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DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library

Title

Rexroth IndraDrive Rexroth IndraMotion MLD Library

Type of Documentation Document Typecode Internal File Reference Purpose of Documentation

Library Description DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P RS-3f8ef8b70a6846ac00b4b7d3d98a87cc-4-en-US-3 This documentation describes the functions, function blocks and data types contained in the targets ● ● ● ● ● ● IndraDrive MPH02, IndraDrive MP03, IndraDrive MP04, IndraDrive MP05, IndraDrive MP06 and IndraDrive MP07

as well as a listing of the possible error reactions.
Record of Revision Edition Release Date Notes See chapter "About This Documentation", margin‐ al note "Editions of This Documentation"

DOK-INDRV*-MLD-SYSLIB*-FK01-EN-P 2004-08-13 to to DOK-INDRV*-MLD-SYSLIB*-FK05-EN- 2010-03-23 P

Copyright

© Bosch Rexroth AG 2010 Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1).

Validity

The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract. All rights are reserved with respect to the content of this documentation and the availa‐ bility of the product. Bosch Rexroth AG Bgm.-Dr.-Nebel-Str. 2 ■ D-97816 Lohr a. Main Telephone +49 (0)93 52/ 40-0 ■ Fax +49 (0)93 52/ 40-48 85 http://www.boschrexroth.com/ Dept. DCC/EDY1 (SA, BB)

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DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library

Bosch Rexroth AG

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Table of Contents

Table of Contents
Page

1
1.1 1.2 1.3 1.3.1 1.3.2 1.3.3 1.4 1.5 1.5.1 1.5.2 1.6 1.6.1 1.6.2 1.7 1.8 1.9 1.9.1 1.9.2 1.9.3

Rexroth IndraDrive Firmware Libraries.......................................................................... 5
About This Documentation..................................................................................................................... 5 General Information................................................................................................................................ 7 Libraries.................................................................................................................................................. 8 Supported Libraries............................................................................................................................. 8 Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"............................... 9 Library Assignment as of the Target "IndraDrive MP04"................................................................... 12 Signal Time Diagrams of Most Frequently Used Inputs and Outputs................................................... 22 Error Handling....................................................................................................................................... 26 General Information........................................................................................................................... 26 Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"...................................... 28 Data Types........................................................................................................................................... 34 General Data Types.......................................................................................................................... 34 Selected Data Types of "MX_Base.lib".............................................................................................. 35 MB_IDN.......................................................................................................................................... 35 AnalyzationNew.lib............................................................................................................................... 35 Iecsfc.lib................................................................................................................................................ 35 MX_PLCopen.lib................................................................................................................................... 36 General Information........................................................................................................................... 36 Overview of the Function Blocks....................................................................................................... 36 Function Blocks................................................................................................................................. 37 MB_ChangeProfileSet ................................................................................................................... 37 MB_ChangeProfileStep.................................................................................................................. 39 MB_Command................................................................................................................................ 42 MB_GearInPos............................................................................................................................... 46 MB_MotionProfile........................................................................................................................... 49 MB_Phasing................................................................................................................................... 52 MB_PhasingSlave.......................................................................................................................... 53 MB_Stop......................................................................................................................................... 55 MC_CamIn...................................................................................................................................... 57 MC_CamOut................................................................................................................................... 60 MC_GearIn..................................................................................................................................... 61 MC_GearOut.................................................................................................................................. 63 MC_MoveAbsolute......................................................................................................................... 64 MC_MoveAdditive........................................................................................................................... 66 MC_MoveRelative.......................................................................................................................... 69 MC_MoveVelocity........................................................................................................................... 71 MC_Stop......................................................................................................................................... 74 MC_TorqueControl......................................................................................................................... 77 MX_MoveAbsolute.......................................................................................................................... 78 MX_MoveAdditive........................................................................................................................... 81 MX_MoveRelative........................................................................................................................... 84 MX_MoveVelocity........................................................................................................................... 87 MX_Stop......................................................................................................................................... 89

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Bosch Rexroth AG

DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library

Table of Contents Page 1.10 1.10.1 1.10.2 1.10.3 1.10.4 1.10.5 1.10.6 1.10.7 1.11 1.11.1 1.11.2 MX_SysLibCom.lib................................................................................................................................ 90 Overview............................................................................................................................................ 90 MX_fSysComStatus........................................................................................................................... 91 MX_SysComOpenAsync................................................................................................................... 91 SysComClose.................................................................................................................................... 92 SysComOpen.................................................................................................................................... 93 SysComRead.................................................................................................................................... 93 SysComWrite..................................................................................................................................... 94 MX_Base.lib.......................................................................................................................................... 95 Introduction........................................................................................................................................ 95 "Tools" - General Functions and Function Blocks............................................................................. 96 Overview......................................................................................................................................... 96 ATAN2............................................................................................................................................ 96 MX_fGetFreeTicks.......................................................................................................................... 96 MX_fGetHighResTime.................................................................................................................... 97 MX_fHighResTimerTicks_to_us...................................................................................................... 98 MX_IECTaskGetLoad..................................................................................................................... 99 MX_PositionLoopEventInfo.......................................................................................................... 100 "Drive Control" - Function Blocks/Functions for Drive Control......................................................... 100 Overview....................................................................................................................................... 100 MB_Home..................................................................................................................................... 100 MB_PreSetMode.......................................................................................................................... 102 MX_Power / MC_Power................................................................................................................ 103 MC_ReadStatus........................................................................................................................... 105 MX_Reset / MC_Reset................................................................................................................. 107 MX_Command.............................................................................................................................. 109 MX_SetControl............................................................................................................................. 112 MX_SetDeviceMode..................................................................................................................... 114 MX_SetOpMode........................................................................................................................... 116 MB_SetPositionControlMode........................................................................................................ 119 "Diagnostic" - Functions for Diagnosis............................................................................................. 120 Overview....................................................................................................................................... 120 MX_fGetDriveWarning.................................................................................................................. 121 MX_fSetDriveError........................................................................................................................ 121 MX_fSetDriveWarning.................................................................................................................. 122 "Parameters" - Function Blocks/Functions for Parameters.............................................................. 123 Overview....................................................................................................................................... 123 MB_ChangeCamData................................................................................................................... 124 MX_fCheckCmdRequest.............................................................................................................. 126 MX_fReadParamDINT.................................................................................................................. 127 MX_fReadStringParam................................................................................................................. 128 MX_fSetParamLimits.................................................................................................................... 129 MX_fSetParamName.................................................................................................................... 130 MX_fSetParamUnit....................................................................................................................... 131 MX_fWriteParamDINT.................................................................................................................. 132 MX_fWriteStringParam................................................................................................................. 133

1.11.3

1.11.4

1.11.5

......................................................................... 189 General Information............. 181 MX_fREAL_TorqueTo_DINT ................................................................. 156 MB_ReadStringParameter.................12................................................................................................................... 190 MX_SysLibIecTasks........................................................................................................................................................................ 189 MX_SysLibMem........................................................... 160 MB_WriteRealListParameter .....2 1................................................................................................................................................14............................... 176 "Scaling" ............2 1.................................................................................................... 134 MB_ReadMaxRealValue.......................................................................................................................................................................................................................... 158 MB_WriteParameter................................................................................................................................................................................... 190 Notes on Utilization.........................................................................................................................................................11........................................................................................................................................................................................................................................................................13............................................ 165 MB_WriteRealParameter.......................15 1..... 189 Notes on Utilization............................................3 1......................................................................... 190 "MX_SysLibFile" and "MX_SysLibFileAsync"...................................................................................................................... 152 MB_ReadSercosAttribute ......... 171 MX_ReadParamDINT.............................................................................................. 178 MX_fDINT_AccTo_REAL........... 192 RIL_SocketComm..................18 ...12 1.................................................................................................................... 155 MB_ReadUnit / MX_ReadUnit..................................................................................................................... 173 MX_SetCmdState..................................................................................................................... 150 MB_ReadSercosDataStatus......................................................DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG III/209 Table of Contents Page MB_ReadListParameter..........lib ........................................................................................................................................................................................................................................................................................................................................................................3 1.......................................................................1 1.............13. 136 MB_ReadMaxValue............................................................................ 183 MX_DSP.....12........................lib....17 1... 183 General Information................ 146 MB_ReadRealListParameter......................................................................................................................................................................14...................16 1................................................................................................................................. 138 MB_ReadMinRealValue.................................................................................... 194 1......................................... 192 RIL_CommonTypes......................6 1..................................1 1....................................... 168 MB_WriteStringParameter........................................................................................................................14.......12........................................................................................................... 142 MB_ReadName......................................................................................................................................14 1.. 184 Notes on Programming ................................................................3 1........................ 189 Functions............................................... 183 MX_SynchronControl..................................................................................... 140 MB_ReadMinValue............................... 178 MX_fDINT_DistTo_REAL .................................................................................................................13................................. 182 MX_fREAL_VelTo_DINT .......................................................................................................Functions for Scaling....................... 179 MX_fDINT_VelTo_REAL .............13 1.............................. 175 MX_WriteParamDINT.............................................. 189 General Information............ 189 MX_SysLibDir.. 163 MB_WriteListParameter .......................................................................................................................2 1..........................................................................................................................lib................................................... 180 MX_fREAL_DistTo_DINT ............................................................ 179 MX_fREAL_AccTo_DINT ........................ 189 Functions...................................... 148 MB_ReadRealParameter............. 181 MX_fREAL_TorqueRampTo_DINT ....................................................... 144 MB_ReadParameter..........................................................................................................................................................1 1....................................................lib................................

