
arAxisCtrl[].Admin._OpMode: = ModeSyncPhase;
or
arAxisCtrl[].Admin.MODE_SYNC_PHASE: = TRUE;
The Axis Interface uses the MC_Power, MB_GearInPos, MC_Gear‐

Out and MB_PhasingSlave PLCopen FBs internally to carry out the
switchover.
and Controls
Operation Modes
Cyclic
scanning
SyncMode.OutputRevolution UINT 1 Yes
SyncMode.InputRevolution UINT 1 Yes
SyncMode.Fineadjust REAL 0.0 Yes
SyncMode.SyncDirection MC_SYNC_DIRECTION SHORTEST_WAY No
SyncMode.StartMode MC_START_MODE ABSOLUTE No
arAxisCtrl[ ]
SyncMode.Master AXIS_REF Yes
SyncMode.PhaseOffset REAL 0.0 Yes
SyncMode.PhaseOffsetVel REAL 1.0 No
SyncMode.PhaseOffsetAcc REAL 100.0 No
arAxisStatus[ ] Admin.MODE_SYNC_PHASE BOOL Omitted
Fig.6-9: Attributes operation mode phase synchronization
6.10 Operation Mode Velocity Synchronization

When this operation mode is activated, the drive is operated using an electronic
gear with fine adjustment. This functionality causes a velocity synchronization
between the master axis and the selected slave axis.
arAxisCtrl[].Admin._OpMode: = ModeSyncVel;
or
arAxisCtrl[].Admin.MODE_SYNC_VEL: = TRUE;
The Axis Interface uses the MC_Power, MC_GearIn and MC_Gear‐

Out PLCopen FBs internally to carry out the switchover.
Cyclic
scanning
arAxisCtrl[ ] SyncMode.Fineadjust REAL 0.0 Yes
arAxisStatus[ ] Admin.MODE_SYNC_VEL BOOL Omitted
Fig.6-10: Attributes operation mode velocity synchronization
6.11 Operation Mode Electronic Cam

Activating this operation mode causes the drive to follow the master using a
cam profile stored in the drive. This operation mode is supported only by
IndraDrive drives.
and Controls
Operation Modes
arAxisCtrl[].Admin._OpMode := ModeSyncCam;
or
arAxisCtrl[].Admin.MODE_SYNC_CAM := TRUE;
The Axis Interface uses the MC_Power, MC_CamIn, MC_CamOut

and MB_PhasingSlave PLCopen FBs internally to carry out the
switchover.
Cyclic
scanning
SyncMode.CamShaftDistance REAL 360.0 Yes
arAxisCtrl[ ]
SyncMode.CamTableID MC_CAM_ID CAM_TABLE_1 Yes
SyncMode.PhasingSlaveDone BOOL
arAxisStatus[ ] SyncMode.CamActiveID MC_CAM_ID
Admin.MODE_SYNC_CAM BOOL Omitted
Fig.6-11: Attributes operation mode electronic cam
6.12 Operation Mode Electronic MotionProfile

Activating this operation mode switches the electronic cam function on in the
drive. The cam profiles are logically defined using the parameters for the elec‐
tronic MotionProfile. A synchronous position command value for the slave axis
is determined by the position of the master axis. This operation mode can only
be used for axes whose interpolation is calculated in the control.
arAxisCtrl[].Admin._OpMode := ModeSyncProfile;
or
arAxisCtrl[].Admin.MODE_SYNC_PROFILE := TRUE;
The Axis Interface uses the MC_Power, MB_MotionProfile,

MC_GearOut and MB_PhasingSlave PLCopen FBs internally to
carry out the switchover.
and Controls
Operation Modes
Cyclic
scanning
SyncMode.Profile.SetSelection UINT 0 Yes
SyncMode.Profile.RelativePositioning BOOL FALSE No
arAxisCtrl[ ]
SyncMode.PhasingSlaveDone BOOL Omitted
arAxisStatus[ ] SyncMode.ProfileActiveSet UINT Omitted
Fig.6-12: Attributes electronic MotionProfile
6.13 Operation Mode Electronic FlexProfile

Activating this operation mode switches the electronic cam function on in the
drive. The cam profiles are logically defined using the parameters for the elec‐
tronic FlexProfile. This operation mode can only be used for axes whose
interpolation is calculated in the control. This operation mode is not available
on the drive-based MLD system.
arAxisCtrl[].Admin._OpMode: = ModeFlexProfile;
or
arAxisCtrl[].Admin.MODE_FLEX_PROFILE: = TRUE;
The Axis Interface uses the MC_Power, ML_FlexProfile, MC_Gear‐

Out and MB_PhasingSlave PLCopen FBs internally to carry out the
switchover.
and Controls
Operation Modes
Cyclic
scanning
SyncMode.Profile.SetSelection UINT 0 Yes
SyncMode.Profile.UseSwitchingPosi‐
BOOL FALSE No
tion
SyncMode.Profile.SwitchingPosition REAL 0.0 No
SLAVE_ORI‐
MB_PRO‐
SyncMode.Profile.ProfileEntry GIN_MASTER_ORI‐ No
FILE_START_POINT
GIN
SyncMode.Profile.MasterOffset REAL 0.0 No
SyncMode.Profile.SlaveOffset REAL 0.0 No
arAxisCtrl[ ]
SYNC_RAM‐
SyncMode.Profile.SyncType MB_SYNC_TYPE PIN_SHORT‐ No
EST_WAY
SyncMode.Profile.SyncVelocity REAL 10.0 No
SyncMode.Profile.SyncAcceleration REAL 10.0 No
EXECUTE_CY‐
SyncMode.Profile.ExecutionMode MB_EXECUTION_MODE No
CLIC
SyncMode.PhasingSlaveDone BOOL Omitted
arAxisStatus[ ] SyncMode.ProfileActiveSet UINT Omitted
Fig.6-13: Attributes electronic FlexProfile
6.14 Operation Mode External Function Block

Activating this operation mode switches the drive to AH (MC_Stop is NOT ac‐
tive). Then, it waits for an external motion command, e.g. one from a technology
function.
arAxisCtrl[].Admin._OpMode: = ModeExternalFB;
or
arAxisCtrl[].Admin.MODE_EXTERNAL_FB: = TRUE;
The Axis Interface uses the MC_Power and PLCopen function block
internally to carry out the switchover.
and Controls
Operation Modes
Cyclic
scanning
arAxisCtrl[ ] Admin.Axis AXIS_REF No
arAxisStatus[ ] Admin.MODE_EXTERNAL_FB BOOL Omitted
Fig.6-14: Attributes operation mode external function block

and Controls
and Controls
Global Variables
7 Global Variables
Library ML(X)_AxisInterface.lib contains a list of global variables Glob‐
al_MB_AxisInterfaceVars. This list defines constants for bit access to OpMode
variables
(arAxisCtrl[ ].Admin._OpMode and
arAxisStatus[ ].Admin._OpModeAck)
and defines masks for the synchronization operating modes.
Fig.7-1: Global_MB_AxisInterfaceVars
and Controls
and Controls
Example Project Axis Interface
8 Example Project Axis Interface

