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com

Electric Drives
and Controls

Hydraulics

Linear Motion and


Assembly Technologies

Pneumatics

Rexroth IndraDrive
Firmware for Drive Controllers
MPH-04, MPB-04, MPD-04
Firmware Version Notes

Service

R911315487
Edition 01

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About this Documentation

Title

Rexroth IndraDrive
Firmware for Drive Controllers
MPH-04, MPB-04, MPD-04

Type of Documentation
Document Typecode
Internal File Reference

Firmware Version Notes


DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Box: 81-04V-EN
Document Number: 120-2400-B329-01/EN

Purpose of Documentation

Record of Revisions

Copyright

This documentation contains an overview of the functional differences


(marked with gray background color) between firmware version
MPH-04/MPB-04/MPD-04 and firmware MPx-03.

Description

Release
Date

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. Offenders
are liable for the payment of damages. All rights are reserved in the event
of the grant of a patent or the registration of a utility model or design
(DIN 34-1).

Validity

Published by

The specified data is for product description purposes only and may not
be deemed to be guaranteed unless expressly confirmed in the contract.
All rights are reserved with respect to the content of this documentation
and the availability of the product.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. Main
Telephone +49 (0)93 52/40-0 Tx 68 94 21 Fax +49 (0)93 52/40-48 85
http://www.boschrexroth.com/
Dept. EDY

Note

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

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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

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

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

3.3

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

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


Velocity Loop (with Respective Filters) ................................................................................... 3-3
Position Loop (with Respective Feedforward Functions and Actual Value
Adjustment).............................................................................................................................. 3-3

3.4

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

3.5

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

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

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

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

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

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

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

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

Notes on Application

Contents III

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

Index

10 Service & Support

9-1
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

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

System Overview 1-1

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MPH-04, MPB-04, MPD-04

System Overview

1.1

General Information

Overview of Drive Firmware


Firmware Variants
For the IndraDrive range, there are different application-related firmware
variants available that are characterized by their scope of functions and
their 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 the


application and profile of the firmware:
MT: "Machine Tool" Drives for Machine Tool
Applications with SERCOS interface
(drive profile according to SERCOS)
MP: "Multi Purpose" Drives for General Automation
(Incl. Machine Tool Applications) with
SERCOS interface, Profibus, as well as Parallel and
Analog Interface
(drive profile according to SERCOS)
The third letter of the firmware designation identifies the
hardware, as well as the performance and functionality of the
firmware (x contains H, B and D):
H: single-axis firmware with Advanced performance and
functionality
B: single-axis firmware with Basic performance and
functionality
D: double-axis firmware with Basic performance and
functionality

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 commissioning
these 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 firmware
functions are divided into different "functional packages". There are a
generally available basic package and various additional functional
packages (e.g. integrated safety technology, IndraMotion MLD) that can
be optionally activated.
Note:

1.2

The scope of functions of the functional packages and their


possible combinations are described in the section "Functional
Packages" in the same chapter.

Drive Controllers

Overview
Standard Design of the IndraDrive Controllers
As a standard, IndraDrive controllers
components:

consist of

two hardware

Power section
Control section

power section

Compact

IndraDrive C

compact or modular design

1 ... 110 kW

scalable power
uniform design

IndraDrive M

control section

ADVANCED single-axis

scalable performance

high performance and interface flexibility

Modular

1 ... 120 kW

scalable functionality

BASIC single-axis
limited performance and interface flexibility

safety technology

BASIC double-axis
limited performance and interface flexibility
DF000108v01_en.fh7

Fig. 1-1:
Power Section

Design of the IndraDrive controllers

The following are connected to the power section:


power supply unit (DC bus voltage)
24 V control voltage
motor

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System Overview 1-3

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MPH-04, MPB-04, MPD-04

Note:

Control Section

Each of the two types of the control section is described in the


separate documentation; e.g. "IndraDrive M Drive Controllers,
Power Sections, Project Planning Manual" (DOKINDRV*-HMS+HMD****-PR**-EN-P; part no. R911295014).

The control section is a separate part of the IndraDrive controller and is


plugged in the power section. The drive controller is supplied ex works
complete with control section. The control section may only be replaced
by a qualified service engineer.
Note:

The available control sections are described in the separate


documentation "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 and
control section, there are the following special designs:
SERCOS analog converter (= control section + housing)
IndraDrive Mi (in preparation)
SERCOS Analog Converter

The so-called SERCOS analog converter is a control section housing with


24V supply but without output stage. An IndraDrive control section can be
plugged in this housing.
The SERCOS analog converter is used to
connect control units with SERCOS interface to components with
analog interface
- and convert SERCOS position command values to analog speed
command values.
Note:

With these possibilities of use, the SERCOS analog converter


is suited for modernization of machines and installations. Drive
controllers with analog command value input of the ANAX
range can be controlled with IndraDrive; in this case
IndraDrive acts as the gateway to the SERCOS control unit.

Realizing the SERCOS analog converter requires the following individual


components:
housing for HAC01.1-002 control sections
configurable control section with SERCOS master communication,
e.g. BASIC UNIVERSAL double-axis CDB01.1C-SE-NNN-NNNMA1-NNN-NN-S-NN-FW
IndraDrive firmware as of version MPx-04VRS
e.g. FWA-INDRV*-MPD-04VRS-**-*-***-**
See separate documentation "Rexroth IndraDrive, Drive System, Project
Planning Manual" (DOK-INDRV*-SYSTEM*****-PRxx-EN-P; part no.
R911309636)!

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1-4 System Overview

MPH-04, MPB-04, MPD-04

Power Sections
The following power sections for the standard design of IndraDrive
controllers can be operated with the firmware MPx-04VRS:
IndraDrive M

IndraDrive C

Single-axis
power sections

Double-axis
power sections

Single-axis converters
in 300mm type of constr.

Single-axis converters
in 400mm type of constr.

HMS01.1N-W

HMD01.1N-W

HCS02.1E-W

HCS03.1E-W

in preparation:
HMS02.1N-W

in preparation:
HCS04.1E-W
Fig. 1-2:

Power sections for IndraDrive firmware

Control Sections
Available Control Section Designs
The following control sections can be operated with the appropriate
MPx-04VRS firmware variant:
Configurable control sections
ADVANCED (single-axis; type CSH01.1C-...)
BASIC UNIVERSAL (single-axis; type CSB01.1C-...)
BASIC UNIVERSAL double-axis (type CDB01.1C-...)
Non-configurable control sections
BASIC OPENLOOP (single-axis; type CSB01.1N-FC-...)
BASIC SERCOS (single-axis; type CSB01.1N-SE-...)
BASIC PROFIBUS (single-axis; type CSB01.1N-PB-...)
BASIC ANALOG (single-axis; type CSB01.1N-AN-...)

Supported Control Section Configurations


The configurable control sections differ with regard to the scope of their
configurability. It basically depends on the control section type and the
corresponding firmware variant.
The following overview contains the theoretically possible
configurations of control sections as regards the support by the
MPx-04VRS firmware. The abbreviations in the first column identify the
configuration of control sections in the type designation.
Note:

Your sales representative will help you with the current status
of available control section types.

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System Overview 1-5

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MPH-04, MPB-04, MPD-04

Control section type


Firmware variant

CSH01.1C

CSB01.1C

CDB01.1C

MPH-04VRS

MPB-04VRS

MPD-04VRS

Options for master communication


AN

analog interface

CO

CANopen/DeviceNet

ET

PROFInet (in preparation)

FC

analog/digital
for open-loop operation

PB

PROFIBUS-DP

PL

parallel interface

S3

SERCOS III

SE

SERCOS interface

cross communication

EN1

encoder interface for HSF,


resolver

EN2

X
X
X

X
X

encoder interface for EnDat,


1Vpp sine and TTL signals

ENS

encoder interface for MSK


motors and HIPERFACE
encoders

MA1

analog I/O extension

MD1

digital I/O extension

MD2

digital I/O extension


(with SSI interface)

MEM

encoder emulator

L1

starting lockout

S1

safety technology

Optional modules
CCD

1)

Safety option

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

1):
Fig. 1-3:

only required for CCD master


Supported control section configurations

Note:

The type codes of the individual designs of IndraDrive control


sections and the respective assignment of possible optional
modules to the slots are described in the separate
documentation "IndraDrive Drive Controllers, Control Sections,
Project Planning Manual" (DOK-INDRV*-CSH********-PR**EN-P; part no. R911295012).

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1-6 System Overview

1.3

MPH-04, MPB-04, MPD-04

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
synchronous

asynchronous

MHD
2AD
MKD
ADF
MKE
MAD (IndraDyn A)
MSK (IndraDyn S) MAF (IndraDyn A)
MAL
SF (Bosch)
Fig. 1-4:

Kit motors
synchronous

asynchronou
s

MLF (IndraDyn L)
MBS (Standard)
MBSxx2 (IndraDyn H)
MBT (IndraDyn T)
LSF

1MB

Appropriate Rexroth motors for IndraDrive

Supported Measuring Systems


Motor Encoder and External
Optional Encoders

In addition to the encoders integrated in the Rexroth motors, the


IndraDrive firmware can evaluate the following measuring systems as
motor encoders or as external optional control encoders:
GDS or GDM encoders from Bosch Rexroth (single-turn or multi-turn
type)
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)

Measuring Encoder

For measuring purposes the firmware can evaluate the following


measuring systems (measuring encoders, no control encoders):
GDS or GDM encoders from Bosch Rexroth (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)
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!

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System Overview 1-7

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MPH-04, MPB-04, MPD-04

1.4

Master Communication
In the MPx-04 firmware, the following master communication interfaces
are available:
SERCOS interface
SERCOS III
PROFIBUS-DP
CANopen interface
DeviceNet interface
parallel interface (not for double-axis type MPD)
analog interface (not for double-axis type MPD)

1.5

Overview of Functions/Functional Packages

Overview
The application-specific scope of usable functions
FWA-INDRV*-MP*-04VRS drive firmware depends on

of

the

the available control section and, if available, its configuration


- and the licensed functional firmware packages.
Note:

Depending on the hardware design, the scope of firmware


functionality can be determined according to the respective
application (scalability of the firmware functionality). The scope
of corresponding parameters depends on the available
functions.

Scaling the Drive Functionality


Firmware Scaling by Control
Section Configuration

The control sections of the IndraDrive controllers have a maximum of


4 optional card slots and a master communication slot. Depending on the
available 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:

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

The functions and parameters for the evaluation of the


measuring systems as control encoders or measuring
encoders do not depend on the control section configuration
since their functions can be freely assigned to the various
optional encoder modules.

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1-8 System Overview


Firmware Scaling by Functional
Packages

MPH-04, MPB-04, MPD-04

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 are
available without any access enable. Using the optional expansion
packages, however, requires licensing.
Note:

The desired scope of firmware functions should preferably be


defined when the firmware is ordered. This guarantees that
the required functional packages have been enabled when the
firmware is delivered. In individual cases it is possible to
provide access enable subsequently (additional licensing) or to
reduce the activated scope of functions.
This procedure is described in section "Enabling of Functional
Packages" in chapter "Handling, Diagnostic and Service
Functions".

Note:

The drive-integrated safety technology is a functionality


only scalable by means of the hardware and does not require
any additional enabling of functions!

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System Overview 1-9

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MPH-04, MPB-04, MPD-04

The figure below contains an overview of the possibilities of firmware


scaling by functional packages:

BASIC

single- and double-axis design


(firmware MPB04 and MPD04)
Open-Loop

Closed-Loop

ADVANCED

single-axis design
(firmware MPH04)

Open-Loop

IndraMotion MLD-S

Closed-Loop

IndraMotion MLD

(not for double-axis design)

main spindle

main spindle

main spindle

main spindle

synchronization

synchronization

synchronization

synchronization

servo
base package
open-loop

base package
closed-loop

additive
functional
package

alternative
functional
packages

servo
base package
open-loop

base package
closed-loop

base package
always contained
functional packages optional expansion packages

DF000109v03_en.fh

Fig. 1-5:

Functional packages of IndraDrive firmware MPx04 depending on


control performance

Note:

With Basic performance, the option "IndraMotion MLD-S" is


not allowed for free programming!

Brief Description of the Functional Packages


The overall functionality of an IndraDrive device is divided into groups of
functions, the so-called "functional packages". The firmware FWAINDRV*-MP*-04VRS supports the functional packages listed below.
Note:

Base Packages

Each of the listed packages is available in Basic or Advanced


characteristic which differ with regard to their performance and
functionality.

The following base packages are available:


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

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1-10 System Overview

MPH-04, MPB-04, MPD-04

Alternative Functional Packages

The following alternative functional packages are available:


1)

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

Synchronization :
With this package the possibilities of synchronization of the drive can
be used (support of synchronization modes, measuring encoder
function, probe function ...).
1)

Main spindle functions :


This package contains the specific functions for the use of main
spindles (e.g. spindle positioning, parameter set switching).
1)

Note:

Additive Functional Packages

These functional packages cannot be


simultaneously (only individually)!
Alternative
expansion packages

activated

There is also an additional functional package available:


IndraMotion MLD
Note:

For single-axis devices (Advanced and Basic) this expansion


package can be activated in addition to a possibly available
alternative package.

The overview below illustrates how the individual functional packages are
depending on the respective hardware and the firmware type:
Firmware variant
Control section design
performance
basic functions

base
package

base
package
"open-loop"
(U/f)

Basic

base
package
"closed-loop"
(Servo)

Basic

FWA-INDRV*-MPB-04VRS

FWA-INDRV*-MPD-04VRS

FWA-INDRV*-MPH-04VRS

CSB0.1.1
(Basic single-axis)

CDB0.1.1
(Basic double-axis)

CSH0.1.1
(Advanced single-axis)

open-loop

closed-loop

open-loop

closed-loop

open-loop

closed-loop

Advanced
X

Advanced

Basic

servo
Advanced
alternative
functional
packages

Basic

X
X

synchronizat.
Advanced
Basic

main spindle
Advanced
additive
functional
package

IndraMotion
MLD

Basic

1)

Advanced

1)
Fig. 1-6:

1)

no free programming and only MLD-S


Dependence of functional packages on hardware and firmware
variant

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

System Overview 1-11

Firmware Types

Release

Language

Open-/closedloop

Alternative
expansion
packages

Additive
expansion
packages

The type designation of the IndraDrive firmware consists of the following


type code elements:

Version

Structure of the Firmware Type


Designation

Base package of
varaiant
(depending on
control section)

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MPH-04, MPB-04, MPD-04

Basic single-axis

FWA-INDRV*

-MPB-

04

VRS-

D5-

x-

xxx-

xx

Basic double-axis

FWA-INDRV*

-MPD-

04

VRS-

D5-

x-

xxx-

xx

Advanced single-axis

FWA-INDRV*

-MPH-

04

VRS-

D5-

x-

xxx-

xx

IndraDrive-Firmware

Fig. 1-7:
Function-Specific Abbreviations
in Type Designation of
IndraDrive Firmware

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

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:

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

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.

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1-12 System Overview

MPH-04, MPB-04, MPD-04

Base Packages
In the base packages of the firmware the minimum scope of
functionalities is available depending on the respective firmware
characteristic ("open-loop" or "closed-loop"). They contain the basic
functions of a drive firmware and a number of other fundamental
functions.

Basic Functions
The following basic functions are available for every drive and contain the
fundamental basic functions of a digital drive (available in the firmware
characteristics "open-loop" and "closed-loop"):
extensive diagnostic functions
drive-internal generation of diagnostic messages
monitor function
analog output
patch function
status displays, status classes
oscilloscope function
code of optional card
parameter value check
operating hours counter, logbook function, error memory
undervoltage monitor
output of control signals
limitations that can be parameterized
serial communication

Scope of Functions of Base Packages


Apart from the basic functions there are other functions available in the
base package of the firmware. Their scope depends on the firmware
variant and its characteristic ("open-loop" or "closed-loop").

