Rexroth IndraDrive R911315487 Firmware for Drive Controllers MPH-04, MPB …...

Rexroth IndraDriveFirmware for Drive ControllersMPH-04, MPB-04, MPD-04

R911315487Edition 01

Firmware Version Notes

Electric Drivesand Controls Pneumatics Service

Linear Motion and Assembly TechnologiesHydraulics

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About this Documentation

Rexroth IndraDrive

Firmware for Drive Controllers

MPH-04, MPB-04, MPD-04

Firmware Version Notes

DOK-INDRV*-MP*-04VRS**-FV01-EN-P

Box: 81-04V-EN

Document Number: 120-2400-B329-01/EN

This documentation contains an overview of the functional differences(marked with gray background color) between firmware versionMPH-04/MPB-04/MPD-04 and firmware MPx-03.

Description ReleaseDate

Notes

DOK-INDRV*-MP*-04VRS**-FV01-EN-P 01.2006 First edition

2006 Bosch Rexroth AG

Copying this document, giving it to others and the use or communicationof the contents thereof without express authority, are forbidden. Offendersare liable for the payment of damages. All rights are reserved in the eventof the grant of a patent or the registration of a utility model or design(DIN 34-1).

The specified data is for product description purposes only and may notbe deemed to be guaranteed unless expressly confirmed in the contract.All rights are reserved with respect to the content of this documentationand the availability of the product.

Bosch Rexroth AGBgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telephone +49 (0)93 52/40-0 • Tx 68 94 21 • Fax +49 (0)93 52/40-48 85

http://www.boschrexroth.com/

Dept. EDY

This document has been printed on chlorine-free bleached paper.

Title

Type of Documentation

Document Typecode

Internal File Reference

Purpose of Documentation

Record of Revisions

Copyright

Validity

Published by

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MPH-04, MPB-04, MPD-04 Contents I


Contents

1 System Overview 1-1

1.1 General Information ...................................................................................................................... 1-1

Overview of Drive Firmware .................................................................................................... 1-1

1.2 Drive Controllers ........................................................................................................................... 1-2

Overview.................................................................................................................................. 1-2

Power Sections........................................................................................................................ 1-4

Control Sections ...................................................................................................................... 1-4

1.3 Motors and Measuring Systems ................................................................................................... 1-6

Supported Motors .................................................................................................................... 1-6

Supported Measuring Systems ............................................................................................... 1-6

1.4 Master Communication................................................................................................................. 1-7

1.5 Overview of Functions/Functional Packages................................................................................ 1-7

Overview.................................................................................................................................. 1-7

Base Packages...................................................................................................................... 1-12

Alternative Functional Packages ........................................................................................... 1-15

Additive Functional Packages ............................................................................................... 1-17

1.6 Performance Data....................................................................................................................... 1-19

Overview................................................................................................................................ 1-19

Control Section Design and Performance ............................................................................. 1-20

Selecting Performance via Parameter P-0-0556................................................................... 1-21

2 Master Communication 2-1

2.1 Basic Functions of Master Communication .................................................................................. 2-1

Device Control and Status Machines ...................................................................................... 2-2

Multiplex Channel .................................................................................................................... 2-2

2.2 Profile Types (with Field Bus Interfaces) ...................................................................................... 2-3

Supported Profile Types .......................................................................................................... 2-3

I/O Mode (Positioning and Preset Velocity)............................................................................. 2-3

2.3 SERCOS III................................................................................................................................... 2-5

2.4 PROFIBUS-DP ............................................................................................................................. 2-8

2.5 CANopen Interface ..................................................................................................................... 2-10

2.6 DeviceNet Interface .................................................................................................................... 2-11

3 Drive Control 3-1

3.1 Overview of Drive Control............................................................................................................. 3-1

Basic Principles and Terms..................................................................................................... 3-1

Closed-Loop Axis Control (Closed-Loop Operation) ............................................................... 3-1

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II Contents MPH-04, MPB-04, MPD-04


3.2 Motor Control ................................................................................................................................ 3-2

General Information on Motor Control ..................................................................................... 3-2

3.3 Closed-Loop Axis Control (Closed-Loop Operation) .................................................................... 3-3

Velocity Loop (with Respective Filters) ................................................................................... 3-3

Position Loop (with Respective Feedforward Functions and Actual ValueAdjustment).............................................................................................................................. 3-3

3.4 Commutation Setting .................................................................................................................... 3-4

3.5 Power Supply................................................................................................................................ 3-4

4 Operating Modes 4-1

4.1 Torque/Force Control.................................................................................................................... 4-1

4.2 Velocity Control" ........................................................................................................................... 4-1

4.3 Position Control with Cyclic Command Value Input ..................................................................... 4-2

4.4 Positioning Block Mode ................................................................................................................ 4-3

4.5 Synchronization Modes ................................................................................................................ 4-4

Basic Functions of the Synchronization Modes....................................................................... 4-4

Velocity Synchronization with Real/Virtual Master Axis .......................................................... 4-5

Phase Synchronization with Real/Virtual Master Axis............................................................. 4-5

Electronic Cam Shaft with Real/Virtual Master Axis................................................................ 4-7

Electronic Motion Profile with Real/Virtual Master Axis........................................................... 4-9

5 Drive Functions 5-1

5.1 Establishing the Position Data Reference .................................................................................... 5-1

Establishing Position Data Reference for Absolute Measuring Systems................................ 5-1

5.2 Error Reactions............................................................................................................................. 5-2

Overview of Error Reactions.................................................................................................... 5-2

Best Possible Deceleration...................................................................................................... 5-3

5.3 Compensation Functions/Corrections .......................................................................................... 5-4

Detent Torque Compensation ................................................................................................. 5-4

5.4 Measuring Wheel Mode................................................................................................................ 5-5

5.5 Redundant Motor Encoder............................................................................................................ 5-5

5.6 Virtual Master Axis Generator....................................................................................................... 5-6

5.7 Parameter Set Switching .............................................................................................................. 5-8

5.8 Cross Communication (CCD) ....................................................................................................... 5-9

5.9 Rexroth IndraMotion MLD (Drive-Integrated PLC) ..................................................................... 5-14

5.10 Integrated Safety Technology..................................................................................................... 5-15

6 Extended Drive Functions 6-1

6.1 Quick Stop via Probe Input ........................................................................................................... 6-1

6.2 Encoder Emulation ....................................................................................................................... 6-2

6.3 Analog Outputs ............................................................................................................................. 6-3

7 Handling, Diagnostic and Service Functions 7-1

7.1 Loading, Storing and Saving Parameters..................................................................................... 7-1

7.2 Replacing the Firmware................................................................................................................ 7-1

General Notes on How to Replace the Firmware.................................................................... 7-1

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MPH-04, MPB-04, MPD-04 Contents III


8 Notes on Application 8-1

8.1 New Applications .......................................................................................................................... 8-1

8.2 Functional Modifications with Regard to Previous Version .......................................................... 8-1

New and Modified Functions ................................................................................................... 8-1

New and Modified Parameters ................................................................................................ 8-3

New and Modified Diagnostic Messages .............................................................................. 8-10

9 Index 9-1

10 Service & Support 10-1

10.1 Helpdesk..................................................................................................................................... 10-1

10.2 Service-Hotline ........................................................................................................................... 10-1

10.3 Internet........................................................................................................................................ 10-1

10.4 Vor der Kontaktaufnahme... - Before contacting us... ................................................................ 10-1

10.5 Kundenbetreuungsstellen - Sales & Service Facilities ............................................................... 10-2

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IV Contents MPH-04, MPB-04, MPD-04


Notes

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MPH-04, MPB-04, MPD-04 System Overview 1-1


1 System Overview

1.1 General Information

Overview of Drive Firmware

Firmware VariantsFor the IndraDrive range, there are different application-related firmwarevariants available that are characterized by their scope of functions andtheir performance:

• MTH: Drives for Machine Tool Applications with SERCOS interface(Advanced Performance and Functionality)

• MPx: Drives for General Automation (Incl. Machine Tool Applications)with SERCOS interface, PROFIBUS-DP, Parallel and Analog Interface(the variants of design are MPH, MPB and MPD; see below)

Note: The first two letters of the firmware designation identify theapplication and profile of the firmware:

• MT: "Machine Tool" → Drives for Machine ToolApplications with SERCOS interface(drive profile according to SERCOS)

• MP: "Multi Purpose" → Drives for General Automation(Incl. Machine Tool Applications) withSERCOS interface, Profibus, as well as Parallel andAnalog Interface(drive profile according to SERCOS)

The third letter of the firmware designation identifies thehardware, as well as the performance and functionality of thefirmware (x contains H, B and D):

• H: single-axis firmware with Advanced performance andfunctionality

• B: single-axis firmware with Basic performance andfunctionality

• D: double-axis firmware with Basic performance andfunctionality

This documentation describes the functionality of the following firmwaretypes:

• FWA-INDRV*-MPH-04VRS-D5

• FWA-INDRV*-MPB-04VRS-D5

• FWA-INDRV*-MPD-04VRS-D5

The "IndraWorks D" commissioning tool is available for commissioningthese firmware variants.

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1-2 System Overview MPH-04, MPB-04, MPD-04


Organization of the FirmwareFor application-specific definition of drive functionality the firmwarefunctions are divided into different "functional packages". There are agenerally available basic package and various additional functionalpackages (e.g. integrated safety technology, IndraMotion MLD) that canbe optionally activated.

Note: The scope of functions of the functional packages and theirpossible combinations are described in the section "FunctionalPackages" in the same chapter.

1.2 Drive Controllers

Overview

Standard Design of the IndraDrive ControllersAs a standard, IndraDrive controllers consist of two hardwarecomponents:

• Power section

• Control section

BASIC single-axis

limited performance and interface flexibility

BASIC double-axis

limited performance and interface flexibility

ADVANCED single-axis

high performance and interface flexibility

IndraDrive C

IndraDrive M

power section• compact or modular design

• scalable power

• uniform design

Compact

1 ... 110 kW

Modular

1 ... 120 kW

DF000108v01_en.fh7

control section• scalable performance

• scalable functionality

• safety technology

Fig. 1-1: Design of the IndraDrive controllers

The following are connected to the power section:

• power supply unit (DC bus voltage)

• 24 V control voltage

• motor

Power Section

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Note: Each of the two types of the control section is described in theseparate documentation; e.g. "IndraDrive M Drive Controllers,Power Sections, Project Planning Manual" (DOK-INDRV*-HMS+HMD****-PR**-EN-P; part no. R911295014).

The control section is a separate part of the IndraDrive controller and isplugged in the power section. The drive controller is supplied ex workscomplete with control section. The control section may only be replacedby a qualified service engineer.

Note: The available control sections are described in the separatedocumentation "IndraDrive Drive Controllers, Control Sections,Project Planning Manual" (DOK-INDRV*-CSH********-PR**-EN-P; part no. R911295012).

Special Design of the IndraDrive ControllersApart from the usual device design which consists of power section andcontrol section, there are the following special designs:

• SERCOS analog converter (= control section + housing)

• IndraDrive Mi (in preparation)

The so-called SERCOS analog converter is a control section housing with24V supply but without output stage. An IndraDrive control section can beplugged in this housing.

The SERCOS analog converter is used to

• connect control units with SERCOS interface to components withanalog interface

- and -

• convert SERCOS position command values to analog speedcommand values.

Note: With these possibilities of use, the SERCOS analog converteris suited for modernization of machines and installations. Drivecontrollers with analog command value input of the ANAXrange can be controlled with IndraDrive; in this caseIndraDrive acts as the gateway to the SERCOS control unit.

Realizing the SERCOS analog converter requires the following individualcomponents:

• housing for HAC01.1-002 control sections

• configurable control section with SERCOS master communication,e.g. BASIC UNIVERSAL double-axis CDB01.1C-SE-NNN-NNN-MA1-NNN-NN-S-NN-FW

• IndraDrive firmware as of version MPx-04VRSe.g. FWA-INDRV*-MPD-04VRS-**-*-***-**

See separate documentation "Rexroth IndraDrive, Drive System, ProjectPlanning Manual" (DOK-INDRV*-SYSTEM*****-PRxx-EN-P; part no.R911309636)!

Control Section

SERCOS Analog Converter

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Power SectionsThe following power sections for the standard design of IndraDrivecontrollers can be operated with the firmware MPx-04VRS:

IndraDrive M IndraDrive C

Single-axispower sections

Double-axispower sections

Single-axis convertersin 300mm type of constr.

Single-axis convertersin 400mm type of constr.

HMS01.1N-W…

in preparation:HMS02.1N-W…

HMD01.1N-W… HCS02.1E-W… HCS03.1E-W…

in preparation:HCS04.1E-W…

Fig. 1-2: Power sections for IndraDrive firmware

Control Sections

Available Control Section DesignsThe following control sections can be operated with the appropriateMPx-04VRS firmware variant:

• Configurable control sections

• ADVANCED (single-axis; type CSH01.1C-...)

• BASIC UNIVERSAL (single-axis; type CSB01.1C-...)

• BASIC UNIVERSAL double-axis (type CDB01.1C-...)

• Non-configurable control sections

• BASIC OPENLOOP (single-axis; type CSB01.1N-FC-...)

• BASIC SERCOS (single-axis; type CSB01.1N-SE-...)

• BASIC PROFIBUS (single-axis; type CSB01.1N-PB-...)

• BASIC ANALOG (single-axis; type CSB01.1N-AN-...)

Supported Control Section ConfigurationsThe configurable control sections differ with regard to the scope of theirconfigurability. It basically depends on the control section type and thecorresponding firmware variant.

The following overview contains the theoretically possibleconfigurations of control sections as regards the support by theMPx-04VRS firmware. The abbreviations in the first column identify theconfiguration of control sections in the type designation.

Note: Your sales representative will help you with the current statusof available control section types.

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Control section type →→→→ CSH01.1C CSB01.1C CDB01.1C

Firmware variant →→→→ MPH-04VRS MPB-04VRS MPD-04VRS

Options for master communication

AN analog interface X

CO CANopen/DeviceNet X

ET PROFInet (in preparation) X X

FC analog/digitalfor open-loop operation

X

PB PROFIBUS-DP X X X

PL parallel interface X X

S3 SERCOS III X X

SE SERCOS interface X X X

Optional modules

CCD 1) cross communication X

EN1 encoder interface for HSF,resolver

X X X

EN2 encoder interface for EnDat,1Vpp sine and TTL signals

X X X

ENS encoder interface for MSKmotors and HIPERFACEencoders

X X X

MA1 analog I/O extension X X X

MD1 digital I/O extension X

MD2 digital I/O extension(with SSI interface)

X

MEM encoder emulator X X X

Safety option

L1 starting lockout X X X

S1 safety technology X X

1): only required for CCD masterFig. 1-3: Supported control section configurations

Note: The type codes of the individual designs of IndraDrive controlsections and the respective assignment of possible optionalmodules to the slots are described in the separatedocumentation "IndraDrive Drive Controllers, Control Sections,Project Planning Manual" (DOK-INDRV*-CSH********-PR**-EN-P; part no. R911295012).

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1.3 Motors and Measuring Systems

Supported MotorsThe table below contains an overview of the Rexroth motors which can beoperated at IndraDrive controllers.

Housing motors Kit motors

synchronous asynchronous synchronous asynchronous

MHDMKDMKE

MSK (IndraDyn S)MAL

SF (Bosch)

2ADADF

MAD (IndraDyn A)MAF (IndraDyn A)

MLF (IndraDyn L)MBS (Standard)

MBSxx2 (IndraDyn H)MBT (IndraDyn T)

LSF

1MB

Fig. 1-4: Appropriate Rexroth motors for IndraDrive

Supported Measuring SystemsIn addition to the encoders integrated in the Rexroth motors, theIndraDrive firmware can evaluate the following measuring systems asmotor encoders or as external optional control encoders:

• GDS or GDM encoders from Bosch Rexroth (single-turn or multi-turntype)

• resolvers according to Rexroth signal specification (single-turn ormulti-turn type)

• encoders with sine signals and EnDat2.1 interface (1 Vpp)

• encoders with sine signals (1 Vpp)

• encoders with square-wave signals (TTL)

• Hall sensor box and encoder with sine signals (1 Vpp)

• Hall sensor box and encoder with square-wave signals (TTL)

• encoders with sine signals and HIPERFACE interface (1 Vpp)

For measuring purposes the firmware can evaluate the followingmeasuring systems (measuring encoders, no control encoders):

• GDS or GDM encoders from Bosch Rexroth (single-turn or multi-turntype)

• encoders with sine signals and EnDat2.1 interface (1 Vpp)

• encoders with sine signals (1 Vpp)

• encoders with square-wave signals (TTL)

• encoders with sine signals and HIPERFACE interface (1 Vpp)

• motor encoders of MSK, MHD, 2AD, ADF, MAD, MAF motors

• SSI encoders

Note: Resolvers cannot be evaluated as measuring encoders!

Motor Encoder and ExternalOptional Encoders

Measuring Encoder

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1.4 Master Communication

In the MPx-04 firmware, the following master communication interfacesare available:

• SERCOS interface

• SERCOS III

• PROFIBUS-DP

• CANopen interface

• DeviceNet interface

• parallel interface (not for double-axis type MPD)

• analog interface (not for double-axis type MPD)

1.5 Overview of Functions/Functional Packages

OverviewThe application-specific scope of usable functions of theFWA-INDRV*-MP*-04VRS drive firmware depends on

• the available control section and, if available, its configuration

- and -

• the licensed functional firmware packages.

Note: Depending on the hardware design, the scope of firmwarefunctionality can be determined according to the respectiveapplication (scalability of the firmware functionality). The scopeof corresponding parameters depends on the availablefunctions.

Scaling the Drive FunctionalityThe control sections of the IndraDrive controllers have a maximum of4 optional card slots and a master communication slot. Depending on theavailable optional cards, it is possible to activate certain functions (incl.corresponding parameters), e.g.:

• master communication

• safety technology (starting lockout, standard safety technology)

• analog I/O extension card

• digital I/O extension card

Note: The functions and parameters for the evaluation of themeasuring systems as control encoders or measuringencoders do not depend on the control section configurationsince their functions can be freely assigned to the variousoptional encoder modules.

Firmware Scaling by ControlSection Configuration

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The firmware functionality is divided into the following package groups:

• base packages (open-loop or closed-loop)

• optional expansion packages:

• alternative functional packages(expansion packages for servo function, main spindle function,synchronization)

• additive functional package "IndraMotion MLD"(drive-integrated PLC and technology functions)

Depending on the hardware configuration, the base packages areavailable without any access enable. Using the optional expansionpackages, however, requires licensing.

Note: The desired scope of firmware functions should preferably bedefined when the firmware is ordered. This guarantees thatthe required functional packages have been enabled when thefirmware is delivered. In individual cases it is possible toprovide access enable subsequently (additional licensing) or toreduce the activated scope of functions.

This procedure is described in section "Enabling of FunctionalPackages" in chapter "Handling, Diagnostic and ServiceFunctions".

Note: The drive-integrated safety technology is a functionalityonly scalable by means of the hardware and does not requireany additional enabling of functions!

Firmware Scaling by FunctionalPackages

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The figure below contains an overview of the possibilities of firmwarescaling by functional packages:

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Fig. 1-5: Functional packages of IndraDrive firmware MPx04 depending oncontrol performance

Note: With Basic performance, the option "IndraMotion MLD-S" isnot allowed for free programming!

Brief Description of the Functional PackagesThe overall functionality of an IndraDrive device is divided into groups offunctions, the so-called "functional packages". The firmware FWA-INDRV*-MP*-04VRS supports the functional packages listed below.

Note: Each of the listed packages is available in Basic or Advancedcharacteristic which differ with regard to their performance andfunctionality.

The following base packages are available:

• base package "open-loop" (open-loop motor control)→ no position evaluation and functions depending thereof and noposition control modes are possible

• base package "closed-loop" (closed-loop motor control)→ position evaluation and functions and operating modes dependingthereof are possible

Base Packages

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The following alternative functional packages are available:

• Servo functions 1):This package makes available all specific expansions for servoapplications, such as compensations and correction functions (e.g.axis error correction, quadrant error correction).

• Synchronization 1):With this package the possibilities of synchronization of the drive canbe used (support of synchronization modes, measuring encoderfunction, probe function ...).

• Main spindle functions 1):This package contains the specific functions for the use of mainspindles (e.g. spindle positioning, parameter set switching).