8.1 Overview
The example project for the MLC04VRS is on the installation CD 3 in the fol‐
lowing folder:
AddOns\Template\Examples\AxisInterface_Example_MLC04VRS.zip
It contains all the IndraWorks and IndraLogic projects as well as PLC programs
required to execute a simple program to demonstrate the use of the Axis Inter‐
face functionality.
8.2 State Machine for the System Startup

The InitProg FB of the example project contains a state machine which carries
out initializations at certain points during the system startup:
● STATE_FIRST_INIT:
Executed only once, during the PLC program start.
– Calls the actInitColdStart action
● STATE_INIT:
Executed when operation mode BB (SERCOS phase 4) is reached.
– Calls the actInitWarmStart action.
– MB_AxisInitType01 can be called.
The actions "actInitColdStart" and "actInitWarmStart" allow the user to program
special initialization specifications.
Fig.8-1: Axis Interface state machine

and Controls
The state machine can be used to integrate the Axis Interface into
an existing program.
For a completely new project, we strongly recommend that the
Rexroth IndraMotion Programming Template is used.
8.3 Axis Interface Visualizations

8.3.1 Overview
The Axis Interface contains visualization masks to provide a prefabricated,
simple interface for setting and controlling the system axes.
The following visualizations are contained in the Axis Interface sample project:
Visualization Description
System_Overview_All_Axis General overview of all defined axes, including simple diagnostic, status and jogging
control elements.
Axis_Overview Indicates the current command and values for Position and Velocity, together with nav‐
igation for the position, velocity and synchronization display for the current axis. The
axes can also be homed and switched off.
Position_mode Monitoring of the positioning mode
Velocity_mode Monitoring of the velocity mode
Synchronization_mode Monitoring of the synchronization mode
Profile_mode Monitoring of the synchronization mode with profiles
ImcInterface_Status_Control MLC control and status interface of the operating modes, acknowledgements and sys‐
tem diagnostics.
Adjusting Value setting
PLC_load Indicates the minimum, current and maximum PLC task cycle time for AxisInterface‐
Type01Prog.
Fig.8-2: Sample project visualizations

The following global variables are used for control purposes and for accessing
system information within the visualizations:
● arAxisCtrl[ ]
● arAxisStatus[ ]
● AxisData[ ] (MLC standard)
● VisuAxisNo
● arVisuJogAxis[]
8.3.2 System Overview Visualization

The System_Overview_All_Axis visualization makes it possible for the user to
quickly connect each axis that is configured in the project. The default axes that
are displayed (MyRealAxis and MyVirtualAxis) are part of the Axis Interface
sample project. Additional axes can be added for display in offline operation.
This display provides an overall system status, permits errors to be deleted and
allows emergency stops to be set. Individual axis control elements supply the
axis name, diagnostics and the current position and velocity, together with the
operating mode status displays. The Jog Axis part makes it possible for the user
to jog and position individual axes and to start and stop virtual axes.
and Controls
Fig.8-3: System_Overview_All_Axis display

Adding an axis to the system over‐ An axis is added to the system overview display in the same manner as the
view adding of a new visualization, by selecting the corresponding element and
specifying the axis name and number. Following is a brief presentation of the
steps required:
1. Open the corresponding IndraLogic project and select the tab Visualiza‐
tion.
2. With IndraLogic in offline mode, double-click the System_Over‐
view_All_Axis visualization, which is located within the System Overview
folder.
3.
Select the button of the Visualization toolbar and, under the last line
in the axis table, generate an outline with the correct line height and width.
4. Select the System_Overview element from the Visualization selection

window.
An entirely new System Overview axis line appears.
5. After double-clicking the new visualization, select the Wildcard... button.

6. Click in the Replace field next to the axis name to enter the name of the
defined axis.
7. Press the OK button twice.
The new Axis Interface for the system overview can now be resized and
positioned.
8. Retranslate the IndraLogic project and go online.
The steps above must be repeated for all axes that are subse‐
quently added to the project.
and Controls
Navigation system overview An overview display of the individual axes can be opened by clicking the axis
name button, which is located in the Details column in the axis table. From the
axis overview display, the user can navigate to the position, velocity and syn‐
chronization operating mode display.
Fig.8-4: Navigation system overview
8.3.3 Axis Overview Visualization

The Axis Overview visualization provides a simple interface for the current
command and actual values of an axis. Command values for Positioning mode
and Velocity mode are provided. The user can switch back and forth between
the axes in a project by clicking the Drive No. field and entering the number of
the corresponding axis.
and Controls
Fig.8-5: Axis overview visualization

The buttons for operating modes Positioning, Velocity Regulation, Synchroni‐
zation and Synchronization with Profiles make it possible for the user to switch
to the corresponding operating mode, in which special values for the corre‐
sponding operating mode can be entered. The current axis can be homed,
switched after Drive Stop while maintaining the torque (AH) or switched off (Ab).
The following table contains the (general) Axis Interface structure elements that
are used as part of the visualization:
Visualization element Axis Interface structure element

Drive No. VisuAxisNo
Command: Position arAxisCtrl[ ].PosMode.Position
Command: Speed arAxisCtrl[ ].PosMode.Velocity
Homing button arAxisCtrl[ ].Admin._OpMode: = ModeHoming
Drive Stop button arAxisCtrl[ ].Admin._OpMode: = ModeAh
Power off button arAxisCtrl[ ].Admin._OpMode: = ModeAb
Current: Position AxisData[ ].rActualPosition_i
Current: Speed AxisData[ ].rActualVelocity_i
Current: Torque/force AxisData[ ].rActualTorqueForce_i
LED: Homed AxisData[ ].Axis_Homed
LED: at standstill AxisData[ ].Axis_Standstill
LED: In-position AxisData[ ].Axis_InPosition
LED: In-synchronization window AxisData[ ].Axis_InSynchron
LED: Drive ready AxisData[ ].Axis_InAb
and Controls

LED: Drive release AxisData[ ].Axis_Power
Current operating mode arAxisStatus[ ].Admin._OpModeAck
Fig.8-6: Axis overview structure elements
The arAxisCtrl[ ] and arAxisStatus[ ] structures are part of the

ML_AxisInterface.lib library. The AxisData [ ] structure is part of the
ML_Base.lib library.
8.3.4 Positioning Mode Visualization

Positioning mode visualization is used to enter command values for Position,
Distance, Velocity, Acceleration and Delay.
The user can select the positioning type to be used (absolute, relative or addi‐
tive).
Fig.8-7: Positioning mode visualization

For more detailed information, see the following positioning types:
For absolute, see chapter 6.5 "Absolute Positioning" on page 36.
For relative, see chapter 6.6 "Relative Positioning" on page 36.
For additive, see chapter 6.7 "Additive Positioning" on page 37.