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

System Overview 1-13

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MPH-04, MPB-04, MPD-04

The following overview shows the available scope of functions of the


respective base package:
FWA-INDRV*-MPB04VRS
(Basic single-axis)

Firmware variant

Functions of the base


packages

Master
communication

closed-loop

open-loop

closed-loop

open-loop

closed-loop

signal control / signal status word

multiplex channel

SERCOS interface

1)2)

1)2)

1)2)

1)2)

SERCOS III

X1)2)

X1)2)

PROFIBUS (incl. PROFIsafe)

X1)2)

X1)2)

X1)2)

1)2)

1)2)

1)2)

PROFInet

1)

X1)

X1)

X1)

X1)2)

X1)

X1)

1)2)

1)

X1)

CANopen

X1)

X1)

X1)

X1)

DeviceNet

X1)

X1)

X1)

X1)

parallel interface

X1)3)

X1)3)

X1)

X1)

analog interface

Rexroth housing motors, asynchr.,


with encoder data memory

X
X

Rexroth kit motors, synchron.,


without encoder data memory
Rexroth kit motors, asynchr.,
without encoder data memory

X
X

X
X

third-party motors, synchronous

X
X

X
X

third-party motors, asynchronous


(standard motors)

motor holding brake

X4)

X4)

X4)

redundant motor encoder

3)

3)

optional control encoder

encoder correction

overload protection (temperature


monitoring)

U/f operation

in
preparation

in
preparation

field-oriented current control,


without encoder
field-oriented current control,
with encoder

motor parameter determination

Axis
control

motor encoder

Motor
control

FWA-INDRV*-MPH04VRS
(Advanced single-axis)

open-loop

Rexroth housing motors, synchr.,


with encoder data memory

Motors
and
encoders

FWA-INDRV*-MPD04VRS
(Basic double-axis)

X
X

X
X

commutation setting

velocity loop

position loop

automatic axis control loop setting

current limitation

torque/force limitation

Fig. 1-8:

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

Scope of functions of the firmware base packages (to be continued


on next page)

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1-14 System Overview

MPH-04, MPB-04, MPD-04

Firmware variant

Functions of the base


packages

FWA-INDRV*-MPB04VRS
(Basic single-axis)
open-loop

torque/force control

Drive
functions

Error
reactions

Expanded
drive
functions

closed-loop

FWA-INDRV*-MPH04VRS
(Advanced single-axis)
open-loop

X
X

closed-loop
X

position control

drive-internal interpolation

drive-controlled positioning

positioning block mode

Drive Halt

travel range limit switch

position limit values


(software limit switch)

detecting marker position

positive stop drive procedure

command value generator

parking axis

drive-controlled homing

NC-controlled homing

setting absolute measuring

E-Stop function

torque disable

vcmd reset
("emergency halt")

vcmd reset with ramp and filter


("quick stop")

analog I/Os (on basic device or


optional module)

X1)

X1)

X1)

X1)

X1)

X1)

digital I/Os (on basic device or


optional module)

X1)5)

X1)5)

X1)5)

X1)5)

X1)

X1)

X1)

encoder emulation
position switch points

X1)

X1)

X3)

X3)

firmware handling

standard control panel

comfort control panel

"Easy Startup" mode

scaling/standardization

option. parameteriz. interface

oscilloscope function

MMC support

Handling,
diagnosis,
service

open-loop

velocity control
Operating
modes

closed-loop

FWA-INDRV*-MPD04VRS
(Basic double-axis)

patch function

1)
2)
3)
4)
5)
Fig. 1-9:

depending on hardware configuration


max. 24 byte MDT/AT data per axis and min. Tscyc = 1000 s
only with control section "BASIC UNIVERSAL"
brake check and brake abrasion not possible
no digital I/Os on optional module for Basic design
Scope of functions of the firmware base packages (continuation)

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

System Overview 1-15

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MPH-04, MPB-04, MPD-04

Alternative Functional Packages


Apart from the base packages that are always available, we offer optional
expansion packages. Part of the expansion packages is the group of
alternative functional packages; from this group only one package can be
activated 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 expansion
package "servo" has the following scope of functions:
Firmware variant

Functions of the expansion


package "servo"

FWA-INDRV*-MPB-04VRS
(Basic single-axis)
open-loop

closed-loop

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

closed-loop

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

quadrant error correction

closed-loop
X

friction torque compensation

set/shift coordinate system

detent torque compensation


1)

axis error correction

1)

X
2)3)

X2)

quick stop via probe input

X2)3)

X2)

X2)3)

X2)

X2)3)

X2)

programmable position switch

1)
2)
3)
Fig. 1-10:

Note:

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

2)3)

2)

probe function

relative return motion

2)

2)3)

only single reversal clearance; no correction tables


for Advanced single-axis 2 probes; for Basic single-axis only
1 probe; for Basic double-axis 2 probes per controller
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
Overview expansion package "servo"

With "BASIC ..." hardware design the probe input is only


available for the control sections "BASIC SERCOS",
"BASIC PROFIBUS" and "BASIC UNIVERSAL" (CSB01.1***).

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1-16 System Overview

MPH-04, MPB-04, MPD-04

Synchronization
Depending on the firmware variant and characteristic, the expansion
package "synchronization" has the following scope of functions:
Firmware variant

Functions of the expansion


package "synchronization"

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

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

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

(open-loop)

(open-loop)

(open-loop)

measuring wheel mode


velocity synchronization

(closed-loop)
X

(closed-loop)
X

(closed-loop)
X

phase synchronization

electronic cam shaft

electronic motion profile

virtual master axis generator

set/shift coordinate system

detent torque compensation

X
2)3)

X2)

quick stop via probe input

X2)3)

X2)

X2)3)

X2)

X3)

X2)

X4)

X4)

programmable position switch

2)3)

probe function

measuring encoder

2)

2)
3)
4)
Fig. 1-11:

Note:

2)

3)

for Advanced single-axis 2 probes; for Basic single-axis only


1 probe; for Basic double-axis 2 probes per controller
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
only with control section "BASIC UNIVERSAL"
Overview expansion package "synchronization"

With "BASIC ..." hardware design the probe input is only


available for the control sections "BASIC SERCOS",
"BASIC PROFIBUS" and "BASIC UNIVERSAL" (CSB01.1***).

Main Spindle Function


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

Functions of the expansion


package "main spindle"

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

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

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

(open-loop)

(open-loop)

(open-loop)

spindle positioning

(closed-loop)
X

(closed-loop)
X

(closed-loop)
X

parameter set switching

drive-controlled oscillation

set/shift coordinate system

Fig. 1-12:

Overview expansion package "main spindle"

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

System Overview 1-17

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MPH-04, MPB-04, MPD-04

Additive Functional Packages


The so-called additive functional packages are part of the optional
expansion packages. Additive functional packages can be used in
addition to the base function and one of the alternative functional
packages (additive activation).
At present, there is the following additive functional package available:
IndraMotion MLD
(drive-integrated PLC and technology functions)
Note:

The drive-integrated safety technology is a functionality


only scalable by means of the hardware and is not part of the
expansion packages that can be enabled!

IndraMotion MLD (Drive-Integrated PLC)


The expansion package "IndraMotion MLD" makes available the following
scope 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 positioning
on local and remote axes and synchronization mode (synchronous
running, 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.), preventive
maintenance, free function block combination
Note:

The expansion package "IndraMotion MLD" is not available in


conjunction with BASIC double-axis control sections
(CDB-***)!

Apart from "Rexroth IndraMotion MLD", another variant of a freely


programmable 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 and
hardware platform.
The following hardware characteristics are distinguished:
drive-based PLC

IndraMotion MLD

PC-based PLC

IndraMotion MLP (in preparation)

controller-based stand-alone PLC

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

IndraMotion MLC

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1-18 System Overview

MPH-04, MPB-04, MPD-04

The figure below illustrates the integration of "Rexroth IndraMotion MLD"


in the automation platform "Rexroth IndraMotion":

Rexroth IndraWorks
commissioning software
Rexroth IndraMotion
MLD
integrated drive PLC
(multi-axis and single-axis motion)

Rexroth IndraMotion
MLC
stand-alone PLC
(multi-axis motion)

Rexroth IndraMotion
MLP
PC-based PLC
(multi-axis motion)

Rexroth IndraLogic
programming environment
DF000135v05_en.fh

Fig. 1-13:

Overview "Rexroth IndraMotion"

Note:

All "Rexroth IndraMotion" variants are operated and


programmed with the same programming tool (Rexroth
IndraLogic) so that the programs created with it are portable, if
the requirements have been complied with (see "Guidelines
for Programming with IndraLogic").

Integrated Safety Technology


Note:

The drive-integrated safety technology is a functionality


only scalable by means of the hardware and does not require
any additional enabling of functions! The requirement for using
this function is the use of the optional safety modules L1 and
S1 depending on the control section configuration.

The following safety function is supported in conjunction with starting


lockout (safety module L1):
Safety related starting lockout
The following safety functions are supported in conjunction with safety
technology I/O or PROFIsafe in the different operating states (safety
module 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

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

System Overview 1-19

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MPH-04, MPB-04, MPD-04

auxiliary functions
Safety related monitored shutdown
Safety related homing procedure
Safety related brake management (in preparation)
Safety related inputs/outputs for PROFIsafe
safety functions for "Safety related feedback"
Safety related diagnostic outputs
Safety related control of a door locking device (not with PROFIsafe)

1.6

Performance Data

Overview
Levels of Control Performance
For the control performance of the IndraDrive range we basically
distinguish three levels with regard to the clock rates (cycle times):
Advanced performance
highest degree of control performance by high internal clock rates
for the control loops and the signal processing of inputs/outputs or
drive-integrated PLC (IndraMotion MLD)
Basic performance
standard control performance by medium internal clock rates for the
control loops and the signal processing of inputs/outputs or driveintegrated PLC (IndraMotion MLD)
Economy performance
low control performance by reduced clock rates for the control loops
and the signal processing of inputs/outputs or drive-integrated PLC
(IndraMotion MLD)

Performance and Clock Rates


In this documentation the clock rate data refer to the following
characteristic 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 the
respective control performance. The detailed assignment of the clock rate
to control section design, performance level and parameter setting is
contained in the table in section "Control Section Design and
Performance" (see below).
Performance

Advanced
Basic
Economy
1):
Fig. 1-14:

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

TA_current
62.5/83.3/125
62.5/83.3/125/250
125/250

1)

with 2 kHz PWM


Clock rates (in s)

1)

TA_velocity

TA_position

TMLD

TMastCom

125

250

1000

500

250

500

2000

500/1000

500

1000

2000

2000

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1-20 System Overview

MPH-04, MPB-04, MPD-04

Note:

The control performance is not equivalent to the control


section design (Advanced or Basic), because it is determined
by 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 power
output stage

Control Section Design and Performance


The control section design differs with regard to the performance levels
that can be reached (cycle times or clock frequencies).
The table below contains an overview of the performance levels and clock
rates that can be reached depending on the control section design and
parameter settings:
Control
section type/
firmware

CSH01.1/MPH

Functional
packages

Perform.
level

Switching
frequency

CSB01.1/MPB

TA_posit.

TMLD

TMastCom.

250 s

500 s

500 s

1000 s

500 s

Basic

4000 Hz

125 s

250 s

500 s

1000 s

500 s

Basic

8000 Hz

125 s

250 s

500 s

1000 s

500 s

Basic

12000 Hz

83,3 s

250 s

500 s

1000 s

500 s

Basic

16000 Hz

62,5 s

250 s

500 s

1000 s

500 s

Advanced

4000 Hz

125 s

125 s

250 s

1000 s

500 s

Advanced

8000 Hz

62,5 s

125 s

250 s

1000 s

500 s

Advanced 16000 Hz

62,5 s

125 s

250 s

1000 s

500 s

2)

250 s

250 s

500 s

--

1000 s

2000 Hz

Basic

4000 Hz

125 s

250 s

500 s

--

1000 s

Basic

8000 Hz

125 s

250 s

500 s

--

1000 s

250 s

500 s

1000 s

--

2000 s

Economy 2000 Hz

2)

Economy

4000 Hz

125 s

500 s

1000 s

--

2000 s

Economy

8000 Hz

125 s

500 s

1000 s

--

2000 s

250 s

500 s

1000 s 2000 s

2000 s

Economy 2000 Hz
"synchronization"
and "IndraMotion"

TA_velocity

2000 Hz 2)

all

all, except for


"synchronization"
and "IndraMotion"

TA_current

Basic

Basic

CDB01.1/MPD

P-0-0556
bit 2 bit 5

1)

2)

Economy

4000 Hz

125 s

500 s

1000 s 2000 s

2000 s

Economy

8000 Hz

125 s

500 s

1000 s 2000 s

2000 s

Basic

4000 Hz

125 s

250 s

500 s

--

1000 s

Basic

8000 Hz

125 s

250 s

500 s

--

1000 s

all

1):
can be set via P-0-0001
2):
only with power section HCS04.1 and MAD/MAF
P-0-0556:
Config word of axis controller
Fig. 1-15: Performance depending on the control section design

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

System Overview 1-21

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MPH-04, MPB-04, MPD-04

Selecting Performance via Parameter P-0-0556


For certain applications it is necessary to use the same clock rates in all
axes so that the slowest drive sets the clock. It is therefore possible to
specifically reduce the performance via bit 2 and bit 5 of parameter
P-0-0556, Config word of axis controller.
For BASIC control sections it is possible to select the performance
levels "Basic" or "Economy" via bit 5 of P-0-0556.
For ADVANCED control sections it is possible to select the
performance levels "Advanced" or "Basic" via bit 2 of P-0-0556.
See also Parameter Description "P-0-0556, Config word of axis
controller"
Note:

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

The effective clock rates of the active performance level are


contained in the table "Performance depending on the control
section design" in section "Control Section Design and
Performance" (see above).

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1-22 System Overview


MPH-04, MPB-04, MPD-04

Notes

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

Master Communication 2-1

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MPH-04, MPB-04, MPD-04

Master Communication

2.1

Basic Functions of Master Communication


The basic functions of master communication for IndraDrive devices
apply to SERCOS interface, SERCOS III, field bus interface, parallel and
analog interface.

Features
All variants of master communication supported by IndraDrive have the
following functional features in common:
address assignment
communication address to be freely parameterized (via master
communication, serial and control panel) via parameter P-0-4025,
Drive address of master communication
command processing
drive commands to be externally
communication, serial and control panel)

activated

(via

master

device control (status machine)


individual status machines for master communication and device
According to the variant of master communication, the master
communication status machine has different functionality and
complexity. The communication-specific states are distinguished
and mapped to the status words of the corresponding master
communication (e.g. for SERCOS: S-0-0014, S-0-0135).
The device status machine is independent of the variant of master
communication and maps the device-specific states to parameter
S-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 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 are
used:
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

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

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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 specific
internal and external drive behavior. The drive status can be exited by
defined events (e.g. drive commands, switching of operating modes).
Corresponding status transitions are assigned to the events. The status
transitions or the interaction of control and status bits are called status
machine.
We distinguish between:
device- internal status machine
(defines the device-specific states which determine the behavior of the
device)
status machine of master communication

field bus
status machine

parallel/analog
status machine

SERCOSstatus machine

device
status machine

communic.
phase 4

communic.
phase 3
Data Exchange

Data Exchange

communic.
phase 2
communic.
phase 1

operating mode
(AH, AF, ...)
S-0-0128
C5200

S-0-0422
C0200

S-0-0420
C0400

S-0-0127
C0100

parameter mode

communic.
phase 0
Check Config

communic.
phase -1

Set Param
booting
process

initialization
booting
process

booting
process

status machines of master communication

device
status machine
DF000191v01_en.fh

S-0-0127:
C0100 Communication phase 3 transition check
S-0-0128:
C5200 Communication phase 4 transition check
S-0-0420:
C0400 Activate parameterization level 1 procedure command
S-0-0422:
C0200 Exit parameterization level procedure command
Fig. 2-1:
Overview: status machines of master communications and device

Multiplex Channel
New or Modified Diagnostic
Messages

C0238 Order of cyclic command value configuration incorrect

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

Master Communication 2-3

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MPH-04, MPB-04, MPD-04

2.2

Profile Types (with Field Bus Interfaces)

Supported Profile Types


Overview
When a field bus interface is used for master communication, IndraDrive
controllers 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 properties
and features of the 3 profile types:
Content of
P-0-4084, Profile
type

Master
communication

Field bus or drive


operating 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 be


controlled via field bus
- apart from control and status word,
other real-time data can be configured (in P-0-4080 and P-0-4081)
- bits can be freely defined in signal
status word via function "configurable
signal status word"

I/O mode preset velocity

- fixed velocity command values can be


controlled and ramp generator can be
operated via field bus
- apart from control and status word,
other real-time data can be configured (in P-0-4080 and P-0-4081)
- bits can be freely defined in signal
status word via function "configurable
signal status word"

freely configurable mode


(default assignment is
"drive-controlled positioning" with corresponding
required cyclic data)

- possible use of complete drive functionality


by free configuration of real-time data
and operating mode selection
- control and status word have a Rexrothspecific structure
- selection suited for operation with
analog command values in
commissioning phase

Profile type: I/O mode preset velocity


FF92h

PROFIBUS,
CANopen,
DeviceNet

Profile type: freely configurable mode


FFFEh

PROFIBUS,
CANopen,
DeviceNet

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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2-4 Master Communication

MPH-04, MPB-04, MPD-04

The I/O mode has the following features:


General 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 bus
control word (P-0-4068) and the signal status word (S-0-0144)
Data direction

Word1

Format

master --> slave

P-0-4068, Field bus: control


word 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 cyclic
command value data ch.
Slave (drive) master
configuration of P-0-4080, Field bus: config. list of cyclic actual
value data ch.
freely configurable field bus status word (cf. S-0-0144)
Relationship between profile type selection and operating mode which
takes effect:
In the I/O modes there is a determined relationship between profile
type (P-0-4084) and predefined primary mode of operation
(S-0-0032).
The freely configurable mode allows free selection of the
operating modes (S-0-0032, S-0-0033, ).
Note:

Features of "I/O Mode


Positioning"

The respective default settings are activated by selecting the


profile type and subsequent action "load default
communication parameters" (see also P-0-4090 and
S-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 be
selected and started via 6 bits (in the 16 bit wide control word).
The jog function can be activated in P-0-4068, Field bus: control
word IO. "Drive-controlled positioning" has been set as secondary
operating mode 1.