....lib".2 1....................................................................................25 1.......................26 1....................19 1..22 1.......................20 1............ 200 2 2.........................................................1 Appendix...............3 1............................................................................................... 203 Index........................................lib................................... 199 For Internal Test Purposes Only!: The Library "MX_Debug........................23.lib....23....................................................................................................................lib................................................23..... 199 Util................................. 203 Service and Support...............................................................28 RIL_Utilities........................................ 194 SysLibCallback............ 195 Notes on Utilization..................24 1............................................ 205 ..23 1................................... Function Blocks............................ 199 For Program-Internal Use Only!: Functions for Checking or Signaling Runtime Errors............ 194 SysLibSem.............................................................................................. 194 RIL_VExUtil................................................................................... 196 SysLibStr.................................27 1... 200 Do Not Use!: Internal Functions........................ Data Types and Structures...........................................................................................................................lib....................................................................1 1............................. 195 Overview of Function Blocks and Functions........................................................... 195 SysLibSockets...........21 1..lib.................................................................................................................................................. 195 General...........................................................................................................................................................................................................IV/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Table of Contents Page 1...............

Contains references to the documentation of the basic libra‐ ries for IndraLogic 1x. "IndraDrive MP03" and "IndraDrive MP04" Contains descriptions of libraries for targets "IndraDrive MPH02". are represented in angle brackets For example.. . "IndraDrive MP04" and "IndraDrive MP05" Error corrections and additions.. if not avoided. The addresses contained in the list "P‑0‑1601.1-1: Means of Representation in This Documentation What? Paths and sequences of menus.. diagnostic message names... Table on dependance between parameterization of the axis. CCD:Addresses of projected drives" . "Axis2" to "Axis8" correspond to the re‐ mote axes.1 Edition Rexroth IndraDrive Firmware Libraries About This Documentation Release date 2004-08-13 2006-10-27 Notes Contains descriptions of libraries for target "IndraDrive MPH02" Contains descriptions of libraries for targets "IndraDrive MPH02". "Active"=TRUE signals that . functional package and selected function block included Chapters and links on "RIL" and system libraries included Error corrections Editions of This Documentation DOK-INDRV*-MLD-SYSLIB*-FK01-EN-P DOK-INDRV*-MLD-SYSLIB*-FK02-EN-P DOK-INDRV*-MLD-SYSLIB*-FK03-EN-P 2007-10-30 DOK-INDRV*-MLD-SYSLIB*-FK04-DE-P 2009-11-11 DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P 2010-03-23 Fig. Record of Revisions To make the reading of this documentation easier for you..are represented step by step in bold‐ face . "IndraDrive MP03".DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 5/209 Rexroth IndraDrive Firmware Libraries 1 1. The symbols have the following significances: DANGER .. DANGER indicates a hazardous situation which.. Click Window ▶ Show view ▶ Properties Click <Add> or Press <Ctrl>+<Alt> For remote axes. Important facts which are to be highligh‐ Boldface ted in the body text Parameter names. A symbol tells you what kind of note is used in the text. will result in death or serious injury... How? .. the table below con‐ tains the means of representation and notations of recurring terms.. Buttons and keys.... Also contains descriptions of functions and function blocks for targets "IndraDrive MP06" and "IndraDrive MP07".1-2: Conventions of Notation All important notes are highlighted. function designations Quotation marks Fig..

you can send your feedback to the following e-mail address: Dokusupport@boschrexroth.6/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries WARNING . CAUTION . This symbol highlights useful tips and tricks.. In case of non-compliance with this safety instruction.. This box contains important information which you should take into consideration.. . if not avoided. WARNING indicates a hazardous situation which. Your Feedback Your experience is important for our improvement processes of products and documentations. property damage could occur. Documentation as Online Help This documentation has been included in the IndraLogic help system. The page number... NOTICE . If you discover mistakes in this documentation or suggest changes.de We need the following information to handle your feedback: ● ● The number indicated under "Internal File Reference". minor or moderate injury could occur.. could result in death or serious injury. In case of non-compliance with this safety instruction.

1-3: Title Reference Documentations Description of "Rexroth IndraDrive Firmware Libraries" in the IndraLogic Help System Document typecode1) DOK-IL*1X*-BASLIB**V09-RE01EN-P Part number R911330547 Kind of documentation Reference Book Rexroth IndraWorks Basic Libraries IndraLogic 1x 1) Fig. After you have installed the PLC pro‐ gramming system Rexroth IndraLogic.1-4: In the document typecodes. the functional expansion package "IndraMotion MLD" must have been enabled (see also Functional Description of firmware "Enabling of Functional Packages").. For operating the IndraDrive target systems as drive-integrated PLC.2 General Information The PLC programming system Rexroth IndraLogic allows managing different libraries. "xx" is a wild card for the current edition of the documentation (example: PR01 is the first edition of a Project Plan‐ ning Manual) Documentations – Overview 1...\Rexroth\IndraWorks\IndraLogic\Targets IndraDrive MP04) (as of target system . these libraries are contained in the directory ● ● .. In addition. Rexroth provides specific function block libraries.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 7/209 Rexroth IndraDrive Firmware Libraries Fig.\Rexroth\IndraLogic\Targets(target systems IndraDrive MPH02 and IndraDrive MP03) . The corresponding hardware must be available to use the different IndraDrive target systems as drive-integrated PLC (see Application Manual "Rexroth IndraMotion MLD").

lib MX_Base. in the right column highlight the desired feature and confirm your selection with "OK".1 Library Libraries Supported Libraries Target As of "IndraDrive MPH02" As of "IndraDrive MPH02" Description Function blocks for the analysis of expressions Makes available IEC steps conforming to standard in sequen‐ tial language ["Sequential Function Chart" (SFC)] ● ● ● ● ● ● ● ● General Functions Functional Blocks/Functions for Drive Control Functions for Diagnosis Function Blocks/Functions for Parameters Functions for Scaling Data Types or Structures Cyclic Parameters as Direct Variables (System-Wide Variables) Axis Structures [for Multi-Axis System (MLD System Mode)] AnalyzationNew. As regards the function blocks. So-called "internal libraries" contain the IEC code. it is possible to create IEC functions/function blocks or define firmware function blocks according to the library type. Libraries can contain both function blocks and declarations and/or variables. some Rexroth li‐ braries are automatically included in the project. Function Blocks. The shortcut <F2> provides you the dialog for selecting possible input at the current cursor position in the editor window. the functions of the PLC have to be known at the start time.lib_int MX_DSP. Data Types and Structures IEC Function Blocks for Drive Control Functions for Access to a Serial Interface Functions for synchronously accessing a file directory system on the target . The drive-integrated PLC (Rexroth IndraMotion MLD) is supplied together with basic libraries containing fundamental function blocks and definitions/variables. In the left column of the dialog select the desired category of input.lib Iecsfc. The library manager allows subsequently adding libraries to a project to use their functions. 1.3 1.8/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries When a project with an IndraDrive target system is created.lib MX_Internal. For this purpose.3.lib MX_SysLibCom. a header file template is provided per library which contains the necessary information.lib MX_Debug.lib MX_SysLibDir. As the code of the firmware libraries is contained in the firmware.lib As of "IndraDrive MPH02" As of "IndraDrive MPH02" As of "IndraDrive MPH02" As of "IndraDrive MPH02" As of "IndraDrive MPH02" As of "IndraDrive MPH02" As of "IndraDrive MPH02" For Program-Internal Use Only!: Functions for Checking or Signaling Runtime Errors For Internal Test Purposes Only (Laboratory)! Function block for realizing a consistent data exchange via the real-time channel Do Not Use!: Internal Functions.lib As of "IndraDrive MPH02" MX_CheckRtv.lib MX_PLCopen.

SERCOS and for time measurement or time conversion Function block allowing safe key-type operation with all VEx devices Functions and function blocks that are required by IEC 61131‑3 as standard blocks for an IEC programming sys‐ tem System library: Functions for activating defined callback func‐ tions for runtime events System library: Functions for creating and using semaphores for task synchronization System library: Functions supporting the access to sockets for communication via TCP/IP and UDP System library: Functions for handling strings Function blocks that can be used for BCD conversion.lib SysLibStr.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 9/209 Rexroth IndraDrive Firmware Libraries Library MX_SysLibFile. sig‐ nal generators.lib As of "IndraDrive MPH02" 1. Functional Package and Selected Function Block"). Function block name ATAN2 Description Target Library Range For the conversion of Cartesian coordi‐ IndraDrive Base_MPH02.lib SysLibSockets.lib Target As of "IndraDrive MPH02" As of "IndraDrive MPH02" Description Functions for synchronously accessing files Functions for asynchronously accessing files Functions for managing IEC tasks Functions for memory management For Program-Internal Use Only!: Functions for Processing Network Variables Contains data types and structures most of which are only used internally Functions and function blocks which allow using the TCP/UDP communication Functions and functions blocks for conversions. The value is returned in REAL format.y) into polar coordinates P(r.lib Tools nates P(x. .lib NetVar‐ Udp_LIB_V23. as controllers. function manipulators and for analog value processing MX_SysLibIecTasks.lib As of "IndraDrive MPH02" SysLibCallback.lib As of "IndraDrive MPH02" As of "IndraDrive MPH02" As of "IndraDrive MPH02" Standard. bit/byte functions.lib As of "IndraDrive MP05" MX_SysLibMem.3.2 Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03" Depending on the functional package and the parameterization of the axis. MPH02 the function is used to determine the angle IndraDrive MP03 Base_MP03. mathematical auxiliary functions.lib As of "IndraDrive MPH02" RIL_SocketComm.lib ue the maximum allowed value of a parame‐ ter.lib RIL_VExUtil.lib MX_SysLibFileA‐ sync.lib φ. Drive Control / Parameter MB_ReadMaxRealVal‐ With the function block it is possible to read IndraDrive MP03 Base_MP03.lib RIL_Utilities.lib As of "IndraDrive MPH02" As of "IndraDrive MP05" RIL_CommonTypes.lib As of "IndraDrive MPH02" As of "IndraDrive MP06" As of "IndraDrive MP05" As of "IndraDrive MPH02" Util.φ). not all function blocks are operable (see table " Depend‐ ance Between Parameterization of the Axis.lib SysLibSem.