Note: 1)…These functional packages cannot be activatedsimultaneously (only individually)! → Alternativeexpansion packages

There is also an additional functional package available:

• IndraMotion MLD

Note: For single-axis devices (Advanced and Basic) this expansionpackage can be activated in addition to a possibly availablealternative package.

The overview below illustrates how the individual functional packages aredepending on the respective hardware and the firmware type:

Firmware variant →→→→ FWA-INDRV*-MPB-04VRS FWA-INDRV*-MPD-04VRS FWA-INDRV*-MPH-04VRS

Control section design →→→→ CSB0.1.1(Basic single-axis)

CDB0.1.1(Basic double-axis)

CSH0.1.1(Advanced single-axis)

performance ↓ open-loop closed-loop open-loop closed-loop open-loop closed-loop

basic functions X X X X X X

Basic X X X X X Xbasepackage"open-loop"(U/f)

Advanced X X

Basic X X X

basepackage

basepackage"closed-loop"(Servo)

Advanced X

Basic X X Xservo

Advanced X

Basic X X X Xsynchronizat.

Advanced X X

Basic X X X X

alternativefunctionalpackages

main spindleAdvanced X X

Basic X 1) X 1) X Xadditivefunctionalpackage

IndraMotionMLD Advanced X X

1) no free programming and only MLD-SFig. 1-6: Dependence of functional packages on hardware and firmware

variant

Alternative Functional Packages

Additive Functional Packages

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Firmware TypesThe type designation of the IndraDrive firmware consists of the followingtype code elements:

IndraDrive-Firmware Bas

e p

acka

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of

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ian

t …

(dep

endi

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l sec

tion)

Ver

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age

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en-/

clo

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Ad

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kag

es

Basic single-axis FWA-INDRV* -MPB- 04 VRS- D5- x- xxx- xx

Basic double-axis FWA-INDRV* -MPD- 04 VRS- D5- x- xxx- xx

Advanced single-axis FWA-INDRV* -MPH- 04 VRS- D5- x- xxx- xx

Fig. 1-7: Basic structure of the firmware type designation

Base package (application and performance):

• MPB → single-axis firmware with Basic performance

• MPD → double-axis firmware with Basic performance

• MPH → single-axis firmware with Advanced performance

Firmware characteristic:

• 0 → open-loop

• 1 → closed-loop

Alternative expansion packages:

• NNN → without alternative expansion package

• SRV → functional package "servo"

• SNC → functional package "synchronization"

• MSP → functional package "main spindle"

• ALL → all alternative expansion packages

Additive expansion package:

• NN → without additive expansion package

• ML → IndraMotion MLD for free programming(incl. use of technology functions)

• TF → IndraMotion MLD for using the technology functions

Note: Your sales representative will help you with the current statusof available firmware types.

Structure of the Firmware TypeDesignation

Function-Specific Abbreviationsin Type Designation of

IndraDrive Firmware

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Base PackagesIn the base packages of the firmware the minimum scope offunctionalities is available depending on the respective firmwarecharacteristic ("open-loop" or "closed-loop"). They contain the basicfunctions of a drive firmware and a number of other fundamentalfunctions.

Basic FunctionsThe following basic functions are available for every drive and contain thefundamental basic functions of a digital drive (available in the firmwarecharacteristics "open-loop" and "closed-loop"):

• extensive diagnostic functions

• drive-internal generation of diagnostic messages

• monitor function

• analog output

• patch function

• status displays, status classes

• oscilloscope function

• code of optional card

• parameter value check

• operating hours counter, logbook function, error memory

• undervoltage monitor

• output of control signals

• limitations that can be parameterized

• serial communication

Scope of Functions of Base PackagesApart from the basic functions there are other functions available in thebase package of the firmware. Their scope depends on the firmwarevariant and its characteristic ("open-loop" or "closed-loop").

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The following overview shows the available scope of functions of therespective base package:

Firmware variant →→→→FWA-INDRV*-MPB-

04VRS(Basic single-axis)

FWA-INDRV*-MPD-04VRS

(Basic double-axis)

FWA-INDRV*-MPH-04VRS

(Advanced single-axis)

Functions of the basepackages open-loop closed-loop open-loop closed-loop open-loop closed-loop

signal control / signal status word X X X X X X

multiplex channel X X X X X X

SERCOS interface X1)2) X1)2) X1)2) X1)2) X1) X1)

SERCOS III X1)2) X1)2) X1) X1)

PROFIBUS (incl. PROFIsafe) X1)2) X1)2) X1)2) X1)2) X1) X1)

PROFInet X1)2) X1)2) X1)2) X1)2) X1) X1)

CANopen X1) X1) X1) X1)

DeviceNet X1) X1) X1) X1)

parallel interface X1)3) X1)3) X1) X1)

Mastercommuni-cation

analog interface X X X X

Rexroth housing motors, synchr.,with encoder data memory

X X X

Rexroth housing motors, asynchr.,with encoder data memory

X X X X X X

Rexroth kit motors, synchron.,without encoder data memory

X X X

Rexroth kit motors, asynchr.,without encoder data memory

X X X X X X

third-party motors, synchronous X X X

third-party motors, asynchronous(standard motors)

X X X X X X

motor holding brake X4) X X4) X X4) X

motor encoder X X X

redundant motor encoder X3) X X

optional control encoder X3) X X

encoder correction X X X

Motorsandencoders

overload protection (temperaturemonitoring)

X X X X X X

U/f operation X X X X X X

field-oriented current control,without encoder

inpreparation

inpreparation

field-oriented current control,with encoder

X X X

motor parameter determination X X X X X X

Motorcontrol

commutation setting X X X

velocity loop X X X

position loop X X X

automatic axis control loop setting X X X

current limitation X X X X X X

Axiscontrol

torque/force limitation X X X X X X

Fig. 1-8: Scope of functions of the firmware base packages (to be continuedon next page)

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Firmware variant →→→→FWA-INDRV*-MPB-

04VRS(Basic single-axis)

FWA-INDRV*-MPD-04VRS

(Basic double-axis)

FWA-INDRV*-MPH-04VRS

(Advanced single-axis)

Functions of the basepackages open-loop closed-loop open-loop closed-loop open-loop closed-loop

torque/force control X X X

velocity control X X X X X X

position control X X X

drive-internal interpolation X X X

drive-controlled positioning X X X

Operatingmodes

positioning block mode X X X

Drive Halt X X X X X X

travel range limit switch X X X X X X

position limit values(software limit switch)

X X X

detecting marker position X X X

positive stop drive procedure X X X X X X

command value generator X X X X X X

parking axis X X X X X X

drive-controlled homing X X X

NC-controlled homing X X X

Drivefunctions

setting absolute measuring X X X

E-Stop function X X X X X X

torque disable X X X X X X

vcmd reset("emergency halt")

X X X X X XErrorreactions

vcmd reset with ramp and filter("quick stop")

X X X X X X

analog I/Os (on basic device oroptional module)

X1) X1) X1) X1) X1) X1)

digital I/Os (on basic device oroptional module)

X1)5) X1)5) X1)5) X1)5) X1) X1)

encoder emulation X1) X1) X1)

Expandeddrivefunctions

position switch points X X X

MMC support X3) X3) X X X X

firmware handling X X X X X X

standard control panel X X X X X X

comfort control panel X X X X X X

"Easy Startup" mode X X X X X X

scaling/standardization X X X X X X

option. parameteriz. interface X X X X X X

oscilloscope function X X X X X X

Handling,diagnosis,service

patch function X X X X X X

1) depending on hardware configuration2) max. 24 byte MDT/AT data per axis and min. Tscyc = 1000 µs3) only with control section "BASIC UNIVERSAL"4) brake check and brake abrasion not possible5) no digital I/Os on optional module for Basic design

Fig. 1-9: Scope of functions of the firmware base packages (continuation)

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Alternative Functional PackagesApart from the base packages that are always available, we offer optionalexpansion packages. Part of the expansion packages is the group ofalternative functional packages; from this group only one package can beactivated at a time (alternative activation).

At present, there are the following alternative expansion packagesavailable:

• expanded servo function

• synchronization

• main spindle function

Servo FunctionDepending on the firmware variant and characteristic, the expansionpackage "servo" has the following scope of functions:

Firmware variant →→→→ FWA-INDRV*-MPB-04VRS(Basic single-axis)

FWA-INDRV*-MPD-04VRS(Basic double-axis)

FWA-INDRV*-MPH-04VRS(Advanced single-axis)

Functions of the expansionpackage "servo" open-loop closed-loop open-loop closed-loop open-loop closed-loop

quadrant error correction X

friction torque compensation X X X

set/shift coordinate system X X X

detent torque compensation X X

axis error correction X1) X1) X

probe function X2)3) X2) X2)3) X2) X2)3) X2)

quick stop via probe input X2)3) X2) X2)3) X2) X2)3) X2)

relative return motion X X X

programmable position switch X X X

1) only single reversal clearance; no correction tables2) for Advanced single-axis 2 probes; for Basic single-axis only

1 probe; for Basic double-axis 2 probes per controller3) in parameter S-0-0428, Probe, IDN list signal selection the

following signals are not available: S-0-0051, S-0-0052, P-0-0227Fig. 1-10: Overview expansion package "servo"

Note: With "BASIC ..." hardware design the probe input is onlyavailable for the control sections "BASIC SERCOS","BASIC PROFIBUS" and "BASIC UNIVERSAL" (CSB01.1***).

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SynchronizationDepending on the firmware variant and characteristic, the expansionpackage "synchronization" has the following scope of functions:




Functions of the expansionpackage "synchronization" (open-loop) (closed-loop) (open-loop) (closed-loop) (open-loop) (closed-loop)

measuring wheel mode X X X

velocity synchronization X X X X X X

phase synchronization X X X

electronic cam shaft X X X

electronic motion profile X X X

virtual master axis generator X X X X X X

set/shift coordinate system X X X

detent torque compensation X X

probe function X2)3) X2) X2)3) X2) X3) X2)

quick stop via probe input X2)3) X2) X2)3) X2) X3) X2)

measuring encoder X4) X4) X X X X

programmable position switch X X X

2) for Advanced single-axis 2 probes; for Basic single-axis only1 probe; for Basic double-axis 2 probes per controller

3) in parameter S-0-0428, Probe, IDN list signal selection thefollowing signals are not available: S-0-0051, S-0-0052, P-0-0227

4) only with control section "BASIC UNIVERSAL"Fig. 1-11: Overview expansion package "synchronization"

Note: With "BASIC ..." hardware design the probe input is onlyavailable for the control sections "BASIC SERCOS","BASIC PROFIBUS" and "BASIC UNIVERSAL" (CSB01.1***).

Main Spindle FunctionDepending on the firmware variant and characteristic, the expansionpackage "main spindle" has the following scope of functions:




Functions of the expansionpackage "main spindle" (open-loop) (closed-loop) (open-loop) (closed-loop) (open-loop) (closed-loop)

spindle positioning X X X

parameter set switching X X X X

drive-controlled oscillation X X X X

set/shift coordinate system X

Fig. 1-12: Overview expansion package "main spindle"

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Additive Functional PackagesThe so-called additive functional packages are part of the optionalexpansion packages. Additive functional packages can be used inaddition to the base function and one of the alternative functionalpackages (additive activation).

At present, there is the following additive functional package available:

• IndraMotion MLD(drive-integrated PLC and technology functions)

Note: The drive-integrated safety technology is a functionalityonly scalable by means of the hardware and is not part of theexpansion packages that can be enabled!

IndraMotion MLD (Drive-Integrated PLC)The expansion package "IndraMotion MLD" makes available the followingscope of functions:

• integrated logic control ("ML")standard PLC tasks

• integrated multi-axis/single-axis motion control ("ML")motion function block according to PLCopen for single-axis positioningon local and remote axes and synchronization mode (synchronousrunning, cam shaft)→ "low-level motion functions"

• basis for technology functions ("TF")Examples: following-on cutting devices, pick&place, process controller(register controller, winding computation, etc.), preventivemaintenance, free function block combination

Note: The expansion package "IndraMotion MLD" is not available inconjunction with BASIC double-axis control sections(CDB-***)!

Apart from "Rexroth IndraMotion MLD", another variant of a freelyprogrammable control unit, "Rexroth IndraMotion MLC", is available.Other freely programmable control units, e.g. "Rexroth IndraMotion MLP",are in preparation. The variants differ in functionality, performance andhardware platform. The following hardware characteristics are distinguished:

• drive-based PLC → IndraMotion MLD

• PC-based PLC → IndraMotion MLP (in preparation)

• controller-based stand-alone PLC → IndraMotion MLC

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The figure below illustrates the integration of "Rexroth IndraMotion MLD"in the automation platform "Rexroth IndraMotion":

'�&��!%&��

'�&�� !%&��

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Fig. 1-13: Overview "Rexroth IndraMotion"

Note: All "Rexroth IndraMotion" variants are operated andprogrammed with the same programming tool (RexrothIndraLogic) so that the programs created with it are portable, ifthe requirements have been complied with (see "Guidelinesfor Programming with IndraLogic").

Integrated Safety Technology

Note: The drive-integrated safety technology is a functionalityonly scalable by means of the hardware and does not requireany additional enabling of functions! The requirement for usingthis function is the use of the optional safety modules L1 andS1 depending on the control section configuration.

The following safety function is supported in conjunction with startinglockout (safety module L1):

• Safety related starting lockout

The following safety functions are supported in conjunction with safetytechnology I/O or PROFIsafe in the different operating states (safetymodule S1):

• in normal operation

• Safety related limited maximum velocity

• Safety related end position with safety related trend monitoring

• in status "Safety related stopping process"

• Safety related standstill

• Safety related operational stop

• Safety related drive interlock

• in status "Safety related motion"

• Safety related reduced speed

• Safety related direction of motion

• Safety related limited increment

• Safety related limited absolute position

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• auxiliary functions

• Safety related monitored shutdown

• Safety related homing procedure

• Safety related brake management (in preparation)

• Safety related inputs/outputs for PROFIsafe

• safety functions for "Safety related feedback"

• Safety related diagnostic outputs

• Safety related control of a door locking device (not with PROFIsafe)

1.6 Performance Data

Overview

Levels of Control PerformanceFor the control performance of the IndraDrive range we basicallydistinguish three levels with regard to the clock rates (cycle times):

• Advanced performance→ highest degree of control performance by high internal clock ratesfor the control loops and the signal processing of inputs/outputs ordrive-integrated PLC (IndraMotion MLD)

• Basic performance→ standard control performance by medium internal clock rates for thecontrol loops and the signal processing of inputs/outputs or drive-integrated PLC (IndraMotion MLD)

• Economy performance→ low control performance by reduced clock rates for the control loopsand the signal processing of inputs/outputs or drive-integrated PLC(IndraMotion MLD)

Performance and Clock RatesIn this documentation the clock rate data refer to the followingcharacteristic values:

• current loop clock TA_current

• velocity loop clock TA_velocity

• position loop clock TA_position

• cycle time of PLC (IndraMotion MLD) TMLD

• cycle time of master communication TMastCom

The table below contains an overview of the clock rates depending on therespective control performance. The detailed assignment of the clock rateto control section design, performance level and parameter setting iscontained in the table in section "Control Section Design andPerformance" (see below).

Performance TA_current TA_velocity TA_position TMLD TMastCom

Advanced 62.5/83.3/125 125 250 1000 500

Basic 62.5/83.3/125/250 1) 250 500 2000 500/1000

Economy 125/250 1) 500 1000 2000 2000

1): with 2 kHz PWMFig. 1-14: Clock rates (in µs)

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Note: The control performance is not equivalent to the controlsection design (Advanced or Basic), because it is determinedby several factors (e.g. P-0-0556, bits 2 and 5).

The available performance depends on the following requirements andparameter settings:

• control section design (CSH, CSB or CDB) and the correspondingdrive firmware (MPH, MPB and MPD)

• activation of functional packages (cf. P-0-2004)

• performance level in P-0-0556, Config word of axis controller(bits 2 and 5)

• switching frequency in P-0-0001, Switching frequency of the poweroutput stage

Control Section Design and PerformanceThe control section design differs with regard to the performance levelsthat can be reached (cycle times or clock frequencies).

The table below contains an overview of the performance levels and clockrates that can be reached depending on the control section design andparameter settings:

Controlsection type/firmware

Functionalpackages

Perform.level

Switchingfrequency

1)

P-0-0556bit 2 bit 5 TA_current TA_velocity TA_posit. TMLD TMastCom.

Basic 2000 Hz 2) 0 0 250 µs 500 µs 500 µs 1000 µs 500 µs

Basic 4000 Hz 0 0 125 µs 250 µs 500 µs 1000 µs 500 µs

Basic 8000 Hz 0 0 125 µs 250 µs 500 µs 1000 µs 500 µs

Basic 12000 Hz 0 0 83,3 µs 250 µs 500 µs 1000 µs 500 µs

Basic 16000 Hz 0 0 62,5 µs 250 µs 500 µs 1000 µs 500 µs

Advanced 4000 Hz 1 0 125 µs 125 µs 250 µs 1000 µs 500 µs

Advanced 8000 Hz 1 0 62,5 µs 125 µs 250 µs 1000 µs 500 µs

CSH01.1/MPH all

Advanced 16000 Hz 1 0 62,5 µs 125 µs 250 µs 1000 µs 500 µs

Basic 2000 Hz 2) 0 0 250 µs 250 µs 500 µs -- 1000 µs

Basic 4000 Hz 0 0 125 µs 250 µs 500 µs -- 1000 µs


Economy 2000 Hz 2) 0 1 250 µs 500 µs 1000 µs -- 2000 µs

Economy 4000 Hz 0 1 125 µs 500 µs 1000 µs -- 2000 µs

all, except for"synchronization"and "IndraMotion"

Economy 8000 Hz 0 1 125 µs 500 µs 1000 µs -- 2000 µs

Economy 2000 Hz 2) 0 1 250 µs 500 µs 1000 µs 2000 µs 2000 µs

Economy 4000 Hz 0 1 125 µs 500 µs 1000 µs 2000 µs 2000 µs

CSB01.1/MPB

"synchronization"and "IndraMotion"

Economy 8000 Hz 0 1 125 µs 500 µs 1000 µs 2000 µs 2000 µs

Basic 4000 Hz 0 0 125 µs 250 µs 500 µs -- 1000 µsCDB01.1/MPD all


1): can be set via P-0-00012): only with power section HCS04.1… and MAD/MAFP-0-0556: Config word of axis controller

Fig. 1-15: Performance depending on the control section design

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Selecting Performance via Parameter P-0-0556For certain applications it is necessary to use the same clock rates in allaxes so that the slowest drive sets the clock. It is therefore possible tospecifically reduce the performance via bit 2 and bit 5 of parameterP-0-0556, Config word of axis controller.

• For BASIC control sections it is possible to select the performancelevels "Basic" or "Economy" via bit 5 of P-0-0556.

• For ADVANCED control sections it is possible to select theperformance levels "Advanced" or "Basic" via bit 2 of P-0-0556.

See also Parameter Description "P-0-0556, Config word of axiscontroller"

Note: The effective clock rates of the active performance level arecontained in the table "Performance depending on the controlsection design" in section "Control Section Design andPerformance" (see above).

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Notes

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MPH-04, MPB-04, MPD-04 Master Communication 2-1


2 Master Communication

2.1 Basic Functions of Master Communication

The basic functions of master communication for IndraDrive devicesapply to SERCOS interface, SERCOS III, field bus interface, parallel andanalog interface.

FeaturesAll variants of master communication supported by IndraDrive have thefollowing functional features in common:

• address assignment→ communication address to be freely parameterized (via mastercommunication, serial and control panel) via parameter P-0-4025,Drive address of master communication

• command processing→ drive commands to be externally activated (via mastercommunication, serial and control panel)

• device control (status machine)→ individual status machines for master communication and device

• According to the variant of master communication, the mastercommunication status machine has different functionality andcomplexity. The communication-specific states are distinguishedand mapped to the status words of the corresponding mastercommunication (e.g. for SERCOS: S-0-0014, S-0-0135).

• The device status machine is independent of the variant of mastercommunication and maps the device-specific states to parameterS-0-0424, Status parameterization level. We always distinguishoperating mode (OM) and parameter mode (PM).