Features of "I/O Mode Preset


Velocity"

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 start
5 programmable fixed velocity command values (in the 16 bit wide
control word) and operate the ramp generator function.

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MPH-04, MPB-04, MPD-04

2.3

SERCOS III
Overview
It is possible to operate IndraDrive controllers with a SERCOS III interface
as master communication module. This requires the control section with
the master communication option "SERCOS III" (S3). Via this module it is
possible to exchange real-time data with a SERCOS III master.
The master communication interface with SERCOS III interface is
optionally available for the following configurable control sections:
single-axis BASIC UNIVERSAL

(CSB01.1C)

single-axis ADVANCED

(CSH01.1C)

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
General Features

transmission rate 100Mbit/s


cyclic data exchange of command values and actual values with equal
time 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 and
measurement starting time of the actual values for all drives on a ring
overall synchronization of all connected drives to the master

Firmware-Specific Features

cycle time: min. 250/500 s, max. 65 ms


(multiples of position clock 250 s or 500 s 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 on


the relation of the position cycle time (P-0-0556, bit 2) to the
SERCOS cycle time.
SERCOS cycle time = position clock max. length 16 bytes
SERCOS cycle time > position clock max. length 32 bytes

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2-6 Master Communication

MPH-04, MPB-04, MPD-04

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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MPH-04, MPB-04, MPD-04

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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2-8 Master Communication

2.4

MPH-04, MPB-04, MPD-04

PROFIBUS-DP
Overview
Drive controllers of the IndraDrive range have a master communication
module with PROFIBUS interface. Via this module it is possible to
exchange real-time data with a PROFIBUS-DP master.
Using the master communication "PROFIBUS-DP" requires the following
control section design:
single-axis BASIC PROFIBUS (not configurable)

(CSB01.1N-PB)

In addition it is possible to use the following configurable control sections


if they have been designed with the optional module PB:
single-axis BASIC UNIVERSAL

(CSB01.1C)

single-axis ADVANCED

(CSH01.1C)

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 be
cyclically transmitted. This section is called cyclic data channel. The
cyclic data channel is divided into
a device-specific parameter channel (optional) for reading and
writing all parameters via PROFIBUS-DP,
Note:

This parameter channel does not fulfill "real-time


properties"!

a safety related, axis-specific process data channel (optional)


that allows, depending on the firmware and hardware, transmitting
safety-relevant signals,
an axis-specific process data channel (real-time channel)
containing firmly specified information that can be directly
interpreted by the receiver.
Acyclic data channel (DPV1 parameter communication)
The following are supported:
one class-1 connection
two class-2 connections
safety related

not safety related

master slave

param. channel

PROFIsafe

ctrl word, cmd values

slave master

param. channel

PROFIsafe

status word, act. val.


DF000156v01_en.fh7

Fig. 2-3:

Overview cyclic data channel

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MPH-04, MPB-04, MPD-04

Note:

To simplify field bus communication Bosch Rexroth makes


available function blocks for different programmable logic
controllers (PLCs). The principles applied can be easily used
for other field bus masters.

The slave PROFIBUS-DP circuit with master communication module PL


has the following functional features:
Features

support of RS485 interfaces according to IEC61158-2


support of all data rates according to IEC61158-2, with exclusive use
of PROFIBUS-DP (9.6 kBaud, 19.2 kBaud, 45.45 kBaud, 93.75 kBaud,
187.5 kBaud, 500 kBaud, 1.5 MBaud, 3 MBaud, 6 MBaud, 12 Mbaud)
automatic baud rate detection
configurable cyclic data up to 15 parameters (incl. field bus control
word 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

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2-10 Master Communication

2.5

MPH-04, MPB-04, MPD-04

CANopen Interface
Overview
It is possible to operate IndraDrive controllers with a CANopen interface
as master communication module. This requires the control section with
the master communication option "CANopen/DeviceNet" (CO). Via this
module it is possible to exchange real-time data with a CANopen master.
The "CANopen" protocol (according to Draft Standard DS301,
version 4.0.2) has been implemented in the drive controller.
The master communication interface with CANopen interface is optionally
available for the following configurable control sections:
single-axis BASIC UNIVERSAL

(CSB01.1C)

single-axis ADVANCED

(CSH01.1C)

The following communication channels are distinguished:


Cyclic data channel (PDO)
The field bus provides data containers in which useful data can be
cyclically transmitted in real time (process data objects).
Acyclic data channel (SDO)
The field bus provides data containers in which useful data (service
data 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 control
word and field bus status word) in both data directions
(max. 24 bytes or 12 words)
multiplex channel permanently configured in one PDO pair
functional compatibility with EcoDrive functions through profile
selection (I/O mode)
node monitoring (heartbeat function)
LED displays on the front panel of the command communication
module for simple diagnosis of bus functions and most important
communication relationships between drive and field bus (2 LEDs:
"Run" status and "Error" status)
all parameters of the drive can be directly read via SDO and, if
permitted, can be written
upload/download function for all parameters of the drive possible with
SDO services
event-controlled transmission of process data can be switched off
CANopen Device profile DSP402 is not supported; field bus profiles
according to DSP402 are partly supported

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MPH-04, MPB-04, MPD-04

Pertinent Parameters
Communication Parameters

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

Profile Type Parameters

Apart from mere communication parameters, we use parameters in


conjunction with the profile types.

Parameters for Extended


Communication

We use additional parameters for extended communication.

Pertinent Diagnostic Messages


F4009 Bus failure
F4012 Incorrect I/O length

2.6

DeviceNet Interface
Overview
It is possible to operate IndraDrive controllers with a DeviceNet interface
as master communication module. This requires the control section with
the master communication option "CANopen/DeviceNet" (CO). Via this
module it is possible to exchange real-time data with a DeviceNet master.
The drive supports the protocol "DeviceNet" according to ODVA
version 2.0.
The master communication interface with DeviceNet interface is optionally
available for the following configurable control sections:
single-axis BASIC UNIVERSAL

(CSB01.1C)

single-axis ADVANCED

(CSH01.1C)

The following communication channels are distinguished:


Cyclic data channel (polled I/O)
The field bus provides data containers in which useful data can be
cyclically transmitted in real time.
Acyclic data channel (Explicit Message)
The field bus provides an object directory of the device. The objects
can 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 are


accessible via objects. In DeviceNet these objects can be addressed

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2-12 Master Communication

MPH-04, MPB-04, MPD-04

through class, instance and attribute. Some of these objects can be


assigned to the "polled I/O" as real-time data and thus be cyclically
transmitted. There is also the option of transmitting via "Explicit
Message", but no objects defined in the real-time channel (P-0-4081) may
be 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)
250 kbit/s (up to a distance of 250 m)
500 kbit/s (up to a distance of 100 m)
freely configurable process data channel (max. 24 words, max.
15 IDN) in both data directions via drive parameters P-0-4080 and
P-0-4081
monitoring of the process data channel (watchdog function)
all parameters of the drive can be acyclically read via "Explicit
Message" and, if allowed, can be written
LED displays on the front panel of the command communication
module for simple diagnosis of bus functions and most important
communication relationships between drive and field bus (2 LEDs:
module status and network status)

Pertinent Parameters
Communication Parameters

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

Profile Type Parameters

Apart from mere communication parameters, we use parameters in


conjunction with the profile types.

Parameters for Extended


Communication

We use additional parameters for extended communication.

Pertinent Diagnostic Messages


F4009 Bus failure
F4012 Incorrect I/O length

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MPH-04, MPB-04, MPD-04

Drive Control

3.1

Overview of Drive Control

Basic Principles and Terms


The IndraDrive firmware supports the following two basic principles of
drive 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 the
drive; we distinguish two principles of closed-loop axis control:
Operation with encoder
The velocity and position control loops are closed by means of
encoder feedback so that the following operating modes are supported
by 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 encoder
The velocity control loop is closed by means of a motor model
(monitor) so that field-oriented closed-loop current control without
encoder feedback supports velocity control without encoder.

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3-2 Drive Control

3.2

MPH-04, MPB-04, MPD-04

Motor Control

General Information on Motor Control


Open-Loop/Closed-Loop Operation
The IndraDrive firmware supports the following two basic principles of
motor 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 and
current)
Via bit 14 and bit 15 of parameter P-0-0045, Control word of current
controller the method of motor control is selected.

Cycle Times and PWM Frequencies


Depending on the firmware variant (MPH, MPD or MPB) and the
respective control section (CSH01.1, CDB01.1, CSB01.1), there are the
following possible cycle times and PWM frequencies:
TA_current

P-0-0001

FWA variant

P-0-0556, bit 2

Performance

62.5 s

16000

MPH

Basic

83.3 s

12000

MPH

Basic

125 s

8000

MPH
MPB
MPD

Basic

125 s

4000

MPH
MPB
MPD

Basic

250 s

2000

MPH
MPB

Basic

62.5 s

16000

MPH

Advanced

83.3 s

12000

MPH

Advanced

62.5 s

8000

MPH

Advanced

125 s

4000

MPH

Advanced

1)

TA_current: sampling time of current loop


P-0-0001: Switching frequency of power output stage (in Hz)
P-0-0556: Config word of axis controller
1):
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 of


axis controller it is possible to select the performance options
depending on the control section design.
See "Performance Data" in chapter "System Overview"

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MPH-04, MPB-04, MPD-04

3.3

Closed-Loop Axis Control (Closed-Loop Operation)

Velocity Loop (with Respective Filters)


P-0-0555, Status word of axis controller

New or Modified Parameters

P-0-0556, Config word of axis controller

Position Loop (with Respective Feedforward Functions and Actual


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

master
axis
positioning
block no.
target
position
position
cmd value

synchronization
modes

bit 3

positioning
block
mode

acceleration
feedforward

P-0-0040

S-0-0348

S-0-0032
P-0-0180

P-0-0556

bit 0

S-0-0104

drivecontrolled
positioning

P-0-0434

position
control with
cyclic
cmd value
input

S-0-0189
+

S-0-0038
S-0-0039
S-0-0091
+

IPO

fine
position
loop interpolator

S-0-0048
P-0-0691

actual
value
adjustment

P-0-0059

P-0-0455

P-0-0454

nlimit

S-0-0051
S-0-0053

+
S-0-0040

current
loop

S-0-0092
P-0-0109

P-0-0048

P-0-0049
DF000194v01_en.fh

Features

Fig. 3-2:

Structure of position loop

Note:

The preprocessing of the position command value (command


value adjustment) is described in the corresponding section of
the position control mode (e.g. position control with cyclic
command 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. smoothing
filter
Depending on the control performance which has been set, the cycle
time TA_position is used for position loop calculations (see "Performance
Data" in chapter "System Overview").
with lag error or lagless, i.e. with velocity feedforward

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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 motor
encoder and external position control encoder (up to now only motor
encoder and measuring wheel encoder)
New or Modified Parameters

S-0-0048, Position command value additional


S-0-0520, Control word of axis controller
S-0-0521, Status word of position loop
P-0-0556, Config word of axis controller

3.4

Commutation Setting

New or Modified Parameters

New or Modified Diagnostic


Messages

P-0-0518, C5600 Command


commutation offset

subsequent

optimization

of

C5600 Command subsequent optimization of commutation offset


C5601 Command requires drive enable
C5602 Axis blocked
C5603 Timeout: axis in motion

3.5

Power Supply

New or Modified Parameters

P-0-0860, Converter configuration


P-0-0861, Power supply status word

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Operating Modes 4-1

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MPH-04, MPB-04, MPD-04

Operating Modes

4.1

Torque/Force Control
In the "torque/force control" mode a torque/force command value is
preset for the drive. If required this command value can be filtered. When
the operating mode is activated the diagnostic message is "A0100 Torque
control".

command value adjustment


for torque/force control

torque/force
command value

torquegenerating
current cmd value

Fig. 4-1:
Features

current loop

DF0054v1.fh7

"Torque/force control" block diagram

torque/force control with regard to the sum of the command values


preset in parameters S-0-0080, Torque/force command value and
S-0-0081, Additive torque/force command value
torque/force command value is generated internally by the velocity
loop; value of S-0-0081 can be added as additive component
limitation of the preset command value to limit value that can be
parameterized
command value filtered via parameters S-0-0822, Torque/force ramp
and 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 the
drive. The velocity command value is limited by ramps and filters.

velocity command
value

command value adjustment for velocity loop

velocity loop

effective
velocity command
value

Fig. 4-2:

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

current loop

torque/force
command value

"Velocity control" block diagram

DF0026v1.fh7

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4-2 Operating Modes

MPH-04, MPB-04, MPD-04

Features

an external velocity command value (sum of S-0-0036, Velocity


command 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. for
jogging forward/backward, feeding, setting up, ...)
use of a drive-internal command value generator for generating
command value ramps ("motor potentiometer")
inversion of the provided velocity command value before it is
processed in the ramp generator
window comparator for masking critical velocity ranges in the
command value channel (e.g. machine resonances) with
corresponding acceleration adjustment (cf. P-0-1209)
ramp generator with separately adjustable two-stage acceleration and
deceleration limits of the preset velocity command value; switching
from ramp 1 to ramp 2 is done with selectable velocity and run-up stop
that can be parameterized
velocity control via a digital PI controller with extensive filter measures
monitoring the command velocity and actual velocity for exceeding
parameter S-0-0091, Bipolar velocity limit value
smoothing of velocity control loop difference via filter that can be
parameterized
smoothing of preset command value by means of average filter (jerk
limitation by means of moving average filter)
fine interpolation of the velocity command values; transmission of
these command values in the position loop clock
The fine interpolator can be switched on or off (P-0-0556, bit 0).
velocity control loop monitoring (cannot be parameterized) to prevent
the drive from running away
The monitor can be switched on or off (P-0-0556, bit 1).
velocity loop internally generates the torque/force command value to
which the value of parameter S-0-0081, Additive torque/force
command 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

New or Modified Parameters

P-0-0143, Synchronization velocity


P-0-0556, Config word of axis controller

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Operating Modes 4-3

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MPH-04, MPB-04, MPD-04

4.4

Positioning Block Mode


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

positioning
block

positioning
generator

cmd value
interpolation
target
position

position
controller

effective
pos. cmd value

velocity
controller

velocity cmd
value

current
controller

torque/force
cmd value
DF000087v01_en.fh7

Fig. 4-3:
Features

"Positioning block mode" block diagram

parameterization of up to 64 positioning blocks; each with target


position/travel distance, velocity, acceleration, deceleration and jerk
defined block acceptance by toggling bit 0 in S-0-0346 with reaction
time tR_Strobe = tposition
Note: With field bus drives, the I/O mode and control via the parallel
interface are exceptions. In these cases acceptance takes place by a
0-1 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 for
advance:
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 incremental
dimension)
"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

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4-4 Operating Modes

4.5

MPH-04, MPB-04, MPD-04

Synchronization Modes

Basic Functions of the Synchronization Modes


Configuring and Controlling the Synchronization Modes
The synchronization modes are configured and controlled by means of
the following parameters:
New or Modified Parameters
(Synchronization Parameters)

S-0-0520, Control word of axis controller


S-0-0521, Status word of position loop
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 make
the following settings via these parameters:
position control with lag error or lagless
use of encoder 1 or encoder 2

Command Value Addition


This section contains an overview of the basic possibilities of adding
command values. The characteristics and details specific to operating
mode are described in the section of the respective synchronization
mode.
New or Modified Parameters

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


P-0-0686, Additive position command value, positioning velocity
P-0-0687, Additive
acceleration

position

command

value,

positioning

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 which
can 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

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Operating Modes 4-5

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MPH-04, MPB-04, MPD-04

Master Axis Adjustment


Master Axis Generation

Possible signal sources


synchronization modes:

for

the

effective

master

axis

of

the

real master axis


virtual master axis, external
virtual master axis, internal
Master Axis Offset and Modulo
Limitation

For internal adjustment or processing of the master axis information there


are 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

Electronic Gear Function

New or Modified Parameters

By means of factors to be set (e.g. input revolutions, output revolutions,


polarity), the electronic gear function can influence the master axis
position relevant for the operating mode as compared to the master axis
position preset by master axis evaluation.
P-0-0054, Additive master axis position
P-0-0688, Additive master axis position, positioning velocity
P-0-0689, Additive master axis position, positioning acceleration
P-0-0761, Master axis position for slave axis

Dynamic Synchronization of the Slave Axis


New or Modified Parameters

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


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

Velocity Synchronization with Real/Virtual Master Axis


New or Modified 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

New or Modified Diagnostic


Messages

A0164 Velocity synchronization

Phase Synchronization with Real/Virtual Master Axis


In the operating mode "phase synchronization with real/virtual master
axis" the drive follows a preset master axis position in an absolute or
relative phase synchronous way.
The real master axis velocity is generated by a measuring encoder, the
virtual master axis velocity is preset by the master or the integrated
master axis generator.