Command: Position arAxisCtrl[ ].PosMode.Position
Command: Distance arAxisCtrl[ ].PosMode.Distance
and Controls

Command: Speed arAxisCtrl[ ].PosMode.Velocity
Command: Acceleration arAxisCtrl[ ].PosMode.Acceleration
Command: Delay arAxisCtrl[ ].PosMode.Deceleration
Fig.8-8: Positioning mode structure elements
8.3.5 Velocity Mode Visualization

Velocity mode visualization is used to enter command values for Velocity, Ac‐
celeration and Delay.
Fig.8-9: Velocity mode visualization


Command: Speed arAxisCtrl[ ].VelMode.Velocity
Command: Acceleration arAxisCtrl[ ].VelMode.Acceleration
and Controls

Command: Delay arAxisCtrl[ ].VelMode.Deceleration
LED: In velocity AxisData[ ].Axis_InVelocity
Fig.8-10: Velocity mode structure elements
8.3.6 Synchronization Mode Visualization

Synchronization mode visualization is used to control the functions of the elec‐
tronic gear of the drive. A requirement is that fine adjustment and phase offset
element be used. The Drive No. field defines the slave axis, while the Master
drive field defines the master axis.
The user can select the type of synchronization mode to be used (angle or
velocity synchronization, cam or motion profile).
Fig.8-11: Synchronization mode visualization

For more detailed information, see the following synchronization mode types:
For angle synchronization, see chapter 6.9 "Operation Mode Phase Synchro‐
nization" on page 38.
and Controls
For velocity synchronization, see chapter 6.10 "Operation Mode Velocity Syn‐
chronization" on page 39.
For cam, see chapter 6.11 "Operation Mode Electronic Cam" on page 39.

Command: Input revolutions arAxisCtrl[ ].SyncMode.InputRevolution
Command: Output revolutions arAxisCtrl[ ].SyncMode.InputRevolution
Command: Fine adjustment arAxisCtrl[ ].SyncMode.Fineadjust
Command: Cam shaft distance arAxisCtrl[ ].SyncMode.CamShaftDistance
Command: Phase offset arAxisCtrl[ ].SyncMode.PhaseOffset
Command: Phase offset velocity arAxisCtrl[ ].SyncMode.PhaseOffsetVel
Command: Phase offset acceleration arAxisCtrl[ ].SyncMode.PhaseOffsetAcc
Command: Synchronization direction arAxisCtrl[ ].SyncMode.SyncDirection
Command: Synchronization start mode arAxisCtrl[ ].SyncMode.StartMode
Command: Cam ID arAxisCtrl[ ].SyncMode.CamTableID
Phase button arAxisCtrl[ ].Admin._OpMode: = ModeSyncPhase
Velocity button arAxisCtrl[ ].Admin._OpMode: = ModeSyncVelocity
Cam button arAxisCtrl[ ].Admin._OpMode: = ModeSyncCam
LED: Phase offset executed arAxisStatus[ ].SyncMode.PhasingSlaveDone
Master axis drive arAxisCtrl[ ].SyncMode.Master.AxisNo
Fig.8-12: Synchronization operating mode structure elements
8.3.7 Visualization Synchronization Mode with Profiles

Visualization synchronization mode with profiles is used to control the functions
of the electronic gear of the drive with profiles. A requirement is that fine ad‐
justment and phase offset element be used. The Drive No. field defines the
slave axis, while the Master drive field defines the master axis.
The user can select the type of synchronization mode with profiles to be used
(FlexProfile or motion profile).
and Controls
Fig.8-13: Visualization synchronization mode with profiles

For more detailed information, see the following synchronization mode types:
For motion profiles, see chapter 6.12 "Operation Mode Electronic MotionPro‐
file" on page 40.
For FlexProfiles, see chapter 6.12 "Operation Mode Electronic MotionProfile"
on page 40.

Command: Input revolutions arAxisCtrl[ ].SyncMode.InputRevolution
Command: Output revolutions arAxisCtrl[ ].SyncMode.InputRevolution
Command: Fine adjustment arAxisCtrl[ ].SyncMode.Fineadjust
Command: Phase offset arAxisCtrl[ ].SyncMode.PhaseOffset
Command: Phase offset velocity arAxisCtrl[ ].SyncMode.PhaseOffsetVel
Command: Phase offset acceleration arAxisCtrl[ ].SyncMode.PhaseOffsetAcc
Command: Profile set selection arAxisCtrl[ ].SyncMode.Profile.SetSelection
Relative positioning button arAxisCtrl[ ].SyncMode.Profile.RelativePositioning
MotionProfile button arAxisCtrl[ ].Admin._OpMode: = ModeSyncProfile
FlexProfile button arAxisCtrl[ ].Admin._OpMode: = ModeFlexProfile
and Controls

LED: Phase offset executed arAxisStatus[ ].SyncMode.PhasingSlaveDone
Master axis drive arAxisCtrl[ ].SyncMode.Master.AxisNo
Fig.8-14: Synchronization operating mode with profile structure elements
8.3.8 ImcInterface Control and Status Visualization

The ImcInterface_Status_Control visualization permits access to control func‐
tions, such as switching between Parameter and Operating mode, clearing
errors and restarting phase switching. The visualization also supplies the con‐
trol status of the various Sercos operating modes, as well as error diagnostics.
and Controls
Fig.8-15: ImcInterface status and control visualization


IndraMotionControl control
Phase ImcCtrl.Admin._OpMode
Parameterizing mode (P2) ImcCtrl.Admin._OpMode: = IMC_MODE_CTRL_P2
Operating mode (P4) ImcCtrl.Admin._OpMode: = IMC_MODE_CTRL_BB
Clear all errors ImcCtrl.Admin.ClearError
Restart phase switching ImcCtrl.Admin.RetriggerOpMode
IndraMotionControl status
Phase acknowledgement ImcStatus.Admin._OpModeAck
LED: Power-up mode acknowledgement ImcStatus.Admin.PwrUpModeAck
LED: Phase switching active ImcStatus.Admin.PhaseSwitchActive
LED: Phase 0 ImcStatus.Admin.ModeStatus_P0
and Controls