• extended possibilities of control

• signal control word/signal status word (S-0-0144, S-0-0145)

• multiplex channel

New or Modified Parameters• S-0-0420, C0400 Activate parameterization level 1 procedure

command

• S-0-0422, C0200 Exit parameterization level procedure command

• S-0-0424, Status parameterization level

• S-0-0128, C5200 Communication phase 4 transition check

For the "SERCOS III" interface, the following additional parameters areused:

• S-0-1134, SERCOS-III: Master control word

• S-0-1135, SERCOS-III: Drive status word

New or Modified Diagnostic Messages• C5200 Communication phase 4 transition check

• C0200 Exit parameterization level procedure command

• C0400 Activate parameterization level 1 procedure command

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2-2 Master Communication MPH-04, MPB-04, MPD-04


Device Control and Status Machines

OverviewThe drive status (e.g. Drive Halt, drive errors) represents a specificinternal and external drive behavior. The drive status can be exited bydefined events (e.g. drive commands, switching of operating modes).Corresponding status transitions are assigned to the events. The statustransitions or the interaction of control and status bits are called statusmachine.

We distinguish between:

• device- internal status machine (defines the device-specific states which determine the behavior of thedevice)

• status machine of master communication

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S-0-0127: C0100 Communication phase 3 transition checkS-0-0128: C5200 Communication phase 4 transition checkS-0-0420: C0400 Activate parameterization level 1 procedure commandS-0-0422: C0200 Exit parameterization level procedure command

Fig. 2-1: Overview: status machines of master communications and device

Multiplex Channel

• C0238 Order of cyclic command value configuration incorrectNew or Modified DiagnosticMessages

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2.2 Profile Types (with Field Bus Interfaces)

Supported Profile Types

OverviewWhen a field bus interface is used for master communication, IndraDrivecontrollers support the following profile types (modes):

• I/O mode positioning

• I/O mode preset velocity

• freely configurable mode (Rexroth profile type)

The table below contains an overview of the most important propertiesand features of the 3 profile types:

Content ofP-0-4084, Profiletype

Mastercommunication

Field bus or driveoperating mode Features

Profile type: I/O mode positioning

FF82h PROFIBUS,CANopen,DeviceNet

I/O mode positioning(positioning block mode,encoder 1, lagless)

- up to 64 positioning blocks can becontrolled via field bus

- apart from control and status word,other real-time data can be con-figured (in P-0-4080 and P-0-4081)

- bits can be freely defined in signalstatus word via function "configurablesignal status word"

Profile type: I/O mode preset velocity

FF92h PROFIBUS,CANopen,DeviceNet

I/O mode preset velocity - fixed velocity command values can becontrolled and ramp generator can beoperated via field bus

- apart from control and status word,other real-time data can be con-figured (in P-0-4080 and P-0-4081)

- bits can be freely defined in signalstatus word via function "configurablesignal status word"

Profile type: freely configurable mode

FFFEh PROFIBUS,CANopen,DeviceNet

freely configurable mode(default assignment is"drive-controlled positio-ning" with correspondingrequired cyclic data)

- possible use of complete drive functionalityby free configuration of real-time dataand operating mode selection

- control and status word have a Rexroth-specific structure

- selection suited for operation withanalog command values incommissioning phase

FFFDh like profile FFFEh, but reduced field bus control word(relevant for MLD applications, for example)

Fig. 2-2: Supported profile types for IndraDrive firmware

I/O Mode (Positioning and Preset Velocity)We distinguish the following variants of the profile type "I/O mode":

• I/O mode positioning (functionality similar to parallel interface)

• I/O mode preset velocity(e.g. for open-loop applications)

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The I/O mode has the following features:

• optional parameter channel can be activated, if required, via P-0-4083,Field bus: length of parameter channel (max. 8 words)(default: P-0-4083 = 0 → without parameter channel)

• real-time channel consists of at least one word (16 bits), the field buscontrol word (P-0-4068) and the signal status word (S-0-0144)

Data direction Word1 Format

master --> slave P-0-4068, Field bus: controlword IO

u16 (1 word)

slave --> master S-0-0144, Signal status word u16 (1 word)

• freely expandable real-time channel by configuration of real-time data:

• Master →→→→ slave (drive)

configuration of P-0-4081, Field bus: config. list of cycliccommand value data ch.

• Slave (drive) →→→→ master

configuration of P-0-4080, Field bus: config. list of cyclic actualvalue data ch.

• freely configurable field bus status word (cf. S-0-0144)

• Relationship between profile type selection and operating mode whichtakes effect:

• In the I/O modes there is a determined relationship between profiletype (P-0-4084) and predefined primary mode of operation(S-0-0032).

• The freely configurable mode allows free selection of theoperating modes (S-0-0032, S-0-0033, …).

Note: The respective default settings are activated by selecting theprofile type and subsequent action "load defaultcommunication parameters" (see also P-0-4090 andS-0-0262).

Specific features of "I/O mode positioning":

• The drive is operated in the mode "positioning block mode, lagless,encoder 1".

• In this operating mode, 64 programmable positioning blocks can beselected and started via 6 bits (in the 16 bit wide control word).

• The jog function can be activated in P-0-4068, Field bus: controlword IO. "Drive-controlled positioning" has been set as secondaryoperating mode 1.

Specific features of "I/O mode preset velocity":

• The drive is operated in the "velocity control" mode.

• In this operating mode you can, for example, select and start5 programmable fixed velocity command values (in the 16 bit widecontrol word) and operate the ramp generator function.

General Features

Features of "I/O ModePositioning"

Features of "I/O Mode PresetVelocity"

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2.3 SERCOS III

OverviewIt is possible to operate IndraDrive controllers with a SERCOS III interfaceas master communication module. This requires the control section withthe master communication option "SERCOS III" (S3). Via this module it ispossible to exchange real-time data with a SERCOS III master.

The master communication interface with SERCOS III interface isoptionally available for the following configurable control sections:

• single-axis BASIC UNIVERSAL (CSB01.1C)

• single-axis ADVANCED (CSH01.1C)

The following communication channels are distinguished:

• cyclic data channel (MDT, AT)→ data container for cyclic transmission of useful data (process data)in real time

• acyclic data channel (service channel)→ data container for acyclic transmission of useful data (service data)

Features• transmission rate 100Mbit/s

• cyclic data exchange of command values and actual values with equaltime intervals

• data transmission via Ethernet cable (CAT5-copper)

• service channel for parameterization and diagnosis

• free configuration of telegram contents

• synchronization between time command value takes effect andmeasurement starting time of the actual values for all drives on a ring

• overall synchronization of all connected drives to the master

• cycle time: min. 250/500 µs, max. 65 ms(multiples of position clock 250 µs or 500 µs can be set)

• SERCOS compatibility class C

• max. number of configurable data in the MDT: 32 bytes

• max. number of configurable data in the AT: 32 bytes

Note: The number of configurable byte in the MDT/AT depends onthe relation of the position cycle time (P-0-0556, bit 2) to theSERCOS cycle time.

SERCOS cycle time = position clock → max. length 16 bytes

SERCOS cycle time > position clock → max. length 32 bytes

General Features

Firmware-Specific Features

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Pertinent ParametersSpecific parameters for SERCOS III communication:

• S-0-0001, SERCOS-III: NC cycle time (TNcyc)

• S-0-1002, SERCOS-III: SERCOS cycle time (TScyc)

• S-0-1005, SERCOS-III: Minimum feedback acquisition time (T5)

• S-0-1006, SERCOS-III: AT transmission starting time (T1)

• S-0-1007, SERCOS-III: Feedback acquisition starting time (T4)

• S-0-1008, SERCOS-III: Command value valid time (T3)

• S-0-1009, SERCOS-III: RTC offset in MDT

• S-0-1010, SERCOS-III: MDT lengths

• S-0-1011, SERCOS-III: RTC offset in AT

• S-0-1012, SERCOS-III: AT lengths

• S-0-1013, SERCOS-III: SVC offset in MDT

• S-0-1014, SERCOS-III: SVC offset in AT

• S-0-1015, SERCOS-III: ring delay

• S-0-1016, SERCOS-III: slave delay (SYNCCNT-P, SYNCCNT-S)

• S-0-1017, SERCOS-III: IP channel transmission starting time

• S-0-1018, SERCOS-III: SYNC delay (P-count, S-count)

• S-0-1019, Master communication: MAC address

• S-0-1020, Master communication: IP address

• S-0-1021, Master communication: network mask

• S-0-1022, Master communication: gateway address

• S-0-1023, SERCOS-III: SYNC jitter

• S-0-1024, SERCOS-III: ring control

• S-0-1025, SERCOS-III: ring status

• S-0-1026, SERCOS-III: hardware code

• S-0-1028, SERCOS-III: MST error counter

• S-0-1029, SERCOS-III: MDT error counter

• S-0-1030, SERCOS-III: AT error counter

• S-0-1031, SERCOS-III: signal assignment

• S-0-1095, SERCOS-III: diagnostic message



Additional pertinent parameters according to "SERCOS interface":

• S-0-0014, Interface status

• S-0-0015, Telegram type parameter

• S-0-0016, Configuration list of AT

• S-0-0024, Config. list of the master data telegram

• S-0-0096, Slave arrangement (SLKN))

• S-0-0097, Mask class 2 diagnostics

• S-0-0098, Mask class 3 diagnostic

• S-0-0143, Sercos interface version

• S-0-0185, Length of the configurable data record in the AT

• S-0-0186, Length of the configurable data record in the MDT

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• S-0-0187, List of configurable data in the AT

• S-0-0188, List of configurable data in the MDT

• S-0-0301, Allocation of real-time control bit 1

• S-0-0303, Allocation of real-time control bit 2

• S-0-0305, Allocation of real-time status bit 1

• S-0-0307, Allocation of real-time status bit 2

• S-0-0413, Bit number allocation of real-time control bit 1

• S-0-0414, Bit number allocation of real-time control bit 2

• S-0-0415, Bit number allocation of real-time status bit 1

• S-0-0416, Bit number allocation of real-time status bit 2

• P-0-4029, Diagnostic report SCSB module

Pertinent Diagnostic Messages• C0104 Config. IDN for MDT not configurable

• C0105 Maximum length for MDT exceeded

• C0106 Config. IDNs for AT not configurable

• C0107 Maximum length for AT exceeded

• C0108 Time slot parameter > Sercos cycle time

• C0109 Position of data record in MDT (S-0-0009) even

• C0110 Length of MDT (S-0-0010) odd

• C0111 ID9 + Record length - 1 > length MDT (S-0-0010)

• C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) error

• C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error

• C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)

• C0115 T2 too small

• C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010)

• C0139 T2 (S-0-0089) + length MDT (S-0-0010) > TScyc (S-0-0002)

• F4001 Double MST failure shutdown

• F4002 Double MDT failure shutdown

• F4003 Invalid communication phase shutdown

• F4004 Error during phase progression

• F4005 Error during phase regression

• F4006 Phase switching without ready signal

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2.4 PROFIBUS-DP

OverviewDrive controllers of the IndraDrive range have a master communicationmodule with PROFIBUS interface. Via this module it is possible toexchange real-time data with a PROFIBUS-DP master.

Using the master communication "PROFIBUS-DP" requires the followingcontrol section design:

• single-axis BASIC PROFIBUS (not configurable) (CSB01.1N-PB)

In addition it is possible to use the following configurable control sectionsif they have been designed with the optional module PB:



• double-axis BASIC UNIVERSAL (CDB01.1C)


• Cyclic data channel (PROFIBUS-DP)The field bus provides data containers in which useful data can becyclically transmitted. This section is called cyclic data channel. Thecyclic data channel is divided into

• a device-specific parameter channel (optional) for reading andwriting all parameters via PROFIBUS-DP,

Note: This parameter channel does not fulfill "real-timeproperties"!

• a safety related, axis-specific process data channel (optional)that allows, depending on the firmware and hardware, transmittingsafety-relevant signals,

• an axis-specific process data channel (real-time channel)containing firmly specified information that can be directlyinterpreted by the receiver.

• Acyclic data channel (DPV1 parameter communication)

The following are supported:

• one class-1 connection

• two class-2 connections

DF000156v01_en.fh7

param. channelmaster � slave PROFIsafe ctrl word, cmd values

safety related not safety related

param. channelslave � master PROFIsafe status word, act. val.

Fig. 2-3: Overview cyclic data channel

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Note: To simplify field bus communication Bosch Rexroth makesavailable function blocks for different programmable logiccontrollers (PLCs). The principles applied can be easily usedfor other field bus masters.

The slave PROFIBUS-DP circuit with master communication module PLhas the following functional features:

• support of RS485 interfaces according to IEC61158-2

• support of all data rates according to IEC61158-2, with exclusive useof PROFIBUS-DP (9.6 kBaud, 19.2 kBaud, 45.45 kBaud, 93.75 kBaud,187.5 kBaud, 500 kBaud, 1.5 MBaud, 3 MBaud, 6 MBaud, 12 Mbaud)

• automatic baud rate detection

• configurable cyclic data up to 15 parameters (incl. field bus controlword and field bus status word) in both data directions(max. 48 bytes or 24 words)

• additional optional parameter channel in the cyclic channel with up to16 bytes (8 words)

• monitoring of the cyclical data exchange (watchdog function)

• LED for diagnosing the PROFIBUS interface

• supported DPV0 services:

• Slave_Diag (read diagnostic data)

• Get_Cfg (read configuration data)

• Set_Prm (send parameterization data)

• Chk_Cfg (check configuration data)

• Data Exchange (transfer I/O data)

• Global Control (synchronization)

• RD_Outp (read output data)

• RD_Inp (read input data)

• parameter access with DPV1-class-1 services

• DDLM_Initiate (establishment of connection)

• DDLM_Read (acyclic read access)

• DDLM_Write (acyclic write access)

• DDLM_Abort (abortion of connection)

• DDLM_Idle (connection monitoring)

• support of up to two DPV1-class-2 connections

• supported field bus profiles:

• 0xFF82: I/O mode "positioning" with configurable real-time data

• 0xFF92: I/O mode "preset velocity" with configurable real-time data

• 0xFFFE: freely configurable mode

• access to all device parameters according to PROFIdrive specification

Features

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2.5 CANopen Interface

OverviewIt is possible to operate IndraDrive controllers with a CANopen interfaceas master communication module. This requires the control section withthe master communication option "CANopen/DeviceNet" (CO). Via thismodule it is possible to exchange real-time data with a CANopen master.The "CANopen" protocol (according to Draft Standard DS301,version 4.0.2) has been implemented in the drive controller.

The master communication interface with CANopen interface is optionallyavailable for the following configurable control sections:




• Cyclic data channel (PDO)The field bus provides data containers in which useful data can becyclically transmitted in real time (process data objects).

• Acyclic data channel (SDO)The field bus provides data containers in which useful data (servicedata objects) can be acyclically transmitted.

Note: The process data are always transmitted via PDOs.

Features• simple configuration through use of "predefined connection set" and

"minimum boot-up" according to DS301

• baud rates of 20, 50, 125, 250, 500, 800 and 1000 kbit/s specified byCANopen according to DS301 are supported

• configurable cyclic data up to 12 parameters (incl. field bus controlword and field bus status word) in both data directions(max. 24 bytes or 12 words)

• multiplex channel permanently configured in one PDO pair

• functional compatibility with EcoDrive functions through profileselection (I/O mode)

• node monitoring (heartbeat function)

• LED displays on the front panel of the command communicationmodule for simple diagnosis of bus functions and most importantcommunication relationships between drive and field bus (2 LEDs:"Run" status and "Error" status)

• all parameters of the drive can be directly read via SDO and, ifpermitted, can be written

• upload/download function for all parameters of the drive possible withSDO services

• event-controlled transmission of process data can be switched off

• CANopen Device profile DSP402 is not supported; field bus profilesaccording to DSP402 are partly supported

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Pertinent ParametersSpecific parameters for CANopen communication:

• P-0-3610, CANopen: Heartbeat configuration

• P-0-3611, CANopen: COB-IDs

• P-0-3612, CANopen: transmission types

• P-0-3613, CANopen: List of the Event Parameters

Parameters for general field bus communication:

• P-0-4025, Drive address of master communication

• P-0-4073, Field bus: diagnostic message

• P-0-4074, Field bus: data format

• P-0-4076, Field bus: cycle time (Tcyc)

• P-0-4079, Field bus: baud rate

Apart from mere communication parameters, we use parameters inconjunction with the profile types.

We use additional parameters for extended communication.

Pertinent Diagnostic Messages• F4009 Bus failure

• F4012 Incorrect I/O length

2.6 DeviceNet Interface

OverviewIt is possible to operate IndraDrive controllers with a DeviceNet interfaceas master communication module. This requires the control section withthe master communication option "CANopen/DeviceNet" (CO). Via thismodule it is possible to exchange real-time data with a DeviceNet master.The drive supports the protocol "DeviceNet" according to ODVAversion 2.0.

The master communication interface with DeviceNet interface is optionallyavailable for the following configurable control sections:




• Cyclic data channel (polled I/O) The field bus provides data containers in which useful data can becyclically transmitted in real time.

• Acyclic data channel (Explicit Message)The field bus provides an object directory of the device. The objectscan be acyclically read and, if allowed, can be written.

Note: The process data are always transmitted via "polled I/O".

To achieve high system flexibility all parameters of the drive areaccessible via objects. In DeviceNet these objects can be addressed

Communication Parameters

Profile Type Parameters

Parameters for ExtendedCommunication

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through class, instance and attribute. Some of these objects can beassigned to the "polled I/O" as real-time data and thus be cyclicallytransmitted. There is also the option of transmitting via "ExplicitMessage", but no objects defined in the real-time channel (P-0-4081) maybe written by the master via "Explicit Message".

Features• DeviceNet interface completely galvanically decoupled

• "Open Pluggable Connector" according to specification 2.0(Phoenix COMBICON connector)

• "DeviceNet Generic Device" according to specification ODVA 2.0

• easy configuration by implementing "Group 2 only Server"

• support of all data rates:

• 125 kbit/s (up to a distance of 500 m)



• freely configurable process data channel (max. 24 words, max.15 IDN) in both data directions via drive parameters P-0-4080 andP-0-4081

• monitoring of the process data channel (watchdog function)

• all parameters of the drive can be acyclically read via "ExplicitMessage" and, if allowed, can be written

• LED displays on the front panel of the command communicationmodule for simple diagnosis of bus functions and most importantcommunication relationships between drive and field bus (2 LEDs:module status and network status)

Pertinent ParametersParameters for general field bus communication (incl. DeviceNet):

• P-0-4025, Drive address of master communication

• P-0-4073, Field bus: diagnostic message

• P-0-4074, Field bus: data format

• P-0-4075, Field bus: watchdog

• P-0-4076, Field bus: cycle time (Tcyc)

• P-0-4079, Field bus: baud rate

Apart from mere communication parameters, we use parameters inconjunction with the profile types.

We use additional parameters for extended communication.

Pertinent Diagnostic Messages• F4009 Bus failure

• F4012 Incorrect I/O length

Communication Parameters

Profile Type Parameters

Parameters for ExtendedCommunication

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MPH-04, MPB-04, MPD-04 Drive Control 3-1


3 Drive Control

3.1 Overview of Drive Control

Basic Principles and TermsThe IndraDrive firmware supports the following two basic principles ofdrive control:

• open-loop axis control (open-loop U/f control)→ open-loop-controlled operation without encoder information

• closed-loop axis control

• with encoder feedback→ closed-loop-controlled operation (position, velocity and current)

• without encoder feedback→ closed-loop-controlled operation with motor model (velocity andcurrent)

Closed-Loop Axis Control (Closed-Loop Operation)Closed-loop axis control allows closed-loop-controlled operation of thedrive; we distinguish two principles of closed-loop axis control:

• Operation with encoderThe velocity and position control loops are closed by means ofencoder feedback so that the following operating modes are supportedby field-oriented closed-loop current control with encoder feedback:

• velocity control

• position control with cyclic command value input

• positioning modes (e.g. drive-controlled positioning)

• synchronization modes

• Operation without encoderThe velocity control loop is closed by means of a motor model(monitor) so that field-oriented closed-loop current control withoutencoder feedback supports velocity control without encoder.

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3-2 Drive Control MPH-04, MPB-04, MPD-04


3.2 Motor Control

General Information on Motor Control

Open-Loop/Closed-Loop OperationThe IndraDrive firmware supports the following two basic principles ofmotor control:

• motor control (U/f control) in open-loop operation→ open-loop-controlled operation without encoder information

• motor control in closed-loop operation

• with encoder feedback→ closed-loop-controlled operation (position, velocity and current)

• without encoder feedback→ closed-loop-controlled operation with motor model (velocity andcurrent)

Via bit 14 and bit 15 of parameter P-0-0045, Control word of currentcontroller the method of motor control is selected.