The re‐ turn value is REAL.lib ter the current value of a parameter. With the function block it is possible to read IndraDrive MP03 Base_MP03. MPH02 Base_MPH02. The re‐ turn value is DINT.lib the minimum allowed value of a parameter.lib scaling which has been set.lib a defined value to a parameter. MX_fDINT_DistTo_RE‐ The firmware function converts a position IndraDrive Base_MPH02. The value is returned in DINT format. MX_fDINT_VelTo_RE‐ AL The firmware function converts a velocity IndraDrive Base_MPH02. With the function block it is possible to read IndraDrive MP03 Base_MP03.lib the SERCOS attribute of a parameter.10/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Function block name MB_ReadMaxValue Description Target Library Range Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter With the function block it is possible to read IndraDrive MP03 Base_MP03. The value is returned in DINT format. MB_ReadSercosAttri‐ bute MB_WriteParameter With the function block it is possible to read IndraDrive MP03 Base_MP03. MX_fGetFreeTicks . MB_WriteRealParame‐ With the function block you can write a de‐ IndraDrive MP03 Base_MP03.lib Scaling AL eration value in the fixed point format of MPH02 data type DINT into a REAL value. according to the IndraDrive MP03 Base_MP03. MB_ReadMinRealVal‐ ue MB_ReadMinValue MB_ReadName MB_ReadParameter MB_ReadRealParame‐ With the function block it is possible to read IndraDrive MP03 Base_MP03. accord‐ IndraDrive MP03 Base_MP03.lib the name of a parameter.lib the maximum allowed value of a parame‐ ter.lib the minimum allowed value of a parameter. The function is used to determine the time IndraDrive Base_MPH02. The value is returned in REAL format. With the function block it is possible to read IndraDrive MP03 Base_MP03. according to the IndraDrive MP03 Base_MP03.lib MX_fDINT_AccTo_RE‐ The firmware function converts an accel‐ IndraDrive Base_MPH02.lib a millisecond which remains after the drive controller and control tasks have been pro‐ cessed.lib scaling which has been set. This PLC time slice is that part of IndraDrive MP03 Base_MP03.lib Drive Control IndraDrive MP03 Base_MP03. With the function block it is possible to read IndraDrive MP03 Base_MP03. MX_Command The function block is used to execute a IndraDrive drive command.lib Tools of the last PLC time slice still available to MPH02 the PLC. With the function block it is possible to write IndraDrive MP03 Base_MP03.lib ter fined REAL value to the parameter belong‐ ing to the parameter number.lib Scaling AL value in the fixed point format of data type MPH02 DINT into a REAL value.lib Scaling value in the fixed point format of data type MPH02 DINT into a REAL value.lib the current value of a parameter.lib ing to the scaling which has been set.

lib Tools MX_fGetHighResTime IndraDrive MP03 Base_MP03.lib Drive Control / Parameter IndraDrive MP03 Base_MP03. The firmware function triggers an error di‐ IndraDrive agnosis in the drive.lib Drive Control / Diagnostic MX_fREAL_Dis‐ tTo_DINT MX_fREAL_Vel‐ To_DINT MX_fSetDriveError IndraDrive MP03 Base_MP03.lib Drive Control / read a parameter the operating data of MPH02 Parameter which has the ASCII format (string).lib MX_MoveAdditive The function block is used to move the IndraDrive MXMo‐ drive in relative form by a distance in addi‐ MPH02 tion_MPH02.lib MX_fReadStringParam With the firmware function it is possible to IndraDrive Base_MPH02.lib Drive Control / whether a certain warning diagnosis is ac‐ MPH02 Diagnostic tive in the drive. MPH02 Base_MPH02.lib MX_fREAL_Ac‐ cTo_DINT The firmware function converts an accel‐ IndraDrive Base_MPH02.lib Drive Control / Parameter IndraDrive MP03 Base_MP03. IndraDrive MP03 Base_MP03. MPH02 Base_MPH02. The firmware function converts a position IndraDrive Base_MPH02.lib has been set.lib Single Axis Mo‐ tion IndraDrive MP03 MXMo‐ tion_MP03. MPH02 Base_MPH02.lib Single Axis Mo‐ tion .lib Scaling value in the REAL format into a fixed-point MPH02 DINT value.lib has been set.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 11/209 Rexroth IndraDrive Firmware Libraries Function block name MX_fGetDriveWarning Description Target Library Range The firmware function allows polling IndraDrive Base_MPH02.lib Scaling value in the REAL format into a fixed-point MPH02 DINT value. according to the scaling which IndraDrive MP03 Base_MP03.lib tion to the target position.lib MX_fWriteStringParam The firmware function is used to write data IndraDrive to a text parameter.lib The function returns a growing timer value IndraDrive with high resolution.lib Drive Control / Parameter IndraDrive MP03 Base_MP03.lib Drive Control / Diagnostic IndraDrive MP03 Base_MP03. The firmware function converts a velocity IndraDrive Base_MPH02.lib MX_fWriteParamDINT The firmware function is used to write data IndraDrive to a parameter. MPH02 MXMo‐ tion_MPH02. IndraDrive MP03 Base_MP03. MPH02 Base_MPH02.lib scaling which has been set. MPH02 Base_MPH02.lib MX_fSetDriveWarning The firmware function is used to set or clear IndraDrive a warning diagnosis in the drive. according to the scaling which IndraDrive MP03 Base_MP03. MPH02 Base_MPH02.lib Scaling eration value in the REAL format into a MPH02 fixed-point DINT value.lib MX_fReadParamDINT The firmware function is used to read a pa‐ IndraDrive rameter value and return it as DINT. according to the IndraDrive MP03 Base_MP03.lib MX_MoveAbsolute The function block is used to move the IndraDrive drive to a preset absolute position. IndraDrive MP03 MXMo‐ tion_MP03.

lib MX_SetControl The function block is used to switch control IndraDrive between master communication and PLC. MPH02 Base_MPH02. The function block is used to read a pa‐ IndraDrive rameter value and return it as DINT.lib MX_Stop The function block is used to bring the drive IndraDrive to the status STOP.lib Drive Control IndraDrive MP03 Base_MP03.3 Library Assignment as of the Target "IndraDrive MP04" Depending on the functional package and the parameterization of the axis. MPH02 Base_MPH02.lib Drive Control IndraDrive MP03 Base_MP03. MPH02 Base_MPH02.lib MC_Power MX_Power MX_ReadParamDINT When the internal PLC has permanent or IndraDrive Base_MPH02.lib Drive Control temporary control over the drive.lib Drive Control / rameter.12/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Function block name MX_MoveRelative Description Target Library Range Single Axis Mo‐ tion The function block is used to move the IndraDrive MXMo‐ drive in relative form by a distance.lib Drive Control errors with the command "S‑0‑0099. drive en‐ MPH02 able can be activated with this function IndraDrive MP03 Base_MP03. IndraDrive MP03 Base_MP03.lib The function block is used to switch the IndraDrive drive to the parameter or operating mode. MPH02 Base_MPH02.lib Single Axis Mo‐ tion IndraDrive MP03 MXMo‐ tion_MP03.lib block. not all function blocks are operable (see table " Depend‐ ance Between Parameterization of the Axis. It is possible to write in unbuffered MPH02 Parameter or buffered form. Drive Control / Parameter The function block is used to reset drive IndraDrive Base_MPH02.lib from the current actual position.3. IndraDrive MP03 Base_MP03.lib MX_WriteParamDINT The function block is used to write a pa‐ IndraDrive Base_MPH02. starting MPH02 tion_MPH02. MPH02 MXMo‐ tion_MPH02.lib MX_ReadUnit MX_Reset With the function block it is possible to read IndraDrive MP03 Base_MP03. MPH02 C0500 Reset class 1 diagnostics". Functional Package and Selected Function Block"). .lib The function block is used to preset a ve‐ IndraDrive locity for the drive.1-5: Library Assignment for the Targets "IndraDrive MPH02" and "IndraDrive MP03" 1.lib the unit of a parameter.lib MX_MoveVelocity Single Axis Mo‐ tion IndraDrive MP03 MXMo‐ tion_MP03. MPH02 MXMo‐ tion_MPH02.lib Drive Control MX_SetDeviceMode IndraDrive MP03 Base_MP03.lib Fig.lib MX_SetOpMode The function block is used to directly switch IndraDrive the operation mode of the drive. IndraDrive MP03 MXMo‐ tion_MP03.lib Drive Control IndraDrive MP03 Base_MP03.

lib nates P(x.li which describe the set of a motion profile. IndraDrive MP05 the function is used to determine the angle φ.li four parameters which define a segment of MP04V12 b a motion profile set. mon‐ IndraDrive MP06 MX_PLCOpen.lib Motion just the slave axis by a position offset. IndraDrive MP06 IndraDrive MP07 MB_PhasingSlave With the function block it is possible to ad‐ IndraDrive MP04 MX_PLCopen.li itor and abort commands.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 13/209 Rexroth IndraDrive Firmware Libraries Function block name ATAN2 Description Target Library Range Tools For the conversion of Cartesian coordi‐ IndraDrive MP04 MX_Base. The function block is used to apply the data IndraDrive MP05 MX_PLCOpen. b IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter Motion MB_ChangeProfileSet MB_ChangeProfile‐ Step The function block is used to change the IndraDrive MX_PLCOpen. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 . IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MB_Phasing The function block allows realizing an off‐ IndraDrive MP04 MX_PLCopen. IndraDrive MP06 IndraDrive MP07 MB_ChangeCamData The function block supports loading of cam IndraDrive MP06 MX_Base.lib Motion cam function. IndraDrive MP06 IndraDrive MP07 Motion MB_GearInPos Motion MB_Home With the function block it is possible to carry IndraDrive MP04 MX_Base.φ).lib profiles to the drive parameters intended IndraDrive MP07 for this purpose. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Motion MB_Command The function block is used to execute.lib Motion set to the master axis which is connected IndraDrive MP05 as input to a synchronization function block ("MC_CamIn" or "MC_GearInPos").y) into polar coordinates P(r. b IndraDrive MP07 With the function block it is possible to re‐ IndraDrive MP04 MX_PLCOpen.lib out the "drive-controlled homing proce‐ IndraDrive MP05 dure" in the selected axis.li alize a motion of the slave axis which is b IndraDrive MP05 phase synchronous to the master axis. IndraDrive MP06 IndraDrive MP07 Drive Control MB_MotionProfile The function block realizes an electronic IndraDrive MP04 MX_PLCopen.