LED: Phase 4 ImcStatus.Admin.ModeStatus_BB
LED: Clear error acknowledgement ImcStatus.Diag.ClearErrorAck
LED: Error ImcStatus.Diag.Error
LED: Warning ImcStatus.Diag.Warning
ErrorID ImcStatus.Diag.ErrorID
Error identification: Table ImcStatus.Diag.ErrorIdent.Table
Error identification: Additional 1 ImcStatus.Diag.ErrorIdent.Additional1
Error identification: Additional2 ImcStatus.Diag.ErrorIdent.Additional2
Fig.8-16: ImcInterface structure elements
8.3.9 Adjusting
The Adjusting visualization is used to make additional settings to the system
due to special application requirements. In applications such as printing, it may
be necessary to set the position or velocity of certain axes in such a way that
they are precisely aligned to the printed image or text. For this reason, the user
can add Adjusting visualizations for the Position, Velocity or Synchronization
operating modes to the current project.
Adding an adjusting visualization To add additional Adjusting visualizations, follow the steps described briefly
below:
1. Open the corresponding IndraLogic project and select the tab Visualiza‐
tion.
2. With IndraLogic in offline mode, click the right mouse button on the Ad‐
justing folder, select Add object... and enter a name for the new visuali‐
zation.
3.
Select the button of the Visualization toolbar and generate an outline
in the working area on the right side.
4. Select the Adjusting element from the Visualization selection window.

5. After double-clicking the new visualization, select the Wildcard... button.
6. Modify the data to be replaced according to the operating mode Adjusting
types, as shown in the following table:
and Controls
Adjust type Wildcard Option / comment

Velocity Adjusting Mode VelMode
AdjustMode Adjust
AxisName Name of the controlled axis, e.g. MyRealAxis
Show Velocity
OperatingMode Mode_Vel
Position Adjusting Mode PosMode
AdjustMode Adjust
Show Position
OperatingMode Mode_Pos_Abs
Synchronization Adjusting Mode SyncMode
AdjustMode AdjCamShaftDist or
AdjFineAdjust or
AdjPhaseOffset
Show PhaseOffset or
FineAdjust or
CamShaftDistance
(* Selection must agree with the AdjustMode wildcard)
OperatingMode An entry is not required for SyncMode
Fig.8-17: Adjusting options according to the adjust type

and Controls
Fig.8-18: Adding an adjusting visualization
8.3.10 PLC Load Visualization

The PLC_load visualization is used to monitor the PLC load. The minimum,
current and maximum PLC cycle times for AxisInterfaceType01Prog are dis‐
played.
Fig.8-19: PLC load visualization

and Controls
and Controls
AxisInterface User Extensions
9 AxisInterface User Extensions

9.1 Overview
The arAxisCtrl[ ] and arAxisStatus[ ] structures can be extended by the user to
adapt the AxisInterface to special applications.
The arAxisCtrl[ ] and arAxisStatus[ ] structures of the user interface

are
MB_Axis_Control_Type01 and MB_Axis_Status_Type01 data
structures (see fig. 1-1 "AxisInterface Function Blocks" on page 5).
Since the AxisInterface data structure is integrated in the ML_Axi‐
sInterface.lib library and is thus not accessible by the user, a new
data structure that corresponds to the existing one, must be created
within the current project so that functionalities can be added.
This section describes how the AxisInterface can be extended e.g. by adding
the MB_Phasing functionality. The MB_Phasing function block allows to add an
offset to a master axis. The master axis is connected as input to the MC_Ca‐
mIn or the MC_GearInPos synchronization function block.
The MB_PhasingSlave functionality is integrated into the AxisInterface using
the
● arAxisCtrl[ ].SyncMode.PhaseOffset, (.PhaseOffsetVel), (.PhaseOffse‐
tAcc) elements and the
● arAxisStatus[ ].SyncMode.PhasingSlaveDone output
The following new entries are defined:

● arAxisCtrl[ ].PhaseShift
● arAxisCtrl[ ].PhaseShiftVel
● arAxisCtrl[ ].PhaseShiftAcc
● arAxisStatus[ ].PhasingMasterDone
The arAxisCtrl[ ].PhaseShift input is scanned cyclically and is acti‐

vated immediately when there is a change.
9.2 Extending the arAxisCtrl[ ] Structure

To add the additional functionality to the MB_Axis_Control_Type01 structure,
the user must create a new structure, copy the contents of the already existing
structure and then add the new elements. Proceed according to the following
steps to extend the functionality of the MB_Axis_Control_Type01 structure:
1. Open the respective project in IndraWorks and start IndraLogic.
2. Click on the data type tab in the current project, add an object and name
it MY_AXIS_CONTROL_TYPE01.
and Controls
Fig.9-1: Adding a data type to the project

3. Using the Library Manager(Window ▶ Library Manager) to open the
ML_AxisInterface.lib library.
4. Click on the respective Data types tab of the ML_AxisInterface.lib library.
5. Click on MB_AXIS_CONTROL_TYPE01 (STRUCT) and copy the entire
structure by highlighting the code and selecting Edit ▶ Copy or by using
the key combination <Ctrl>+<C>.
6. Switch to the MY_AXIS_CONTROL_TYPE01 object created in step 2.
7. Double-click on MY_AXIS_CONTROL_TYPE01 and insert the copied
code using the default structure on the right.
and Controls
Fig.9-2: Copy MB_AXIS_CONTROL_TYPE01 to MY_AXIS_CON‐

TROL_TYPE01
8. Rename the structure to "MY_AXIS_CONTROL_TYPE01"
9. Add the three new element allocations PhaseShift, PhaseShiftVel and
PhaseShiftAcc as type REAL to the "MY_AXIS_CONTROL_TYPE01" be‐
low the comment (*User extensions*).
Fig.9-3: New elements added to MY_AXIS_CONTROL_TYPE01
9.3 Extending the arAxisStatus[ ] Structure

Extend the arAxisStatus[ ] structure as described in the steps in chapter 9.2
"Extending the arAxisCtrl[ ] Structure" on page 63. The following steps describe
the procedure briefly:
1. Click on the Data types tab in the current project, add an object and name
it MY_AXIS_STATUS_TYPE01.
2. Click on the respective Data types tab of the ML_AxisInterface.lib library.
3. Click on MB_AXIS_STATUS_TYPE01 (STRUCT) and copy the entire
structure by highlighting the code and selecting Edit ▶ Copy or by using
key combination <Ctrl>+<C>.
4. Switch to the MY_AXIS_STATUS_TYPE01 object created in step 1.
and Controls
5. Double-click on MY_AXIS_STATUS_TYPE01 and insert the copied code

using the default structure on the right.
6. Rename the structure to "MY_AXIS_STATUS_TYPE01"
7. Add the new element allocation PhasingMasterDone to MY_AXIS_STA‐
TUS_TYPE01 below the comment (*User extensions*) as BOOL type.
Fig.9-4: New element added to MY_AXIS_STATUS_TYPE01
9.4 Modifying User-defined Types