Cycle Times and PWM FrequenciesDepending on the firmware variant (MPH, MPD or MPB) and therespective control section (CSH01.1, CDB01.1, CSB01.1), there are thefollowing possible cycle times and PWM frequencies:

TA_current P-0-0001 FWA variant P-0-0556, bit 2 Performance

62.5 µs 16000 MPH 0 Basic

83.3 µs 12000 MPH 0 Basic

125 µs 8000 MPHMPBMPD

0 Basic

125 µs 4000 MPHMPBMPD

0 Basic

250 µs 2000 1) MPHMPB

0 Basic

62.5 µs 16000 MPH 1 Advanced



125 µs 4000 MPH 1 Advanced

TA_current: sampling time of current loopP-0-0001: Switching frequency of power output stage (in Hz)P-0-0556: Config word of axis controller1): only with power section HCS04.1… and MAD/MAF

Fig. 3-1: Cycle times and switching frequencies that can be set

Note: Via bit 2 and bit 5 of parameter P-0-0556, Config word ofaxis controller it is possible to select the performance optionsdepending on the control section design.

See "Performance Data" in chapter "System Overview"

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MPH-04, MPB-04, MPD-04 Drive Control 3-3


3.3 Closed-Loop Axis Control (Closed-Loop Operation)

Velocity Loop (with Respective Filters)

• P-0-0555, Status word of axis controller

• P-0-0556, Config word of axis controller

Position Loop (with Respective Feedforward Functions and ActualValue Adjustment)

The following section only describes the position loop with the respectivefeedforward possibilities (velocity and acceleration feedforward).

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Fig. 3-2: Structure of position loop

Note: The preprocessing of the position command value (commandvalue adjustment) is described in the corresponding section ofthe position control mode (e.g. position control with cycliccommand value input, positioning block mode, ...).

• digital proportional loop, can be set via the following parameter:

• S-0-0104, Position loop Kv-factor

• lag error is minimized by

• variable velocity feedforward (see P-0-0040)

- and -

• variable acceleration feedforward (see S-0-0348), incl. smoothingfilter

• Depending on the control performance which has been set, the cycletime TA_position is used for position loop calculations (see "PerformanceData" in chapter "System Overview").

• with lag error or lagless, i.e. with velocity feedforward

New or Modified Parameters

Features

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3-4 Drive Control MPH-04, MPB-04, MPD-04


• model monitor for the lag error (see also F2028)

• possible evaluation of a "hybrid actual position value" from motorencoder and external position control encoder (up to now only motorencoder and measuring wheel encoder)

• S-0-0048, Position command value additional

• S-0-0520, Control word of axis controller

• S-0-0521, Status word of position loop


3.4 Commutation Setting

• P-0-0518, C5600 Command subsequent optimization ofcommutation offset

• C5600 Command subsequent optimization of commutation offset

• C5601 Command requires drive enable

• C5602 Axis blocked

• C5603 Timeout: axis in motion

3.5 Power Supply

• P-0-0860, Converter configuration

• P-0-0861, Power supply status word



New or Modified DiagnosticMessages


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MPH-04, MPB-04, MPD-04 Operating Modes 4-1


4 Operating Modes

4.1 Torque/Force Control

In the "torque/force control" mode a torque/force command value ispreset for the drive. If required this command value can be filtered. Whenthe operating mode is activated the diagnostic message is "A0100 Torquecontrol".

command value adjustmentfor torque/force control

DF0054v1.fh7

Mcurrent loop

torque-generatingcurrent cmd value

torque/forcecommand value

Fig. 4-1: "Torque/force control" block diagram

• torque/force control with regard to the sum of the command valuespreset in parameters S-0-0080, Torque/force command value andS-0-0081, Additive torque/force command value

• torque/force command value is generated internally by the velocityloop; value of S-0-0081 can be added as additive component

• limitation of the preset command value to limit value that can beparameterized

• command value filtered via parameters S-0-0822, Torque/force rampand S-0-0823, Torque/force ramp time

New or Modified Parameters• S-0-0822, Torque/force ramp

• S-0-0823, Torque/force ramp time

• S-0-0824, Message torque/force command value reached

4.2 Velocity Control"

In the "velocity control" mode a velocity command value is preset for thedrive. The velocity command value is limited by ramps and filters.

torque/forcecommand value

effectivevelocity commandvalue DF0026v1.fh7

Mvelocity commandvalue

command value adjust-ment for velocity loop

velocity loop current loop

Fig. 4-2: "Velocity control" block diagram

Features

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4-2 Operating Modes MPH-04, MPB-04, MPD-04


• an external velocity command value (sum of S-0-0036, Velocitycommand value and S-0-0037, Additive velocity command value)is preset via analog inputs or master communication interface(SERCOS, field bus, ...)

• selection of predefined and internally stored velocity command values(31 fixed values) is possible via binarily coded digital inputs (e.g. forjogging forward/backward, feeding, setting up, ...)

• use of a drive-internal command value generator for generatingcommand value ramps ("motor potentiometer")

• inversion of the provided velocity command value before it isprocessed in the ramp generator

• window comparator for masking critical velocity ranges in thecommand value channel (e.g. machine resonances) withcorresponding acceleration adjustment (cf. P-0-1209)

• ramp generator with separately adjustable two-stage acceleration anddeceleration limits of the preset velocity command value; switchingfrom ramp 1 to ramp 2 is done with selectable velocity and run-up stopthat can be parameterized

• velocity control via a digital PI controller with extensive filter measures

• monitoring the command velocity and actual velocity for exceedingparameter S-0-0091, Bipolar velocity limit value

• smoothing of velocity control loop difference via filter that can beparameterized

• smoothing of preset command value by means of average filter (jerklimitation by means of moving average filter)

• fine interpolation of the velocity command values; transmission ofthese command values in the position loop clockThe fine interpolator can be switched on or off (P-0-0556, bit 0).

• velocity control loop monitoring (cannot be parameterized) to preventthe drive from running awayThe monitor can be switched on or off (P-0-0556, bit 1).

• velocity loop internally generates the torque/force command value towhich the value of parameter S-0-0081, Additive torque/forcecommand value can be added as an additive component

• control word and status word especially for "velocity control" mode (cf.P-0-1200 and P-0-1210)

New or Modified Parameters• P-0-0556, Config word of axis controller

• P-0-1200, Control word 1 velocity control

• P-0-1206, Memory of velocity command values

4.3 Position Control with Cyclic Command Value Input

• P-0-0143, Synchronization velocity


Features


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4.4 Positioning Block Mode

In the "positioning block mode" it is possible to run up to 64 programmedpositioning blocks. The drive moves to the target position in positioncontrol, while maintaining velocity, acceleration, deceleration and jerklimits as defined in the respective positioning block.

torque/forcecmd value

velocity cmdvalue

effectivepos. cmd value

positioningblock

positioninggenerator

positioncontroller

currentcontroller

targetposition

DF000087v01_en.fh7

Mvelocitycontroller

cmd valueinterpolation

Fig. 4-3: "Positioning block mode" block diagram

• parameterization of up to 64 positioning blocks; each with targetposition/travel distance, velocity, acceleration, deceleration and jerk

• defined block acceptance by toggling bit 0 in S-0-0346 with reactiontime tR_Strobe = tposition

Note: With field bus drives, the I/O mode and control via the parallelinterface are exceptions. In these cases acceptance takes place by a0-1 edge of bit 0 in P-0-4060.

• block selection and acknowledgment via separate parameters(→ handshake principle)

• positioning modes to be freely parameterized:

• relative positioning

• absolute positioning

• infinite travel (positive or negative)

• single-block or sequential block mode with different conditions foradvance:

• block advance with switch cams

• block advance at defined position value

• block transition with "old" or "new" positioning velocity

• positioning block transition with freely definable delay time (P-0-4018)

• positioning while taking command value mode into account(shortest distance, positive direction, ...)

• residual path processing can be activated (→ no loss of incrementaldimension)

• "slow travel" mode can be activated

• velocity override to be set

New or Modified Parameters• P-0-4018, Positioning block mode delay time

New or Modified Diagnostic Messages• A0162 Positioning block mode

Features

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4.5 Synchronization Modes

Basic Functions of the Synchronization Modes

Configuring and Controlling the Synchronization ModesThe synchronization modes are configured and controlled by means ofthe following parameters:



• P-0-0086, Configuration word synchronous operating modes

• P-0-0088, Control word for synchronous operating modes

• P-0-0089, Status word for synchronous operating modes

After having selected the required synchronization mode, you can makethe following settings via these parameters:

• position control with lag error or lagless

• use of encoder 1 or encoder 2

Command Value AdditionThis section contains an overview of the basic possibilities of addingcommand values. The characteristics and details specific to operatingmode are described in the section of the respective synchronizationmode.

• P-0-0060, Filter time constant additional pos. command

• P-0-0686, Additive position command value, positioning velocity

• P-0-0687, Additive position command value, positioningacceleration

• P-0-0688, Additive master axis position, positioning velocity

• P-0-0689, Additive master axis position, positioning acceleration

The figure below contains a rough overview of the command values whichcan act on the master and slave axis and of how they can be influenced.

Fig. 4-4: Possibilities of command value addition for master and slave axis

New or Modified Parameters(Synchronization Parameters)


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Master Axis AdjustmentPossible signal sources for the effective master axis of thesynchronization modes:

• real master axis

• virtual master axis, external

• virtual master axis, internal

For internal adjustment or processing of the master axis information thereare the following options:

• addition of components (= offset) to the incoming master axis angle:

• via P-0-0054, Additive master axis position

• via P-0-0692, Additive master axis position, process loop

• limitation to modulo range of master axis

By means of factors to be set (e.g. input revolutions, output revolutions,polarity), the electronic gear function can influence the master axisposition relevant for the operating mode as compared to the master axisposition preset by master axis evaluation.

• P-0-0054, Additive master axis position



• P-0-0761, Master axis position for slave axis

Dynamic Synchronization of the Slave Axis

• P-0-0697, Synchronization, master axis synchronous position

• P-0-0698, Synchronization, master axis synchronization range

Velocity Synchronization with Real/Virtual Master Axis




• A0164 Velocity synchronization

Phase Synchronization with Real/Virtual Master AxisIn the operating mode "phase synchronization with real/virtual masteraxis" the drive follows a preset master axis position in an absolute orrelative phase synchronous way.

The real master axis velocity is generated by a measuring encoder, thevirtual master axis velocity is preset by the master or the integratedmaster axis generator.

Master Axis Generation

Master Axis Offset and ModuloLimitation

Electronic Gear Function





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• determination of the position command value from the master axisposition using the electronic gear with fine adjust, adjustable masteraxis polarity

• synchronization mode to be selected

• single-step or double-step synchronization

• absolute or relative phase synchronization

• synchronization range to be selected

The figure below illustrates the interaction of the individual subfunctions(function blocks) of the "phase synchronization" mode:

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P-0-0052: Actual position value of measuring encoderP-0-0053: Master axis positionP-0-0434: Position command value of controllerP-0-0761: Master axis position for slave axisP-0-0776: Effective master axis positionP-0-0777: Effective master axis velocityP-0-0778: Synchronous position command valueP-0-0779: Synchronous velocity

Fig. 4-5: Function blocks of the operating mode "phase synchronization withreal/virtual master axis"

There are the following variants of the operating mode to be selected:

• position synchronization

• phase synchronization with real master axis, encoder 1

• phase synchronization with real master axis, encoder 2

• phase synchronization with real master axis, encoder 1, lagless

• phase synchronization with real master axis, encoder 2, lagless

• phase synchronization with virtual master axis, encoder 1

• phase synchronization with virtual master axis, encoder 2

• phase synchronization with virtual master axis, encoder 1, lagless

• phase synchronization with virtual master axis, encoder 2, lagless

Note: In the operating mode variant "position synchronization", selectphase synchronization and the master axis in P-0-0088,Control word for synchronous operation modes. Theencoder selection and lagless position control are set inS-0-0520, Control word of axis controller.

Features

Variants of the Operating Mode

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For machining processes that require absolute phase synchronization,e.g. printing, punching or perforating in printing machines, the absoluteposition reference to the master axis is established in the "phasesynchronization" mode. The drive synchronizes with a position commandvalue that is generated from master axis position and additive positioncommand value.

For machining processes that only require relative phase synchronization,e.g. synchronization of belts or feed rollers without defined starting point,a relative position reference to the master axis is established. During thefirst synchronization, there is only an adjustment to the synchronousvelocity but no position adjustment carried out.






• A0163 Position synchronization

Electronic Cam Shaft with Real/Virtual Master AxisIn the operating mode "electronic cam shaft with real/virtual master axis"there is a fixed relationship between the master axis position and theslave axis.


• 4 cam shaft profiles with a max. of 1024 data points (P-0-0072, P-0-0092, P-0-0780, P-0-0781)

• 4 cam shaft profiles with a max. of 128 data points(P-0-0783, P-0-0784, P-0-0785, P-0-0786)

• cubic spline interpolation of the cam shaft data points

• dynamic angle offset and angle offset at begin of profile

• freely definable switch angle for cam shaft and cam shaft distance


• single-step or double-step synchronization

• absolute or relative phase synchronization


• change of format "on the fly"

• cross cutter function

• clocked pull roll

Application "Absolute PhaseSynchronization"

Application "Relative PhaseSynchronization"



Features

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The figure below illustrates the interaction of the individual subfunctions(function blocks) of the "electronic cam shaft" mode:

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Fig. 4-6: Function blocks of the operating mode "cam shaft with real/virtualmaster axis"



• cam shaft with real master axis, encoder 1

• cam shaft with real master axis, encoder 2

• cam shaft with real master axis, encoder 1, lagless

• cam shaft with real master axis, encoder 2, lagless

• cam shaft with virtual master axis, encoder 1

• cam shaft with virtual master axis, encoder 2

• cam shaft with virtual master axis, encoder 1, lagless

• cam shaft with virtual master axis, encoder 2, lagless











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Electronic Motion Profile with Real/Virtual Master AxisIn the operating mode "electronic motion profile with real/virtual masteraxis" there is a fixed relationship between the master axis position and theslave axis.


• 2 sequences of motion with up to 8 motion steps per master axisrevolution

• definition of a motion step by standardized profile or cam shaft profile

• standard profiles can be selected (rest in rest, rest in velocity, velocityin rest, velocity in velocity, constant velocity)

• standard profiles realized by 5th order polynomial or, in the case of restin rest, alternatively by inclined sine curve

• individual cam shaft distance for each motion step

• dynamic angle offset and angle offset at begin of profile

• absolute synchronization can be switched off


• absolute or relative processing of the motion steps to be selected


• cross cutter function

The figure below illustrates the interaction of the individual subfunctions(function blocks) of the "electronic motion profile" mode:

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Fig. 4-7: Function blocks of the operating mode "motion profile withreal/virtual master axis"

Features

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• motion profile with real master axis, encoder 1

• motion profile with real master axis, encoder 2

• motion profile with real master axis, encoder 1, lagless

• motion profile with real master axis, encoder 2, lagless

• motion profile with virtual master axis, encoder 1

• motion profile with virtual master axis, encoder 2

• motion profile with virtual master axis, encoder 1, lagless

• motion profile with virtual master axis, encoder 2, lagless







• P-0-0700, Motion profile, master axis switching position

• P-0-0701, Motion step 1, slave axis initial position

• P-0-0702, Motion profile, diagnosis, set 0

• P-0-0703, Number of motion steps, set 0

• P-0-0704, Master axis velocity, set 0

• P-0-0705, List of master axis initial positions, set 0

• P-0-0706, List of motion step modes, set 0

• P-0-0707, List of distances, set 0

• P-0-0708, List of slave axis velocities, set 0








• P-0-0755, Gear reduction





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MPH-04, MPB-04, MPD-04 Drive Functions 5-1


5 Drive Functions

5.1 Establishing the Position Data Reference

Establishing Position Data Reference for Absolute Measuring SystemsThe position data reference of an absolute measuring system to the axishas to be established once during initial commissioning, after replacingthe motor or encoder (motor encoder or external encoder) and changes inthe mechanical axis system.

In the case of measuring systems to be evaluated in absolute form, theposition data reference is automatically established by the drive bystarting the "set absolute measuring" command.

In the case of measuring systems to be evaluated in absolute form, theposition data reference can be automatically established by the drive bystarting the command

• "setting absolute measuring"

- or -

• "drive-controlled homing procedure".

The position data reference once established is maintained until one ofthe two commands is started again. The actual position values thereforeare axis-related ("homed") immediately after the drive is switched on.

If two absolute measuring systems have been connected to the controller,the position data reference can be separately established for bothmeasuring systems. If the position data reference was only set for one ofthe measuring systems, both actual position values are equal at theposition at which the position data reference was established.

Note: If the position data reference was only set for one encoder, theactual position values of both encoders remain equal as longas mechanical axis system and encoder systems aremechanically connected without slip (slip control is possible!).

It is recommended to start the "set absolute measuring" command whenthe axis is in standstill without drive enable. In the cases in which the axis,for establishing the position data reference, is to be brought to a definedposition on the master side and be held in this position by the drive, "setabsolute measuring" can also be executed with active drive.

When the command "drive-controlled homing procedure" (withoutprevious start of "set absolute measuring") is started, the driveautomatically moves the axis to a dedicated position, defined by a homeswitch and/or the zero position of the absolute encoder, and at thisposition establishes the position data reference.

For absolute encoders, the command "drive-controlled homingprocedure" can be advantageously used after loss of position datareference after:

• encoder replacement in conjunction with a home switch,

• encoder error with peripheral causes in the case of modulo-scaledaxes (e.g. encoder cable damage).

Note: "Active drive" means the drive that is in control. Drive enable("AF") has been set.

Establishing Position DataReference via Drive Commands

Motor Encoder and ExternalEncoder

Command "Set AbsoluteMeasuring"

"Drive-Controlled HomingProcedure" Command

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5-2 Drive Functions MPH-04, MPB-04, MPD-04


By starting the "set absolute measuring" command the previous actualposition value of an encoder at a dedicated position of the axis is set to anew value. This value is the current axis position related to the coordinatesystem of the machine. The dedicated position is defined by:

• the current axis position

- or -

• the positioning of the axis at a "striking" axis position (e.g. value "0").

The required assignments and configurations for "setting absolutemeasuring" are realized via parameter settings.

By starting the "drive-controlled homing procedure" command theprevious actual position value of an encoder at a dedicated position of theaxis is set to a new value. This value is the current axis position related tothe coordinate system of the machine.

The required assignments and configurations for "drive-controlledhoming" are realized via parameter settings.

5.2 Error Reactions

Overview of Error ReactionsDepending on the operating mode that is used and some parametersettings, the drive controller carries out monitoring functions. An errormessage is generated by the drive controller, if a status is detected thatno longer allows correct operation.

Errors are classified in error classes. The error class is represented bythe first two digits of the diagnostic message number.

If the drive controller is in control (drive enable was set) and an erroroccurs, the drive controller automatically starts a drive error reaction.

This drive error reaction depends on:

• the error class of the error occurred and

• the settings of the following parameters:

• P-0-0117, Activation of NC reaction on error

• P-0-0118, Power supply, configuration

• P-0-0119, Best possible deceleration

Note: At the end of each error reaction, the drive goes torque-free.Power off depends on the setting in parameter P-0-0118!

Assigning the Axis-RelatedActual Position Value with "Set

Absolute Measuring"

Assigning the Axis-RelatedActual Position Value with"Drive-Controlled Homing"

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There are 8 error classes with different priority:

Diagnosticmessagenumber Error class Error reaction

F2xxx non-fatal error according to setting in parameter:- P-0-0119, Best possible deceleration- P-0-0117, Activation of NC reaction onerror

F3xxx non-fatal safetytechnology error

according to setting in parameter:- P-0-0119, Best possible deceleration- P-0-0117, Activation of NC reaction onerror

F4xxx interface error according to setting in parameter:- P-0-0119, Best possible deceleration

F6xxx travel range error velocity command value reset("emergency halt")

F7xxx safety technology error according to setting in bit 9 of parameterP-0-3210, Safety technologyconfiguration

F8xxx fatal error immediate torque disable

F9xxx fatal system error immediate torque disable

E-xxxx fatal system error"processor exception"

immediate torque disable

Fig. 5-1: Error classes and drive reaction

Note: The error class can be recognized by the diagnostic messagenumber and defines the drive behavior in the case of error.