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4-6 Operating Modes

MPH-04, MPB-04, MPD-04

Features

determination of the position command value from the master axis


position using the electronic gear with fine adjust, adjustable master
axis 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:

real master axis


encoder
P-0-0052
virtual
master
axis pos.
(external)
P-0-0053

dynam.
synchronization

command
value
addition

cmd value processing


specific to oper. mode
+

adjustment
pos. format

master axis
adjustment

virtual
master
axis pos.
(internal)

P-0-0776

P-0-0778

internal
cmd value
P-0-0434

P-0-0761
P-0-0777

P-0-0779

DF000218v01_en.fh

P-0-0052:
Actual position value of measuring encoder
P-0-0053:
Master axis position
P-0-0434:
Position command value of controller
P-0-0761:
Master axis position for slave axis
P-0-0776:
Effective master axis position
P-0-0777:
Effective master axis velocity
P-0-0778:
Synchronous position command value
P-0-0779:
Synchronous velocity
Fig. 4-5:
Function blocks of the operating mode "phase synchronization with
real/virtual master axis"
Variants of the Operating Mode

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", select


phase synchronization and the master axis in P-0-0088,
Control word for synchronous operation modes. The
encoder selection and lagless position control are set in
S-0-0520, Control word of axis controller.

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Operating Modes 4-7

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MPH-04, MPB-04, MPD-04

Application "Absolute Phase


Synchronization"

For machining processes that require absolute phase synchronization,


e.g. printing, punching or perforating in printing machines, the absolute
position reference to the master axis is established in the "phase
synchronization" mode. The drive synchronizes with a position command
value that is generated from master axis position and additive position
command value.

Application "Relative Phase


Synchronization"

For machining processes that only require relative phase synchronization,


e.g. synchronization of belts or feed rollers without defined starting point,
a relative position reference to the master axis is established. During the
first synchronization, there is only an adjustment to the synchronous
velocity but no position adjustment carried out.

New or Modified Parameters

S-0-0520, Control word of axis controller


S-0-0521, Status word of position loop
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

New or Modified Diagnostic


Messages

A0163 Position synchronization

Electronic Cam Shaft with Real/Virtual Master Axis


In the operating mode "electronic cam shaft with real/virtual master axis"
there is a fixed relationship between the master axis position and the
slave axis.
The real master axis velocity is generated by a measuring encoder, the
virtual master axis velocity is preset by the master or the integrated
master axis generator.
Features

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
synchronization mode to be selected
single-step or double-step synchronization
absolute or relative phase synchronization
synchronization range to be selected
change of format "on the fly"
cross cutter function
clocked pull roll

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4-8 Operating Modes

MPH-04, MPB-04, MPD-04

The figure below illustrates the interaction of the individual subfunctions


(function blocks) of the "electronic cam shaft" mode:
real master axis
encoder
P-0-0052
virtual
master
axis pos.
(external)
P-0-0053

dynam.
synchronization

command
value
addition

cmd value processing


specific to oper. mode
cam
shaft
profiles

master axis
adjustment

virtual
master
axis pos.
(internal)

adjustment
pos. format

P-0-0776

P-0-0778

internal
cmd value
P-0-0434

P-0-0761
P-0-0777

P-0-0779

DF000219v01_en.fh

P-0-0052:
Actual position value of measuring encoder
P-0-0053:
Master axis position
P-0-0434:
Position command value of controller
P-0-0761:
Master axis position for slave axis
P-0-0776:
Effective master axis position
P-0-0777:
Effective master axis velocity
P-0-0778:
Synchronous position command value
P-0-0779:
Synchronous velocity
Fig. 4-6:
Function blocks of the operating mode "cam shaft with real/virtual
master axis"
Variants of the Operating Mode

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


position synchronization
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
Note:

New or Modified Parameters

In the operating mode variant "position synchronization", select


phase synchronization and the master axis in P-0-0088,
Control word for synchronous operation modes. The
encoder selection and lagless position control are set in
S-0-0520, Control word of axis controller.

S-0-0520, Control word of axis controller


S-0-0521, Status word of position loop
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

New or Modified Diagnostic


Messages

A0163 Position synchronization

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Operating Modes 4-9

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MPH-04, MPB-04, MPD-04

Electronic Motion Profile with Real/Virtual Master Axis


In the operating mode "electronic motion profile with real/virtual master
axis" there is a fixed relationship between the master axis position and the
slave axis.
The real master axis velocity is generated by a measuring encoder, the
virtual master axis velocity is preset by the master or the integrated
master axis generator.
Features

2 sequences of motion with up to 8 motion steps per master axis


revolution
definition of a motion step by standardized profile or cam shaft profile
standard profiles can be selected (rest in rest, rest in velocity, velocity
in rest, velocity in velocity, constant velocity)
th

standard profiles realized by 5 order polynomial or, in the case of rest


in 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
synchronization mode to be selected
absolute or relative processing of the motion steps to be selected
synchronization range to be selected
cross cutter function
The figure below illustrates the interaction of the individual subfunctions
(function blocks) of the "electronic motion profile" mode:
real master axis
encoder
P-0-0052
virtual
master
axis pos.
(external)
P-0-0053

dynam.
synchronization

command
value
addition

cmd value processing


specific to operating mode
polynomial
calculation

master axis
adjustment

virtual
master
axis pos.
(internal)

P-0-0776

adjustment
pos. format
P-0-0778

internal
cmd value
P-0-0434

P-0-0761
P-0-0777

P-0-0779

DF000211v01_en.fh

P-0-0052:
Actual position value of measuring encoder
P-0-0053:
Master axis position
P-0-0434:
Position command value of controller
P-0-0761:
Master axis position for slave axis
P-0-0776:
Effective master axis position
P-0-0777:
Effective master axis velocity
P-0-0778:
Synchronous position command value
P-0-0779:
Synchronous velocity
Fig. 4-7:
Function blocks of the operating mode "motion profile with
real/virtual master axis"

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4-10 Operating Modes


Variants of the Operating Mode

MPH-04, MPB-04, MPD-04

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


position synchronization
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
Note:

New or Modified Parameters

In the operating mode variant "position synchronization", select


phase synchronization and the master axis in P-0-0088,
Control word for synchronous operation modes. The
encoder selection and lagless position control are set in
S-0-0520, Control word of axis controller.

S-0-0520, Control word of axis controller


S-0-0521, Status word of position loop
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
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-0-0709, Motion profile, diagnosis, set 1
P-0-0710, Number of motion steps, set 1
P-0-0711, Master axis velocity, set 1
P-0-0712, List of master axis initial positions, set 1
P-0-0713, List of motion step modes, set 1
P-0-0714, List of distances, set 1
P-0-0715, List of slave axis velocities, set 1
P-0-0755, Gear reduction

New or Modified Diagnostic


Messages

A0163 Position synchronization

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Drive Functions 5-1

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MPH-04, MPB-04, MPD-04

Drive Functions

5.1

Establishing the Position Data Reference

Establishing Position Data Reference for Absolute Measuring Systems


The position data reference of an absolute measuring system to the axis
has to be established once during initial commissioning, after replacing
the motor or encoder (motor encoder or external encoder) and changes in
the mechanical axis system.
Establishing Position Data
Reference via Drive Commands

In the case of measuring systems to be evaluated in absolute form, the


position data reference is automatically established by the drive by
starting the "set absolute measuring" command.
In the case of measuring systems to be evaluated in absolute form, the
position data reference can be automatically established by the drive by
starting the command
"setting absolute measuring"
- or "drive-controlled homing procedure".
The position data reference once established is maintained until one of
the two commands is started again. The actual position values therefore
are axis-related ("homed") immediately after the drive is switched on.

Motor Encoder and External


Encoder

If two absolute measuring systems have been connected to the controller,


the position data reference can be separately established for both
measuring systems. If the position data reference was only set for one of
the measuring systems, both actual position values are equal at the
position at which the position data reference was established.
Note:

If the position data reference was only set for one encoder, the
actual position values of both encoders remain equal as long
as mechanical axis system and encoder systems are
mechanically connected without slip (slip control is possible!).

Command "Set Absolute


Measuring"

It is recommended to start the "set absolute measuring" command when


the 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 defined
position on the master side and be held in this position by the drive, "set
absolute measuring" can also be executed with active drive.

"Drive-Controlled Homing
Procedure" Command

When the command "drive-controlled homing procedure" (without


previous start of "set absolute measuring") is started, the drive
automatically moves the axis to a dedicated position, defined by a home
switch and/or the zero position of the absolute encoder, and at this
position establishes the position data reference.
For absolute encoders, the command "drive-controlled homing
procedure" can be advantageously used after loss of position data
reference after:
encoder replacement in conjunction with a home switch,
encoder error with peripheral causes in the case of modulo-scaled
axes (e.g. encoder cable damage).
Note:

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

"Active drive" means the drive that is in control. Drive enable


("AF") has been set.

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5-2 Drive Functions


Assigning the Axis-Related
Actual Position Value with "Set
Absolute Measuring"

MPH-04, MPB-04, MPD-04

By starting the "set absolute measuring" command the previous actual


position value of an encoder at a dedicated position of the axis is set to a
new value. This value is the current axis position related to the coordinate
system 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 absolute
measuring" are realized via parameter settings.

Assigning the Axis-Related


Actual Position Value with
"Drive-Controlled Homing"

By starting the "drive-controlled homing procedure" command the


previous actual position value of an encoder at a dedicated position of the
axis is set to a new value. This value is the current axis position related to
the coordinate system of the machine.
The required assignments and configurations for "drive-controlled
homing" are realized via parameter settings.

5.2

Error Reactions

Overview of Error Reactions


Depending on the operating mode that is used and some parameter
settings, the drive controller carries out monitoring functions. An error
message is generated by the drive controller, if a status is detected that
no longer allows correct operation.
Errors are classified in error classes. The error class is represented by
the first two digits of the diagnostic message number.
If the drive controller is in control (drive enable was set) and an error
occurs, 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!

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

Drive Functions 5-3

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MPH-04, MPB-04, MPD-04

Error Classes

There are 8 error classes with different priority:


Diagnostic
message
number

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 on
error

F3xxx

non-fatal safety
technology error

according to setting in parameter:


- P-0-0119, Best possible deceleration
- P-0-0117, Activation of NC reaction on
error

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 parameter


P-0-3210, Safety technology
configuration

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 message


number and defines the drive behavior in the case of error.

Best Possible Deceleration


The drive reaction defined in parameter P-0-0119, Best possible
deceleration 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 in
control (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 technology
configuration
fatal errors (F8xxx)
immediate torque disable
fatal system errors (F9xxx)
immediate torque disable

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

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5-4 Drive Functions

5.3

MPH-04, MPB-04, MPD-04

Compensation Functions/Corrections

Detent Torque Compensation


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

Motors for which the magnetic excitation is realized with permanent


magnets (e.g. synchronous motors) in many cases show detent torques
or detent forces. Detent torques/detent forces already act on the moving
component of the motor in the de-energized state and aim at moving it to
a stable position.
When the motor is put into motion by control, the detent torques/detent
forces act on the motor in a decelerating or accelerating way, according to
the position. For applications in which minimum lag error or very constant
velocity is important, the position-dependent detent torques/detent forces
can have a negative effect.
To improve the synchronous operation and lag error behavior of
synchronous motors, IndraDrive controllers provide detent torque and
detent force compensation for drives with high demands on lag error and
synchronous operation quality. For this purpose, additive torque
command values take effect in drive control in a position-dependent way.
Pertinent Parameters

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 torque
compens.
P-0-1135, Velocity threshold for switching off detent torque
compens.
P-0-1136, Lead time detent torque compensation
P-0-1138,
C4800
compensation table

Pertinent Diagnostic Messages

Command

Determine

detent

torque

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

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

Drive Functions 5-5

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MPH-04, MPB-04, MPD-04

5.4

Measuring Wheel Mode

New or Modified Parameters

S-0-0520, Control word of axis controller


S-0-0521, Status word of position loop
P-0-0185, Control word of encoder 2 (optional encoder)

5.5

Redundant Motor Encoder

Base package of all variants in closed-loop characteristic


Motor control of synchronous motors requires a position measuring
system that measures the position of the moving part of the motor as
opposed to the static part. If there is malfunction or defect in the position
measuring system (motor encoder), a synchronous motor can no longer
be decelerated in a controlled way.
Depending on the requirements, position control can require an external
measuring system at the axis which detects the position at the load with
the required precision.
For axis control, the entire mechanical drive system between motor
encoder and load position of the external encoder is mapped via
parameters. This allows calculating the position of the motor encoder
from the position of the external encoder or determining the load position
from the motor encoder position, if the mechanical drive system is without
slip.
If there is a defect in the motor encoder, the motor position, when an
external encoder is used, can be determined via the position of the
external encoder and the synchronous motor can be decelerated in a
controlled way.
For asynchronous motors with motor encoder, it is also possible to use an
external measuring system for controlled deceleration if there is a defect
in the motor encoder. But if the asynchronous motor, depending on the
drive task, is operated without encoder, controlled deceleration via
external encoder in the case of error is not possible!
Note:

You can only use measuring systems with Upp = 1V or


resolvers 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

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

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5-6 Drive Functions

5.6

MPH-04, MPB-04, MPD-04

Virtual Master Axis Generator

Expansion package synchronization (order code SNC) in all designs


As for drive-controlled positioning, a positioning command value is preset
for the virtual master axis generator; this value can be processed
internally in absolute (position target) or relative (travel distance) form. In
the internal interpolator, a position command value characteristic is
generated as the input value for the position loop from the preset
positioning data (effective target position, velocity, acceleration and jerk).
Note:

positioning
input

The function "virtual master axis generator" is identical to the


operating mode "drive-controlled positioning". Only the
parameters used are different!

cmd value adjustment


for virtual
master axis generator

master axis

effective
virtual
pos. cmd value

Fig. 5-2:

oper. mode

velocity
cmd value

position
control loop

torque/force
cmd value

DF000195v01.fh

Block diagram "virtual master axis generator" (and subsequent


function blocks)

Features
As device function, the virtual master axis generator has been realized
with the following characteristics:
nd

2 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 master
axis format (modulo value "virtual master axis" 2^20 * P-0-0750)
virtual master axis generator realized as
IndraMotion MLD with individual scaling system

virtual

axis

in

setting of virtual master axis generator either directly via parameters or


via the following function blocks:
MC_MoveVelocity / MX_MoveVelocity
MC_MoveAbsolut / MX_MoveAbsolut
MC_MoveAdditiv / MX_MoveAdditiv
MC_MoveRelativ / MX_MoveRelativ
MC_Stop
MB_Stop