lib the maximum allowed value of a parame‐ IndraDrive MP05 ter. The value is returned in DINT format. IndraDrive MP05 The value is returned in DINT format. IndraDrive MP06 IndraDrive MP07 MB_ReadRealList‐ Parameter With the function block it is possible to read IndraDrive MP05 MX_Base. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter MB_ReadMaxRealVal‐ With the function block it is possible to read IndraDrive MP04 MX_Base.lib the current value of a list parameter. IndraDrive MP06 IndraDrive MP07 MB_ReadMaxValue With the function block it is possible to read IndraDrive MP04 MX_Base.lib the current list of a list parameter.lib the current value of a parameter.lib the minimum allowed value of a parameter.lib ue the maximum allowed value of a parame‐ IndraDrive MP05 ter.lib the name of a parameter. IndraDrive MP06 IndraDrive MP07 MB_ReadMinRealVal‐ ue With the function block it is possible to read IndraDrive MP04 MX_Base. IndraDrive MP06 IndraDrive MP07 MB_ReadName With the function block it is possible to read IndraDrive MP04 MX_Base. IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter . IndraDrive MP06 IndraDrive MP07 MB_ReadMinValue With the function block it is possible to read IndraDrive MP04 MX_Base. IndraDrive MP05 The value is returned in REAL format. IndraDrive MP06 IndraDrive MP07 MB_ReadListParame‐ ter With the function block it is possible to read IndraDrive MP04 MX_Base.14/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Function block name MB_PreSetMode Description Target Library Range Drive Control With the function block the axis can be pre‐ IndraDrive MP04 MX_Base. The value is returned in REAL format. The re‐ IndraDrive MP05 turn value is DINT. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MB_ReadParameter With the function block it is possible to read IndraDrive MP04 MX_Base.lib pared for command triggering before pow‐ IndraDrive MP05 er is switched on (PreSetMode / preselect‐ ing operation modes).lib the minimum allowed value of a parameter.

IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MB_WriteParameter With the function block it is possible to write IndraDrive MP04 MX_Base.li to the status STOP. IndraDrive MP06 IndraDrive MP07 MB_ReadUnit With the function block it is possible to read IndraDrive MP04 MX_Base. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MB_SetPositionCon‐ trolMode The function block is used to set the posi‐ IndraDrive MP04 MX_Base. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MB_ReadStringPara‐ meter With the function block it is possible to read IndraDrive MP04 MX_Base. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control / Parameter Drive Control Motion Drive Control / Parameter Drive Control / Parameter . IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MB_ReadSercosDa‐ taStatus With the function block it is possible to read IndraDrive MP04 MX_Base.lib the status of a parameter. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MB_Stop The function block is used to bring the drive IndraDrive MP04 MX_PLCOpen.lib ter the current value of a parameter. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MB_ReadSercosAttri‐ bute With the function block it is possible to read IndraDrive MP04 MX_Base. b IndraDrive MP05 IndraDrive MP06 MB_WriteListParame‐ ter With the function block it is possible to write IndraDrive MP04 MX_Base.lib a defined value to a parameter.lib a parameter the operating data of which IndraDrive MP05 has the ASCII format (string).lib the unit of a parameter.lib the SERCOS attribute of a parameter.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 15/209 Rexroth IndraDrive Firmware Libraries Function block name Description Target Library Range Drive Control / Parameter MB_ReadRealParame‐ With the function block it is possible to read IndraDrive MP04 MX_Base.lib defined values to a list parameter.lib tion loop.

IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter Drive Control / Parameter Motion Motion Motion Motion Motion Motion . b IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MC_CamOut The function block is used to terminate an IndraDrive MP04 MX_PLCOpen.lib ter fined REAL value to the parameter belong‐ IndraDrive MP05 ing to the parameter number. IndraDrive MP06 IndraDrive MP07 MB_WriteRealParame‐ With the function block you can write a de‐ IndraDrive MP04 MX_Base.li drive in relative form by a distance in addi‐ b IndraDrive MP05 tion to the target position.li alize an electronic cam. IndraDrive MP06 IndraDrive MP07 MC_CamIn With the function block it is possible to re‐ IndraDrive MP04 MX_PLCOpen. IndraDrive MP06 IndraDrive MP07 MB_WriteStringPara‐ meter With the function block it is possible to write IndraDrive MP04 MX_Base.li drive to a preset absolute position.li active synchronization function block.lib defined values to a list parameter.li active synchronization function block.16/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Function block name MB_WriteRealList‐ Parameter Description Target Library Range Drive Control / Parameter With the function block it is possible to write IndraDrive MP05 MX_Base. b IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MC_GearIn With the function block it is possible to re‐ IndraDrive MP04 MX_PLCOpen. IndraDrive MP06 IndraDrive MP07 MC_GearOut The function block is used to terminate an IndraDrive MP04 MX_PLCOpen. b IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MC_MoveAbsolute The function block is used to move the IndraDrive MP04 MX_PLCOpen.li alize a motion of the slave axis which is b IndraDrive MP05 velocity-synchronous to the master axis. b IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MC_MoveAdditive The function block is used to move the IndraDrive MP04 MX_PLCOpen.lib a parameter the operating data of which IndraDrive MP05 has the ASCII format (string).

IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control MX_Command MX_fCheckCmdRe‐ quest The firmware function is used to return the IndraDrive MP04 MX_Base. C4900 PLC command".lib errors with the command "S‑0‑0099.li locity for the drive. IndraDrive MP05 C0500 Reset class 1 diagnostics".lib temporary control over the drive. b IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Motion MC_Power When the internal PLC has permanent or IndraDrive MP04 MX_Base. IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter .lib of the axis and outputs it in decoded form. IndraDrive MP06 IndraDrive MP07 Drive Control MC_ReadStatus The function block reads the current status IndraDrive MP04 MX_Base. IndraDrive MP07 The function block is used to execute a IndraDrive MP04 MX_Base. IndraDrive MP06 IndraDrive MP07 Drive Control MC_Stop The function block is used to bring the drive IndraDrive MP04 MX_PLCopen. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MC_TorqueControl The function block is used to activate the IndraDrive MP05 MX_PLCopen.lib Motion to the status STOP. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control MC_Reset The function block is used to reset drive IndraDrive MP04 MX_Base.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 17/209 Rexroth IndraDrive Firmware Libraries Function block name MC_MoveRelative Description Target Library Range Motion The function block is used to move the IndraDrive MP04 MX_PLCOpen.li drive in relative form by a distance.lib command input which was preset via the IndraDrive MP05 drive parameter "P‑0‑1449. IndraDrive MP06 IndraDrive MP07 MC_MoveVelocity The function block is used to preset a ve‐ IndraDrive MP04 MX_PLCOpen. drive en‐ IndraDrive MP05 able can be activated with this function block.lib Motion operation mode "torque/force control". starting b IndraDrive MP05 from the current actual position.lib drive command. the IndraDrive MP06 drive follows the command value input.

18/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Function block name Description Target Library Range Scaling MX_fDINT_AccTo_RE‐ The firmware function converts an accel‐ IndraDrive MP04 MX_Base. accord‐ ing to the scaling which has been set.lib read a parameter the operating data of IndraDrive MP05 which has the ASCII format (string). This PLC time slice is that part of a millisecond which remains after the drive controller and control tasks have been pro‐ cessed. according to the scaling which has been set. IndraDrive MP04 MX_Base.lib AL eration value in the fixed point format of IndraDrive MP05 data type DINT into a REAL value. IndraDrive MP06 IndraDrive MP07 MX_fDINT_VelTo_RE‐ AL The firmware function converts a velocity IndraDrive MP04 MX_Base. according to the scaling which has been set.lib IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Scaling Scaling Drive Control / Diagnostic Tools MX_fGetHighResTime The function returns a growing timer value IndraDrive MP04 MX_Base.lib into microseconds and return the value as IndraDrive MP05 REAL.lib value in the fixed point format of data type IndraDrive MP05 DINT into a REAL value.lib with high resolution. IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter .lib rameter value and return it as DINT.lib whether a certain warning diagnosis is ac‐ IndraDrive MP05 tive in the drive. IndraDrive MP06 IndraDrive MP07 MX_fGetFreeTicks The function is used to determine the time of the last PLC time slice still available to the PLC. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Tools MX_fHighResTimer‐ Ticks_to_us The function is used to convert timer ticks IndraDrive MP04 MX_Base. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter MX_fReadStringParam With the firmware function it is possible to IndraDrive MP04 MX_Base. IndraDrive MP06 IndraDrive MP07 Tools MX_fReadParamDINT The firmware function is used to read a pa‐ IndraDrive MP04 MX_Base. IndraDrive MP06 IndraDrive MP07 MX_fGetDriveWarning The firmware function allows polling IndraDrive MP04 MX_Base.lib AL value in the fixed point format of data type IndraDrive MP05 DINT into a REAL value. IndraDrive MP06 IndraDrive MP07 MX_fDINT_DistTo_RE‐ The firmware function converts a position IndraDrive MP04 MX_Base.