Best Possible DecelerationThe drive reaction defined in parameter P-0-0119, Best possibledeceleration is automat. carried out in the case of the following states:

• non-fatal errors (F2xxx)

• non-fatal safety technology errors (F3xxx)

• interface errors (F4xxx)

• change of drive enable signal from "1" to "0"(drive enable switched off)

• switching from operating mode to parameter mode while the drive is incontrol (reset of the communication phase)

Note: At the end of each error reaction, the drive goes torque-free!

The setting in parameter P-0-0119 is ignored in the case of:

• travel range errors (F6xxx)→ velocity command value reset ("emergency halt")

• safety technology errors (F7xxx)→ depending on bit 9 of parameter P-0-3210, Safety technologyconfiguration

• fatal errors (F8xxx)→ immediate torque disable

• fatal system errors (F9xxx)→ immediate torque disable

Error Classes

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5.3 Compensation Functions/Corrections

Detent Torque Compensation

Motors for which the magnetic excitation is realized with permanentmagnets (e.g. synchronous motors) in many cases show detent torquesor detent forces. Detent torques/detent forces already act on the movingcomponent of the motor in the de-energized state and aim at moving it toa stable position.

When the motor is put into motion by control, the detent torques/detentforces act on the motor in a decelerating or accelerating way, according tothe position. For applications in which minimum lag error or very constantvelocity is important, the position-dependent detent torques/detent forcescan have a negative effect.

To improve the synchronous operation and lag error behavior ofsynchronous motors, IndraDrive controllers provide detent torque anddetent force compensation for drives with high demands on lag error andsynchronous operation quality. For this purpose, additive torquecommand values take effect in drive control in a position-dependent way.

• P-0-1130, Table of detent torque compensation values pos.direction

• P-0-1131, Control word of detent torque compensation

• P-0-1132, Table of detent torque compensation values neg.direction

• P-0-1133, Status word of detent torque compensation

• P-0-1134, Velocity threshold for attenuation of detent torquecompens.

• P-0-1135, Velocity threshold for switching off detent torquecompens.

• P-0-1136, Lead time detent torque compensation

• P-0-1138, C4800 Command Determine detent torquecompensation table

• C4800 Command Determine detent torque compensation table

• C4801 Detent torque compensation: measuring velocity too high

• C4802 Detent torque compensation: measuring velocity too low

• C4803 Detent torque compensation: inadmissible acceleration

• C4804 Det. torque comp.: error when storing corr. val. table

• C4805 Detent torque comp.: motor measuring system not homed

Pertinent Parameters

Pertinent Diagnostic Messages

Expansion packages servo (order code SRV) and synchronization (order code SNC) in closed-loop

characteristic

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5.4 Measuring Wheel Mode



• P-0-0185, Control word of encoder 2 (optional encoder)

5.5 Redundant Motor Encoder

Motor control of synchronous motors requires a position measuringsystem that measures the position of the moving part of the motor asopposed to the static part. If there is malfunction or defect in the positionmeasuring system (motor encoder), a synchronous motor can no longerbe decelerated in a controlled way.

Depending on the requirements, position control can require an externalmeasuring system at the axis which detects the position at the load withthe required precision.

For axis control, the entire mechanical drive system between motorencoder and load position of the external encoder is mapped viaparameters. This allows calculating the position of the motor encoderfrom the position of the external encoder or determining the load positionfrom the motor encoder position, if the mechanical drive system is withoutslip.

If there is a defect in the motor encoder, the motor position, when anexternal encoder is used, can be determined via the position of theexternal encoder and the synchronous motor can be decelerated in acontrolled way.

For asynchronous motors with motor encoder, it is also possible to use anexternal measuring system for controlled deceleration if there is a defectin the motor encoder. But if the asynchronous motor, depending on thedrive task, is operated without encoder, controlled deceleration viaexternal encoder in the case of error is not possible!

Note: You can only use measuring systems with Upp = 1V orresolvers as redundant motor encoders!

Pertinent Parameters• P-0-0185, Control word of encoder 2 (optional encoder)

Pertinent Diagnostic Messages• F2031 Encoder 1 failure: signal amplitude wrong

• F2042 Encoder 2: encoder signals incorrect

• F8022 Enc. 1: enc. signals incorr. (can be cleared in ph. 2)

• F8042 Encoder 2 failure: signal amplitude wrong


Base package of all variants in closed-loop characteristic

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5.6 Virtual Master Axis Generator

As for drive-controlled positioning, a positioning command value is presetfor the virtual master axis generator; this value can be processedinternally in absolute (position target) or relative (travel distance) form. Inthe internal interpolator, a position command value characteristic isgenerated as the input value for the position loop from the presetpositioning data (effective target position, velocity, acceleration and jerk).

Note: The function "virtual master axis generator" is identical to theoperating mode "drive-controlled positioning". Only theparameters used are different!

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Fig. 5-2: Block diagram "virtual master axis generator" (and subsequentfunction blocks)

FeaturesAs device function, the virtual master axis generator has been realizedwith the following characteristics:

• 2nd order command value interpolator with subsequent jerk limitation

• absolute, relative and additive positioning capability

• "infinite travel" (jogging) is possible

• position data format to be set:

• linear: 0.0001 mm / 0.0001 inch

• rotary: 0.0001 degrees

• modulo value to be set

• master axis "absolute" or "modulo"

• format conversion from position format "virtual master axis" to masteraxis format (modulo value "virtual master axis" → 2^20 * P-0-0750)

• virtual master axis generator realized as virtual axis inIndraMotion MLD with individual scaling system

• setting of virtual master axis generator either directly via parameters orvia the following function blocks:

• MC_MoveVelocity / MX_MoveVelocity

• MC_MoveAbsolut / MX_MoveAbsolut

• MC_MoveAdditiv / MX_MoveAdditiv

• MC_MoveRelativ / MX_MoveRelativ

• MC_Stop

• MB_Stop

Expansion package synchronization (order code SNC) in all designs

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The function blocks for the virtual axis must behave exactly like thosefor a real axis. The diagnostic and error messages, however, aredifferent.

Pertinent Parameters• P-0-0756, Virtual master axis, scaling type

• P-0-0757, Virtual master axis, modulo value

• P-0-0758, Virtual master axis, actual position value

• P-0-0759, Virtual master axis, actual velocity value

• P-0-0760, Virtual master axis, positioning control word


• P-0-0766, Virtual master axis, positioning command value

• P-0-0767, Virtual master axis, effective target position

• P-0-0768, Virtual master axis, positioning status

• P-0-0769, Virtual master axis, command value mode


• P-0-0771, Virtual master axis, positioning acceleration

• P-0-0772, Virtual master axis, positioning deceleration

• P-0-0774, Virtual master axis, positioning window shortestdistance

• P-0-0911, Virtual master axis, positioning window

• P-0-0912, Virtual master axis, standstill window

• P-0-0913, Virtual master axis, positioning jerk

• P-0-0914, Virtual master axis, velocity threshold positioning

• P-0-0917, Control word of master axis generator

Pertinent Diagnostic Messages• E2100 Positioning velocity of master axis generator too high

• E2101 Acceleration of master axis generator is zero

• F2063 Internal overflow master axis generator

• F2064 Incorrect cmd value direction master axis generator

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5.7 Parameter Set Switching

IndraDrive devices have been equipped with up to eight parameter sets; itis possible to switch between these sets in operation. One of theswitchable parameter sets is always active. Switching takes place uponcommand of the control master.

With the possibility of adjusting the values of different parameters todifferent operating phases or machining processes by switchingparameter sets, if necessary during operation, the IndraDrive firmwaresupports the work flow in flexible production facilities.

Examples of application:

• changing from C-axis to roughing or finishing operation in the case ofspindles

• positioning mode for tool change with different gear ratios

• changing motor spindles for different machining phases

• adjusting the control loop gains to different load inertia or load masses(e.g. with very different workpieces)

• start-delta switching of motors with switchable winding to increase thetorque in short-time operation

Under the application-related point of view, the parameters to be switchedare divided into the following groups:

• application parameters

• control loop parameters

• load gear parameters

• winding parameters

• encoder parameters

New or Modified Parameters• P-0-2216, Parameter set switching, configuration

• P-0-2218, Parameter set switching, delay time

New or Modified Diagnostic Messages• C4101 Switching only possible without AF

• C4104 Error during parameter set switching (->S-0-0423)

Notes on Applications

Classification of SwitchableParameters

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5.8 Cross Communication (CCD)

Basic Information on the CCD FunctionThe IndraDrive interface for cross communication (→ CCD: CrossCommunication Drives) allows electronic (digital) coupling of axes. Wedistinguish the following subfunctions of CCD:

• synchronization of the CCD slaves to the CCD master

• command value linkage of the CCD axes (e.g. master/slave, Gantryaxis)

• command triggering (control over axes: RF, AH, …)

• transmission of external process data (command values and actualvalues of the external control unit)

• parameterization of all axes of the CCD group via the interfaces(RS232, field bus, …) of the CCD master

Note: Communication between the CCD master and the CCD slavestakes place via a protocol according to SERCOS IIIspecification.

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Fig. 5-3: Hardware topology of drive cross communication (CCD)

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Variants and Dependencies of the CCD FunctionAs regards system structure and bus topology, the following basicdistinction is made:

• Collective bus connectionConfiguration of the CCD slaves and communication with the externalcontrol unit always takes place via the CCD master drive, as theindividual CCD slaves do not have their own additional interface formaster communication.

• Individual bus connection (in preparation)Each drive in the cross communication group additionally has its owninterface for master communication.

When cross communication (CCD) is used between the drives, wedistinguish the following variants (CCD modes):

• CCD system modeThe CCD slaves have a direct logic connection to the field bus CCDmaster; command triggering and input of process data take place viaen external control unit.

• CCD basic modeThe functions are available as for the CCD system mode, but withoutuse of MLD-M functionality in the master axis.

• MLD-M system modeThe CCD slaves have no direct logic connection to the external controlunit, but only to the MLD-M in the CCD master. Command triggeringand input of process data take place by the MLD-M in the CCDmaster.

FeaturesThe table below contains the main features and important data of theCCD modes:

Commandtriggering

(Motion Control)

Possible master communication

CCDmaster

CCDslave PROFIBUS DeviceNet CANopen SERCOS

Parallel/analog

Max.number of

slaves

CCDsystem mode

remote remote profiles 0xFFFE, 0xFFFEfor all CCD nodes -- -- -- 5

CCDbasic mode

local local all profiles (only for CCD master) yes yes 7

MLD-Msystem mode

local remoteMLD-M all profiles (only for CCD master) yes yes 7

remote: control by external masterremote MLD-M: control by MLD-M in CCD masterlocal: control by local MLD-S of the respective axis

Fig. 5-4: Main features of the CCD modes

Bus Topology

CCD Modes

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The cross communication (CCD) function is characterized by the followingcommunication-specific features:

• synchronization of the CCD slaves to the CCD master

• CCD (SERCOS-III) cycle time (see S-0-1002) can be selecteddepending on the controller performance which was set (P-0-1602):

• Advanced performance: 0.5 ms, 1 ms, 2 ms, 4 ms

• Basic performance: 1 ms, 2 ms, 4 ms

The overview below shows the dependency between cycle time, CCDmode and maximum number of slaves:

Data length(bytes/slave)

CCDcycle time

CCDsystem mode

CCD basic mode/MLD-M system mode

500 µs 1 master + 1 slave 1 master + 1 slave

1000 µs 1 master +3 slaves 1 master +5 slaves48

4000 µs 1 master +5 slaves 1 master +7 slaves

Fig. 5-5: Maximum number of slaves depending on CCD cycle time and CCDmode

• max. baud rate: 100 MBaud

• CCD communication protocol: SERCOS III(see "SERCOS III" in chapter "Master Communication")

• data channels:

• cyclic data channel (MDT, AT): max. 48 bytes and 16 IDN each

• parameter or service channel: 2 bytes

• In the case of collective field bus connection in the system mode, onlythe freely configurable profile (0xFFFE and 0xFFFD) is supported inthe master!

• Apart from the exchange of cyclic process data (MDT, AT), all CCDslaves can be parameterized via the parameterization interfaces(Ethernet, serial, master communication) available at the CCD master.

Fields of ApplicationTypical fields of application for cross communication:

• control tasks for multi-axis applications

• anti backlash

• synchronous operation control

• load control of several axes

• simple command value linkage

• position command value linkage (Gantry axes)

• torque/force linkage

• simple motion controls (in preparation)

• with decentralized command value adjustment for single-axispositioning and master axis linkage

Note: With the cross communication function, "Coordinated Motion"is not possible!

Note: The higher-level master mostly is a PLC with a field bus whichdoes not have real-time and synchronization ability(PROFIBUS, DeviceNet).

Communication Data

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Hardware RequirementsUsing the drive function "cross communication" requires the followingcontrol section design:

• CCD Mastercontrol section in ADVANCED design with optional module CCD atoptional slot 3→ CSH-01.2C-xx-xxx-xxx-CCD-xx-x-..

• CCD slavescontrol section with master communication interface "SERCOS III"(S3); possible with the following designs:

• BASIC UNIVERSAL single-axis → CSB-01.1C-S3-xxx-xx-x

• BASIC UNIVERSAL double-axis → CDB-01.1C-S3-xxx-xx-x

• ADVANCED single-axis → CSH-01.1C-S3-xxx-xx-x

See documentation "Project Planning Manual for ControlSections"

Note: As for integrated safety technology, this firmware functiondoes not require separate enabling of functional packages; thefunction of drive cross communication is available with thecorresponding hardware design.

Pertinent Parameters

Note: The parameters listed below are only required for the CCDmaster!

These list parameters are available once in the CCD master for all CCDslaves:

• P-0-1600, CCD: configuration

• P-0-1601, CCD: addresses of projected drives

• P-0-1602, CCD: timing settings

• P-0-1605, CCD: command communication phase

• P-0-1606, CCD: actual communication phase

• P-0-1611, CCD: configuration list signal status word

• P-0-1612, CCD: configuration list signal control word

• P-0-1613, CCD: assignment list signal status word

• P-0-1614, CCD: assignment list signal control word

• P-0-1615, CCD: extrapolated cmd value IDN list signal selection

• P-0-1616, CCD: extrapolated cmd value signal selection

• P-0-1617, CCD: number of extrapolation steps

• P-0-1618, CCD: extrapolated command value

• P-0-1621, CCD: configuration list master communication cmdvalues

• P-0-1622, CCD: configuration list master communication actualvalues

• P-0-1623, CCD: configuration list master cmd values

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• P-0-1624, CCD: configuration list actual master values

• P-0-1625, CCD: configuration list slave cmd values

• P-0-1626, CCD: configuration list actual slave values

• P-0-1630, CCD: diagnosis

• P-0-1632, CCD: system data 2 bytes


• P-0-165x, CCD: master control word, slave x

• P-0-166x, CCD: drive status word, slave x

• P-0-1670, CCD: active actual position value, master

• P-0-167x, CCD: active actual position value, slave x

• P-0-1680, CCD: actual velocity value, master

• P-0-168x, CCD: actual velocity value, slave x

• P-0-1690, CCD: actual torque/force value, master

• P-0-169x, CCD: actual torque/force value, slave x

• P-0-170x, CCD: diagnostic message number slave x

• P-0-1710, CCD: signal status word, master

• P-0-171x, CCD: signal status word, slave x

• P-0-1720, CCD: signal control word, master

• P-0-172x, CCD: signal control word, slave x

• P-0-1730, CCD: MDT real-time container 1, master

• P-0-173x, CCD: MDT real-time container 1, slave x







• P-0-1770, CCD: AT real-time container 1, master

• P-0-177x, CCD: AT real-time container 1, slave x







• P-0-1810, CCD: status word synchronous operating modes,master

• P-0-181x, CCD: status word synchronous operating modes,slave x

Note: For configuring the SERCOS III communication in the slaveswe use the standard SERCOS III parameters (see S-0-1001 etseq.).

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Pertinent Diagnostic Messages• C0265 Incorrect CCD address configuration

• C0266 Incorrect CCD phase switch

• C0267 CCD timeout phase switch

• C0403 Switching to CCD phase 2 impossible

• E4012 Maximum number of CCD slaves exceeded

• E4013 Incorrect CCD addressing

• E4014 Incorrect phase switch of CCD slaves

• F2140 CCD slave error

• F4140 CCD communication error

• F6140 CCD slave error (emergency halt))

• F8140 Fatal CCD error

5.9 Rexroth IndraMotion MLD (Drive-Integrated PLC)

The optional expansion package "IndraMotion MLD" provides the functionof a PLC integrated in the drive according to IEC-61131-3 with thefollowing scope of functions:

• integrated logic control (standard PLC tasks)

• completely conforms to IEC-61131-3

• online change

• debugging

• offline simulation

• integrated multi-axis/single-axis motion controlmotion function block according to PLCopen for single-axis positioningon local and remote axes and synchronization mode (synchronousrunning, cam shaft, ...)→ "low-level motion functions"

• priority programming via SFC combined with ST

• Single-Action-Steps (non-IEC steps) for "single" steps

• motion function block per libraries

• cyclic parameters available as direct variables (system-widevariables)

• library administration

• basis for technology functionsExamples: following-on cutting devices, pick&place, process controller(register controller, winding computation, etc.), preventivemaintenance, free function block combination

• synchronous, consistent data exchange with drive control,configurable cyclical data channel

• periodic, high-priority user task

• run-time monitoring

Note: This optional extension of the drive functionality is described indetail in the separate documentation "RexrothIndraMotion MLD" (DOK-INDRV*-MLD-S*VRS**-AW01-EN-P;part no. R911306084).

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The expansion package "IndraMotion MLD" requires one of the followingcontrol section designs:


• single-axis BASIC (CSB01.1)

Note: The expansion package "IndraMotion MLD" is not availablefor double-axis control sections (CDB01.1C)!

In the firmware MPx-04VRS the function "IndraMotion MLD" is availablein the following variants:

• Advanced design (MPH)

• Basic single-axis design (MPB)

5.10 Integrated Safety Technology

Note: The drive-integrated safety technology is a functionality onlyscalable by means of the hardware and does not require anyadditional enabling of functional packages.