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

Drive Functions 5-7

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MPH-04, MPB-04, MPD-04

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

Pertinent Parameters
P-0-0756, Virtual master axis, scaling type
P-0-0757, Virtual master axis, modulo value
P-0-0758, Virtual master axis, actual position value
P-0-0759, Virtual master axis, actual velocity value
P-0-0760, Virtual master axis, positioning control word
P-0-0761, Master axis position for slave axis
P-0-0766, Virtual master axis, positioning command value
P-0-0767, Virtual master axis, effective target position
P-0-0768, Virtual master axis, positioning status
P-0-0769, Virtual master axis, command value mode
P-0-0770, Virtual master axis, positioning command value
P-0-0771, Virtual master axis, positioning acceleration
P-0-0772, Virtual master axis, positioning deceleration
P-0-0774, Virtual master axis, positioning window shortest
distance
P-0-0911, Virtual master axis, positioning window
P-0-0912, Virtual master axis, standstill window
P-0-0913, Virtual master axis, positioning jerk
P-0-0914, Virtual master axis, velocity threshold positioning
P-0-0917, Control word of master axis generator

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

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

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5-8 Drive Functions

5.7

MPH-04, MPB-04, MPD-04

Parameter Set Switching


IndraDrive devices have been equipped with up to eight parameter sets; it
is possible to switch between these sets in operation. One of the
switchable parameter sets is always active. Switching takes place upon
command of the control master.
Notes on Applications

With the possibility of adjusting the values of different parameters to


different operating phases or machining processes by switching
parameter sets, if necessary during operation, the IndraDrive firmware
supports the work flow in flexible production facilities.
Examples of application:
changing from C-axis to roughing or finishing operation in the case of
spindles
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 the
torque in short-time operation

Classification of Switchable
Parameters

Under the application-related point of view, the parameters to be switched


are 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)

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

Drive Functions 5-9

5.8

Cross Communication (CCD)


Basic Information on the CCD Function
The IndraDrive interface for cross communication ( CCD: Cross
Communication Drives) allows electronic (digital) coupling of axes. We
distinguish 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, Gantry
axis)
command triggering (control over axes: RF, AH, )
transmission of external process data (command values and actual
values 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 slaves


takes place via a protocol according to SERCOS III
specification.

higher-level
control unit

PLC

(BASIC single-axis/double-axis or ADVANCED)

X31

X8

X4

optional module
"CCD"
for ADVANCED

X32

X7

X31

X4

X7

X32

X31

X10

Ethernet TCP/IP

X8

X4

X7

X32

X31

X10

X8

X4

X32

X10

X41

X10

X8

X41

X7

X41

commissioning
all axes
without replugging

slave axes

field bus

X41

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MPH-04, MPB-04, MPD-04

SERCOS III

Rexroth

X2

X2

H20

Esc

Enter

MASTER

X2

H20

Esc

Enter

SLAVE 1
optional master communication
module "S3" for
BASIC single-axis/double-axis
and ADVANCED

Fig. 5-3:

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

X2

H20

Esc

H20

Esc

Enter

SLAVE 2

Enter

SLAVE 3

DF000188v01_en.fh

Hardware topology of drive cross communication (CCD)

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5-10 Drive Functions

MPH-04, MPB-04, MPD-04

Variants and Dependencies of the CCD Function


Bus Topology

As regards system structure and bus topology, the following basic


distinction is made:
Collective bus connection
Configuration of the CCD slaves and communication with the external
control unit always takes place via the CCD master drive, as the
individual CCD slaves do not have their own additional interface for
master communication.
Individual bus connection (in preparation)
Each drive in the cross communication group additionally has its own
interface for master communication.

CCD Modes

When cross communication (CCD) is used between the drives, we


distinguish the following variants (CCD modes):
CCD system mode
The CCD slaves have a direct logic connection to the field bus CCD
master; command triggering and input of process data take place via
en external control unit.
CCD basic mode
The functions are available as for the CCD system mode, but without
use of MLD-M functionality in the master axis.
MLD-M system mode
The CCD slaves have no direct logic connection to the external control
unit, but only to the MLD-M in the CCD master. Command triggering
and input of process data take place by the MLD-M in the CCD
master.

Features
The table below contains the main features and important data of the
CCD modes:
Command
triggering
(Motion Control)
CCD
master

CCD
slave

remote

remote

CCD
basic mode

local

local

MLD-M
system mode

local

remote
MLD-M

CCD
system mode

Possible master communication

PROFIBUS

DeviceNet

profiles 0xFFFE, 0xFFFE


for all CCD nodes

CANopen
--

SERCOS

Parallel/
analog

Max.
number of
slaves

--

--

all profiles (only for CCD master)

yes

yes

all profiles (only for CCD master)

yes

yes

remote:
control by external master
remote MLD-M: control by MLD-M in CCD master
local:
control by local MLD-S of the respective axis
Fig. 5-4:
Main features of the CCD modes

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

Drive Functions 5-11

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MPH-04, MPB-04, MPD-04

Communication Data

The cross communication (CCD) function is characterized by the following


communication-specific features:
synchronization of the CCD slaves to the CCD master
CCD (SERCOS-III) cycle time (see S-0-1002) can be selected
depending 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, CCD
mode and maximum number of slaves:
Data length
(bytes/slave)

CCD
cycle time

CCD
system mode

CCD basic mode/


MLD-M system mode

500 s

1 master + 1 slave

1 master + 1 slave

1000 s

1 master +3 slaves

1 master +5 slaves

4000 s

1 master +5 slaves

1 master +7 slaves

48

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

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, only
the freely configurable profile (0xFFFE and 0xFFFD) is supported in
the master!
Apart from the exchange of cyclic process data (MDT, AT), all CCD
slaves can be parameterized via the parameterization interfaces
(Ethernet, serial, master communication) available at the CCD master.

Fields of Application
Typical fields of application for cross communication:
control tasks for multi-axis applications
anti backlash
synchronous operation control
load control of several axes
simple command value linkage
position command value linkage (Gantry axes)
torque/force linkage
simple motion controls (in preparation)
with decentralized command value adjustment for single-axis
positioning and master axis linkage

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

Note:

With the cross communication function, "Coordinated Motion"


is not possible!

Note:

The higher-level master mostly is a PLC with a field bus which


does not have real-time and synchronization ability
(PROFIBUS, DeviceNet).

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5-12 Drive Functions

MPH-04, MPB-04, MPD-04

Hardware Requirements
Using the drive function "cross communication" requires the following
control section design:
CCD Master
control section in ADVANCED design with optional module CCD at
optional slot 3
CSH-01.2C-xx-xxx-xxx-CCD-xx-x-..
CCD slaves
control section with master communication interface "SERCOS III"
(S3); possible with the following designs:
BASIC UNIVERSAL single-axis

CSB-01.1C-S3-xxx-xx-x

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 Control


Sections"

Note:

As for integrated safety technology, this firmware function


does not require separate enabling of functional packages; the
function of drive cross communication is available with the
corresponding hardware design.

Pertinent Parameters
Note:

The parameters listed below are only required for the CCD
master!

These list parameters are available once in the CCD master for all CCD
slaves:
P-0-1600, CCD: configuration
P-0-1601, CCD: addresses of projected drives
P-0-1602, CCD: timing settings
P-0-1605, CCD: command communication phase
P-0-1606, CCD: actual communication phase
P-0-1611, CCD: configuration list signal status word
P-0-1612, CCD: configuration list signal control word
P-0-1613, CCD: assignment list signal status word
P-0-1614, CCD: assignment list signal control word
P-0-1615, CCD: extrapolated cmd value IDN list signal selection
P-0-1616, CCD: extrapolated cmd value signal selection
P-0-1617, CCD: number of extrapolation steps
P-0-1618, CCD: extrapolated command value
P-0-1621, CCD: configuration list master communication cmd
values
P-0-1622, CCD: configuration list master communication actual
values
P-0-1623, CCD: configuration list master cmd values

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

Drive Functions 5-13

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MPH-04, MPB-04, MPD-04

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-0-1633, CCD: system data 4 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-0-1740, CCD: MDT real-time container 2, master
P-0-174x, CCD: MDT real-time container 2, slave x
P-0-1750, CCD: MDT real-time container 3, master
P-0-175x, CCD: MDT real-time container 3, slave x
P-0-1760, CCD: MDT real-time container 4, master
P-0-176x, CCD: MDT real-time container 4, slave x
P-0-1770, CCD: AT real-time container 1, master
P-0-177x, CCD: AT real-time container 1, slave x
P-0-1780, CCD: AT real-time container 2, master
P-0-178x, CCD: AT real-time container 2, slave x
P-0-1790, CCD: AT real-time container 3, master
P-0-179x, CCD: AT real-time container 3, slave x
P-0-1800, CCD: AT real-time container 4, master
P-0-180x, CCD: AT real-time container 4, slave x
P-0-1810, CCD: status word synchronous operating modes,
master
P-0-181x, CCD: status word synchronous operating modes,
slave x
Note:

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

For configuring the SERCOS III communication in the slaves


we use the standard SERCOS III parameters (see S-0-1001 et
seq.).

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5-14 Drive Functions

MPH-04, MPB-04, MPD-04

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 function
of a PLC integrated in the drive according to IEC-61131-3 with the
following 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 control
motion function block according to PLCopen for single-axis positioning
on local and remote axes and synchronization mode (synchronous
running, 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-wide
variables)
library administration
basis for technology functions
Examples: following-on cutting devices, pick&place, process controller
(register controller, winding computation, etc.), preventive
maintenance, 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 in


detail
in
the
separate
documentation
"Rexroth
IndraMotion MLD" (DOK-INDRV*-MLD-S*VRS**-AW01-EN-P;
part no. R911306084).

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

Drive Functions 5-15

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MPH-04, MPB-04, MPD-04

Hardware Requirements

The expansion package "IndraMotion MLD" requires one of the following


control section designs:
single-axis ADVANCED (CSH01.1C)
single-axis BASIC (CSB01.1)
Note:

Firmware Requirements

The expansion package "IndraMotion MLD" is not available


for double-axis control sections (CDB01.1C)!

In the firmware MPx-04VRS the function "IndraMotion MLD" is available


in 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 only


scalable by means of the hardware and does not require any
additional enabling of functional packages.

We distinguish the following characteristics of integrated safety


technology 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 technology
characteristic on the hardware:
Integrated safety technology (Safety on Board)

Hardware option

Safety related starting


lockout

Safety related
motion

Safety related
stopping process

Drive interlock

L1

S1

S1

S1

BASIC OPENLOOP
(CSB01.1N-FC)
BASIC SERCOS
(CSB01.1N-SE)

BASIC PROFIBUS
(CSB01.1N-PB)

BASIC ANALOG
(CSB01.1N-AN)

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

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

ADVANCED
(CSH01.1C)

Fig. 5-6:

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

Dependence of safety technology on hardware

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5-16 Drive Functions

MPH-04, MPB-04, MPD-04

Integrated Safety Technology (Safety on Board)


Features

dual-channel selection of safety functions via digital inputs/outputs


(24 V) or digital inputs/outputs (24 V) and master communication or a
safety 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 trend
monitoring)
safety functions in status "Safety related stopping process"
(Safety related standstill, Safety related operational stop, Safety
related 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 absolute
position)
other auxiliary functions (Safety related shutdown, Safety related
homing procedure, Safety related inputs/outputs for PROFIsafe)
safety functions for "Safety related feedback"
(Safety related diagnostic outputs, Safety related control of a door
locking device)

New or Modified Parameters

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 brake
check
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 brake
check
P-0-3311, Safety rel. hold. sys.: dur. test torque injection br.
check

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

Drive Functions 5-17

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MPH-04, MPB-04, MPD-04

New or Modified Diagnostic


Messages

A0018 Special mode motion 1 active


A0019 Special mode motion 2 active
A0020 Special mode motion 3 active
A0021 Special mode motion 4 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 possible
with AF
C5902 Command Error during abrasion of redundant holding
brake
C5903 Command execution impossible
E3116 Nominal load torque of holding system reached
F3116 Nominal load torque of holding system exceeded

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

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5-18 Drive Functions


MPH-04, MPB-04, MPD-04

Notes

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

Extended Drive Functions 6-1

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MPH-04, MPB-04, MPD-04

Extended Drive Functions

6.1

Quick Stop via Probe Input

Expansion packages servo (order code SRV) and synchronization (order code SNC) in all designs

The edge reversal of a digital voltage signal can trigger the quick stop of
an axis, if the drive is ready for this action. For quick stop, a velocity
command value reset is internally triggered which causes the axis to
decelerate. The following conditions are taken into account in this case:
the current torque/force limit value for drives in closed-loop operation
the maximum stator frequency change (P-0-0569) for drives in openloop operation
When the drive has detected the quick stop signal, it ignores the setting of
command values by the control master, decelerates in a drive-controlled
way and remains in a drive-internal operating mode until the readiness for
quick stop is reset.
To keep the delay between edge reversal of the signal and triggering of
quick stop as short as possible, the rapid digital input for probe 1 is used
for this function. This realizes the quickest signal evaluation under the
following conditions:
sampling time for signals at probe input approx. 0.05 s
For sufficient noise immunity, signal edge reversal must last for at
least 4.0 s in order to be safely detected!

Hardware Requirements
Quick stop via probe input can only be used for drives the control sections
of which have a rapid digital input (probe input 1).
The following control section designs are available:
no rapid digital input ( quick stop via probe input not possible):
CSB01.1N-FC- BASIC OPENLOOP
CSB01.1N-AN- BASIC ANALOG
one rapid digital input:
CSB01.1N-SE- BASIC SERCOS
CSB01.1N-PB- BASIC PROFIBUS
CSB01.1C
BASIC UNIVERSAL (single-axis)
one rapid digital input per axis:
CDB01.1C-
BASIC UNIVERSAL (double-axis)
two rapid digital inputs:
CSH01.1C-...
ADVANCED
The terminal designations of the "rapid" digital inputs are contained in the
documentation "Project Planning Manual for Control Sections".

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

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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 "System
Overview")
freely selectable position signals for emulation (P-0-0900, P-0-0901)
resolution that can be parameterized (incremental encoder emulation
in lines/revolution; absolute encoder emulation in bits/revolution)
scaling-related emulation (SSI and incremental) S-0-0076
synchronization of SSI emulation to SSI clock can be activated
dead-time compensation that can be activated for incremental encoder
emulation (P-0-0902, bit 3)
zero pulse that can be shifted for incremental encoder emulation
(P-0-0904)
parameterizable cyclic zero pulse output for incremental encoder
emulation referring to zero pulse distance (P-0-0904) and position data
reference (P-0-0902)
incremental encoder emulation can be switched off in operation
( pause)
internal clock increase of incremental encoder emulation to reduce
zero pulse jitter and frequency jitter (not for BASIC ANALOG control
sections)
signal-related and motor-encoder-related emulation to be freely
selected
( influence on position of zero pulse!)

New or Modified Parameters


P-0-0902, Encoder emulation control parameter

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

Extended Drive Functions 6-3

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MPH-04, MPB-04, MPD-04

6.3

Analog Outputs
Overview
According to the control section type, IndraDrive controllers already have
analog outputs in their basic configuration (without optional modules).
Configurable control sections can be upgraded with this function by using
the optional module MA1. The number and function of the analog outputs
differ according to the type and configuration of control section (see
"Hardware Requirements" below).
The figure below illustrates the interaction of the two analog output
channels with the analog outputs.

P-0-0427

bit 13

only for MPD

P-0-0427

bit 12

analog output: assignment B


P-0-0427

bit 8

P-0-0425

select
drive parameters acc.
to P-0-0426

P-0-0427

bit 10

P-0-0427

bit 5

only for MPD

P-0-0427

bit 4

analog output: assignment A


bit 0

P-0-0422

select
drive parameters acc.
to P-0-0426

P-0-0420

(output on MA1)
D
P-0-0417

Out 6

analog output 4

(output on MA1)
D
P-0-0415

Out 4

analog output 2

(control section)
D
P-0-0140

Out 2

P-0-0419

P-0-0423

P-0-0427

analog output 6

P-0-0427

bit 2

analog output 5

(output on MA1)
D
P-0-0416

Out 5

analog output 3

(output on MA1)
D
P-0-0414

Out 3

analog output 1

(control section)
D
P-0-0139

Out 1

P-0-0418
DF000092v02_en.fh

MA1:
Fig. 6-1:

analog I/O extension (optional module)


Assignment mechanism for the analog outputs

The drive function "analog outputs" allows using analog signal values for
commissioning and optimizing drives with appropriate measuring devices
(e.g. oscilloscope, multimeter), as well as for visualizing the contents of
drive parameters.