according to the scaling which has been set.lib set the limit values of the Global Register IndraDrive MP06 PLC parameters. according to the scaling which has been set. according to the scaling which has been set. IndraDrive MP06 IndraDrive MP07 Scaling MX_fSetDriveError The firmware function triggers an error di‐ IndraDrive MP04 MX_Base.lib value in the REAL format into a fixed-point IndraDrive MP05 DINT value. according to the scaling which has been set. IndraDrive MP07 With the firmware function it is possible to IndraDrive MP05 MX_Base.lib force ramp value in the REAL format into a IndraDrive MP06 fixed-point DINT value. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control / Diagnostic MX_fSetDriveWarning The firmware function is used to set or clear IndraDrive MP04 MX_Base. IndraDrive MP07 Scaling MX_fREAL_Torque‐ To_DINT Scaling .lib IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter MX_fSetParamName Drive Control / Parameter MX_fSetParamUnit Drive Control / Parameter MX_fSysComStatus Function blocks MX_fREAL_TorqueR‐ ampTo_DINT The firmware function converts a torque/ IndraDrive MP05 MX_Base.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 19/209 Rexroth IndraDrive Firmware Libraries Function block name MX_fREAL_Ac‐ cTo_DINT Description Target Library Range Scaling The firmware function converts an accel‐ IndraDrive MP04 MX_Base.lib set the limit values of the Global Register IndraDrive MP06 PLC parameters.lib a warning diagnosis in the drive. IndraDrive MP06 IndraDrive MP07 MX_fREAL_Dis‐ tTo_DINT The firmware function converts a position IndraDrive MP04 MX_Base.lib force value in the REAL format into a fixedIndraDrive MP06 point DINT value. IndraDrive MP07 With the firmware function it is possible to IndraDrive MP05 MX_SysLib‐ poll the status of the opened port.lib set the names of the Global Register PLC IndraDrive MP06 parameters.lib agnosis in the drive. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control / Diagnostic MX_fSetParamLimits With the firmware function it is possible to IndraDrive MP05 MX_Base. IndraDrive MP07 With the firmware function it is possible to IndraDrive MP05 MX_Base.lib eration value in the REAL format into a IndraDrive MP05 fixed-point DINT value. IndraDrive MP07 The firmware function converts a torque/ IndraDrive MP05 MX_Base. Com.

b IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MX_MoveAdditive The function block is used to move the IndraDrive MP04 MX_PLCOpen. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 MX_IECTaskGetLoad The function block is used to activate the IndraDrive MP05 MX_Base. IndraDrive MP06 IndraDrive MP07 MX_MoveRelative The function block is used to move the IndraDrive MP04 MX_PLCOpen. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter Tools MX_MoveAbsolute Motion Motion Motion Function blocks MX_ReadParamDINT Drive Control / Parameter .lib IndraDrive MP06 channel of a serial interface. starting b IndraDrive MP05 from the current actual position.lib to a parameter. according to the scaling which has been set.lib to a text parameter.lib rameter value and return it as DINT. IndraDrive MP06 IndraDrive MP07 MX_SysComOpenA‐ sync The firmware function block is used to IndraDrive MP05 MX_SysLib‐ asynchronously open the communication Com.20/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Function block name MX_fREAL_Vel‐ To_DINT Description Target Library Range Scaling The firmware function converts a velocity IndraDrive MP04 MX_Base. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter MX_fWriteStringParam The firmware function is used to write data IndraDrive MP04 MX_Base. IndraDrive MP07 The function block is used to move the IndraDrive MP04 MX_PLCOpen. IndraDrive MP06 IndraDrive MP07 MX_fWriteParamDINT The firmware function is used to write data IndraDrive MP04 MX_Base. IndraDrive MP07 The function block is used to read a pa‐ IndraDrive MP04 MX_Base.li drive in relative form by a distance.lib value in the REAL format into a fixed-point IndraDrive MP05 DINT value.li drive to a preset absolute position.lib extended runtime measurement and dis‐ IndraDrive MP06 plays information on the task load.li drive in relative form by a distance in addi‐ b IndraDrive MP05 tion to the target position.

lib sible to set the command status of IndraDrive MP05 "P‑0‑1449. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control MX_WriteParamDINT The function block is used to write a pa‐ IndraDrive MP04 MX_Base. IndraDrive MP07 The firmware function is used to open the IndraDrive MP05 MX_SysLib‐ communication channel of a serial inter‐ Com. Com.lib drive to the parameter or operating mode.lib IndraDrive MP06 IndraDrive MP07 Function blocks Fig. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control MX_SetOpMode The function block is used to directly switch IndraDrive MP04 MX_Base. C4900 PLC command". IndraDrive MP06 IndraDrive MP07 MX_SetDeviceMode The function block is used to switch the IndraDrive MP04 MX_Base.lib rameter. IndraDrive MP07 The firmware function is used to read data IndraDrive MP05 MX_SysLib‐ from the serial interface. It is possible to write in unbuffered IndraDrive MP05 or buffered form.lib between master communication and PLC.1-6: Library Assignment as of the Target "IndraDrive MP04" . Com.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 21/209 Rexroth IndraDrive Firmware Libraries Function block name MX_SetCmdState Description Target Library Range Drive Control / Parameter With the firmware function block it is pos‐ IndraDrive MP04 MX_Base.lib IndraDrive MP06 IndraDrive MP07 Function blocks SysComOpen Function blocks SysComRead Function blocks SysComWrite The firmware function is used to write data IndraDrive MP05 MX_SysLib‐ to the serial interface. IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Drive Control MX_SetControl The function block is used to switch control IndraDrive MP04 MX_Base. IndraDrive MP06 IndraDrive MP07 Drive Control / Parameter SysComClose The firmware function is used to close the IndraDrive MP05 MX_SysLib‐ communication channel of a serial inter‐ Com.lib IndraDrive MP06 face (COM Port).lib IndraDrive MP06 face.lib the operation mode of the drive.

But as long as this input in TRUE. signal via the "Done" output that their task has been completed and are no longer active after they have been executed. The "Active" signal can be delayed at the start of the function block. a function block has an "Execute" input. With a positive edge of "Execute". .. To trigger the processing of a function block or to activate it. with process loop function blocks). For status-controlled function blocks. The input variables are applied with the positive edge of "Enable".. For single axes.4 Signal Time Diagrams of Most Frequently Used Inputs and Outputs Function blocks according to PLCopen use input and output signals with fixed functions. The outputs "Done" or "InVelocity".22/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries 1..) which end in the "standstill" state. "Active" becomes FALSE when "Enable" is reset. "InTor‐ que". as possibly required pre-processing has not been completed. "MC_MoveRelative". When command triggering has not yet been completed and is interrupted. the function block cannot be interrupted. Retriggering is possible for edge-controlled function blocks with "Execute" input. the old task is rejected. . the inputs are applied again and the new task is continued with the new values. "In_xxxx" depend on the input. "ExecuteLock" or "Ena‐ ble"). Exception: The function block "MC_Stop" can interrupt the function block "MB_Stop". The activation input "Enable" is used at function blocks which work in statuscontrolled form. "Done" remains TRUE for one cycle when the "Execute" input had been FALSE at the point of time at which "Done" was . this is signaled by the fact that output "CommandAborded" is set.. an "ExecuteLock" input or an "Enable" input. New input values only take effect via the repeated positive edge of "Execute". The activation input "ExecuteLock" behaves like the "Execute" input. For edge-controlled function blocks. "CommandAborted" or "Error" be‐ come TRUE. "Active"=TRUE signals that the function block has accepted the processing command (positive edge at "Execute". this means that when the activation input. in other words: The "Done" output signals that a function block has successfully com‐ pleted its task and possibly provided data are valid. the input variables are collected and at the same time the command triggering of a one-time execution of the function block takes place. The activation input "Execute" is used at function blocks which work in edgecontrolled form. with ac‐ tive function block. "Active" becomes FALSE. New input values only take effect via the repeated positive edge of "Enable". If the input variables are cyclically transmitted (e. gets a repeated edge.) or motion function blocks (such as "MC_MoveAbsolute". when "Done". "Active" is not set! Output Signal "Done" Function blocks which have an administrative task ("MC_Power". this has to be explicitly documented and marked at the function block input. Output Signal "Active" Input Signals "Execute" / "Enable" For remote axes. All three inputs are of the BOOL type.g.

. "Done" after suc‐ cessful processing remains TRUE for exactly one cycle before processing starts again. when "Enable"=TRUE. If the input "Execute"=TRUE when "Done" is set. "Done" remains TRUE until "Execute" is set to FALSE. For status-controlled function blocks.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 23/209 Rexroth IndraDrive Firmware Libraries set to TRUE.

1-7: Status-controlled function block processing successfully completed Status-controlled function block processing aborted with error Status-controlled function block processing has been interrupted Signal-Time Behavior of Status-Controlled Function Blocks (With "En‐ able" Input).24/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries ① ② ③ Fig. the "Active" Output is not Set! . for Single Axes.

for Single Axes.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 25/209 Rexroth IndraDrive Firmware Libraries ① ② ③ Fig. the "Active" Output is not Set! .1-8: Edge-controlled function block processing successfully completed Edge-controlled function block processing aborted with error Edge-controlled function block processing has been interrupted Signal-Time Behavior of Edge-Controlled Function Blocks (With "Exe‐ cute" Input).

"MC_GearInPos".5 1. the function blocks have two or three outputs which contain information in case an error occurs: ● ● "Error".e.26/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries There are function blocks (such as "MC_MoveVelocity". for ex‐ ample.1-9: Edge-controlled function block processing has been interrupted Signal-Time Behavior of Edge-Controlled Function Blocks (with "Exe‐ cute" Input). are at the same time TRUE. "MC_GearIn". "MC_CamIn". "ErrorID" and . by another function block). because it had ben interrupted (e. If the input "Exe‐ cute"=TRUE when "CommandAborted" is set.g. For status-controlled function blocks. "MC_TorqueControl". "Active" and. "MB_MotionProfile") which continue their motion or force activity after their task has been fulfilled and which are aborted only by "MC_Stop" or another function block being called. the "CommandAborted" output remains TRUE for one cycle when the "Execute" input had been FALSE at the point of time at which "CommandAborted" was set to TRUE. i. "InVelocity".1 Error Handling General Information According to their target. "InGear" etc. They signal this status by remaining "Active". For edge-controlled function blocks. the "CommandAborted" output is reset when the "Enable" input is reset. ①+② Output Signal "CommandAborted" Fig. "Active" in Combination With "InVelocity" The "CommandAborted" output signals that the function block could not com‐ plete its task.5. "CommandAborted" remains TRUE until "Execute" is set to FALSE. 1.