Before the new control and status structures can be used in a project, the global
variable type definition for the arAxisCtrl[ ] and arAxisStatus[ ] structures must
correspond to the newly created structures. Proceed according to the following
steps to update the global variable data type :
1. Click on the Resources tab in the current project and double-click on
Global_Axis_Interface (CONSTANT) under Global Variables.
2. Change the definition of arAxisCtrl[ ] to "MY_AXIS_CON‐
TROL_TYPE01".
3. Change the definition of arAxisStatus[ ] to "MY_AXIS_STA‐
TUS_TYPE01".
and Controls
Fig.9-5: Change the global variable data type definition
9.5 Extending the Program

The last step is to extend the program so that the new elements can be used.
1. From the FB tab, click with the right mouse button on AxisInterface‐
Type01Prog and select Copy object.
2. Rename the new FB in My_AxisInterfaceType01Prog.
3. Change the code in the red frame accordingly.
and Controls
Fig.9-6: Extending the user program

4. Compile the project again and check it for programming errors
5. Switch to the PLC task configuration by clicking on the Resources tab.
6. Remove the AxisInterfaceType01Prog program from the PlcTask.
and Controls
7. Add the newly created program My_AxisInterfaceType01Prog to PlcTask.
Fig.9-7: Adding the new program to the project

8. Compile the project and load it into the control.
The new input and output elements are now part of the AxisInterface structure
and can be viewed using the Global_Axis_Interface variables.
Fig.9-8: arAxisCtrl and arAxisStatus structures with user extensions

and Controls
and Controls
Axis Interface Structures
10 Axis Interface Structures

10.1 Overview
The Axis Interface is supported by both the MLC control system and the MLD
drive system. The following table shows the supported target systems and li‐
braries that contain the FBs and data structures for the Axis Interface:
The Axis Interface is provided as an IndraMotion programming tem‐

plate or as a stand-alone interface for the axis functionality.
If it is used with the programming template, the user does not have
to concern himself with instance calls of the FBs within the project.
This functionality is totally integrated into the template - the user just
needs to write a few lines of code.
But if the Axis Interface is used as a stand-alone functionality, the
user must create the instances of both FBs for every axis. This sec‐
tion contains descriptions and examples how to use the Axis Inter‐
face as a stand-alone functionality.
The following table shows the user interface for the Axis Interface data struc‐
ture:
User interface Type Description

Control structure, including command values and variables to
arAxisCtrl[ ] MB_Axis_Control_Type01
activate the operation modes
Status structure, including diagnostic information and acknowl‐
arAxisStatus[ ] MB_Axis_Status_Type01
edgements for the operation modes
Status and control structure, including actual values, status bits
AxisData[ ] and access to cyclically configurable user data (processed by
the MotionControl in the firmware).
Fig.10-1: Axis Interface - user interface data structures
10.2 MB_AXIS_CONTROL_TYPE01 Structure

10.2.1 MB_AXIS_CONTROL_TYPE01
Brief description The MB_AXIS_CONTROL_TYPE01 data structure is accessed using the arA‐
xisCtrl[ ] instance; it contains the following elements:
Fig.10-2: MB_AXIS_CONTROL_TYPE01 structure

and Controls
Library ML_AxisInterface.lib for MLC / MX_AxisInterface.lib for MLD-M

Dependency ML_ImcInterface.lib for MLC / MX_ImcInterface.lib for MLD-M
System IndraMotion MLC / MLD-M
10.2.2 MB_AXIS_CONTROL_TYPE01 Elements

MB_AXIS_ADMINISTRATION Structure
MB_AXIS_ADMINISTRATION
Brief description The MB_AXIS_ADMINISTRATION structure is a substructure of MB_AX‐
IS_CONTROL_TYPE01, containing control variables and command values.
The following illustration shows the current MB_AXIS_ADMINISTRATION
structure:
and Controls
Fig.10-3: MB_AXIS_ADMINISTRATION structure

and Controls
Operating mode selection Operating modes can be selected using all of the following methods:
● Selection using Enum values
Assigning a value of type AXIS_MODE to
arAxisCtrl[ ].Admin._OpMode
e.g. arAxisCtrl[ ].Admin._OpMode :=ModePosAbs; or
arAxisCtrl[].Admin._OpMode := ModeAB;
● Selection using bit access
First delete "_OpMode" by arAxisCtrl[ ].Admin._OpMode := ModeAB;, then
use the bit access function to set only one bit.
e.g. arAxisCtrl[ ].Admin.MODE_POS_ABS := TRUE;
Setting several bits in arAxisCtrl[].Admin._OpMode can cause an

error that switches the drive to AB.
Diagnostic displays Element "DiagNbrRefreshTime" is used to control the refresh rate of

arAxisStatus[].Diag.Number. As soon as arAxisStatus[].Diag.Number changes,
arAxisStatus[].Diag.Message is reread. If a time less than T#200ms was se‐
lected for DiagNbrRefreshTime, reading of the diagnostic information is switch‐
ed off.
MB_AXIS_ADMINISTRATION Elements
MB_Axis_Mode
Brief description This MB_axis_Mode_ is an enumeration type (UNION) used by the _OpMode
element which is in the MB_AXIS_ADMINISTRATION structure. The following
figure shows the current MB_Axis_Mode enumeration type:
Fig.10-4: MB_Axis_Mode enumeration type

and Controls

Axis_Ref
Brief description This Axis_Ref structure is part of the "RIL_CommonTypes" library and contains
information about the corresponding axis. These elements call instances of
enumeration types CONTROLS and OBJECTS.
The following illustration shows the current structure:
Fig.10-5: Axis_Ref structure

MB_AXIS_POSITIONING Structure
MB_AXIS_ADJUST_DATA
Brief description The MB_AXIS_ADJUST_DATA structure is a substructure of MB_AXIS_POSI‐
TIONING, containing binary setting commands and command values. The
following illustration shows the current MB_AXIS_ADJUST_DATA structure:
Fig.10-6: MB_AXIS_ADJUST_DATA structure (part 1 of 2)

and Controls

MB_AXIS_POSITIONING
Brief description The MB_AXIS_POSITIONING structure is a substructure of MB_AXIS_CON‐
TROL_TYPE01, containing command values for Positioning mode. The follow‐
ing illustration shows the current MB_AXIS_POSITIONING structure:
and Controls
Fig.10-8: MB_AXIS_POSITIONING structure