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

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6-4 Extended Drive Functions

MPH-04, MPB-04, MPD-04

Features
General Information

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 "Performance
Data" in chapter "System Overview")
analog outputs can be written via master communication (cyclic or
acyclic channel)
internal status variables and signals (= parameter contents) are output
as analog voltage signals at output terminal connectors of the drive
controller (see separate documentation "Project Planning Manual for
Control 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 be
displayed between overflow and limitation
parameterizable output offset or parameterizable reference value

Analog Outputs on Control


Section

Analog Outputs on Optional


Module MA1

number and resolution of analog outputs according to control section


design:
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 0411part 500 (programmable logic controllers) and should be used according
to the specifications contained in this standard.
connection via 15-pin D-Sub connector
2 analog outputs with 12 bits each
output voltage range:

10 V with reference to 0 VA

available quantization:

5 mV (= 10V/2^11)

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

Extended Drive Functions 6-5

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MPH-04, MPB-04, MPD-04

Hardware Requirements
Analog output
Control
section type

1
(P-0-0139)

2
(P-0-0140)

3
(P-0-0414)

4
(P-0-0415)

5
(P-0-0416)

6
(P-0-0417)

CSH01.1C

An1

An2

MA1
(optional slot 2:
AA1)

MA1
(optional slot 2:
AA2)

--

--

CSB01.1C

--

--

MA1
(optional slot 2:
AA1)

MA1
(optional slot 2:
AA2)

--

--

CDB01.1C

An1

An2

MA1
(optional slot 3:
AA1)

MA1
(optional slot 3:
AA2)

MA1
(optional slot 4:
AA1)

MA1
(optional slot 4:
AA2)

CSB01.1N-FC

An1

An2

--

--

--

--

CSB01.1N-AN

--

--

--

--

--

--

CSB01.1N-SE

--

--

--

--

--

--

CSB01.1N-PB

--

--

--

--

--

--

MA1:
Fig. 6-2:

optional module MA1 (analog I/O extension)


Overview of hardware dependence of the analog outputs

The terminal designations and technical data of the analog


outputs are contained in the separate documentation "IndraDrive, Drive
Controllers Control Sections, Project Planning Manual"!

Note:

In the case of double-axis devices (control section


CDB01.1-....), the analog outputs are used by both axes,
simultaneous use of an analog output by both axes is
impossible.

New or Modified Parameters


P-0-0416, Analog output 5
P-0-0417, Analog Output 6

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

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6-6 Extended Drive Functions


MPH-04, MPB-04, MPD-04

Notes

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

Handling, Diagnostic and Service Functions 7-1

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MPH-04, MPB-04, MPD-04

Handling, Diagnostic and Service Functions

7.1

Loading, Storing and Saving Parameters

New or Modified Parameters


New or Modified Diagnostic
Messages

7.2

P-0-4090, Configuration for loading default values


C0751 Parameter default value incorrect (-> S-0-0423)

Replacing the Firmware

General Notes on How to Replace the Firmware


Basic Principles
Explanation of Terms

For firmware replacement we distinguish the following cases:


Release update
An old firmware release (e.g. MPH04V06) contained in the device is
replaced by a new firmware release (e.g. MPH04V08).
Version upgrade
The old firmware version (e.g. MPH03V20) contained in the device is
replaced by a new firmware version (e.g. MPH04V08).
Note:

The paragraphs below describe the recommended options


firmware replacement by higher releases ("update")
versions ("upgrade"). The same conditions and sequences
actions apply to firmware replacement by older releases
older firmware versions.

of
or
of
or

Firmware for IndraDrive is replaced using the following hardware and


software:
MultiMediaCard (MMC)
PC with software "IndraWorks D"
Note:

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

The commissioning software "IndraWorks D" can be ordered


from one of our sales and service facilities under the
designation
SWA-IWORKS-D**-03VRS-D0-CD650-COPY
(part no. R911312495). The scope of supply of
"IndraWorks D" contains a documentation which describes the
operation of the program.

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7-2 Handling, Diagnostic and Service Functions


MPH-04, MPB-04, MPD-04

Notes

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

Notes on Application 8-1

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MPH-04, MPB-04, MPD-04

Notes on Application

8.1

New Applications
The firmware MPx-04VRS provides the following new possibilities of
application:
drive cross communication for command value linkage
motor switching in operation by extended functions "parameter set
switching" and "parking axis"

8.2

Functional Modifications with Regard to Previous Version


The paragraphs below in short form contain the most important functional
modifications with regard to the previous version MPx-03VRS. These
modifications have been marked with gray background color in the
respective 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 for
vertical 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 bus
interface

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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 of
15 IDNs can be configured)
for CANopen master communication, three PDOs can be configured in
each direction with a maximum of 8 bytes each

Incompatible Functional Modifications


The following functions were extended or modified in firmware
MPx-04VRS in incompatible form with regard to the previous
version:
measuring wheel mode
"phase synchronization" and "electronic cam shaft" modes
PLC motion function blocks
The following functions were extended or modified in firmware
MPx-04VRS in incompatible form with regard to firmware
FGP-20VRS:
acyclic access
communication

to

drive

parameters

for

DeviceNet

master

node monitoring changed from "Node Guarding Protocol"


"Heartbeat Protocol" for CANopen master communication

to

acyclic parameter access (SDO) modified for CANopen master


communication

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

Notes on Application 8-3

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MPH-04, MPB-04, MPD-04

New and Modified Parameters


New Parameters
The following new parameters were introduced in firmware version
MPx-04VRS:
S-0-0163, Weight counterbalance
S-0-0420, C0400 Activate parameterization level 1 procedure
command
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-0-0520, Control word of axis controller
S-0-0521, Status word of position loop
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
S-0-1134, SERCOS-III: Master control word
S-0-1135, SERCOS-III: Drive status word

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

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8-4 Notes on Application

MPH-04, MPB-04, MPD-04

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-0-0416, Analog Output 5
P-0-0417, Analog Output 6
P-0-0518, C5600 Command
commutation offset

subsequent

optimization

of

P-0-0551, Current load torque


P-0-0686, Additive position command value, positioning velocity
P-0-0687, Additive
acceleration

position

command

value,

positioning

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


P-0-0689, Additive master axis position, positioning acceleration
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-0-0761, Master axis position for slave axis
P-0-0766, Virtual master axis, positioning command value
P-0-0767, Virtual master axis, effective target position
P-0-0768, Virtual master axis, positioning status
P-0-0769, Virtual master axis, command value mode
P-0-0770, Virtual master axis, positioning 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 shortest
distance
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

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

Notes on Application 8-5

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MPH-04, MPB-04, MPD-04

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 torque
compens.
P-0-1135, Velocity threshold for switching off detent torque
compens.
P-0-1136, Lead time detent torque compensation
P-0-1138,
C4800
compensation table

Command

Determine

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-0-1399, PLC input WORD9 AT %IB18
P-0-1400, PLC input WORD10 AT %IB20
P-0-1401, PLC input WORD11 AT %IB22
P-0-1402, PLC input WORD12 AT %IB24
P-0-1403, PLC input WORD13 AT %IB26
P-0-1404, PLC input WORD14 AT %IB28
P-0-1405, PLC input WORD15 AT %IB30
P-0-1406, PLC input WORD16 AT %IB32
P-0-1407, PLC input WORD17 AT %IB34
P-0-1408, PLC input WORD18 AT %IB36
P-0-1409, PLC input WORD19 AT %IB38
P-0-1418, PLC output WORD8 AT %QB16
P-0-1419, PLC output WORD9 AT %QB18
P-0-1420, PLC output WORD10 AT %QB20
P-0-1421, PLC output WORD11 AT %QB22
P-0-1422, PLC output WORD12 AT %QB24
P-0-1423, PLC output WORD13 AT %QB26
P-0-1424, PLC output WORD14 AT %QB28
P-0-1425, PLC output WORD15 AT %QB30
P-0-1426, PLC output WORD16 AT %QB32
P-0-1427, PLC output WORD17 AT %QB34
P-0-1428, PLC output WORD18 AT %QB36
P-0-1429, PLC output WORD19 AT %QB38
P-0-1440, PLC input DWORD25 AT %IB100
P-0-1441, PLC input DWORD26 AT %IB104
P-0-1442, PLC input DWORD27 AT %IB108
P-0-1443, PLC input DWORD28 AT %IB112
P-0-1444, PLC input DWORD29 AT %IB116

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

detent

torque

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8-6 Notes on Application

MPH-04, MPB-04, MPD-04

P-0-1445, PLC input DWORD30 AT %IB120


P-0-1446, PLC input DWORD31 AT %IB124
P-0-1447, PLC input DWORD32 AT %IB128
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 cmd
values
P-0-1622, CCD: configuration list master communication actual
values
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-0-1632, CCD: system data 2 bytes
P-0-1633, CCD: system data 4 bytes
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

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

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

MPH-04, MPB-04, MPD-04

Notes on Application 8-7

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-0-1740, CCD: MDT real-time container 2, master
P-0-174x, CCD: MDT real-time container 2, slave x
P-0-1750, CCD: MDT real-time container 3, master
P-0-175x, CCD: MDT real-time container 3, slave x
P-0-1760, CCD: MDT real-time container 4, master
P-0-176x, CCD: MDT real-time container 4, slave x
P-0-1770, CCD: AT real-time container 1, master
P-0-177x, CCD: AT real-time container 1, slave x
P-0-1780, CCD: AT real-time container 2, master
P-0-178x, CCD: AT real-time container 2, slave x
P-0-1790, CCD: AT real-time container 3, master
P-0-179x, CCD: AT real-time container 3, slave x
P-0-1800, CCD: AT real-time container 4, master
P-0-180x, CCD: AT real-time container 4, 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 brake
check
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 brake
check
P-0-3311, Safety rel. hold. sys.: dur. test torque injection br.
check
C5700 Command Release redundant holding brake
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

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

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

8-8 Notes on Application

MPH-04, MPB-04, MPD-04

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 Parameters
The following parameters were extended or modified in firmware version
MPx-04VRS:
S-0-0048, Additive position command value
S-0-0115, Position feedback 2 type
S-0-0128, C0200 Communication phase 4 transition check
S-0-0139, C1600 Parking axis command
S-0-0277, Position feedback 1 type
S-0-0292, List of all operating modes
S-0-1019, Master communication: MAC address
S-0-1020, Master communication: IP address
S-0-1021, Master communication: network mask
S-0-1022, Master communication: gateway address
P-0-0001, Switching frequency of the power output stage
P-0-0054, Additive master axis position
P-0-0060, Filter time constant additional pos. Command
P-0-0072, Cam shaft profile 1
P-0-0074, Encoder type 1 (motor encoder)
P-0-0075, Encoder type 2 (optional encoder)
P-0-0076, Encoder type 3 (measuring encoder)
P-0-0088, Control word for synchronous operation modes
P-0-0089, Status word for synchronous operating modes
P-0-0092, Cam shaft profile 2
P-0-0117, Activation of NC reaction on error
P-0-0143, Synchronization velocity
P-0-0155, Synchronization mode
P-0-0185, Control word of encoder 2 (optional encoder)
P-0-0218, Analog input, control parameter
P-0-0226, Probe, extended control word
P-0-0328, Type of position encoder for measuring encoder
P-0-0427, Control parameter of analog output
P-0-0525, Holding brake control word
P-0-0555, Status word of axis controller
P-0-0556, Configuration of axis controller
P-0-0612, Control word for setting absolute measuring

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

Notes on Application 8-9

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

MPH-04, MPB-04, MPD-04

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-0-0709, Motion profile, diagnosis, set 1
P-0-0710, Number of motion steps, set 1
P-0-0711, Master axis velocity, set 1
P-0-0712, List of master axis initial positions, set 1
P-0-0713, List of motion step modes, set 1
P-0-0714, List of distances, set 1
P-0-0715, List of slave axis velocities, set 1
P-0-0755, Gear reduction
P-0-0778, Synchronous position command value
P-0-0780, Cam shaft profile 3
P-0-0781, Cam shaft profile 4
P-0-0782, Cam shaft profile 5
P-0-0783, Cam shaft profile 6
P-0-0784, Cam shaft profile 7
P-0-0785, Cam shaft profile 8
P-0-0860, Converter configuration
P-0-0861, Power supply status word
P-0-0902, Encoder emulation control parameter
P-0-1200, Control word 1 velocity control
P-0-1206, Memory of velocity command values
P-0-1214, Control word 2 velocity control
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

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

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

8-10 Notes on Application

MPH-04, MPB-04, MPD-04

Parameters no Longer Available


The following parameters are no longer available compared to the
previous 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-0-0720, Motion step 4, mode
P-0-0721, Motion step 4, distance
P-0-0722, Motion step 4, slave axis velocity
P-0-0723, Motion step 5, master axis initial position
P-0-0724, Motion step 5, mode
P-0-0725, Motion step 5, distance
P-0-0726, Motion step 5, slave axis velocity
P-0-0727, Motion step 6, master axis initial position
P-0-0728, Motion step 6, mode
P-0-0729, Motion step 6, distance
P-0-0730, Motion step 6, slave axis velocity
P-0-0731, Motion step 7, master axis initial position
P-0-0732, Motion step 7, mode
P-0-0733, Motion step 7, distance
P-0-0734, Motion step 7, slave axis velocity
P-0-0735, Motion step 8, master axis initial position
P-0-0736, Motion step 8, mode
P-0-0737, Motion step 8, distance
P-0-0738, Motion step 8, slave axis velocity
P-0-1499, PLC retain data on-board

New and Modified Diagnostic Messages


New Diagnostic Messages
The following new diagnostic messages were introduced in firmware
version MPx-04VRS:
A0018 Special mode motion 1 active
A0019 Special mode motion 2 active
A0020 Special mode motion 3 active
A0021 Special mode motion 4 active
A0050 Parameterization level 1 active
A0160 Position mode drive-controlled
A0161 Drive-controlled positioning
A0162 Positioning block mode
A0163 Position synchronization
A0164 Velocity synchronization

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

Notes on Application 8-11

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

MPH-04, MPB-04, MPD-04

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
C4902 PLC command error no. 2
C4903 PLC command error no. 3
C4904 PLC command error no. 4
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

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

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

8-12 Notes on Application

MPH-04, MPB-04, MPD-04

C5600 Command subsequent optimization of commutation offset


C5601 Command requires drive enable
C5602 Axis blocked
C5603 Timeout: axis in motion
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 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

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

Notes on Application 8-13

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

MPH-04, MPB-04, MPD-04

Modified Diagnostic Messages


The following diagnostic messages were extended or modified in
firmware 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
C0722 Parameter default value incorrect (-> S-0-0423)
C0751 Parameter default value incorrect (-> S-0-0423)
C1600 Parking axis command
E3107 Safety related reference missing
F2026 Undervoltage in power section
F3112 Safety related reference missing

Diagnostic Messages no Longer Available


The following diagnostic messages are no longer available compared to
the previous firmware version or were replaced by other diagnostic
messages:
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.