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Error

"ErrorIdent" (as of the target "IndraDrive MP03")

If the processing of a task could not be successfully completed, this is signaled by the "Error" output. The "Error" output is reset with the inputs "Exe‐ cute"=FALSE or "Enable"=FALSE; an additional reset input therefore is not required. For edge-controlled function blocks, the output "Error" remains TRUE for one cycle when the input "Execute" had been FALSE at the point of time at which the output "Error" was set to TRUE. If the input "Execute"=TRUE when "Error" is set, the output "Error" remains TRUE until the input "Execute" is set to FALSE. For status-controlled function blocks, the output "Error" remains TRUE until the input "Enable" is set to FALSE.

ErrorID

The output "ErrorID" is of the type ERROR_CODE. When an error has occurred at the function block, the error classification can be seen at output "ErrorID". The output values of "ErrorID" have to be interpreted differently ac‐ cording to the respective target! The type ERROR_CODE has been defined in the "CommonTypes" library of the respective target.

ErrorIdent

The output "ErrorIdent" signals the exact cause of the error. The output "ErrorIdent" "IndraDrive MP03". is available as of the target

"ErrorIdent" is of the type ERROR_STRUCT. ERROR_STRUCT contains the following elements: ● ● ● "Table", "Additional1" and "Additional2". The structure and its elements have been defined in the "Common‐ Types" library of the target.
Element Table Element data type ERROR_TABLE Description The value of the "Table" element contains the information as to which error table [(INDRV_TABLE, SERCOS_TABLE or MLDS_TABLE (as of target "IndraDrive MP03") or MLD_TABLE (as of target "IndraDrive MP04")] has to be used to decode the error code of element "Additional1" The element "Additional1" contains the error code for exact specification of the occur‐ red error "Additional2" contains additional information (if available)

Additional1 Additional2

DWORD DWORD

Fig.1-10:

Elements of ERROR_STRUCT

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1.5.2

Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"
When monitoring in IndraLogic, you can select via the right mouse key whether binary data types (BYTE, WORD, DWORD) are to be displayed in a decimal, hexadecimal or binary form. The activated selection is marked with a dot.

MLDS_TABLE / MLD_TABLE

At the output "ErrorIdent", the element "Table" refers to the error table "MLDS_TABLE" for the target "IndraDrive MP03"; as of the target "IndraDrive MP04" it refers to the error table "MLD_TABLE". (Only the name has changed, the contents are identical.) When there isn't any error present, the element "Table" has the value "NO_TABLE_USED"

"ErrorID"

"ErrorIdent", Ele‐ "ErrorIdent", Ele‐ Description ment "Addition‐ ment "Addition‐ al1" (hexadeci‐ al2" mal) 16#00000000 16#00000001 16#00000001 Transmitted axis When there isn't any error present, the element "Ta‐ number ble" has the value "NO_TABLE_USED" Transmitted axis As of target "IndraDrive MPx04", version 12: Selected number function is not available for this axis Transmitted axis Invalid axis reference / undefined axis. number As of target "IndraDrive MP04": Indicated axis (also slave axis) is not available Transmitted axis The function block used may only have one instance number in the system (e.g.: "MX_SynchronControl") Transmitted axis Drive is not in operating status "bb" / communication number phase 4 ‑ or ‑ With master axis available, this axis has not been ac‐ tivated (P‑0‑0917, Control word of master axis gener‐ ator)

INPUT_INVALID_ERROR RESOURCE_ERROR

ACCESS_ERROR STATE_MACHINE_ERROR

16#00000002 16#00000003

STATE_MACHINE_ERROR ACCESS_ERROR STATE_MACHINE_ERROR RESOURCE_ERROR

16#00000004 16#00000005 16#00000006 16#00000007

Transmitted axis Drive is not in operating status "Ab" number Transmitted axis MLD has neither permanent (P-0-1367) nor temporary number control over the indicated (local) axis Transmitted axis Drive is torque-free / not under torque. Drive was number switched off externally Transmitted axis Function block not possible with current functional number package / current control type (see table " Depend‐ ance Between Parameterization of the Axis, Function‐ al Package and Selected Function Block"). Transmitted axis Only up to target "IndraDrive MP03": The velocity number transmitted at "Velocity" input is "0" Transmitted axis Only up to target "IndraDrive MP03": Parameterized number acceleration (positioning acceleration) is "0"

INPUT_RANGE_ERROR INPUT_RANGE_ERROR

16#00000008 16#00000009

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"ErrorID" "ErrorIdent", Ele‐ "ErrorIdent", Ele‐ Description ment "Addition‐ ment "Addition‐ al1" (hexadeci‐ al2" mal) 16#00000009 16#00000010 16#00000011 Transmitted axis Only up to target "IndraDrive MP03": The acceleration number transmitted at "Acceleration" input is "0" Transmitted axis Only up to target "IndraDrive MP03": The deceleration number transmitted at "Deceleration" input is "0" Transmitted axis As of target "IndraDrive MPx04": After the activation number with "MB_PreSetMode" there was an attempt to switch on with "MC_Power" without motion command trigger‐ ing Transmitted axis An instance of "MB_Stop" tries to command an axis number while an instance of "MC_Stop" is active Transmitted axis As of target "IndraDrive MPx04": The "CamTableID" number input is not within the valid range (1 .. 8) Transmitted axis MLD is in "ErrorStop" state. number Remedy: Execute "MC_Reset" Transmitted axis As of MPx05V14. number Activation of "MC_Power". The enable signal "Driv‐ eEnable" in the axis control word (P-0-0116, bit14) is missing Transmitted axis MLD in slave axis has permanent control. Therefore, number the MLD-M master cannot control the slave As of target Several tasks use the same instance of a function "IndraDrive MP0 block, this is not allowed 4": Index of the second task Transmitted axis An additive motion command was started which is not number allowed in this axis status Transmitted axis Internal processing error (undefined status) number Parameter IDN Parameter IDN Parameter IDN Parameter IDN Internal error: Undefined parameter data format, pa‐ rameter cannot be converted into FLOAT With this function block it is impossible to read/write an ASCII parameter With this function block it is impossible to read/write a list parameter Parameter IDN does not belong to any command

INPUT_RANGE_ERROR INPUT_RANGE_ERROR STATE_MACHINE_ERROR

STATE_MACHINE_ERROR INPUT_RANGE_ERROR STATE_MACHINE_ERROR STATE_MACHINE_ERROR

16#00000012 16#00000013 16#00000014 16#00000015

ACCESS_ERROR ACCESS_ERROR

16#00000016 16#00000020

STATE_MACHINE_ERROR OTHER_ERROR ACCESS_ERROR ACCESS_ERROR ACCESS_ERROR INPUT_INVALID_ERROR OTHER_ERROR ACCESS_ERROR INPUT_INVALID_ERROR

16#00000021 16#00000199 16#00000200 16#00000201 16#00000202 16#00000203 16#00000204 16#00000205 16#00000206

Transmitted axis Internal processing error (string too short) number Parameter IDN As of target "IndraDrive MPx04": The required number of bytes is smaller than the actual length of the list

Transmitted axis As of target "IndraDrive MPx04": Invalid pointer at the number input of the function block (address of the applied array is outside of the PLC range)

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"ErrorID" "ErrorIdent", Ele‐ "ErrorIdent", Ele‐ Description ment "Addition‐ ment "Addition‐ al1" (hexadeci‐ al2" mal) 16#00000207 16#00000208 16#00000208 16#00000209 16#00000210 16#00000211 16#00000220 16#00000250 16#00000251 16#00000252 16#00000253 16#00000254 Parameter IDN 16#00000200 With this function block it is only possible to process ASCII parameters Too many simultaneous read/write tasks on remote axes

ACCESS_ERROR CCD_ERROR SYSTEM_ERROR SYSTEM_ERROR ACCESS_ERROR ACCESS_ERROR RESOURCE_ERROR RESOURCE_ERROR RESOURCE_ERROR INPUT_RANGE_ERROR RESOURCE_ERROR RESOURCE_ERROR

Transmitted axis Internal CCD system error; error number see "Addi‐ number tional2" Transmitted axis Internal CoSeMa system error; error number see "Ad‐ number ditional2" 99 Reset command S‑0‑0099 incorrectly executed

Transmitted axis "MC_Reset" cannot reset the error (timeout) number Transmitted axis No external encoder available number Transmitted axis Master communication synchronizes the drive number Transmitted axis NC cycle time (S-0-0001) does not match MLD task number cycle time Transmitted axis The "CmdDelay" input is greater than the maximum number value Transmitted axis The real-time channel may only use one MLD task number Transmitted axis Too many real-time variables used. number At present, there are 4 RTcW_ variables and 4 RTcR_ variables allowed Transmitted axis Internal error (variable offset too great) number Transmitted axis Internal error (incorrect variable access) number Transmitted axis As of target "IndraDrive MPx04": Real-time channel number actual values but no command values defined Transmitted axis Synchronous motion task (CCD / master communica‐ number tion) of the type "triggered by external event" does not support local real-time channel Transmitted axis The local real-time channel has not been configured number for the task Transmitted axis MLD already has permanent control. Additionally number switching to temporary control does not make sense Transmitted axis Temporary control is impossible with virtual slave number Transmitted axis Manual mode active, temporary control impossible number