We distinguish the following characteristics of integrated safetytechnology for IndraDrive:

• Safety related starting lockout(pure hardware solution → Option L1)

• Integrated safety technology "Safety on Board"(firmware and hardware solution → Option S1)

The overview below illustrates the dependence of the safety technologycharacteristic on the hardware:

Integrated safety technology (Safety on Board)

Safety related startinglockout

Safety relatedmotion

Safety relatedstopping process Drive interlock

Hardware option →→→→ L1 S1 S1 S1

BASIC OPENLOOP(CSB01.1N-FC)

BASIC SERCOS(CSB01.1N-SE)

X

BASIC PROFIBUS(CSB01.1N-PB)

X

BASIC ANALOG(CSB01.1N-AN)

X

BASIC UNIVERSAL(CSB01.1C; single-axis)

X

BASIC UNIVERSAL(CDB01.1C; double-axis)

X X X X

ADVANCED(CSH01.1C)

X X X X

Fig. 5-6: Dependence of safety technology on hardware

Hardware Requirements

Firmware Requirements

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Integrated Safety Technology (Safety on Board)• dual-channel selection of safety functions via digital inputs/outputs

(24 V) or digital inputs/outputs (24 V) and master communication or asafety related process data channel for PROFIBUS-DP (PROFIsafe)

• integrated functionality for detecting "sleeping" errors:

• dual-channel data processing with structure by diversity

• cross comparison of the safety-relevant data

• dynamization of static states

• password protection for all safety technology parameters

• safety functions in normal operation(Safety related maximum speed, Safety related end position with trendmonitoring)

• safety functions in status "Safety related stopping process"(Safety related standstill, Safety related operational stop, Safetyrelated drive interlock)

• safety functions in status "Safety related motion"(Safety related reduced speed, Safety related direction of motion,Safety related limited increment, Safety related limited absoluteposition)

• other auxiliary functions (Safety related shutdown, Safety relatedhoming procedure, Safety related inputs/outputs for PROFIsafe)

• safety functions for "Safety related feedback"(Safety related diagnostic outputs, Safety related control of a doorlocking device)

• P-0-3205, Safety technology device identifier

• P-0-3210, Safety technology configuration

• P-0-3231, Reference position for safety related reference

• P-0-3232, Standstill window for safety related direction of motion

• P-0-3238, Extended safety technology status

• P-0-3239, Configuration of global safety technology functions

• P-0-3295, Safety technology field bus configuration

• P-0-3296, Safety technology field bus control word

• P-0-3297, Safety technology field bus status word

• P-0-3300, Redundant holding brake: configuration

• P-0-3301, Redundant holding brake: status word

• P-0-3302, Safety related holding system: time interval brakecheck

• P-0-3303, Safety related holding system: nominal load

• P-0-3306, Redundant holding brake: drive on delay time

• P-0-3307, Redundant holding brake: drive off delay time

• P-0-3310, Safety related holding system: max. travel range brakecheck

• P-0-3311, Safety rel. hold. sys.: dur. test torque injection br.check

Features


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• A0018 Special mode motion 1 active




• C5700 Command Release redundant holding brake

• C5701 Command Release redundant holding brake not possible

• C5800 Command Apply redundant holding brake

• C5801 Command Apply redundant holding brake not possible

• C5900 Command Abrasion of redundant holding brake

• C5901 Command Abrasion of red. holding brake only possiblewith AF

• C5902 Command Error during abrasion of redundant holdingbrake

• C5903 Command execution impossible

• E3116 Nominal load torque of holding system reached

• F3116 Nominal load torque of holding system exceeded


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Notes

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MPH-04, MPB-04, MPD-04 Extended Drive Functions 6-1


6 Extended Drive Functions

6.1 Quick Stop via Probe Input

The edge reversal of a digital voltage signal can trigger the quick stop ofan axis, if the drive is ready for this action. For quick stop, a velocitycommand value reset is internally triggered which causes the axis todecelerate. The following conditions are taken into account in this case:

• the current torque/force limit value for drives in closed-loop operation

• the maximum stator frequency change (P-0-0569) for drives in open-loop operation

When the drive has detected the quick stop signal, it ignores the setting ofcommand values by the control master, decelerates in a drive-controlledway and remains in a drive-internal operating mode until the readiness forquick stop is reset.

To keep the delay between edge reversal of the signal and triggering ofquick stop as short as possible, the rapid digital input for probe 1 is usedfor this function. This realizes the quickest signal evaluation under thefollowing conditions:

• sampling time for signals at probe input approx. 0.05 µs→For sufficient noise immunity, signal edge reversal must last for atleast 4.0 µs in order to be safely detected!

Hardware RequirementsQuick stop via probe input can only be used for drives the control sectionsof which have a rapid digital input (probe input 1).

The following control section designs are available:

• no rapid digital input (→ quick stop via probe input not possible): CSB01.1N-FC-… → BASIC OPENLOOPCSB01.1N-AN-… → BASIC ANALOG

• one rapid digital input:CSB01.1N-SE-… → BASIC SERCOSCSB01.1N-PB-… → BASIC PROFIBUSCSB01.1C… → BASIC UNIVERSAL (single-axis)

• one rapid digital input per axis:CDB01.1C-… → BASIC UNIVERSAL (double-axis)

• two rapid digital inputs:CSH01.1C-... → ADVANCED

The terminal designations of the "rapid" digital inputs are contained in thedocumentation "Project Planning Manual for Control Sections".

Expansion packages servo (order code SRV) and synchronization (order code SNC) in all designs

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6-2 Extended Drive Functions MPH-04, MPB-04, MPD-04


Pertinent Parameters• S-0-0130, Probe value 1 positive edge

• S-0-0170, Probing cycle procedure command

• S-0-0401, Probe 1

• S-0-0405, Probe 1 enable

• S-0-0409, Probe 1 positive latched

• S-0-0426, Signal select probe 1

• S-0-0428, Probe, IDN list signal selection

• P-0-0226, Probe, extended control word

• P-0-0300, Digital I/Os, assignment list

• P-0-0301, Digital I/Os, bit numbers

• P-0-0302, Digital I/Os, direction

Pertinent Diagnostic Messages• E8035 Quick stop with probe detection is active

6.2 Encoder Emulation

Features• cyclic calculation of the position or increments output by the emulator

in the position loop clock (see "Performance Data" in chapter "SystemOverview")

• freely selectable position signals for emulation (P-0-0900, P-0-0901)

• resolution that can be parameterized (incremental encoder emulationin lines/revolution; absolute encoder emulation in bits/revolution)

• scaling-related emulation (SSI and incremental) → S-0-0076

• synchronization of SSI emulation to SSI clock can be activated

• dead-time compensation that can be activated for incremental encoderemulation (P-0-0902, bit 3)

• zero pulse that can be shifted for incremental encoder emulation(P-0-0904)

• parameterizable cyclic zero pulse output for incremental encoderemulation referring to zero pulse distance (P-0-0904) and position datareference (P-0-0902)

• incremental encoder emulation can be switched off in operation(→ pause)

• internal clock increase of incremental encoder emulation to reducezero pulse jitter and frequency jitter (not for BASIC ANALOG controlsections)

• signal-related and motor-encoder-related emulation to be freelyselected(→ influence on position of zero pulse!)

New or Modified Parameters• P-0-0902, Encoder emulation control parameter

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6.3 Analog Outputs

OverviewAccording to the control section type, IndraDrive controllers already haveanalog outputs in their basic configuration (without optional modules).Configurable control sections can be upgraded with this function by usingthe optional module MA1. The number and function of the analog outputsdiffer according to the type and configuration of control section (see"Hardware Requirements" below).

The figure below illustrates the interaction of the two analog outputchannels with the analog outputs.

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MA1: analog I/O extension (optional module)Fig. 6-1: Assignment mechanism for the analog outputs

The drive function "analog outputs" allows using analog signal values forcommissioning and optimizing drives with appropriate measuring devices(e.g. oscilloscope, multimeter), as well as for visualizing the contents ofdrive parameters.

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Features• number and characteristics of analog outputs depending on type and

configuration (with/without optional module MA1) of the control section

• up to 6 analog outputs available according to control section design

• update of analog outputs in velocity loop clock (see "PerformanceData" in chapter "System Overview")

• analog outputs can be written via master communication (cyclic oracyclic channel)

• internal status variables and signals (= parameter contents) are outputas analog voltage signals at output terminal connectors of the drivecontroller (see separate documentation "Project Planning Manual forControl Sections")

• monitoring function with regard to double assignment of outputs

• variable scaling of analog outputs

• switching of the behavior at the limits of voltage range that can bedisplayed between overflow and limitation

• parameterizable output offset or parameterizable reference value

• number and resolution of analog outputs according to control sectiondesign:

• ADVANCED 2 analog outputs with 8 bits

• BASIC UNIVERSAL double-axis 2 analog outputs with 8 bits

• BASIC OPENLOOP 2 analog outputs with 10 bits

• output voltage range: 0 to 5 V

• available quantization: 19.5 mV (= 5V/2^8)

The optional module MA1 was developed according to VDE 0411-part 500 (programmable logic controllers) and should be used accordingto the specifications contained in this standard.

• connection via 15-pin D-Sub connector

• 2 analog outputs with 12 bits each

• output voltage range: ±10 V with reference to 0 VA

• available quantization: 5 mV (= 10V/2^11)

General Information

Analog Outputs on ControlSection

Analog Outputs on OptionalModule MA1

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Hardware Requirements

Analog output

Controlsection type

1(P-0-0139)

2(P-0-0140)

3(P-0-0414)

4(P-0-0415)

5(P-0-0416)

6(P-0-0417)

CSH01.1C An1 An2MA1

(optional slot 2:AA1)

MA1(optional slot 2:

AA2)-- --

CSB01.1C -- --MA1



AA2)-- --

CDB01.1C An1 An2MA1



AA2)


AA1)


AA2)

CSB01.1N-FC An1 An2 -- -- -- --

CSB01.1N-AN -- -- -- -- -- --

CSB01.1N-SE -- -- -- -- -- --

CSB01.1N-PB -- -- -- -- -- --

MA1: optional module MA1 (analog I/O extension)Fig. 6-2: Overview of hardware dependence of the analog outputs

The terminal designations and technical data of the analogoutputs are contained in the separate documentation "IndraDrive, DriveControllers – Control Sections, Project Planning Manual"!

Note: In the case of double-axis devices (control sectionCDB01.1-....), the analog outputs are used by both axes,simultaneous use of an analog output by both axes isimpossible.

New or Modified Parameters• P-0-0416, Analog output 5

• P-0-0417, Analog Output 6

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Notes

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MPH-04, MPB-04, MPD-04 Handling, Diagnostic and Service Functions 7-1


7 Handling, Diagnostic and Service Functions

7.1 Loading, Storing and Saving Parameters

• P-0-4090, Configuration for loading default values

• C0751 Parameter default value incorrect (-> S-0-0423)

7.2 Replacing the Firmware

General Notes on How to Replace the Firmware

Basic PrinciplesFor firmware replacement we distinguish the following cases:

• Release updateAn old firmware release (e.g. MPH04V06) contained in the device isreplaced by a new firmware release (e.g. MPH04V08).

• Version upgradeThe old firmware version (e.g. MPH03V20) contained in the device isreplaced by a new firmware version (e.g. MPH04V08).

Note: The paragraphs below describe the recommended options offirmware replacement by higher releases ("update") orversions ("upgrade"). The same conditions and sequences ofactions apply to firmware replacement by older releases orolder firmware versions.

Firmware for IndraDrive is replaced using the following hardware andsoftware:

• MultiMediaCard (MMC)

• PC with software "IndraWorks D"

Note: The commissioning software "IndraWorks D" can be orderedfrom one of our sales and service facilities under thedesignation SWA-IWORKS-D**-03VRS-D0-CD650-COPY(part no. R911312495). The scope of supply of"IndraWorks D" contains a documentation which describes theoperation of the program.



Explanation of Terms

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7-2 Handling, Diagnostic and Service Functions MPH-04, MPB-04, MPD-04


Notes

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MPH-04, MPB-04, MPD-04 Notes on Application 8-1


8 Notes on Application

8.1 New Applications

The firmware MPx-04VRS provides the following new possibilities ofapplication:

• drive cross communication for command value linkage

• motor switching in operation by extended functions "parameter setswitching" and "parking axis"

8.2 Functional Modifications with Regard to Previous Version

The paragraphs below in short form contain the most important functionalmodifications with regard to the previous version MPx-03VRS. Thesemodifications have been marked with gray background color in therespective sections of this documentation.

New and Modified Functions

New Functions• operating mode "electronic motion profile with real/virtual master axis"

• virtual master axis generator

• drive cross communication "CCD"

• master communication CANopen, DeviceNet and SERCOS III

• safety related brake management

• system-wide operating hours counter

• fine adjustment of commutation setting

• software-side increase of absolute encoder range

• IndraDrive inverter at third-party supply unit

• detent torque compensation

• start value which can be set for I-component of velocity loop forvertical axes

• redundant motor encoder

• safety related end position

• trend monitoring for transition to "safety related speed"

• inputs/outputs of the drive as "safety related inputs/outputs"

• safety related reduced speed without time monitoring

• command handling for PLC commands

• unassigned diagnosis parameter for PLC diagnoses

• storage of PLC data in non-volatile form

• PLC motion function blocks for synchronous operation

• automatic baud rate search with CANopen and DeviceNet field businterface

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8-2 Notes on Application MPH-04, MPB-04, MPD-04


Compatible Functional Expansions and Modifications• parameter set switching

• drive-controlled oscillation

• parking axis

• automatic setting of motor control parameters

• extended possibilities of use for MultiMediaCard (MMC)

• introduction of Rexroth commissioning tool "IndraWorks D"

• probe function

• operating mode "velocity control"

• field bus I/O profile for velocity control

• settings for "load default values"

• drive-controlled parameter set switching

• drive-controlled star-delta switching

• extension of cyclic data interface

• extension of the functions of the standard control panel

• increase filter time of jerk filter

• synchronization of SSI emulation with control unit

• switching external encoder/motor encoder or kind of position loop

• message "command value reached" independent of operating mode

• positioning block mode with pause time

• axis error correction for double-axis devices

• undervoltage error as warning with motive torque switched off

• acceleration limitation in command value path of velocity control

• extension of cyclic field bus interface to 48 bytes (a maximum of15 IDNs can be configured)

• for CANopen master communication, three PDOs can be configured ineach direction with a maximum of 8 bytes each

Incompatible Functional ModificationsThe following functions were extended or modified in firmwareMPx-04VRS in incompatible form with regard to the previousversion:

• measuring wheel mode

• "phase synchronization" and "electronic cam shaft" modes

• PLC motion function blocks

The following functions were extended or modified in firmwareMPx-04VRS in incompatible form with regard to firmwareFGP-20VRS:

• acyclic access to drive parameters for DeviceNet mastercommunication

• node monitoring changed from "Node Guarding Protocol" to"Heartbeat Protocol" for CANopen master communication

• acyclic parameter access (SDO) modified for CANopen mastercommunication

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New and Modified Parameters

New ParametersThe following new parameters were introduced in firmware versionMPx-04VRS:

• S-0-0163, Weight counterbalance

• S-0-0420, C0400 Activate parameterization level 1 procedurecommand

• S-0-0422, C0200 Exit parameterization level procedure command

• S-0-0423, IDN-list of invalid op. data for parameterization level

• S-0-0424, Status parameterization level

• S-0-0447, Command Set absolute measuring

• S-0-0448, Control word for setting absolute measuring



• S-0-0822, Torque/force ramp

• S-0-0823, Torque/force ramp time

• S-0-0824, Message torque/force command value reached

• S-0-1001, SERCOS-III: NC cycle time (TNcyc)

• S-0-1002, SERCOS-III: SERCOS cycle time (TScyc)

• S-0-1005, SERCOS-III: Minimum feedback acquisition time (T5)

• S-0-1006, SERCOS-III: AT transmission starting time (T1)

• S-0-1007, SERCOS-III: Feedback acquisition starting time (T4)

• S-0-1008, SERCOS-III: Command value valid time (T3)

• S-0-1009, SERCOS-III: RTC offset in MDT

• S-0-1010, SERCOS-III: MDT lengths

• S-0-1011, SERCOS-III: RTC offset in AT

• S-0-1012, SERCOS-III: AT lengths

• S-0-1013, SERCOS-III: SVC offset in MDT

• S-0-1014, SERCOS-III: SVC offset in AT

• S-0-1015, SERCOS-III: ring delay

• S-0-1016, SERCOS-III: slave delay (SYNCCNT-P, SYNCCNT-S)

• S-0-1017, SERCOS-III: IP channel transmission starting time

• S-0-1023, SERCOS-III: SYNC jitter

• S-0-1024, SERCOS-III: ring control

• S-0-1025, SERCOS-III: ring status

• S-0-1026, SERCOS-III: hardware code

• S-0-1028, SERCOS-III: MST error counter

• S-0-1029, SERCOS-III: MDT error counter

• S-0-1030, SERCOS-III: AT error counter

• S-0-1031, SERCOS-III: signal assignment

• S-0-1095, SERCOS-III: diagnostic message



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• P-0-0067, Phase current U, actual value

• P-0-0068, Phase current V, actual value

• P-0-0197, System time

• P-0-0198, System time error memory

• P-0-0199, System time error code

• P-0-0208, Analog input 5

• P-0-0209, Analog input 6

• P-0-0234, Analog input 5, time constant input filter

• P-0-0235, Analog input 6, time constant input filter



• P-0-0518, C5600 Command subsequent optimization ofcommutation offset

• P-0-0551, Current load torque

• P-0-0686, Additive position command value, positioning velocity

• P-0-0687, Additive position command value, positioningacceleration



• P-0-0697, Synchronization, master axis synchronous position

• P-0-0698, Synchronization, master axis synchronization range

• P-0-0756, Virtual master axis, scaling type

• P-0-0757, Virtual master axis, modulo value

• P-0-0758, Virtual master axis, actual position value

• P-0-0759, Virtual master axis, actual velocity value

• P-0-0760, Virtual master axis, positioning control word



• P-0-0767, Virtual master axis, effective target position

• P-0-0768, Virtual master axis, positioning status

• P-0-0769, Virtual master axis, command value mode

• P-0-0770, Virtual master axis, positioning velocity

• P-0-0771, Virtual master axis, positioning acceleration

• P-0-0772, Virtual master axis, positioning deceleration

• P-0-0774, Virtual master axis, positioning window shortestdistance

• P-0-0819, Energy counter

• P-0-0910, SSI control parameter

• P-0-0911, Virtual master axis, positioning window

• P-0-0912, Virtual master axis, standstill window

• P-0-0913, Virtual master axis, positioning jerk

• P-0-0914, Virtual master axis, velocity threshold positioning

• P-0-0915, Master axis format converter IDN list signal selection

• P-0-0916, Master axis format converter signal selection

• P-0-0917, Control word of master axis generator

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• P-0-0918, Feed travel internal virtual master axis

• P-0-1130, Table of detent torque compensation values pos.direction

• P-0-1131, Control word of detent torque compensation

• P-0-1132, Table of detent torque compensation values neg.direction

• P-0-1133, Status word of detent torque compensation

• P-0-1134, Velocity threshold for attenuation of detent torquecompens.

• P-0-1135, Velocity threshold for switching off detent torquecompens.

• P-0-1136, Lead time detent torque compensation

• P-0-1138, C4800 Command Determine detent torquecompensation table

• P-0-1359, PLC retain data

• P-0-1364, PLC idle time

• P-0-1365, PLC error message

• P-0-1398, PLC input WORD8 AT %IB16












• P-0-1418, PLC output WORD8 AT %QB16












• P-0-1440, PLC input DWORD25 AT %IB100





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• P-0-1449, C4900 PLC command

• P-0-1530, Control section MAC address

• P-0-1531, Control section IP address

• P-0-1532, Control section network mask

• P-0-1533, Control section gateway address

• P-0-1600, CCD: configuration

• P-0-1601, CCD: Addresses of projected drives

• P-0-1602, CCD: timing settings

• P-0-1605, CCD: command communication phase

• P-0-1606, CCD: actual communication phase

• P-0-1611, CCD: configuration list signal status word

• P-0-1612, CCD: configuration list signal control word

• P-0-1613, CCD: assignment list signal status word

• P-0-1614, CCD: assignment list signal control word

• P-0-1615, CCD: extrapolated cmd value IDN list signal selection

• P-0-1616, CCD: extrapolated cmd value signal selection

• P-0-1617, CCD: number of extrapolation steps

• P-0-1618, CCD: extrapolated command value

• P-0-1621, CCD: configuration list master communication cmdvalues

• P-0-1622, CCD: configuration list master communication actualvalues

• P-0-1623, CCD: configuration list master cmd values

• P-0-1624, CCD: configuration list actual master values

• P-0-1625, CCD: configuration list slave cmd values

• P-0-1626, CCD: configuration list actual slave values

• P-0-1630, CCD: diagnosis



• P-0-1640, CCD: MAC address

• P-0-1641, CCD: IP address

• P-0-1642, CCD: network mask

• P-0-1643, CCD: gateway address

• P-0-165x, CCD: master control word, slave x

• P-0-166x, CCD: drive status word, slave x

• P-0-1670, CCD: active actual position value, master

• P-0-167x, CCD: active actual position value, slave x

• P-0-1680, CCD: actual velocity value, master

• P-0-168x, CCD: actual velocity value, slave x

• P-0-1690, CCD: actual torque/force value, master

• P-0-169x, CCD: actual torque/force value, slave x

• P-0-170x, CCD: diagnostic message number slave x

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• P-0-1710, CCD: signal status word, master

• P-0-171x, CCD: signal status word, slave x

• P-0-1720, CCD: signal control word, master

• P-0-172x, CCD: signal control word, slave x

















• P-0-1810, CCD: status word synchronous operating modes,master

• P-0-181x, CCD: status word synchronous operating modes,slave x

• P-0-2218, Parameter set switching, delay time

• P-0-3025, Brake voltage, encoder memory

• P-0-3238, Extended safety technology status

• P-0-3239, Configuration of global safety technology functions

• P-0-3295, Safety technology field bus configuration

• P-0-3296, Safety technology field bus control word

• P-0-3297, Safety technology field bus status word

• P-0-3300, Redundant holding brake: configuration

• P-0-3301, Redundant holding brake: status word

• P-0-3302, Safety related holding system: time interval brakecheck

• P-0-3303, Safety related holding system: nominal load

• P-0-3306, Redundant holding brake: drive on delay time

• P-0-3307, Redundant holding brake: drive off delay time

• P-0-3310, Safety related holding system: max. travel range brakecheck

• P-0-3311, Safety rel. hold. sys.: dur. test torque injection br.check


• P-0-3313, C5800 Command Apply redundant holding brake

• P-0-3314, C5900 Command Abrasion of redundant holding brake

• P-0-3610, CANopen: Heartbeat Configuration

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• P-0-3611, CANopen: COB-IDs