MB_AXIS_VELOCITY Structure
MB_AXIS_VELOCITY
Brief description The MB_AXIS_VELOCITY structure is a substructure of MB_AXIS_CON‐
TROL_TYPE01, containing command values for Velocity mode.
The following illustration shows the current MB_AXIS_VELOCITY structure:
and Controls
Fig.10-9: MB_AXIS_VELOCITY structure

MB_AXIS_VELOCITY Elements
MB_AXIS_ADJUST_DATA
Brief description The MB_AXIS_ADJUST_DATA structure is a substructure of MB_AXIS_POSI‐
TIONING, containing binary setting commands and command values. The
following illustration shows the current MB_AXIS_ADJUST_DATA structure:
and Controls

and Controls
MB_AXIS_SYNCHRONISATION Structure
MB_AXIS_SYNCHRONISATION
Brief description The MB_AXIS_SYNCHRONISATION structure is a substructure of MB_AX‐
IS_CONTROL_TYPE01 and contains command values and settings for the
synchronization mode. The following figure shows the current MB_AXIS_SYN‐
CHRONISATION structure:
Fig.10-12: MB_AXIS_SYNCHRONISATION structure (part 1 of 3)

and Controls

and Controls

MB_AXIS_SYNCHRONISATION Elements
ML(X)_AXIS_PROFILE
Brief description The ML_AXIS_PROFILE structure is a substructure of MB_AXIS_SYNCHRO‐
NISATION and contains command values and settings for the synchronization
mode in the MLC system. The MX_AXIS_PROFILE is used correspondingly in
the MLD system but does only contain the two structure elements "SetSelec‐
tion" and "RelativePositioning".
The following figure shows the current ML_AXIS_PROFILE structure:
and Controls
Fig.10-15: ML_AXIS_PROFILE part 1

and Controls
Fig.10-16: ML_AXIS_PROFILE part 2

10.3 MB_AXIS_STATUS_TYPE01 Structure

10.3.1 MB_AXIS_STATUS_TYPE01
Brief description The MB_AXIS_STATUS_TYPE01 data structure is accessed using the arAxis‐
Status[ ] instance; it contains the following elements:
and Controls
Fig.10-17: MB_AXIS_STATUS_TYPE01 structure

10.3.2 MB_AXIS_STATUS_TYPE01 Elements

MB_AXIS_ADMIN_STATUS Structure
MB_AXIS_ADJUST_STATUS
Brief description The MB_AXIS_ADMIN_STATUS structure is a substructure of MB_AXIS_STA‐
TUS_TYPE01, containing the output status.
The following illustration shows the current MB_AXIS_ADMIN_STATUS struc‐
ture:
and Controls
Fig.10-18: MB_AXIS_ADMIN_STATUS structure

MB_AXIS_ADMIN_STATUS Elements
MB_AXIS_MODE
Brief description The MB_AXIS_MODE is an enumeration type that is used by the _OpMo‐
deAck element, which is contained in the MB_AXIS_ADJUST_STATUS struc‐
ture.
The following illustration shows the current MB_Axis_Mode enumeration type:
and Controls
Fig.10-19: MB_Axis_Mode
For details, see chapter "MB_Axis_Mode" on page 74.
MB_AXIS_CONFIG
Brief description MB_AXIS_CONFIG is an enumeration type that is used by the MB_AXIS_AD‐
JUST_STATUS structure.
Fig.10-20: MB_AXIS_CONFIG enumeration type

MB_AXIS_DIAGNOSIS Structure
MB_AXIS_DIAGNOSIS
Brief description The MB_AXIS_DIAGNOSIS structure is a substructure of MB_AXIS_STA‐
TUS_TYPE01, containing warning and error outputs. The following illustration
shows the current MB_AXIS_DIAGNOSIS structure:
and Controls
Fig.10-21: MB_AXIS_DIAGNOSIS structure

Diagnostic displays arAxisCtrl[iColumn].Admin.DiagNbrRefreshTime is used to control the refresh
rate of element "Number". As soon as element "Number" changes, the text
message is reread. If a time less than T#200ms is selected for arAxisCtrl[].Ad‐
min.DiagNbrRefreshTime, reading of the diagnostic information is switched off.
MB_AXIS_POS_STATUS Structure
MB_AXIS_POS_STATUS
Brief description The MB_AXIS_POS_STATUS structure is a substructure of MB_AXIS_STA‐
The following illustration shows the current MB_AXIS_POS_STATUS structure:
Fig.10-22: MB_AXIS_POS_STATUS structure

MB_AXIS_ADJUST_STATUS
Brief description The MB_AXIS_ADJUST_STATUS structure is a substructure of MB_AX‐
IS_POS_STATUS, containing the output status.
and Controls
The following illustration shows the current MB_AXIS_POS_STATUS structure:
Fig.10-23: MB_AXIS_ADJUST_STATUS structure

MB_AXIS_VEL_STATUS Structure
MB_AXIS_VEL_STATUS
Brief description The MB_AXIS_VEL_STATUS structure is a substructure of MB_AXIS_STA‐
TUS_TYPE01, containing the velocity output status.
The following illustration shows the current MB_AXIS_VEL_STATUS structure:
Fig.10-24: MB_AXIS_VEL_STATUS structure

MB_AXIS_SYNC_STATUS Structure
MB_AXIS_SYNC_STATUS
Brief description The MB_AXIS_SYNC_STATUS structure is a substructure of MB_AXIS_STA‐
The following illustration shows the current MB_AXIS_SYNC_STATUS struc‐
ture:
and Controls
Fig.10-25: MB_AXIS_SYNC_STATUS structure

and Controls
Special IndraMotion MLD Features
11 Special IndraMotion MLD Features

11.1 Introduction
This chapter describes the special features to be considered when using the
AxisInterface in the IndraMotion MLD.
The AxisInterface cannot be used in all firmware variants:
● MPC: Application as MLD-M with up to 8 real axes and 1 virtual axis
● MPH: Application as MLD-S with 1 real axis and 1 virtual axis
● MPB: This variant is not supported since the AxisData structure required
for the AxisInterface is not possible for MPB.
● MPD: This variant is not supported since no drive-integrated PLC is pos‐
sible.
To use the AxisInterface, the additive function package "IndraMotion MLD with
Technology Functions" must be enabled. The function package "Extended
technology function blocks" is not required.
11.2 Parameterization
To use the AxisInterface on an MLD, the following parameterization has to be
carried out:
● PLC controls the drive permanently: P-0-1367 "PLC configuration", bit 4
is set
● Support of the AxisData structure: P-0-1367 "PLC configuration", bit 6 is
set
Fig.11-1: Parameterizing the MLD for the AxisInterface