CALCULATION_ERROR CALCULATION_ERROR RESOURCE_ERROR ACCESS_ERROR

16#00000255 16#00000256 16#00000257 16#00000258

ACCESS_ERROR ACCESS_ERROR ACCESS_ERROR ACCESS_ERROR

16#00000259 16#00000300 16#00000301 16#00000302

i. parameter of data type HEX or BIN with "MB_WriteRealParameter" With this function block it is impossible to read/write a FLOAT parameter. Ele‐ Description ment "Addition‐ ment "Addition‐ al1" (hexadeci‐ al2" mal) 16#00000320 16#00000321 Transmitted axis Master communication internally synchronizes the number drive / does not allow phase switch (P‑0‑4086. Ele‐ "ErrorIdent".e.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 31/209 Rexroth IndraDrive Firmware Libraries "ErrorID" "ErrorIdent". i. Transmitted axis For the function block "MB_ReadListParameter" or number "MB_WriteListParameter". INPUT_RANGE_ERROR INPUT_INVALID_ERROR 16#00000402 16#00000403 Transmitted axis The applied parameter value does not fit in the data number format of the parameter Transmitted axis For the function block "MB_ReadListParameter" or number "MB_WriteListParameter". it is necessary to wait until the auto‐ matic phase switch to "P4" is over.g. the address cannot be divided by 4. reaching of target phase) In the case of master communication with analog or parallel interface. PLC registers (e.e. the address applied at the "ValueAdr" input is not WORD-compatible (2Byte). STATE_MACHINE_ERROR STATE_MACHINE_ERROR INPUT_RANGE_ERROR 16#00000380 ACCESS_ERROR 16#00000400 ACCESS_ERROR 16#00000401 Parameter IDN INPUT_INVALID_ERROR 16#00000404 . "CmdState"="MX_CMD_NO_ACTIVE" while "P‑0‑1449. For example. the address applied at the "ValueAdr" input is not DWORD-compatible (4Byte). the address cannot be divided by 2. C4900 PLC command"="3" As of target "IndraDrive MPx04": Invalid input of diag‐ nostic message number (N<1 or N>4) The indicated parameter cannot be read / written with this function block. e. When a transition command error occurs during this first phase switch. bit 0=0) Transmitted axis As of target "IndraDrive MPx04": Drive initialization not number yet completed (incl. you have to wait for 10 s.g. P-0-1370) can be configured as FLOAT. only then is it allowed to input the phase with the function block "MX_SetDevice‐ Mode" ACCESS_ERROR DEVICE_ERROR RESSOURCE_ERROR INPUT_RANGE_ERROR INPUT_RANGE_ERROR 16#00000322 16#00000350 16#00000355 16#00000370 16#00000371 Transmitted axis A transition command was started or cleared from a number different device Transmitted axis Unknown secondary operation mode ("NewOp‐ number Mode">7 was set) Transmitted axis Axis applied at the "Master" input is not a valid master number axis Incorrect "CmdState" Incorrect "CmdState" Incorrect diag‐ nostic message number Parameter IDN As of target "IndraDrive MPx04": Invalid "CmdState" input (wrong enum value) As of target "IndraDrive MPx04": "CmdState" not al‐ lowed.

32/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries "ErrorID" "ErrorIdent". the address is odd. Transmitted port As of target "IndraDrive MPx05": A value for "Port"<>"COM1" was transmitted Transmitted port COM1 has already been opened INPUT_INVALID_ERROR ACCESS_ERROR ACCESS_ERROR ACCESS_ERROR ACCESS_ERROR SYSTEM_ERROR INPUT_RANGE_ERROR ACCESS_ERROR 16#00000420 16#00000421 16#00000422 16#00000423 16#00000424 16#00000500 16#00000501 Fig. Ele‐ "ErrorIdent". the address applied at the "ValueAdr" input is not byte-compatible (1Byte). Ele‐ Description ment "Addition‐ ment "Addition‐ al1" (hexadeci‐ al2" mal) 16#00000405 Transmitted axis Only up to MPx05V08: number For the function block "MB_ReadListParameter" or "MB_WriteListParameter". MotionProfile: MC_CamIn. electronic cam. bit 14/15 (2) P-0-0075 Positioning block mode Torque/force control (3) (MX_MoveRelative / MC_MoveRelative. MB_MotionProfile) P-0-0045. MB_Jog) - 0x 0000 0001 0x 0000 0021 0x 0000 0002 - - - + + - 0b00 0b01 0b10 0b11 0 >0 + + + . number Transmitted axis The service channel is not available. MB_GearInPos. because a phase number switch (PM→OM) is taking place just now. MX_MoveAbsolute / MC_MoveAbsolute. MX_MoveAdditive / MC_MoveAdditive. Transmitted axis Queue error. Transmitted axis The service channel is no longer available (phase < 2). number Transmitted axis Double address assignment. i. Too many tasks were transmitted to an number axis. At least 2 axes have the number same SERCOS address. Transmitted axis A deactivated axis was addressed.1-11: P-0-2003 (1) Error Table MLDS_TABLE / MLD_TABLE (MC_TorqueControl) Velocity synchroniza‐ tion (MC_GearIn) Position synchroniza‐ tion (Phase synchroniza‐ tion.e.

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P-0-2003
(1)

P-0-0045, bit 14/15
(2)

P-0-0075 Positioning block mode Torque/force control
(3)

(MX_MoveRelative / MC_MoveRelative, MX_MoveAbsolute / MC_MoveAbsolute, MX_MoveAdditive / MC_MoveAdditive, MB_Jog) + + +

(MC_TorqueControl)

Velocity synchroniza‐ tion (MC_GearIn)

Position synchroniza‐ tion (Phase synchroniza‐ tion, electronic cam, MotionProfile: MC_CamIn, MB_GearInPos, MB_MotionProfile) + + +

0x 0000 0022

0b00 0b01 0b10 0b11

0 >0

+ -

+ + + + +

+ 1 2 3

Fig.1-12:
SERCOS_TABLE Error code Hexadecimal 0x1001 0x1009 0x2001 0x2002 0x2003 0x2004 0x2005 0x3002 0x3003 0x3004 0x3005 0x4001 0x4002 0x4003 0x4004 0x4005 0x5001 0x5002 0x5003 0x5004 Decimal 4097 4105 8193 8194 8195 8196 8197 12290 12291 12292 12293 16385 16386 16387 16388 16389 20481 20482 20483 20484 No IDN Explanation

Function block is not operable Function block is operable P-0-2003, Selection of functional packages P-0-0045, Control word of current controller "P-0-0075, Encoder type 2 (optional encoder)"; is only evaluated as of the following firmwares: MPx06V14, MPx07V10, MPx17

Dependance Between Parameterization of the Axis, Functional Pack‐ age and Selected Function Block

Invalid access to element 1 No name Name transmission too short Name transmission too long Name cannot be changed (read only) Name is write-protected at this time Attribute transmission too short Attribute transmission too long Attribute cannot be changed (read only) Attribute is write-protected at this time No units Unit transmission too short Unit transmission too long Unit cannot be changed (read only) Unit is write-protected at this time No minimum input value Minimum input value transmission too short Minimum input value transmission too long Minimum input value cannot be changed (read only)

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Error code Hexadecimal 0x5005 0x6001 0x6002 0x6003 0x6004 0x6005 0x7002 0x7003 0x7004 0x7005 0x7006 0x7007 0x7008 0x7009 0x700A 0x700B 0x700C 0x7010 0x7011 0x7012 0x7013 Decimal 20485 24577 24578 24579 24580 24581 28674 28675 28676 28677 28678 28679 28680 28681 28682 28683 28684 28688 28689 28690 28691 INDRV_TABLE Minimum input value is write-protected at this time No maximum input value Maximum input value transmission too short Maximum input value transmission too long Maximum input value cannot be changed (read only) Maximum input value is write-protected at this time Operation data transmission too short Operation data transmission too long Operation data cannot be changed (read only) Operation data is write-protected at this time (reason: communication phase or mode) Operation data is smaller than the minimum input value Operation data is greater than the maximum input value Invalid operation data (e.g. IDN not supported, invalid bit number, invalid bit combi‐ nation, invalid list length) Operation data write protected by a password Operation data is write protected, it is configured cyclically (IDN is configured in the MDT or AT. Therefore writing via the service channel is not allowed). Invalid indirect addressing (e.g., data container, list handling) Operation data is write protected, due to other settings (e.g., parameter, operation mode, drive enable, drive on etc.) Procedure command already active Procedure command not interruptible Procedure command at this time not executable (e.g., in this phase the procedure command cannot be activated) Procedure command not executable (invalid or false parameters) Explanation

Fig.1-13:

SERCOS Error Codes

"INDRV_TABLE" actually is not a table, but refers to the documen‐ tation "Troubleshooting Guide"; in this documentation, the error number (diagnostic message number) provides information on cause and remedy.

1.6
1.6.1

Data Types
General Data Types
Data type BOOL BYTE WORD Bit size 1 8 16 Description Bit values "true" or "false" Byte value 0 to 255 Word value 0 to 65535

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Data type DWORD CHAR INT DINT REAL TIME DATE TIME_OF_DAY, TOD Bit size 32 8 16 32 32 32 32 32 Description Double word values 0 to (2^32)–1 ASCII code Integer (16 bits) from ‑32768 to +32767 Integer (32 bits) from –2^31 to (2^31)–1 IEEE floating point number IEC time in intervals of 1 ms IEC date in intervals of 1 day Time in steps of 1ms: hour (0‑23), min. (0‑59), second (0‑59), ms (0‑999)

Fig.1-14:

General Data Types

1.6.2
MB_IDN

Selected Data Types of "MX_Base.lib"
The "MB_IDN" data type was introduced with the target "IndraDrive MP06". It is a data type used to address parameters in accordance with SERCOS III. For IndraMotion MLD, "MB_IDN" corresponds to the "DINT" data type in SERCOS III coding; i.e. users normally still use the FP constants. If they had used their own "DINT" variables for addressing, they can change them to "MB_IDN", but do not have to do so. The term "EIDN" for "Extended Ident Number" is often used in con‐ junction with SERCOS III coding. The following syntaxes apply to EIDN: ● ● ● For addressing the parameters at function blocks (FP constants) (exam‐ ple): FP_S_0_1101_000_001 for S-0-1101.0.1 For addressing direct variables (example): DV_S_0_1101_000_001 for S-0-1101.0.1 For addressing real-time variables RtcR_S_0_1101_000_001 for S-0-1101.0.1 (example):

1.7

AnalyzationNew.lib
The library "AnalyzationNew.lib" is supported as of the target "IndraDrive MPH02". It contains function blocks for the analysis of expressions. The library is supported by several targets; it is described in the IndraLogic help under "AnalyzationNew.lib".