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

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

8-14 Notes on Application


MPH-04, MPB-04, MPD-04

Notes

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

Index 9-1

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

MPH-04, MPB-04, MPD-04

Index
A
Advanced performance 1-19
analog output 6-3
axis control
position loop 3-3
velocity loop 3-3

B
basic functions of master communication 2-1
basic functions of the synchronization modes 4-4
Basic performance 1-19
best possible deceleration 5-3

C
CANopen interface 2-10
CCD See cross communication
clock rates 1-19
closed-loop axis control 3-1
closed-loop axis control (closed-loop operation) 3-3
closed-loop operation 3-1
compatible functional expansions 8-2
configurations of the control section 1-4
control section configurations 1-4
control section designs 1-4
control sections, overview 1-4
controllers, overview 1-2
cross communication 5-9
cycle times 1-19

D
deceleration, best possible 5-3
detent torque compensation 5-4
device control 2-2
DeviceNet interface 2-11
diagnostic messages, new and modified 8-10
drive control 3-1
drive controllers
control sections 1-4
overview 1-2
power sections 1-4

drive controllers, special design 1-3


drive controllers, standard design 1-2
drive error reaction See error reactions
drive firmware, overview 1-1
drive functions 5-1
extended drive functions 6-1

drive-integrated PLC See IndraMotion MLD See IndraMotion MLD


dynamic synchronization of the slave axis 4-5

E
Economy performance 1-19
electronic cam shaft with real/virtual master axis 4-7
electronic motion profile with real/virtual master axis 4-9
encoder emulation 6-2
error classes 5-3
error reactions 5-2
best possible deceleration 5-3

establishing position data reference See establishing position data reference for
absolute measuring systems
for absolute measuring systems 5-1

extended drive functions 6-1

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

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

9-2 Index

MPH-04, MPB-04, MPD-04

F
firmware types 1-11
firmware variants 1-1
functional modifications with regard to previous version 8-1
functional packages 1-7
additive functional packages 1-17
alternative functional packages 1-15
base packages 1-12

functions, new and modified 8-1

I
I/O mode (positioning and preset velocity) 2-3
incompatible functional modifications 8-2
IndraMotion MLD 1-17, 5-14
integrated safety technology 1-18

M
master axis adjustment 4-5
master axis generator, virtual 5-6
master communication 2-1
CANopen interface 2-10
DeviceNet interface 2-11
overview 1-7
PROFIBUS-DP 2-8
SERCOS III 2-5

measuring systems
supported measuring systems 1-6

measuring wheel mode 5-5


motor control 3-2
motor encoder, redundant 5-5
motors
supported motors 1-6

multiplex channel 2-2

N
notes on application 8-1

O
operating modes
electronic cam shaft with real/virtual master axis 4-7
electronic motion profile with real/virtual master axis 4-9
phase synchronization with real/virtual master axis 4-5
positioning block mode 4-3
synchronization modes 4-4
torque/force control 4-1
velocity control 4-1
velocity synchronization with real/virtual master axis 4-5

P
parameter set switching 5-8
parameters
loading, storing and saving 7-1

parameters, new and modified 8-3


performance data 1-19
phase synchronization with real/virtual master axis 4-5
position loop 3-3
positioning block mode 4-3
power sections, overview 1-4
power supply 3-4
probe input, quick stop via 6-1
PROFIBUS-DP 2-8

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

Index 9-3

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

MPH-04, MPB-04, MPD-04

profile types 2-3


freely configurable mode 2-3
I/O Mode 2-3
I/O mode (positioning and preset velocity) 2-3
overview 2-3

Q
quick stop, via probe input 6-1

R
redundant motor encoder 5-5
release update 7-1
replacing the firmware 7-1
basic principles, terms 7-1

S
safety technology 1-18
scaling the drive functionality 1-7
SERCOS analog converter 1-3
SERCOS III 2-5
status machine 2-2
synchronization modes 4-4
synchronization of the slave axis, dynamic 4-5
system overview 1-1

T
torque/force control
block diagram 4-1

V
velocity control
block diagram 4-1

velocity loop 3-3


velocity synchronization with real/virtual master axis 4-5
version upgrade 7-1
virtual master axis generator 5-6

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

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

9-4 Index
MPH-04, MPB-04, MPD-04

Notes

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

Service & Support 10-1

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

MPH-04, MPB-04, MPD-04

10

Service & Support

10.1 Helpdesk
Unser Kundendienst-Helpdesk im Hauptwerk Lohr
am Main steht Ihnen mit Rat und Tat zur Seite.
Sie erreichen uns

Our service helpdesk at our headquarters in Lohr am


Main, Germany can assist you in all kinds of inquiries.
Contact us

+49 (0) 9352 40 50 60

telefonisch - by phone:
ber Service Call Entry Center
- via Service Call Entry Center

Mo-Fr 07:00-18:00
Mo-Fr 7:00 am - 6:00 pm

+49 (0) 9352 40 49 41

per Fax - by fax:

per e-Mail - by e-mail: service.svc@boschrexroth.de

10.2 Service-Hotline
Auerhalb der Helpdesk-Zeiten ist der Service
direkt ansprechbar unter

After helpdesk hours,


department directly at

contact

our

service

+49 (0) 171 333 88 26


oder - or

+49 (0) 172


660 04 06

10.3 Internet
Unter www.boschrexroth.com finden Sie
ergnzende Hinweise zu Service, Reparatur und
Training sowie die aktuellen Adressen *) unserer
auf den folgenden Seiten aufgefhrten Vertriebsund Servicebros.

At www.boschrexroth.com you may find


additional notes about service, repairs and training
in the Internet, as well as the actual addresses *) of
our sales- and service facilities figuring on the
following pages.

Verkaufsniederlassungen

sales agencies

Niederlassungen mit Kundendienst

offices providing service

Auerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mit


unserem fr Sie nchstgelegenen Ansprechpartner auf.

*) Die Angaben in der vorliegenden Dokumentation knnen


seit Drucklegung berholt sein.

Please contact our sales / service office in your area first.

*) Data in the present documentation may have become


obsolete since printing.

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


Wir knnen Ihnen schnell und effizient helfen wenn
Sie folgende Informationen bereithalten:

For quick and efficient help, please have the


following information ready:

i.

detaillierte Beschreibung der Strung und der


Umstnde.

1. Detailed description
circumstances.

ii.

Angaben
auf
dem
Typenschild
der
betreffenden
Produkte,
insbesondere
Typenschlssel und Seriennummern.

2. Information on the type plate of the affected


products, especially type codes and serial
numbers.

iii.

Tel.-/Faxnummern und e-Mail-Adresse, unter


denen Sie fr Rckfragen zu erreichen sind.

3. Your phone/fax numbers and e-mail address,


so we can contact you in case of questions.

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

of

the

failure

and

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

10-2 Service & Support

MPH-04, MPB-04, MPD-04

10.5 Kundenbetreuungsstellen - Sales & Service Facilities


Deutschland Germany
Vertriebsgebiet Mitte
Germany Centre
Bosch Rexroth
Electrice Drives and Controls GmbH
Bgm.-Dr.-Nebel-Str. 2 / Postf. 1357
97816 Lohr am Main / 97803 Lohr

Kompetenz-Zentrum Europa
Tel.:
Fax:

+49 (0)9352 40-0


+49 (0)9352 40-4885

SERVICE AUTOMATION
CALL ENTRY CENTER
Helpdesk
MO FR
von 07:00 - 18:00 Uhr
from 7 am 6 pm

vom Ausland:
from abroad:

(0) nach Landeskennziffer weglassen!


dont dial (0) after country code!

SERVICE AUTOMATION
HOTLINE 24 / 7 / 365
auerhalb der Helpdesk-Zeit
out of helpdesk hours
Tel.: +49 (0)172 660 04 06

Tel. +49 (0) 9352 40 50 60


Fax +49 (0) 9352 40 49 41
service.svc@boschrexroth.de

oder / or

Tel.: +49 (0)171 333 88 26

SERVICE AUTOMATION
ERSATZTEILE / SPARES
verlngerte 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 Sd
Germany South

Vertriebsgebiet West
Germany West

Gebiet Sdwest
Germany South-West

Bosch Rexroth AG
Landshuter Allee 8-10
80637 Mnchen

Bosch Rexroth AG
Regionalzentrum West
Borsigstrasse 15
40880 Ratingen

Bosch Rexroth AG
Service-Regionalzentrum Sd-West
Siemensstr. 1
70736 Fellbach

Tel.: +49 (0)89 127 14-0


Fax: +49 (0)89 127 14-490

Tel.:
Fax:

Tel.: +49 (0)711 510460


Fax: +49 (0)711 51046248

Vertriebsgebiet Nord
Germany North

Vertriebsgebiet Mitte
Germany Centre

Vertriebsgebiet Ost
Germany East

Vertriebsgebiet Ost
Germany East

Bosch Rexroth AG
Walsroder Str. 93
30853 Langenhagen

Bosch Rexroth AG
Regionalzentrum Mitte
Waldecker Strae 13
64546 Mrfelden-Walldorf

Bosch Rexroth AG
Beckerstrae 31
09120 Chemnitz

Bosch Rexroth AG
Regionalzentrum Ost
Walter-Khn-Str. 4d
04356 Leipzig

Tel.: +49 (0) 61 05 702-3


Fax: +49 (0) 61 05 702-444

Tel.:
Fax:

Tel.:
Fax:

Tel.:
+49 (0) 511 72 66 57-0
Service: +49 (0) 511 72 66 57-256
Fax:
+49 (0) 511 72 66 57-93
Service: +49 (0) 511 72 66 57-783

+49 (0)2102 409-0


+49 (0)2102 409-406
+49 (0)2102 409-430

+49 (0)371 35 55-0


+49 (0)371 35 55-333

+49 (0)341 25 61-0


+49 (0)341 25 61-111

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

Service & Support 10-3

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

MPH-04, MPB-04, MPD-04

Europa (West) Europe (West)


vom Ausland: (0) nach Landeskennziffer weglassen,
from abroad: dont dial (0) after country code,

Italien: 0 nach Landeskennziffer mitwhlen


Italy: dial 0 after country code

Austria - sterreich

Austria sterreich

Belgium - Belgien

Denmark - Dnemark

Bosch Rexroth GmbH


Electric Drives & Controls
Stachegasse 13
1120 Wien
Tel.:
+43 (0) 1 985 25 40
Fax:
+43 (0) 1 985 25 40-1459

Bosch Rexroth GmbH


Electric Drives & Controls
Industriepark 18
4061 Pasching
Tel.:
+43 (0)7221 605-0
Fax:
+43 (0)7221 605-1220

Bosch Rexroth NV/SA


Henri Genessestraat 1
1070 Bruxelles

BEC A/S
Zinkvej 6
8900 Randers

Tel: +32 (0) 2 451 26 08


Fax: +32 (0) 2 451 27 90
info@boschrexroth.be
service@boschrexroth.be

Tel.:
Fax:

Denmark - Dnemark

Great Britain Grobritannien

Finland - Finnland

France - Frankreich

Bosch Rexroth A/S


Engelsholmvej 26
8900 Randers

Bosch Rexroth Ltd.


Electric Drives & Controls
Broadway Lane, South Cerney
Cirencester, Glos GL7 5UH

Bosch Rexroth Oy
Electric Drives & Controls
Ansatie 6
017 40 Vantaa

Tel.:
+44 (0)1285 863-000
Fax:
+44 (0)1285 863-030
sales@boschrexroth.co.uk
service@boschrexroth.co.uk

Tel.:
Fax:

Bosch Rexroth SAS


Electric Drives & Controls
Avenue de la Trentaine
(BP. 74)
77503 Chelles Cedex
Tel.:
+33 (0)164 72-63 22
Fax:
+33 (0)164 72-63 20
Hotline: +33 (0)608 33 43 28

France - Frankreich

France Frankreich

France Frankreich

Italy - Italien

Bosch Rexroth SAS


Electric Drives & Controls
ZI de Thibaud, 20 bd. Thibaud
(BP. 1751)
31084 Toulouse
Tel.: +33 (0)5 61 43 61 87
Fax: +33 (0)5 61 43 94 12

Bosch Rexroth SAS


Electric Drives & Controls
91, Bd. Irne Joliot-Curie
69634 Vnissieux Cedex
Tel.: +33 (0)4 78 78 53 65
Fax: +33 (0)4 78 78 53 62

Tightening & Press-fit:


Globe Techniques Nouvelles
143, Av. du Gnral de Gaulle
92252 La Garenne Colombes

Bosch Rexroth S.p.A.


Strada Statale Padana
Superiore 11, no. 41
20063 Cernusco S/N.MI
Hotline: +39 02 92 365 563
Tel.:
+39 02 92 365 1
Service: +39 02 92 365 300
Fax:
+39 02 92 365 500
Service: +39 02 92 365 516

Italy - Italien

Italy - Italien

Italy - Italien

Italy - Italien

Bosch Rexroth S.p.A.


Via Paolo Veronesi, 250
10148 Torino

Bosch Rexroth S.p.A.


Via Mascia, 1
80053 Castellamare di Stabia NA

Bosch Rexroth S.p.A.


Via del Progresso, 16 (Zona Ind.)
35020 Padova

Bosch Rexroth S.p.A.


Via Isonzo, 61
40033 Casalecchio di Reno (Bo)

Tel.:
Fax:

Tel.:
Fax:

Tel.:
Fax:

Tel.:
Fax:

Tel.:
+45 36 77 44 66
Fax:
+45 70 10 03 20
tj@boschrexroth.dk

+39 011 224 88 11


+39 011 224 88 30

+39 081 8 71 57 00
+39 081 8 71 68 85

Tel.:

+358 (0)9 84 91-11


+358 (0)9 84 91-13 60

+33 (0)1 41 19 33 33

+39 049 8 70 13 70
+39 049 8 70 13 77

+45 87 11 90 60
+45 87 11 90 61

+39 051 29 86 430


+39 051 29 86 490

Italy - Italien

Netherlands Niederlande/Holland

Netherlands - Niederlande/Holland

Norway - Norwegen

Tightening & Press-fit:


TEMA S.p.A. Automazione
Via Juker, 28
20025 Legnano

Bosch Rexroth B.V.


Kruisbroeksestraat 1
(P.O. Box 32)
5281 RV Boxtel

Bosch Rexroth AS
Electric Drives & Controls
Berghagan 1
or: Box 3007
1405 Ski-Langhus
1402 Ski
Tel.:
+47 64 86 41 00

Tel.:

Tel.:
+31 (0) 411 65 16 40
Fax:
+31 (0) 411 65 14 83
www.boschrexroth.nl

Bosch Rexroth Services B.V.


Technical Services
Kruisbroeksestraat 1
(P.O. Box 32)
5281 RV Boxtel
Tel.:
+31 (0) 411 65 19 51
Fax:
+31 (0) 411 67 78 14
Hotline: +31 (0) 411 65 19 51
services@boschrexroth.nl

+39 0 331 4671

Fax:

+47 64 86 90 62

Hotline: +47 64 86 94 82
jul.ruud@rexroth.no

Spain Spanien

Spain - Spanien

Spain - Spanien

Sweden - Schweden

Goimendi Automation S.L.


Parque Empresarial Zuatzu
C/ Francisco Grandmontagne no.2
20018 San Sebastian

Bosch Rexroth S.A.


Electric Drives & Controls
Centro Industrial Santiga
Obradors 14-16
08130 Santa Perpetua de Mogoda
Barcelona
Tel.:
+34 9 37 47 94-00
Fax:
+34 9 37 47 94-01

Bosch Rexroth S.A.


Electric Drives & Controls
c/ Almazara, 9
28760 Tres Cantos (Madrid)

Bosch Rexroth AB
Electric Drives & Controls
- Varuvgen 7
(Service: Konsumentvgen 4, lfsj)
125 81 Stockholm

Sweden - Schweden

Switzerland East - Schweiz Ost

Switzerland West - Schweiz West

Bosch Rexroth AB
Electric Drives & Controls
Ekvndan 7
254 67 Helsingborg
Tel.:
+46 (0) 4 238 88 -50
Fax:
+46 (0) 4 238 88 -74

Bosch Rexroth Schweiz AG


Electric Drives & Controls
Hemrietstrasse 2
8863 Buttikon
Tel.
+41 (0) 55 46 46 111
Fax
+41 (0) 55 46 46 222

Bosch Rexroth Suisse SA


Av. Gnral Guisan 26
1800 Vevey 1

Tel.:
+34 9 43 31 84 21
- service: +34 9 43 31 84 56
Fax:
+34 9 43 31 84 27
- service: +34 9 43 31 84 60
sat.indramat@goimendi.es

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

Tel.:
+34 91 806 24 79
Fax:
+34 91 806 24 72
fernando.bariego@boschrexroth.es

Tel.:
Fax:

+41 (0)21 632 84 20


+41 (0)21 632 84 21

Tel.:
Fax:

+46 (0) 8 727 92 00


+46 (0) 8 647 32 77

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

10-4 Service & Support

MPH-04, MPB-04, MPD-04

Europa (Ost) Europe (East)


vom Ausland: (0) nach Landeskennziffer weglassen
from abroad: dont dial (0) after country code
Czech Republic - Tschechien

Czech Republic - Tschechien

Czech Republic - Tschechien

Hungary - Ungarn

Bosch -Rexroth, spol.s.r.o.


Hviezdoslavova 5
627 00 Brno
Tel.:
+420 (0)5 48 126 358
Fax:
+420 (0)5 48 126 112

DEL a.s.
Strojrensk 38
591 01 Zdar nad Szavou
Tel.:
+420 566 64 3144
Fax:
+420 566 62 1657

Tightening & Press-fit:


Bosch -Rexroth, spol.s.r.o.
Stetkova 18
140 68 Praha 4

Bosch Rexroth Kft.