An MMC does not have to be present for the boot project.
To use the master axis generator as virtual axis for the AxisInterface, the fol‐
lowing settings are required.
● Activating the master axis generator: P-0-0917 "Control word of master
axis generator", bit 0 is set
● Master axis generation: P-0-0916, "Master axis format converter signal
selection", P-0-758 entered
and Controls
● Exemplary the settings for a virtual rotary axis that can rotate in both di‐
rections:
– Rotary scaling in modulo format: P-0-0756 "Virtual master axis, scal‐
ing type", bit 2/1/0 = 010, bit 7 is set
– Shortest distance: P-0-0769 "Virtual master axis, command value
mode", bit 1/0 = 10
Fig.11-2: Parameterizing the MLD master axis generator as virtual axis

If the parameterization described above is not executed, the initialization of the
AxisInterface example project cannot be completed and the user has to carry
out adaptations.
11.3 PLC Programming

The AxisInterface structures are defined for 11 axes:
● 1 to 8: real axes
● 9 and 10 : are placeholders and cannot be used in the MLD system mode
11: virtual axis (= master axis generator) addressed via the VMA_INT_IDX
define
Since the AxisInterface structures are defined for exactly 11 axes,

indexing these structures with the predefined axis references
VmAxisInt.AxisNo or VmAxisExt.AxisNo causes the error message
2021 "Array limit exceeded...".
MB_AxisInterfaceType1a FB: Due to the missing error recovery Defdb00105763 "Writing of electronic gear
was swapped by the AxisInterface", the FB was renamed in the MLD system.
The usage of the electronic device in the user program has to be checked by
the user. In order to indicate an incompatible modification for the user, the FB
and Controls
MB_AxisInterfaceType01 was renamed into MB_AxisInterfaceType1a to gen‐

erate a compilation error when using the new library.
Additionally cyclically scanned da‐ The following additional elements of the axis control structure are scanned cy‐
ta: clically in the MLD design of the AxisInterface library:
● arAxisCtrl[].Admin.StopDecelaration
● arAxisCtrl[].VelMode.Acceleration
● arAxisCtrl[].VelMode.Deceleration
Notes on the virtual axis: ● Access on the structures in the AxisInterface using the VMA_INT_IDX de‐
fine (index 11)
● Irrespective of the system, the index can be determined on the MLC and
MLD using the MB_GetAxisInterfaceIndex() function
● The AxisInterface copies a part of the information - provided in the Axis‐
Data structure for real axes - for the virtual axis. This information can be
accessed in the AxisStatus structure via a pointer.
Note: This pointer is initialized by the AxisInterface Init FB. The pointer
and thus the information can only be accessed after a successful initiali‐
zation.
Information available for the virtual axis:
– arAxisStatus[VMA_INT_IDX].PtrAxisData^.rActualPosition_i;
– arAxisStatus[VMA_INT_IDX].PtrAxisData^.rActualVelocity_i;
– arAxisStatus[VMA_INT_IDX].PtrAxisData^.Axis_CmdValueReach‐
ed;
– arAxisStatus[VMA_INT_IDX].PtrAxisData^.Axis_Standstill;
The following information is always set to TRUE in the operating mode:
– arAxisStatus[VMA_INT_IDX].PtrAxisData^.Axis_Inbb;
– arAxisStatus[VMA_INT_IDX].PtrAxisData^.Axis_InAb;
– arAxisStatus[VMA_INT_IDX].PtrAxisData^.Axis_Power;
– arAxisStatus[VMA_INT_IDX].PtrAxisData^.Axis_Homed;
and Controls
and Controls
Service and Support
12 Service and Support

Our service helpdesk at out headquarters in Lohr, Germany, will assist you with
all kinds of enquiries. Out of helpdesk hours please contact our German service
department directly.
Helpdesk Service Hotline Service Hotline