• P-0-3612, CANopen: Transmission Types

• P-0-3613, CANopen: List of the Event Parameters

• P-0-3905, Adjust values analog I/O interface 5-6

• P-0-4018, Positioning block mode delay time

• P-0-4024, IDN list cyclic parameter display

• P-0-4054, C5400 Command Save PLC retain data on MMC

• P-0-4055, C5500 Command Load PLC retain data from MMC

Modified ParametersThe following parameters were extended or modified in firmware versionMPx-04VRS:

• S-0-0048, Additive position command value

• S-0-0115, Position feedback 2 type

• S-0-0128, C0200 Communication phase 4 transition check

• S-0-0139, C1600 Parking axis command

• S-0-0277, Position feedback 1 type

• S-0-0292, List of all operating modes

• S-0-1019, Master communication: MAC address

• S-0-1020, Master communication: IP address

• S-0-1021, Master communication: network mask

• S-0-1022, Master communication: gateway address

• P-0-0001, Switching frequency of the power output stage

• P-0-0054, Additive master axis position

• P-0-0060, Filter time constant additional pos. Command

• P-0-0072, Cam shaft profile 1

• P-0-0074, Encoder type 1 (motor encoder)

• P-0-0075, Encoder type 2 (optional encoder)

• P-0-0076, Encoder type 3 (measuring encoder)

• P-0-0088, Control word for synchronous operation modes



• P-0-0117, Activation of NC reaction on error

• P-0-0143, Synchronization velocity

• P-0-0155, Synchronization mode

• P-0-0185, Control word of encoder 2 (optional encoder)

• P-0-0218, Analog input, control parameter

• P-0-0226, Probe, extended control word

• P-0-0328, Type of position encoder for measuring encoder

• P-0-0427, Control parameter of analog output

• P-0-0525, Holding brake control word

• P-0-0555, Status word of axis controller

• P-0-0556, Configuration of axis controller

• P-0-0612, Control word for setting absolute measuring

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• P-0-0700, Motion profile, master axis switching position

• P-0-0701, Motion step 1, slave axis initial position















• P-0-0755, Gear reduction

• P-0-0778, Synchronous position command value







• P-0-0860, Converter configuration

• P-0-0861, Power supply status word

• P-0-0902, Encoder emulation control parameter


• P-0-1206, Memory of velocity command values


• P-0-2216, Parameter set switching, configuration

• P-0-3205, Safety technology device identifier

• P-0-3210, Safety technology configuration

• P-0-3214, Safety technology status word, channel 1

• P-0-3231, Reference position for safety related reference

• P-0-3232, Standstill window for safety related direction of motion

• P-0-3600, Master communication: software version

• P-0-3601, Master communication: station name

• P-0-3602, Master communication: station type

• P-0-4035, Thermal time constant of motor

• P-0-4068, Field bus: control word IO

• P-0-4090, Configuration for loading default values

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Parameters no Longer AvailableThe following parameters are no longer available compared to theprevious firmware version or were replaced by other parameters:

• P-0-0176, Torque/force command smoothing time constant

• P-0-0240, C1700 Command measuring wheel mode

• P-0-0716, Motion step 3, mode

• P-0-0717, Motion step 3, distance

• P-0-0718, Motion step 3, slave axis velocity

• P-0-0719, Motion step 4, master axis initial position




















• P-0-1499, PLC retain data on-board

New and Modified Diagnostic Messages

New Diagnostic MessagesThe following new diagnostic messages were introduced in firmwareversion MPx-04VRS:





• A0050 Parameterization level 1 active

• A0160 Position mode drive-controlled

• A0161 Drive-controlled positioning

• A0162 Positioning block mode


• A0164 Velocity synchronization

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• C0210 Feedback 2 required (->S-0-0423)

• C0218 Double signal selection master axis format converter

• C0223 Invalid settings for controller cycle times

• C0229 Field bus: IDN for cycl. command val. not configurable

• C0230 Field bus: max. length for cycl. command val. exceeded

• C0231 Field bus: IDN for cycl. actual val. not configurable

• C0232 Field bus: length for cycl. actual values exceeded

• C0233 Field bus: Tcyc (P-0-4076) incorrect

• C0234 Field bus: P-0-4077 missing for cycl. command values

• C0238 Order of cyclic command value configuration incorrect

• C0239 IDN for command value data container not allowed

• C0240 IDN for actual value data container not allowed

• C0265 Incorrect CCD address configuration

• C0266 Incorrect CCD phase switch

• C0267 CCD timeout phase switch

• C0281 Commutation via encoder-2 impossible

• C0298 Impossible to exit parameterization level

• C0299 Functional package selection changed. Restart

• C0403 Switching to CCD phase 2 impossible

• C07_3 Load def. proc. com. (load defaults procedure for PLC)

• C4101 Switching only possible without AF

• C4104 Error during parameter set switching (->S-0-0423)

• C4800 Command Determine detent torque compensation table

• C4801 Detent torque compensation: measuring velocity too high

• C4802 Detent torque compensation: measuring velocity too low

• C4803 Detent torque compensation: inadmissible acceleration

• C4804 Det. torque comp.: error when storing corr. val. table

• C4805 Detent torque comp.: motor measuring system not homed

• C4900 PLC command

• C4901 PLC command error no. 1




• C4910 PLC command timeout

• C5200 Communication phase 4 transition check

• C5400 Command Save PLC retain data on MMC

• C5401 PLC program not ready for retain data backup

• C5402 Error when writing data to the MMC

• C5500 Command Load PLC retain data from MMC

• C5501 PLC program not ready for loading retain data

• C5502 MMC not available or not OK

• C5503 PLC retain data do not match PLC program

• C5504 Unknown format in PLC retain file

• C5505 Invalid PLC retain data

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• C5600 Command subsequent optimization of commutation offset

• C5601 Command requires drive enable

• C5602 Axis blocked

• C5603 Timeout: axis in motion


• C5701 Command Release redundant holding brake not possible

• C5800 Command Apply redundant holding brake

• C5801 Command Apply redundant holding brake not possible

• C5900 Command Abrasion of redundant holding brake

• C5901 Com. Abrasion of red. holding brake only possible AF

• C5902 Com. Error during abrasion of redundant holding brake

• C5903 Command execution impossible

• C6000 Command Set absolute measuring

• C6001 Measuring system unavailable

• C6002 Absolute evaluation of measuring system impossible

• C6003 Absolute encoder offset cannot be saved

• C6004 Command cannot be executed under drive enable

• E2010 Position control with encoder 2 not possible

• E2070 Acceleration limit active

• E2092 Internal synchronization defective

• E2100 Positioning velocity of master axis generator too high

• E2101 Acceleration of master axis generator is zero

• E3116 Nominal load torque of holding system reached

• E4012 Maximum number of CCD slaves exceeded

• E4013 Incorrect CCD addressing

• E8026 Undervoltage in power section

• E8035 Quick stop with probe detection is active

• E8819 Mains failure

• F2025 Drive not ready for Control

• F2031 Encoder 1 error: signal amplitude incorrect

• F2063 Internal overflow master axis generator

• F2064 Incorrect cmd value direction master axis generator

• F2130 Error comfort control panel

• F2140 CCD slave error

• F3116 Nominal load torque of holding system exceeded

• F4017 S-III: incorrect sequence during phase switch

• F4140 CCD communication error

• F6140 CCD slave error (emergency halt)

• F8042 Encoder 2 error: signal amplitude incorrect

• F8140 Fatal CCD error

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Modified Diagnostic MessagesThe following diagnostic messages were extended or modified infirmware version MPx-04VRS in compatible form:

• C0200 Exit parameterization level procedure command

• C0201 Invalid parameters (->S-0-0423)

• C0202 Parameter limit error (->S-0-0423)

• C0203 Parameter calculation error (->S-0-0423)

• C0212 Invalid control section data (->S-0-0423)

• C0242 Multiple configuration of a parameter (->S-0-0423)

• C0245 Operating mode configuration (->S-0-0423) not allowed

• C0284 Invalid motor data in encoder memory (->S-0-0423)

• C0287 Error during initialization of motor data (->S-0-0423)

• C0400 Activate parameterization level 1 procedure command

• C0401 Drive active, switching not allowed



• C1600 Parking axis command

• E3107 Safety related reference missing

• F2026 Undervoltage in power section

• F3112 Safety related reference missing

Diagnostic Messages no Longer AvailableThe following diagnostic messages are no longer available compared tothe previous firmware version or were replaced by other diagnosticmessages:

• A0017 Special mode motion active

• C0118 Order of cyclic command value configuration incorrect

• C0134 Invalid motor data in encoder memory (->S-0-0021)

• C0138 Invalid control section data (->S-0-0021)

• C0151 IDN for command value data container not allowed

• C0152 IDN for actual value data container not allowed

• C0154 Field bus: IDN for cycl. command val. not configurable

• C0155 Field bus: max. length for cycl. command val. exceeded

• C0156 Field bus: IDN for cycl. actual val. not configurable

• C0157 Field bus: length for cycl. actual values exceeded

• C0158 Field bus: Tcyc (P-0-4076) incorrect

• C0159 Field bus: P-0-4077 missing for cycl. command values

• C0199 Functional package selection changed. Restart

• C1700 Command measuring wheel mode

• C1701 Measuring wheel mode not possible

• C4102 Switching only possible in parameter mode

• F3111 Refer. missing when selecting safety related end pos.

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Notes

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MPH-04, MPB-04, MPD-04 Index 9-1


9 Index

AAdvanced performance 1-19analog output 6-3axis control

position loop 3-3velocity loop 3-3

Bbasic functions of master communication 2-1basic functions of the synchronization modes 4-4Basic performance 1-19best possible deceleration 5-3

CCANopen interface 2-10CCD See cross communicationclock rates 1-19closed-loop axis control 3-1closed-loop axis control (closed-loop operation) 3-3closed-loop operation 3-1compatible functional expansions 8-2configurations of the control section 1-4control section configurations 1-4control section designs 1-4control sections, overview 1-4controllers, overview 1-2cross communication 5-9cycle times 1-19

Ddeceleration, best possible 5-3detent torque compensation 5-4device control 2-2DeviceNet interface 2-11diagnostic messages, new and modified 8-10drive control 3-1drive controllers

control sections 1-4overview 1-2power sections 1-4

drive controllers, special design 1-3drive controllers, standard design 1-2drive error reaction See error reactionsdrive firmware, overview 1-1drive functions 5-1

extended drive functions 6-1drive-integrated PLC See IndraMotion MLD See IndraMotion MLDdynamic synchronization of the slave axis 4-5

EEconomy performance 1-19electronic cam shaft with real/virtual master axis 4-7electronic motion profile with real/virtual master axis 4-9encoder emulation 6-2error classes 5-3error reactions 5-2

best possible deceleration 5-3establishing position data reference See establishing position data reference forabsolute measuring systems

for absolute measuring systems 5-1extended drive functions 6-1

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9-2 Index MPH-04, MPB-04, MPD-04


Ffirmware types 1-11firmware variants 1-1functional modifications with regard to previous version 8-1functional packages 1-7

additive functional packages 1-17alternative functional packages 1-15base packages 1-12

functions, new and modified 8-1

II/O mode (positioning and preset velocity) 2-3incompatible functional modifications 8-2IndraMotion MLD 1-17, 5-14integrated safety technology 1-18

Mmaster axis adjustment 4-5master axis generator, virtual 5-6master communication 2-1

CANopen interface 2-10DeviceNet interface 2-11overview 1-7PROFIBUS-DP 2-8SERCOS III 2-5

measuring systemssupported measuring systems 1-6

measuring wheel mode 5-5motor control 3-2motor encoder, redundant 5-5motors

supported motors 1-6multiplex channel 2-2

Nnotes on application 8-1

Ooperating modes

electronic cam shaft with real/virtual master axis 4-7electronic motion profile with real/virtual master axis 4-9phase synchronization with real/virtual master axis 4-5positioning block mode 4-3synchronization modes 4-4torque/force control 4-1velocity control 4-1velocity synchronization with real/virtual master axis 4-5

Pparameter set switching 5-8parameters

loading, storing and saving 7-1parameters, new and modified 8-3performance data 1-19phase synchronization with real/virtual master axis 4-5position loop 3-3positioning block mode 4-3power sections, overview 1-4power supply 3-4probe input, quick stop via … 6-1PROFIBUS-DP 2-8

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MPH-04, MPB-04, MPD-04 Index 9-3


profile types 2-3freely configurable mode 2-3I/O Mode 2-3I/O mode (positioning and preset velocity) 2-3overview 2-3

Qquick stop, via probe input 6-1

Rredundant motor encoder 5-5release update 7-1replacing the firmware 7-1

basic principles, terms 7-1

Ssafety technology 1-18scaling the drive functionality 1-7SERCOS analog converter 1-3SERCOS III 2-5status machine 2-2synchronization modes 4-4synchronization of the slave axis, dynamic 4-5system overview 1-1

Ttorque/force control

block diagram 4-1

Vvelocity control

block diagram 4-1velocity loop 3-3velocity synchronization with real/virtual master axis 4-5version upgrade 7-1virtual master axis generator 5-6

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9-4 Index MPH-04, MPB-04, MPD-04


Notes

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MPH-04, MPB-04, MPD-04 Service & Support 10-1


10 Service & Support

10.1 Helpdesk

Unser Kundendienst-Helpdesk im Hauptwerk Lohram Main steht Ihnen mit Rat und Tat zur Seite.Sie erreichen uns

Our service helpdesk at our headquarters in Lohr amMain, Germany can assist you in all kinds of inquiries.Contact us

- telefonisch - by phone: +49 (0) 9352 40 50 60über Service Call Entry Center Mo-Fr 07:00-18:00- via Service Call Entry Center Mo-Fr 7:00 am - 6:00 pm

- per Fax - by fax: +49 (0) 9352 40 49 41

- per e-Mail - by e-mail: [email protected]

10.2 Service-Hotline

Außerhalb der Helpdesk-Zeiten ist der Servicedirekt ansprechbar unter

After helpdesk hours, contact our servicedepartment directly at

+49 (0) 171 333 88 26

oder - or +49 (0) 172660 04 06

10.3 Internet

Unter www.boschrexroth.com finden Sieergänzende Hinweise zu Service, Reparatur undTraining sowie die aktuellen Adressen *) unsererauf den folgenden Seiten aufgeführten Vertriebs-und Servicebüros.

Verkaufsniederlassungen

Niederlassungen mit Kundendienst

Außerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mitunserem für Sie nächstgelegenen Ansprechpartner auf.

*) Die Angaben in der vorliegenden Dokumentation könnenseit Drucklegung überholt sein.

At www.boschrexroth.com you may findadditional notes about service, repairs and trainingin the Internet, as well as the actual addresses *) ofour sales- and service facilities figuring on thefollowing pages.

sales agencies

offices providing service

Please contact our sales / service office in your area first.

*) Data in the present documentation may have becomeobsolete since printing.

10.4 Vor der Kontaktaufnahme... - Before contacting us...

Wir können Ihnen schnell und effizient helfen wennSie folgende Informationen bereithalten:

i. detaillierte Beschreibung der Störung und derUmstände.

ii. Angaben auf dem Typenschild derbetreffenden Produkte, insbesondereTypenschlüssel und Seriennummern.

iii. Tel.-/Faxnummern und e-Mail-Adresse, unterdenen Sie für Rückfragen zu erreichen sind.

For quick and efficient help, please have thefollowing information ready:

1. Detailed description of the failure andcircumstances.

2. Information on the type plate of the affectedproducts, especially type codes and serialnumbers.

3. Your phone/fax numbers and e-mail address,so we can contact you in case of questions.

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10-2 Service & Support MPH-04, MPB-04, MPD-04


10.5 Kundenbetreuungsstellen - Sales & Service Facilities

Deutschland – Germany vom Ausland: (0) nach Landeskennziffer weglassen!from abroad: don’t dial (0) after country code!

Vertriebsgebiet Mitte Germany Centre

Bosch RexrothElectrice Drives and Controls GmbHBgm.-Dr.-Nebel-Str. 2 / Postf. 135797816 Lohr am Main / 97803 Lohr

Kompetenz-Zentrum Europa

Tel.: +49 (0)9352 40-0Fax: +49 (0)9352 40-4885

S E R V I C E A U T O M A T I O N

C A L L E N T R Y C E N T E RH e l p d e s kMO – FR

von 07:00 - 18:00 Uhrfrom 7 am – 6 pm

Tel. +49 (0) 9352 40 50 60Fax +49 (0) 9352 40 49 41

[email protected]


H OTLIN E 24 / 7 / 365

außerhalb der Helpdesk-Zeitout of helpdesk hours

Tel.: +49 (0)172 660 04 06o d e r / o r

Tel.: +49 (0)171 333 88 26


ERSATZTEILE / SPARESverlängerte Ansprechzeit- extended office time -

♦ nur an Werktagen- only on working days -

♦ von 07:00 - 18:00 Uhr- from 7 am - 6 pm -

Tel. +49 (0) 9352 40 42 22

Vertriebsgebiet Süd Germany South

Bosch Rexroth AGLandshuter Allee 8-1080637 München

Tel.: +49 (0)89 127 14-0Fax: +49 (0)89 127 14-490

Vertriebsgebiet West Germany West

Bosch Rexroth AGRegionalzentrum WestBorsigstrasse 1540880 Ratingen

Tel.: +49 (0)2102 409-0Fax: +49 (0)2102 409-406

+49 (0)2102 409-430

Gebiet Südwest Germany South-West

Bosch Rexroth AGService-Regionalzentrum Süd-WestSiemensstr. 170736 Fellbach

Tel.: +49 (0)711 51046–0Fax: +49 (0)711 51046–248

Vertriebsgebiet Nord Germany North

Bosch Rexroth AGWalsroder Str. 9330853 Langenhagen

Tel.: +49 (0) 511 72 66 57-0Service: +49 (0) 511 72 66 57-256Fax: +49 (0) 511 72 66 57-93Service: +49 (0) 511 72 66 57-783

Vertriebsgebiet Mitte Germany Centre

Bosch Rexroth AGRegionalzentrum MitteWaldecker Straße 1364546 Mörfelden-Walldorf

Tel.: +49 (0) 61 05 702-3Fax: +49 (0) 61 05 702-444

Vertriebsgebiet Ost Germany East

Bosch Rexroth AGBeckerstraße 3109120 Chemnitz

Tel.: +49 (0)371 35 55-0Fax: +49 (0)371 35 55-333

Vertriebsgebiet Ost Germany East

Bosch Rexroth AGRegionalzentrum OstWalter-Köhn-Str. 4d04356 Leipzig

Tel.: +49 (0)341 25 61-0Fax: +49 (0)341 25 61-111

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Europa (West) – Europe (West)

vom Ausland: (0) nach Landeskennziffer weglassen, Italien: 0 nach Landeskennziffer mitwählenfrom abroad: don’t dial (0) after country code, Italy: dial 0 after country code

Austria - Österreich

Bosch Rexroth GmbHElectric Drives & ControlsStachegasse 131120 Wien

Tel.: +43 (0) 1 985 25 40Fax: +43 (0) 1 985 25 40-1459

Austria – Österreich

Bosch Rexroth GmbHElectric Drives & ControlsIndustriepark 184061 Pasching

Tel.: +43 (0)7221 605-0Fax: +43 (0)7221 605-1220

Belgium - Belgien

Bosch Rexroth NV/SAHenri Genessestraat 11070 Bruxelles

Tel: +32 (0) 2 451 26 08Fax: +32 (0) 2 451 27 90 [email protected] [email protected]

Denmark - Dänemark

BEC A/SZinkvej 68900 Randers

Tel.: +45 87 11 90 60Fax: +45 87 11 90 61

Denmark - Dänemark

Bosch Rexroth A/SEngelsholmvej 268900 Randers

Tel.: +45 36 77 44 66Fax: +45 70 10 03 20 [email protected]