Angol utca 34
1149 Budapest
Tel.:
+36 (1) 422 3200
Fax:
+36 (1) 422 3201

Poland Polen

Poland Polen

Romania - Rumnien

Romania - Rumnien

Bosch Rexroth Sp.zo.o.


Biuro Poznan
ul. Dabrowskiego 81/85
60-529 Poznan
Tel.:
+48 061 847 64 62 /-63
Fax:
+48 061 847 64 02

Bosch Rexroth Sp.zo.o.


ul. Staszica 1
05-800 Pruszkw
Tel.:
+48 (0) 22 738 18 00
service: +48 (0) 22 738 18 46
Fax:
+48 (0) 22 758 87 35
service: +48 (0) 22 738 18 42

East Electric S.R.L.


Bdul Basarabia no.250, sector 3
73429 Bucuresti
Tel./Fax:: +40 (0)21 255 35 07
+40 (0)21 255 77 13
Fax:
+40 (0)21 725 61 21
eastel@rdsnet.ro

Bosch Rexroth Sp.zo.o.


Str. Drobety nr. 4-10, app. 14
70258 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

Russia Belarus - Weissrussland

Turkey - Trkei

Turkey - Trkei

Bosch Rexroth OOO


Wjatskaja ul. 27/15
127015 Moskau
Tel.:
+7-095-785 74 78
+7-095 785 74 79
Fax:
+7 095 785 74 77
laura.kanina@boschrexroth.ru

ELMIS
10, Internationalnaya
246640 Gomel, Belarus
Tel.:
+375/ 232 53 42 70
+375/ 232 53 21 69
Fax:
+375/ 232 53 37 69
elmis_ltd@yahoo.com

Bosch Rexroth Otomasyon


San & Tic. A..S.
Fevzi Cakmak Cad No. 3
34295 Sefaky Istanbul

Servo Kontrol Ltd. Sti.


Perpa Ticaret Merkezi B Blok
Kat: 11 No: 1609
80270 Okmeydani-Istanbul

Tel.:
+90 212 411-13 00
Fax:
+90 212 411-13 17
www.boschrexroth.com.tr

Tel:
+90 212 320 30 80
Fax:
+90 212 320 30 81
remzi.sali@servokontrol.com
www.servokontrol.com

Slowakia - Slowakei

Slowenia - Slowenien

Tightening & Press-fit:

DOMEL
Otoki 21
64 228 Zelezniki

MTS, spol .s.r.o.


02755 Kriva 53
Tel.:
+421 43 5819 161

Tel.:

+420 (0)241 406 675

Tel.:
+386 5 5117 152
Fax:
+386 5 5117 225
brane.ozebek@domel.si

Australien, Sd-Afrika Australia, South Africa


Australia - Australien

Australia - Australien

South Africa - Sdafrika

South Africa - Sdafrika

AIMS - Australian Industrial


Machinery Services Pty. Ltd.
28 Westside Drive
Laverton North Vic 3026
Melbourne

Bosch Rexroth Pty. Ltd.


No. 7, Endeavour Way
Braeside Victoria, 31 95
Melbourne

TECTRA Automation (Pty) Ltd.


100 Newton Road, Meadowdale
Edenvale 1609

Tightening & Press-fit:


Jendamark Automation
76A York Road, North End
6000 Port Elizabeth

Tel.:
+61 3 93 14 3321
Fax:
+61 3 93 14 3329
Hotlines: +61 3 93 14 3321
+61 4 19 369 195
enquires@aimservices.com.au

Tel.:
+61 3 95 80 39 33
Fax:
+61 3 95 80 17 33
mel@rexroth.com.au

Tel.:
+27 11 971 94 00
Fax:
+27 11 971 94 40
Hotline: +27 82 903 29 23
georgv@tectra.co.za

Tel.:

+27 41 391 4735

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

Service & Support 10-5

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

MPH-04, MPB-04, MPD-04

Asien Asia (incl. Pacific Rim)


China

China

China

China

Shanghai Bosch Rexroth


Hydraulics & Automation Ltd.
No.122, Fu Te Dong Yi Road
Waigaoqiao, Free Trade Zone
Shanghai 200131 - P.R.China

Shanghai Bosch Rexroth


Hydraulics & Automation Ltd.
4/f, Marine Tower
No.1, Pudong Avenue
Shanghai 200120 - P.R.China

Bosch Rexroth (China) Ltd.


Satellite Service Office Changchun
Rm. 1910, Guangming Building
No.336 Xian Rd., Chao Yang Distr.
Changchun 130061 - P.R.China

Tel.:
+86 21 58 66 30 30
Fax:
+86 21 58 66 55 23
richard.yang@boschrexroth.com.cn

Tel:
Fax:

+86 21 68 86 15 88
+86 21 68 86 05 99
+86 21 58 40 65 77
y.wu@boschrexroth.com.cn

Tel.+Fax: +86 431 898 1129


Mobile:
+86 139 431 92 659
shuhong.wang@boschrexroth.com.cn

Bosch Rexroth (China) Ltd.


Satellite Service Office Wuhan
No. 22, Pinglanju, Milanyuan, Golden
Harbor
No. 236 Longyang Avenue
Economic & Technology Development
Zone
Wuhan 430056 - P.R.China

China

China

China

China

Bosch Rexroth (China) Ltd.


Beijing Representative Office
Xi San Qi Dong, De Sheng Mei Wai
Hai Dian District
Beijing 100096, P.R.China

Bosch Rexroth (China) Ltd.


Guangzhou Repres. Office
Room 3710-3716, Metro Plaza,
Tian He District, 183 Tian He Bei Rd
Guangzhou 510075, P.R.China

Bosch Rexroth (China) Ltd.


Dalian Representative Office
Room 2005,Pearl River Int. Building
No.99 Xin Kai Rd., Xi Gang District
Dalian, 116011, P.R.China

Tel.:
+86 10 82 91 22 29
Fax:
+86 10 82 91 81 09
yan.zhang@boschrexroth.com.cn

Tel.:

+86 20 87 55 00 30
+86 20 87 55 00 11
Fax:
+86 20 87 55 23 87
andrew.wang@boschrexroth.com.cn

Tel.:
+86 411 83 68 26 02
Fax:
+86 411 83 68 27 02
jason.tan@boschrexroth.com.cn

Tightening & Press-fit:


C. Melchers GmbH & Co
Shanghai Representation
13 Floor Est Ocean Centre
No.588 Yanan Rd. East
65 Yanan Rd. West
Shanghai 200001
Tel.:
+86 21 63 52 88 48
Fax:
+86 21 63 51 31 38
shermanxia@sh.melchers.com.cn

Hongkong

India - Indien

India - Indien

India - Indien

Bosch Rexroth (China) Ltd.


6th Floor,
Yeung Yiu Chung No.6 Ind Bldg.
19 Cheung Shun Street
Cheung Sha Wan,
Kowloon, Hongkong

Bosch Rexroth (India) Ltd.


Electric Drives & Controls
Plot. No.96, Phase III
Peenya Industrial Area
Bangalore 560058

Bosch Rexroth (India) Ltd.


Electric Drives & Controls
Advance House, II Floor
Ark Industrial Compound
Narol Naka, Makwana Road
Andheri (East), Mumbai - 400 059

Tightening & Press-fit:

Tel.:
+852 27 86 46 32
Fax:
+852 27 42 60 57
Paul.li@boschrexroth.com.cn

Tel.:
Fax:

+91 80 51 17 0-211...-218
+91 80 83 94 345
+91 80 83 97 374
mohanvelu.t@boschrexroth.co.in

Tel.: +91 22 28 56 32 90
+91 22 28 56 33 18
Fax: +91 22 28 56 32 93
singh.op@boschrexroth.co.in

Tel.:

India - Indien

Indonesia - Indonesien

Japan

Japan

Bosch Rexroth (India) Ltd.


S-10, Green Park Extension
New Delhi 110016

PT. Bosch Rexroth


Building # 202, Cilandak Commercial
Estate
Jl. Cilandak KKO, Jakarta 12560

Bosch Rexroth Automation Corp.


Service Center Japan
Yutakagaoka 1810, Meito-ku,
NAGOYA 465-0035, Japan

Bosch Rexroth Automation Corp.


Electric Drives & Controls
2F, I.R. Building
Nakamachidai 4-26-44, Tsuzuki-ku
YOKOHAMA 224-0041, Japan

Tel.:

+91 11 26 56 65 25
+91 11 26 56 65 27
Fax:
+91 11 26 56 68 87
koul.rp@boschrexroth.co.in

Tel.: +62 21 7891169 (5 lines)


Fax: +62 21 7891170 - 71
rudy.karimun@boschrexroth.co.id

Tel.: +81 52 777 88 41


+81 52 777 88 53
+81 52 777 88 79
Fax: +81 52 777 89 01

Tel.: +81 45 942 72 10


Fax: +81 45 942 03 41

Korea

Korea

Korea

Korea

Bosch Rexroth-Korea Ltd.


Electric Drives & Controls
1515-14 Dadae-Dong, Saha-gu
Pusan Metropolitan City, 604-050

Bosch Rexroth-Korea Ltd.


Electric Drives and Controls
Bongwoo Bldg. 7FL, 31-7, 1Ga
Jangchoong-dong, Jung-gu
Seoul, 100-391

Bosch Rexroth-Korea Ltd.


Electric Drives & Controls
1515-14 Dadae-Dong, Saha-gu
Ulsan, 680-010

Tightening & Press-fit:


KVT Co., Ltd.
901, Daeryung Techno Town 8
481-11 Gasan-Dong
Geumcheon-Gu
Seoul, 153-775
Tel.: +82 2 2163 0231 9

gf.zhu@boschrexroth.com.cn

Tel.:
+82 51 26 00 741
Fax:
+82 51 26 00 747
eunkyong.kim@boschrexroth.co.kr

Tel.:
Fax:

+82 234 061 813


+82 222 641 295

Tel.+Fax: +86 27 84 23 23 92
Mobile:
+86 139 71 58 89 67
ym.zhu@boschrexroth.com.cn

Tel.:
+82 52 256-0734
Fax:
+82 52 256-0738
keonhyun.jeong@boschrexroth.co.kr

MICO
Hosur Road Adugodi
560 030 Bangalore Karnataki
+91 80 22 99 28 86

Malaysia

Singapore - Singapur

Taiwan

Taiwan

Bosch Rexroth Sdn.Bhd.


11, Jalan U8/82, Seksyen U8
40150 Shah Alam
Selangor, Malaysia

Bosch Rexroth Pte Ltd


15D Tuas Road
Singapore 638520

Tel.:
+60 3 78 44 80 00
Fax:
+60 3 78 45 48 00
hhlim@boschrexroth.com.my
rexroth1@tm.net.my

Tel.:
+65 68 61 87 33
Fax:
+65 68 61 18 25
lai.ts@boschrexroth.com.sg

Bosch Rexroth Co., Ltd.


Taichung Industrial Area
No.19, 38 Road
Taichung, Taiwan 407, R.O.C.
Tel :
+886 - 4 -235 08 383
Fax:
+886 - 4 -235 08 586
jim.lin@boschrexroth.com.tw
david.lai@boschrexroth.com.tw

Bosch Rexroth Co., Ltd.


Tainan Branch
No. 17, Alley 24, Lane 737
Chung Cheng N.Rd. Yungkang
Tainan Hsien, Taiwan, R.O.C.

Thailand
NC Advance Technology Co. Ltd.
59/76 Moo 9
Ramintra road 34
Tharang, Bangkhen,
Bangkok 10230
Tel.:

+66 2 943 70 62
+66 2 943 71 21
Fax:
+66 2 509 23 62
Hotline
+66 1 984 61 52
sonkawin@hotmail.com

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

Tel :
+886 - 6 253 6565
Fax:
+886 - 6 253 4754
charlie.chen@boschrexroth.com.tw

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

10-6 Service & Support

MPH-04, MPB-04, MPD-04

Nordamerika North America


USA
Headquarters - Hauptniederlassung

USA
Central Region - Mitte

USA
Southeast Region - Sdost

Bosch Rexroth Corporation


Electric Drives & Controls
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707

Bosch Rexroth Corporation


Electric Drives & Controls
1701 Harmon Road
Auburn Hills, MI 48326

Bosch Rexroth Corporation


Electric Drives & Controls
2810 Premiere Parkway, Suite 500
Duluth, GA 30097

Tel.:
+1 847 645-3600
Fax:
+1 847 645-6201
servicebrc@boschrexroth-us.com
repairbrc@boschrexroth-us.com

Tel.:
Fax:

Tel.:
Fax:

USA
Northeast Region Nordost

USA
West Region West

Bosch Rexroth Corporation


Electric Drives & Controls
99 Rainbow Road
East Granby, CT 06026

Bosch Rexroth Corporation


Electric Drives & Controls
7901 Stoneridge Drive, Suite 220
Pleasanton, CA 94588

Tel.:
Fax:

Tel.:
Fax:

+1 860 844-8377
+1 860 844-8595

+1 248 393-3330
+1 248 393-2906

USA SERVICE-HOTLINE

- 7 days x 24hrs -

+1-800-REXROTH

+1 678 957-4050
+1 678 417-6637

+1 800 739-7684

Canada East - Kanada Ost


Tightening & Press-fit:
Bosch Rexroth Canada Corp.
5345 Outer Drive unit 5
Windsor, Ontario
Canada N9A 6J3

+1 925 227-1084
+1 925 227-1081

Tel.:

+1 519 737 7393

Canada East - Kanada Ost

Canada West - Kanada West

Mexico

Mexico

Bosch Rexroth Canada Corporation


Burlington Division
3426 Mainway Drive
Burlington, Ontario
Canada L7M 1A8

Bosch Rexroth Canada Corporation


5345 Goring St.
Burnaby, British Columbia
Canada V7J 1R1

Bosch Rexroth Mexico S.A. de C.V.


Calle Neptuno 72
Unidad Ind. Vallejo
07700 Mexico, D.F.

Bosch Rexroth S.A. de C.V.


Calle Argentina No 3913
Fracc. las Torres
64930 Monterrey, N.L.

Tel.:
Fax:

Tel.
+1 604 205 5777
Fax
+1 604 205 6944
Hotline:
+1 604 205 5777
david.gunby@boschrexroth.ca

Tel.:
Fax:

Tel.:

+1 905 335 5511


+1 905 335 4184

michael.moro@boschrexroth.ca

+52 55 57 54 17 11
+52 55 57 54 50 73

mario.francioli@boschrexroth.com.mx

Fax:

+52 81 83 49 80 91
+52 81 83 49 80 92
+52 81 83 49 80 93
+52 81 83 65 52 80

Sdamerika South America


Argentina - Argentinien

Argentina - Argentinien

Brazil - Brasilien

Brazil - Brasilien

Bosch Rexroth S.A.I.C.


"The Drive & Control Company"
Rosario 2302
B1606DLD Carapachay
Provincia de Buenos Aires

NAKASE SRL
Servicio Tecnico CNC
Calle 49, No. 5764/66
B1653AOX Villa Balester
Provincia de Buenos Aires

Bosch Rexroth Ltda.


Av. Tgula, 888
Ponte Alta, Atibaia SP
CEP 12942-440

Bosch Rexroth Ltda.


R. Dr.Humberto Pinheiro Vieira, 100
Distrito Industrial [Caixa Postal 1273]
89220-390 Joinville - SC

Tel.:

Tel.:
+54 11 4768 36 43
Fax:
+54 11 4768 24 13
Hotline: +54 11 155 307 6781
nakase@usa.net
nakase@nakase.com
gerencia@nakase.com (Service)

Tel.:

Tel./Fax:
Mobil:

+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
victor.jabif@boschrexroth.com.ar

+55 11 4414 -56 92


+55 11 4414 -56 84
Fax sales: +55 11 4414 -57 07
Fax serv.: +55 11 4414 -56 86
alexandre.wittwer@rexroth.com.br

+55 47 473 58 33
+55 47 9974 6645

sergio.prochnow@boschrexroth.com.br

Columbia - Kolumbien
Reflutec de Colombia Ltda.
Calle 37 No. 22-31
Santaf de Bogot, D.C.
Colombia
Tel.:
+57 1 208 65 55
Fax:
+57 1 269 97 37
reflutec@etb.net.co

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

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com

Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 (0)93 52-40-50 60
Fax
+49 (0)93 52-40-49 41
service.svc@boschrexroth.de
www.boschrexroth.com

R911315487

Printed in Germany
DOK-INDRV*-MP*-04VRS**-FV01-EN-P