Germany Worldwide
Time 1) Mo-Fr 7:00 am - 6:00 pm CET Mo-Fr 6:00 pm - 7:00 am CET Outwith Germany please con‐
Sa-Su 0:00 am - 12:00 pm CET tact our sales/service office in
your area first.
Phone +49 (0) 9352 40 50 60 +49 (0) 171 333 88 26 For hotline numbers refer to the
or sales office addresses on the
Internet.
+49 (0) 172 660 04 06
Fax +49 (0) 9352 40 49 41 –
e-mail service.svc@boschrexroth.de –
Internet http://www.boschrexroth.com
You will also find additional notes regarding service, maintenance (e.g. delivery addresses) and
training.
1) Central European Time (CET)
Preparing Information For quick and efficient help please have the following information ready:
● detailed description of the fault and the circumstances
● information on the type plate of the affected products, especially type co‐
des and serial numbers
● your phone, fax numbers and e-mail address so we can contact you in
case of questions.
and Controls
and Controls
Index
Index
A M
Adding an adjusting visualization........................ 59 MB_AXIS_ADJUST_DATA........................... 75, 78
Adding an axis to the system overview............... 49 MB_AXIS_ADJUST_STATUS....................... 85, 88
arAxisCtrl[ ].......................................................... 63 MB_AXIS_CONTROL_TYPE01.......................... 71
Axis_Ref.............................................................. 75 MB_AXIS_DIAGNOSIS....................................... 87
AxisInterface MB_AXIS_MODE................................................ 86
Overview ........................................................ 5 MB_AXIS_POS_STATUS................................... 88
Axis interface structure elements MB_AXIS_POSITIONING................................... 76
positioning mode visualization ..................... 52 MB_AXIS_STATUS_TYPE01............................. 84
synchronization mode visualization .............. 55 MB_AXIS_SYNC_STATUS................................. 89
synchronization mode with profiles .............. 56 MB_AXIS_VEL_STATUS.................................... 89
velocity mode visualization ........................... 53 MB_AxisInitType01............................................. 27
Axis Interface structure elements MB_AxisInterfaceType01.................................... 29
axis overview visualization ........................... 51 MB_GetAxisInterfaceIndex................................. 93
ImcInterface control ...................................... 58 MB_Phasing........................................................ 63
ImcInterface status ....................................... 58 MB_PhasingSlave............................................... 63
Axis interface structures
MB_AXIS_ADJUST_DATA ..................... 75, 78
MB_AXIS_ADJUST_STATUS ................ 85, 88
N
MB_AXIS_ADMINISTRATION ..................... 72 Navigation system overview............................... 50
MB_AXIS_CONFIG ...................................... 87 Non-intended use
MB_AXIS_CONTROL_TYPE01 ................... 71 consequences, exclusion of liability ............. 11
MB_AXIS_CONTROL_TYPE01 structure .... 71
MB_AXIS_DIAGNOSIS ................................ 87 O
MB_AXIS_MODE ......................................... 86 Operation mode
MB_AXIS_POS_STATUS ............................ 88 Electronic cam .............................................. 39
MB_AXIS_POSITIONING ............................ 76 Operation modes
MB_AXIS_STATUS_TYPE01 ....................... 84 Absolute positioning ..................................... 36
MB_AXIS_SYNC_STATUS .......................... 89 Additive positioning ...................................... 37
MB_AXIS_VEL_STATUS ............................. 89 Drive halt ...................................................... 35
MB_AXIS_VELOCITY .................................. 77 Drive ready ................................................... 35
Axis Interface structures Electronic FlexProfile ................................... 41
Axis_Mode .................................................... 74 Electronic MotionProfile ............................... 40
MB_AXIS_SYNCHRONISATION ................. 80 Homing drive ................................................ 35
ML_AXIS_PROFILE ..................................... 82 Operation mode external function block ....... 42
MX_AXIS_PROFILE ..................................... 82 Overview ...................................................... 33
Phase synchronization ................................. 38
C Relative positioning ...................................... 36
Configuration....................................................... 23 Velocity control ............................................. 38
Converting AxisInterface projects....................... 24 Velocity synchronization ............................... 39
E P
EnableCyclicScanning.......................................... 7 PELV................................................................... 17
Protective extra-low voltage................................ 17
G
Global_MB_AxisInterfaceVars............................ 45
S
Global variables.................................................. 45 Safety instructions for electric drives and con‐
trols..................................................................... 13
Service Hotline.................................................... 95
I State machine - Axis Interface............................ 47
Improper use....................................................... 12 State of the art.................................................... 11
InitProg FB.......................................................... 47 Support
Intended use....................................................... 11 see Service Hotline ...................................... 95
scopes of application .................................... 11 System_Overview_All_Axis................................. 48
and Controls
Index
U V
Use Visualization
improper use ................................................ 12 adjusting ....................................................... 59
intended use ................................................. 11 axis overview ................................................ 50
User extension ImcInterface control ...................................... 57
arAxisCtrl[ ] ................................................... 63 ImcInterface status ....................................... 57
User-defined types ....................................... 66 overview ....................................................... 48
User Extension PLC load ...................................................... 61
arStatusCtrl[ ] ............................................... 65 positioning mode .......................................... 52
User extensions.................................................. 63 setting ........................................................... 59
Program ....................................................... 67 synchronization mode .................................. 54
synchronization mode with profiles .............. 55
system overview ........................................... 48
velocity mode ............................................... 53
and Controls
Notes
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Tel. +49 (0)93 52-40-0
Fax +49 (0)93 52-48 85
www.boschrexroth.com
Printed in Germany
R911322054 DOK-IM*MLC-TF*AX*IFV04-FK03-EN-P

Electric Drives and Controls Pneumatics Service Linear Motion and Assembly Technologies Hydraulics

Încărcat de

Informații document

Descriere originală:

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Electric Drives and Controls Pneumatics Service Linear Motion and Assembly Technologies Hydraulics

Încărcat de

Drepturi de autor:

Formate disponibile

Electric Drives Linear Motion and

and Controls Hydraulics Assembly Technologies Pneumatics Service

Title Rexroth IndraMotion

Type of Documentation Functional Description

Document Typecode DOK-IM*MLC-TF*AX*IFV04-FK03-EN-P

Internal File Reference RS-a0a89829db1b777e0a6846a0006567eb-3-en-US-4

Record of Revision Edition Release Date Notes

Copyright © Bosch Rexroth AG, 2007

2 Important Instructions on Use...................................................................................... 11

3 Safety Instructions for Electric Drives and Controls .................................................... 13

4 AxisInterface Initial Configuration................................................................................ 23

5 AxisInterface Function Blocks...................................................................................... 27

8 Example Project Axis Interface.................................................................................... 47

9 AxisInterface User Extensions..................................................................................... 63

10 Axis Interface Structures.............................................................................................. 71

11 Special IndraMotion MLD Features............................................................................. 91

12 Service and Support.................................................................................................... 95

System support Drive firmware support Library

MLD drive system

Fig.1-1: AxisInterface Function Blocks

The AxisInterface is provided as an IndraMotion programming tem‐

Fig.1-2: AxisInterface data structure of the interface

User interface Type Description

Fig.1-3: AxisInterface - User interface data structure

Between the AxisInterface 01VRS (MLC 03VRS) and 02VRS (MLC

Fig.1-4: Overview on the data structures

Fig.1-5: Cyclically scanned elements of arAxisCtrl[ ]

● During the activation of an operation mode (.Admin._Op‐

Various IndraLogic visualizations based on the three structure elements de‐

Between the AxisInterface 01VRS (MLC 03VRS) and 02VRS (MLC

Important Instructions on Use

2 Important Instructions on Use

Personal injuries and damage to property due to incorrect use of the

Rexroth, as the manufacturer of the products, shall not assume any

Before using Rexroth products, the following prerequisites must be fulfilled to

2.1.2 Scope of Use and Application

Before commissioning, every drive controller must be programmed to ensure

Important Instructions on Use

2.2 Improper Use

Safety Instructions for Electric Drives and Controls

3 Safety Instructions for Electric Drives and Controls

Safety Instructions for Electric Drives and Controls

● to be trained or instructed to maintain and use adequate safety equipment,

3.2 General Information

Improper use of these components, failure to follow the safety instruc‐

3.2.2 Requirements for Safe Use

Safety Instructions for Electric Drives and Controls

3.2.3 Hazards by Improper Use

Safety Instructions for Electric Drives and Controls

● Risk of injury by improper handling! Injury by crushing, shearing, cutting,

3.2.4 Explanation of Safety Symbols and Hazard Classification

Safety symbol Signal Hazard classification according to ANSI Z535.4-2002

Warning Death or serious injury could occur.

Caution Minor or moderate injury or property damage may oc‐

Fig.3-1: Hazard Classification (According to ANSI Z535.4-2002)

3.3 Instructions with Regard to Specific Dangers

Safety Instructions for Electric Drives and Controls

High electrical voltage! Danger to life, risk of injury by electric shock or

3.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock

Safety Instructions for Electric Drives and Controls

with basic insulation (such as programming devices, PCs, notebooks, display

Danger to life, risk of injury by electric shock! High electrical voltage by

Document Typecode DOK-IMMLC-TFAX*IFV04-FK03-EN-P