DOK-INDRV--MP--04VRS---FV01-EN-P - Rexroth IndraDrive - Firmware for Drive Controllers; MPH-04,...

8/20/2019 DOK-INDRV--MP--04VRS---FV01-EN-P - Rexroth IndraDrive - Firmware for Drive Controllers; MPH-04, MPB-04, MPD-…

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Rexroth IndraDriveFirmware for Drive Controllers

PH-04, MPB-04, MPD-04

1 1 1 4

dition 01

Electric Drivesand Controls Pneumatics Service

Linear Motion andAssembly 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 communication

of 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

Note


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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................................................................................................... 1-6Supported 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 .......................................................................................................... 2-3I/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....................................................................... 4-4Velocity 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) ..................................................................... 5-145.10 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................................................................................................................ 7-1General 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 Variants

For 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 firmware

types:• 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 Firmware

For 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 Controllers

Apart 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 speed

command 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 Sections

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

IndraDrive M IndraDrive C

Single-axis

power sections

Double-axis

power sections

Single-axis converters

in 300mm type of constr.

Single-axis converters

in 400mm type of constr.

HMS01.1N-W…

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 Designs

The 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 Configurations

The 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 master

Fig. 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 Motors

The table below contains an overview of the Rexroth motors which can be

operated at IndraDrive controllers.

Housing motors Kit motors

synchronous asynchronous synchronous asynchronous

MHD

MKD

MKE

MSK (IndraDyn S)

MAL

SF (Bosch)

2AD

ADF

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 Systems

In 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 or

multi-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 External

Optional 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 Functionality

The 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 Control

Section 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 Functional

Packages


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

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

control performance

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

Brief Description of the Functional Packages

The 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 depending

thereof 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-S

Fig. 1-6: Dependence of functional packages on hardware and firmware

variant

Alternative Functional Packages

Additive Functional Packages


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Firmware Types

The type designation of the IndraDrive firmware consists of the followingtype code elements:

IndraDrive-Firmware B a s e p a c k a

g e o f

v a r a i a n t …

( d e p e n d i n g

o n

c o n t r o l s e c t

i o n )

V e r s i o n

R e l e a s e

L a n g u a g e

O p e n - / c l o s e d -

l o o p

A l t e r n a t i v e

e x p a n s i o n

p a c k a g e s

A d d i t i v e

e x p a n s i o n

p a c k a g e s

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 status

of available firmware types.

Structure of the Firmware Type

Designation

Function-Specific Abbreviations

in Type Designation ofIndraDrive Firmware


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Base Packages

In 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 Functions

The 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 Packages

Apart 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


Functions of the base

packages open-loop closed-loop open-loop closed-loop open-loop closed-loopsignal 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

Motorsand

encoders

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)


(Basic double-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 Xcommand 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 configuration

2) 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 Packages

Apart 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 packages

available:

• expanded servo function

• synchronization

• main spindle function

Servo Function

Depending 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 expansion

package "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 X1) 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-0-0227

Fig. 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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Synchronization

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

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

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

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

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 Function

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

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

(Basic single-axis)


(Basic double-axis)


(Advanced single-axis)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 Packages

The 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":

Fig. 1-13: Overview "Rexroth IndraMotion"

Note: All "Rexroth IndraMotion" variants are operated and

programmed 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 using

this 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 Performance

For 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 Rates

In 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 62.5/83.3/125/2501)

250 500 2000 500/1000

Economy 125/2501)

500 1000 2000 2000

1): with 2 kHz PWM

Fig. 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 and

parameter settings:• control section design (CSH, CSB or CDB) and the corresponding

drive 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 Performance

The 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 Hz2) 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 Hz2) 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 Hz2) 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 Hz2) 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-0-0001

2): 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-0-0556

For 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.

Features

All 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 distinguish

operating 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 procedurecommand

• 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

Overview

The 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

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

Overview

When 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 be

controlled 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 corresponding

required 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 Mode

Positioning"

Features of "I/O Mode Preset

Velocity"


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2.3 SERCOS III

Overview

It is possible to operate IndraDrive controllers with a SERCOS III interfaceas master communication module. This requires the control section with

the 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 Parameters

Specific parameters for SERCOS III communication:

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

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

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

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

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

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

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

• S-0-1010, SERCOS-III: MDT lengths

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

• S-0-1012, SERCOS-III: AT lengths

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

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

• S-0-1015, SERCOS-III: ring delay

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

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

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

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

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

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

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

• S-0-1023, SERCOS-III: SYNC jitter

• S-0-1024, SERCOS-III: ring control• S-0-1025, SERCOS-III: ring status

• S-0-1026, SERCOS-III: hardware code

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

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

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

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

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

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

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

Additional pertinent parameters according to "SERCOS interface":

• S-0-0014, Interface status

• S-0-0015, Telegram type parameter

• S-0-0016, Configuration list of AT

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

• S-0-0096, Slave arrangement (SLKN))

• S-0-0097, Mask class 2 diagnostics

• S-0-0098, Mask class 3 diagnostic

• S-0-0143, Sercos interface version• S-0-0185, Length of the configurable data record in the AT

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


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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

Overview

Drive controllers of the IndraDrive range have a master communication

module 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)

The following communication channels are distinguished:• 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 to

16 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

Overview

It is possible to operate IndraDrive controllers with a CANopen interface

as 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 by

CANopen 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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Specific 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.


• F4009 Bus failure

• F4012 Incorrect I/O length

2.6 DeviceNet Interface

Overview

It 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 Extended

Communication


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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)


Parameters 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.


• F4009 Bus failure

• F4012 Incorrect I/O length

Communication Parameters

Profile Type Parameters

Parameters for Extended

Communication


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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 and

current)

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.

Date post:	07-Aug-2018
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