Great Britain – Großbritannien

Bosch Rexroth Ltd.Electric Drives & ControlsBroadway Lane, South CerneyCirencester, Glos GL7 5UH

Tel.: +44 (0)1285 863-000Fax: +44 (0)1285 863-030 [email protected] [email protected]

Finland - Finnland

Bosch Rexroth OyElectric Drives & ControlsAnsatie 6017 40 Vantaa

Tel.: +358 (0)9 84 91-11Fax: +358 (0)9 84 91-13 60

France - Frankreich

Bosch Rexroth SASElectric Drives & ControlsAvenue de la Trentaine(BP. 74)77503 Chelles Cedex

Tel.: +33 (0)164 72-63 22Fax: +33 (0)164 72-63 20Hotline: +33 (0)608 33 43 28

France - Frankreich

Bosch Rexroth SASElectric Drives & ControlsZI de Thibaud, 20 bd. Thibaud(BP. 1751)31084 Toulouse

Tel.: +33 (0)5 61 43 61 87Fax: +33 (0)5 61 43 94 12

France – Frankreich

Bosch Rexroth SASElectric Drives & Controls91, Bd. Irène Joliot-Curie69634 Vénissieux – Cedex

Tel.: +33 (0)4 78 78 53 65Fax: +33 (0)4 78 78 53 62

France – Frankreich

Tightening & Press-fit:Globe Techniques Nouvelles143, Av. du Général de Gaulle92252 La Garenne Colombes

Tel.: +33 (0)1 41 19 33 33

Italy - Italien

Bosch Rexroth S.p.A.Strada Statale PadanaSuperiore 11, no. 4120063 Cernusco S/N.MI

Hotline: +39 02 92 365 563Tel.: +39 02 92 365 1Service: +39 02 92 365 300Fax: +39 02 92 365 500Service: +39 02 92 365 516

Italy - Italien

Bosch Rexroth S.p.A.Via Paolo Veronesi, 25010148 Torino

Tel.: +39 011 224 88 11Fax: +39 011 224 88 30

Italy - Italien

Bosch Rexroth S.p.A.Via Mascia, 180053 Castellamare di Stabia NA

Tel.: +39 081 8 71 57 00Fax: +39 081 8 71 68 85

Italy - Italien

Bosch Rexroth S.p.A.Via del Progresso, 16 (Zona Ind.)35020 Padova

Tel.: +39 049 8 70 13 70Fax: +39 049 8 70 13 77

Italy - Italien

Bosch Rexroth S.p.A.Via Isonzo, 6140033 Casalecchio di Reno (Bo)

Tel.: +39 051 29 86 430Fax: +39 051 29 86 490

Italy - Italien

Tightening & Press-fit:TEMA S.p.A. AutomazioneVia Juker, 2820025 Legnano

Tel.: +39 0 331 4671

Netherlands – Niederlande/Holland

Bosch Rexroth B.V.Kruisbroeksestraat 1(P.O. Box 32)5281 RV Boxtel

Tel.: +31 (0) 411 65 16 40Fax: +31 (0) 411 65 14 83 www.boschrexroth.nl

Netherlands - Niederlande/Holland

Bosch Rexroth Services B.V.Technical ServicesKruisbroeksestraat 1(P.O. Box 32)5281 RV Boxtel

Tel.: +31 (0) 411 65 19 51Fax: +31 (0) 411 67 78 14Hotline: +31 (0) 411 65 19 51 [email protected]

Norway - Norwegen

Bosch Rexroth ASElectric Drives & ControlsBerghagan 1 or: Box 30071405 Ski-Langhus 1402 Ski

Tel.: +47 64 86 41 00

Fax: +47 64 86 90 62

Hotline: +47 64 86 94 82 [email protected]

Spain – Spanien

Goimendi Automation S.L.Parque Empresarial ZuatzuC/ Francisco Grandmontagne no.220018 San Sebastian

Tel.: +34 9 43 31 84 21- service: +34 9 43 31 84 56Fax: +34 9 43 31 84 27- service: +34 9 43 31 84 60 [email protected]

Spain - Spanien

Bosch Rexroth S.A.Electric Drives & ControlsCentro Industrial SantigaObradors 14-1608130 Santa Perpetua de MogodaBarcelona

Tel.: +34 9 37 47 94-00Fax: +34 9 37 47 94-01

Spain - Spanien

Bosch Rexroth S.A.Electric Drives & Controlsc/ Almazara, 928760 Tres Cantos (Madrid)


Sweden - Schweden

Bosch Rexroth ABElectric Drives & Controls- Varuvägen 7(Service: Konsumentvägen 4, Älfsjö)125 81 Stockholm

Tel.: +46 (0) 8 727 92 00Fax: +46 (0) 8 647 32 77

Sweden - Schweden

Bosch Rexroth ABElectric Drives & ControlsEkvändan 7254 67 Helsingborg

Tel.: +46 (0) 4 238 88 -50Fax: +46 (0) 4 238 88 -74

Switzerland East - Schweiz Ost

Bosch Rexroth Schweiz AGElectric Drives & ControlsHemrietstrasse 28863 ButtikonTel. +41 (0) 55 46 46 111Fax +41 (0) 55 46 46 222

Switzerland West - Schweiz West

Bosch Rexroth Suisse SAAv. Général Guisan 261800 Vevey 1

Tel.: +41 (0)21 632 84 20Fax: +41 (0)21 632 84 21

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Europa (Ost) – Europe (East)

vom Ausland: (0) nach Landeskennziffer weglassen from abroad: don’t dial (0) after country code

Czech Republic - Tschechien

Bosch -Rexroth, spol.s.r.o.Hviezdoslavova 5627 00 Brno

Tel.: +420 (0)5 48 126 358Fax: +420 (0)5 48 126 112


DEL a.s.Strojírenská 38591 01 Zdar nad SázavouTel.: +420 566 64 3144Fax: +420 566 62 1657


Tightening & Press-fit:Bosch -Rexroth, spol.s.r.o.Stetkova 18140 68 Praha 4

Tel.: +420 (0)241 406 675

Hungary - Ungarn

Bosch Rexroth Kft.Angol utca 341149 Budapest

Tel.: +36 (1) 422 3200Fax: +36 (1) 422 3201

Poland – Polen

Bosch Rexroth Sp.zo.o.Biuro Poznanul. Dabrowskiego 81/8560-529 Poznan

Tel.: +48 061 847 64 62 /-63Fax: +48 061 847 64 02

Poland – Polen

Bosch Rexroth Sp.zo.o.ul. Staszica 105-800 Pruszków

Tel.: +48 (0) 22 738 18 00– service: +48 (0) 22 738 18 46Fax: +48 (0) 22 758 87 35– service: +48 (0) 22 738 18 42

Romania - Rumänien

East Electric S.R.L.Bdul Basarabia no.250, sector 373429 Bucuresti

Tel./Fax:: +40 (0)21 255 35 07+40 (0)21 255 77 13

Fax: +40 (0)21 725 61 21 [email protected]

Romania - Rumänien

Bosch Rexroth Sp.zo.o.Str. Drobety nr. 4-10, app. 1470258 Bucuresti, Sector 2

Tel.: +40 (0)1 210 48 25+40 (0)1 210 29 50

Fax: +40 (0)1 210 29 52

Russia - Russland

Bosch Rexroth OOOWjatskaja ul. 27/15127015 Moskau

Tel.: +7-095-785 74 78+7-095 785 74 79

Fax: +7 095 785 74 77 [email protected]

Russia Belarus - Weissrussland

ELMIS10, Internationalnaya246640 Gomel, Belarus

Tel.: +375/ 232 53 42 70+375/ 232 53 21 69

Fax: +375/ 232 53 37 69 [email protected]

Turkey - Türkei

Bosch Rexroth OtomasyonSan & Tic. A..S.Fevzi Cakmak Cad No. 334295 Sefaköy Istanbul

Tel.: +90 212 411-13 00Fax: +90 212 411-13 17 www.boschrexroth.com.tr

Turkey - Türkei

Servo Kontrol Ltd. Sti.Perpa Ticaret Merkezi B BlokKat: 11 No: 160980270 Okmeydani-Istanbul

Tel: +90 212 320 30 80Fax: +90 212 320 30 81 [email protected] www.servokontrol.com

Slowakia - Slowakei

Tightening & Press-fit:

MTS, spol .s.r.o.02755 Kriva 53

Tel.: +421 43 5819 161

Slowenia - Slowenien

DOMELOtoki 2164 228 Zelezniki

Tel.: +386 5 5117 152Fax: +386 5 5117 225 [email protected]

Australien, Süd-Afrika – Australia, South AfricaAustralia - Australien

AIMS - Australian IndustrialMachinery Services Pty. Ltd.28 Westside DriveLaverton North Vic 3026Melbourne

Tel.: +61 3 93 14 3321Fax: +61 3 93 14 3329Hotlines: +61 3 93 14 3321

+61 4 19 369 195 [email protected]

Australia - Australien

Bosch Rexroth Pty. Ltd.No. 7, Endeavour WayBraeside Victoria, 31 95Melbourne

Tel.: +61 3 95 80 39 33Fax: +61 3 95 80 17 [email protected]

South Africa - Südafrika

TECTRA Automation (Pty) Ltd.100 Newton Road, MeadowdaleEdenvale 1609

Tel.: +27 11 971 94 00Fax: +27 11 971 94 40Hotline: +27 82 903 29 23 [email protected]

South Africa - Südafrika

Tightening & Press-fit:Jendamark Automation76A York Road, North End6000 Port Elizabeth

Tel.: +27 41 391 4735

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Asien – Asia (incl. Pacific Rim)China

Shanghai Bosch RexrothHydraulics & Automation Ltd.No.122, Fu Te Dong Yi RoadWaigaoqiao, Free Trade ZoneShanghai 200131 - P.R.China


[email protected]

China

Shanghai Bosch RexrothHydraulics & Automation Ltd.4/f, Marine TowerNo.1, Pudong AvenueShanghai 200120 - P.R.China

Tel: +86 21 68 86 15 88Fax: +86 21 68 86 05 99

+86 21 58 40 65 77 [email protected]

China

Bosch Rexroth (China) Ltd.Satellite Service Office ChangchunRm. 1910, Guangming BuildingNo.336 Xi’an Rd., Chao Yang Distr.Changchun 130061 - P.R.China

Tel.+Fax: +86 431 898 1129Mobile: +86 139 431 92 659 [email protected]

China

Bosch Rexroth (China) Ltd.Satellite Service Office WuhanNo. 22, Pinglanju, Milanyuan, GoldenHarborNo. 236 Longyang AvenueEconomic & Technology DevelopmentZoneWuhan 430056 - P.R.China

Tel.+Fax: +86 27 84 23 23 92Mobile: +86 139 71 58 89 [email protected]

China

Bosch Rexroth (China) Ltd.Beijing Representative OfficeXi San Qi Dong, De Sheng Mei WaiHai Dian DistrictBeijing 100096, P.R.China

Tel.: +86 10 82 91 22 29Fax: +86 10 82 91 81 09 [email protected]

China

Bosch Rexroth (China) Ltd.Guangzhou Repres. OfficeRoom 3710-3716, Metro Plaza,Tian He District, 183 Tian He Bei RdGuangzhou 510075, P.R.China

Tel.: +86 20 87 55 00 30+86 20 87 55 00 11

Fax: +86 20 87 55 23 87 [email protected]

China

Bosch Rexroth (China) Ltd.Dalian Representative OfficeRoom 2005,Pearl River Int. BuildingNo.99 Xin Kai Rd., Xi Gang DistrictDalian, 116011, P.R.China

Tel.: +86 411 83 68 26 02Fax: +86 411 83 68 27 02 [email protected]

China

Tightening & Press-fit:C. Melchers GmbH & CoShanghai Representation 13 Floor Est Ocean CentreNo.588 Yanan Rd. East65 Yanan Rd. WestShanghai 200001Tel.: +86 21 63 52 88 48Fax: +86 21 63 51 31 38 [email protected]

Hongkong

Bosch Rexroth (China) Ltd.6th Floor,Yeung Yiu Chung No.6 Ind Bldg.19 Cheung Shun StreetCheung Sha Wan,Kowloon, Hongkong

Tel.: +852 27 86 46 32Fax: +852 27 42 60 [email protected]

India - Indien

Bosch Rexroth (India) Ltd.Electric Drives & ControlsPlot. No.96, Phase IIIPeenya Industrial AreaBangalore – 560058

Tel.: +91 80 51 17 0-211...-218Fax: +91 80 83 94 345

+91 80 83 97 374 [email protected]

India - Indien

Bosch Rexroth (India) Ltd.Electric Drives & ControlsAdvance House, II FloorArk Industrial CompoundNarol Naka, Makwana RoadAndheri (East), Mumbai - 400 059

Tel.: +91 22 28 56 32 90+91 22 28 56 33 18


India - Indien

Tightening & Press-fit:

MICOHosur Road Adugodi560 030 Bangalore Karnataki

Tel.: +91 80 22 99 28 86

India - Indien

Bosch Rexroth (India) Ltd.S-10, Green Park ExtensionNew Delhi – 110016

Tel.: +91 11 26 56 65 25+91 11 26 56 65 27


Indonesia - Indonesien

PT. Bosch RexrothBuilding # 202, Cilandak CommercialEstateJl. Cilandak KKO, Jakarta 12560

Tel.: +62 21 7891169 (5 lines)Fax: +62 21 7891170 - [email protected]

Japan

Bosch Rexroth Automation Corp.Service Center JapanYutakagaoka 1810, Meito-ku,NAGOYA 465-0035, Japan

Tel.: +81 52 777 88 41+81 52 777 88 53+81 52 777 88 79

Fax: +81 52 777 89 01

Japan

Bosch Rexroth Automation Corp.Electric Drives & Controls2F, I.R. BuildingNakamachidai 4-26-44, Tsuzuki-kuYOKOHAMA 224-0041, Japan

Tel.: +81 45 942 72 10Fax: +81 45 942 03 41

Korea

Bosch Rexroth-Korea Ltd.Electric Drives & Controls1515-14 Dadae-Dong, Saha-guPusan Metropolitan City, 604-050


Korea

Bosch Rexroth-Korea Ltd.Electric Drives and ControlsBongwoo Bldg. 7FL, 31-7, 1GaJangchoong-dong, Jung-guSeoul, 100-391

Tel.: +82 234 061 813Fax: +82 222 641 295

Korea

Bosch Rexroth-Korea Ltd.Electric Drives & Controls1515-14 Dadae-Dong, Saha-guUlsan, 680-010

Tel.: +82 52 256-0734Fax: +82 52 256-0738 [email protected]

Korea

Tightening & Press-fit:KVT Co., Ltd.901, Daeryung Techno Town 8481-11 Gasan-DongGeumcheon-GuSeoul, 153-775Tel.: +82 2 2163 0231 9

Malaysia

Bosch Rexroth Sdn.Bhd.11, Jalan U8/82, Seksyen U840150 Shah AlamSelangor, Malaysia

Tel.: +60 3 78 44 80 00Fax: +60 3 78 45 48 00 [email protected] [email protected]

Singapore - Singapur

Bosch Rexroth Pte Ltd15D Tuas RoadSingapore 638520


Taiwan

Bosch Rexroth Co., Ltd.Taichung Industrial AreaNo.19, 38 RoadTaichung, Taiwan 407, R.O.C.

Tel : +886 - 4 -235 08 383Fax: +886 - 4 -235 08 586 [email protected] [email protected]

Taiwan

Bosch Rexroth Co., Ltd.Tainan BranchNo. 17, Alley 24, Lane 737Chung Cheng N.Rd. YungkangTainan Hsien, Taiwan, R.O.C.

Tel : +886 - 6 –253 6565Fax: +886 - 6 –253 4754 [email protected]

Thailand

NC Advance Technology Co. Ltd.59/76 Moo 9Ramintra road 34Tharang, Bangkhen,Bangkok 10230

Tel.: +66 2 943 70 62 +66 2 943 71 21Fax: +66 2 509 23 62Hotline +66 1 984 61 52 [email protected]

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Nordamerika – North AmericaUSAHeadquarters - Hauptniederlassung

Bosch Rexroth CorporationElectric Drives & Controls5150 Prairie Stone ParkwayHoffman Estates, IL 60192-3707

Tel.: +1 847 645-3600Fax: +1 847 [email protected] [email protected]

USACentral Region - Mitte

Bosch Rexroth CorporationElectric Drives & Controls1701 Harmon RoadAuburn Hills, MI 48326

Tel.: +1 248 393-3330Fax: +1 248 393-2906

USASoutheast Region - Südost

Bosch Rexroth CorporationElectric Drives & Controls2810 Premiere Parkway, Suite 500Duluth, GA 30097

Tel.: +1 678 957-4050Fax: +1 678 417-6637

USA SERVICE-HOTLINE

- 7 days x 24hrs -

+1-800-REXROTH+1 800 739-7684

USANortheast Region – Nordost

Bosch Rexroth CorporationElectric Drives & Controls99 Rainbow RoadEast Granby, CT 06026

Tel.: +1 860 844-8377Fax: +1 860 844-8595

USAWest Region – West

Bosch Rexroth CorporationElectric Drives & Controls7901 Stoneridge Drive, Suite 220Pleasanton, CA 94588

Tel.: +1 925 227-1084Fax: +1 925 227-1081

Canada East - Kanada Ost

Tightening & Press-fit:Bosch Rexroth Canada Corp.5345 Outer Drive unit 5Windsor, OntarioCanada N9A 6J3

Tel.: +1 519 737 7393

Canada East - Kanada Ost

Bosch Rexroth Canada CorporationBurlington Division3426 Mainway DriveBurlington, OntarioCanada L7M 1A8

Tel.: +1 905 335 5511Fax: +1 905 335 4184

[email protected]

Canada West - Kanada West

Bosch Rexroth Canada Corporation5345 Goring St.Burnaby, British ColumbiaCanada V7J 1R1

Tel. +1 604 205 5777Fax +1 604 205 6944Hotline: +1 604 205 5777 [email protected]

Mexico

Bosch Rexroth Mexico S.A. de C.V.Calle Neptuno 72Unidad Ind. Vallejo07700 Mexico, D.F.


Mexico

Bosch Rexroth S.A. de C.V.Calle Argentina No 3913Fracc. las Torres64930 Monterrey, N.L.

Tel.: +52 81 83 49 80 91+52 81 83 49 80 92+52 81 83 49 80 93

Fax: +52 81 83 65 52 80

Südamerika – South AmericaArgentina - Argentinien

Bosch Rexroth S.A.I.C."The Drive & Control Company"Rosario 2302B1606DLD CarapachayProvincia de Buenos Aires

Tel.: +54 11 4756 01 40+54 11 4756 02 40+54 11 4756 03 40+54 11 4756 04 40

Fax: +54 11 4756 01 36+54 11 4721 91 53

[email protected]

Argentina - Argentinien

NAKASE SRLServicio Tecnico CNCCalle 49, No. 5764/66B1653AOX Villa BalesterProvincia de Buenos Aires

Tel.: +54 11 4768 36 43Fax: +54 11 4768 24 13Hotline: +54 11 155 307 6781 [email protected] [email protected] [email protected] (Service)

Brazil - Brasilien

Bosch Rexroth Ltda.Av. Tégula, 888Ponte Alta, Atibaia SPCEP 12942-440

Tel.: +55 11 4414 -56 92+55 11 4414 -56 84

Fax sales: +55 11 4414 -57 07Fax serv.: +55 11 4414 -56 86 [email protected]

Brazil - Brasilien

Bosch Rexroth Ltda.R. Dr.Humberto Pinheiro Vieira, 100Distrito Industrial [Caixa Postal 1273]89220-390 Joinville - SC

Tel./Fax: +55 47 473 58 33Mobil: +55 47 9974 6645

[email protected]

Columbia - Kolumbien

Reflutec de Colombia Ltda.Calle 37 No. 22-31Santafé de Bogotá, D.C.Colombia


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Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyPhone +49 (0)93 52-40-50 60Fax +49 (0)93 52-40-49 [email protected]

Printed in GermanyDOK-INDRV*-MP*-04VRS**-FV01-EN-PR911315487

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Rexroth IndraDrive R911315487 Firmware for Drive Controllers MPH-04, MPB …...

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Transcript of Rexroth IndraDrive R911315487 Firmware for Drive Controllers MPH-04, MPB …...