1.8

Iecsfc.lib
The library "Iecsfc.lib" is supported as of the target "IndraDrive MPH02". It makes available IEC steps conforming to standard in sequential language ["Se‐ quential Function Chart" (SFC)]. The library is supported by several targets.

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1.9
1.9.1

MX_PLCopen.lib
General Information
The following libraries contain IEC function blocks for drive control:
Target IndraDrive MPH02 IndraDrive MP03 IndraDrive MP04 IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Library MXMotion_MPH02.lib MXMotion_MP03.lib MX_PLCopen.lib MX_PLCopen.lib MX_PLCopen.lib MX_PLCopen.lib

Fig.1-15:
General Properties

Library Names Depending on the Targets

● ● ●

Positioning function blocks have no input for "jerk" Function blocks have "AXIS_REF" as "VAR_IN_OUT" Up to MPx03: Positions and distances are transmitted as 32-bit integer (initial value - fixed point). As of MPx04: Positions and distances are transmitted as REAL (floating point).

"ErrorID"

"ErrorIdent", Ele‐ Description ment "Addition‐ al1" 16#00000006 16#00000007 Drive is torque-free / not under torque Activated functional package does not support the selected operation mode (see "P‑0‑2003, Selection of functional packages") ‑ or ‑ The axis is operated without encoder (see "P‑0‑0045, Control word of current controller")

ACCESS_ERROR RESOURCE_ERROR

Fig.1-16:

Generally Valid Errors of Motion Function Blocks, Taken From Error Table MLDS_TABLE / MLD_TABLE for Function Blocks as of Target "IndraDrive MP03"

1.9.2

Overview of the Function Blocks
● ● ● ● ● ● ● ● ● ● ● MB_ChangeProfileSet MB_Command*4 MB_GearInPos*1 MB_MotionProfile *1 MB_Phasing *1 MB_PhasingSlave *1 MB_Stop *1 MC_CamIn *1 MC_CamOut*1 MC_GearIn *1
*3

MB_ChangeProfileStep *1

The units of the data contained in the lists for "Distance" and "SlaveAxisVeloc‐ ity" are defined by the scaling parameters of the axis (S-0-0076. The output "Done" is set when the set was completely transmitted and the changed profile was checked.9. "SetNumber" defines which set is changed. distance. MB_ChangeProfileSet For the lists. If "CheckOk"=TRUE. The output "CheckOk" is set depending on the result of the check. For the library in which the function is available. as well as the lists for – – – – master axis initial position. The number of elements in each of the 4 lists must be at least as high as the indicated number of motion steps.3 Function Blocks In the case of a positive edge at "Execute". you have to indicate the initial address of an array in which the data are contained. This function block can work on the local axis "Axis1" and on remote axes "Axis2" etc. The data transmitted with this function block are stored in volatile form. those data are applied which de‐ scribe the set of a motion profile.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 37/209 Rexroth IndraDrive Firmware Libraries ● ● ● ● ● ● ● ● ● ● ● ● MC_GearOut *1 MC_MoveAbsolute *1 MC_MoveAdditive *1 MC_MoveRelative *1 MC_MoveVelocity *1 MC_Stop *1 MC_TorqueControl *3 MX_MoveAbsolute MX_MoveAdditive MX_MoveRelative MX_MoveVelocity MX_Stop*2 *1: Available as of target "IndraDrive MP04" *2: Available up to target "IndraDrive MP03" *3: Available as of target "IndraDrive MP05" *4: Available as of target "IndraDrive MP06" 1. The data include ● ● the number of motion steps the master axis velocity. see: "Library As‐ signment as of the Target "IndraDrive MP04"" . no discrepancy was detected. slave axis velocity and mode. S-0-0044).

1-17: Input variable Execute SetNumber Data type BOOL UINT Firmware Function Block MB_ChangeProfileSet Description See "Input Signals Execute / Enable" on page 22 Selection of motion profile set 0: Motion profile set 0 (parameters P-0-0703 to P-0-0708) 1: Motion profile set 1 (parameters P-0-0710 to P-0-0715) NumberOfSteps UINT Number of motion steps Each motion profile set can consist of up to 8 motion steps ● ● Parameter P-0-0703 for set 0 Parameter P-0-0710 for set 1 MasterAxisVelocity REAL Master axis velocity Velocity of the master axis at the output of the electronic gear in 1/min ● ● Parameter P-0-0704 for set 0 Parameter P-0-0711 for set 1 MasterAxisInitialPosAdr POINTER TO REAL Pointer to an array with the master axis initial positions of the steps Master axis initial positions indicated in degrees ● ● Data for parameter P-0-0705 with set 0 Data for parameter P-0-0712 with set 1 Data for parameter P-0-0707 with set 0 Data for parameter P-0-0714 with set 1 Data for parameter P-0-0708 with set 0 Data for parameter P-0-0715 with set 1 Data for parameter P-0-0706 with set 0 Data for parameter P-0-0713 with set 1 DistanceAdr POINTER TO REAL Pointer to an array with the distance values of the steps ● ● SlaveAxisVelocityAdr POINTER TO REAL Pointer to an array with the slave axis velocities of the steps ● ● StepModeAdr POINTER TO MC_STEP_MODE Pointer to an array with the modes of the steps ● ● Fig.1-18: Output variable Done Data type BOOL Input Variables of the Firmware Function Block "MB_ChangeProfileSet" Description With "Done"=TRUE. the data for the motion set were applied "P-0-0089.38/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig. bit 14 for set 1) Active BOOL With "Active"=TRUE. Status word for synchronous operating modes" (bit 12 for set 0. the data transfer is active .

the motion profile set is error-free "P-0-0089. distance. The "Check‐ Ok" output is set depending on the result of the check. Status word for synchronous operating modes" (bit 13 for set 0.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable Axis Data type AXIS_REF Description Axis1 for MLD-S Axis1 for MLD-M is the local axis Axis2 to Axis8 correspond to the remote axes. The "StepMode" input defines the kind of step. The "Done" output is set when the changed profile was checked. slave axis velocity and mode.5. The step which is to be changed is defined by the values at the inputs "Set‐ Number" and "StepNumber". a discrepancy has been detected.1-19: See note below Output Variables of the Firmware Function Block "MB_ChangeProfile‐ Set" NOTE: For the list of all possible errors.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 39/209 Rexroth IndraDrive Firmware Libraries Output variable Error ErrorID * ErrorIdent * CheckOk Data type BOOL ERROR_CODE ERROR_STRUCT BOOL Description Signals that error has occurred in function block instance Short information on cause of error Detailed information on error With "CheckOk"=TRUE. CCD: addresses of projected drives" cor‐ respond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) Fig. For the library in which the function is available. The remote axes con‐ tained in the list "P-0-1601. S-0-0044).1-20: Input / Output Variables of the Firmware Function Block "MB_Change‐ ProfileSet" MB_ChangeProfileStep The firmware function block "MB_ChangeProfileStep" is used to change the four parameters which define a segment of a motion profile set. these param‐ eters are ● ● ● ● master axis initial position. see: "Library As‐ signment as of the Target "IndraDrive MP04"" . bit 15 for set 1) * Fig. The units for the function block inputs "Distance" and "SlaveAxisVelocity" are defined by the scaling parameters of the axis (S-0-0076. If "CheckOk"=FALSE. see: chapter 1.

set 0 P-0-0712. List of distances. 8: Motion step8 / list element 7 (from P-0-0705 to P-0-0708 or P-0-0712 to P-0-0715) MasterAxisInitialPos REAL Setting of master axis initial position of selected motion step in degrees P-0-0705.40/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig. set 1 .. set 0 P-0-0714. List of master axis initial positions.1-21: Input variable Execute SetNumber Data type BOOL UINT Firmware Function Block "MB_ChangeProfileStep" Description See "Input Signals Execute / Enable" on page 22 Selection of motion profile set 0: Motion profile set 0 (parameters P-0-0705 to P-0-0708) 1: Motion profile set 1 (parameters P-0-0712 to P-0-0715) StepNumber UINT Select motion step to be changed Each motion profile set can consist of up to 8 motion steps 1: Motion step1 / list element 0 (from P-0-0705 to P-0-0708 or P-0-0712 to P-0-0715) 2: Motion step2 / list element 1 (from P-0-0705 to P-0-0708 or P-0-0712 to P-0-0715) . List of master axis initial positions.. List of distances. set 1 Distance REAL Setting of slave axis distance of motion step P-0-0707.

see: chapter 1. set 1 StepMode MC_STEP_MODE Definition of processing mode of selected motion step P-0-0706. List of motion laws.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 41/209 Rexroth IndraDrive Firmware Libraries Input variable SlaveAxisVelocity Data type REAL Description Setting of slave axis velocity within motion step P-0-0708. List of motion laws. Status word synchronization modes" (bit 13 for set 0. set 0 P-0-0713. Status word synchronization modes" (bit 12 for set 0. List of slave axis velocities.1-23: See note below Output Variables of the Firmware Function Block "MB_ChangeProfile‐ Step" For the list of all possible errors. set 0 P-0-0715. List of slave axis velocities. set 1 ● ● ● ● ● ● ● ● ● ● ● ● ● ● REST_IN_REST_INCLINEDSINE (0) REST_IN_REST_POLY5 (16#100) REST_IN_VELOCITY_POLY5 (16#200) VELOCITY_IN_REST_POLY5 (16#400) VELOCITY_IN_VELOCITY_POLY5 (16#700) CONSTANT_VELOCITY (16#600) CAM_TABLE_1 (1) CAM_TABLE_2 (2) CAM_TABLE_3 (3) CAM_TABLE_4 (4) CAM_TABLE_5 (5) CAM_TABLE_6 (6) CAM_TABLE_7 (7) CAM_TABLE_8 (8) Fig. bit 15 for set 1) * Fig.5.2 "Error Refer‐ ence Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 . bit 14 for set 1) Active Error ErrorID * ErrorIdent CheckOk * BOOL BOOL ERROR_CODE ERROR_STRUCT BOOL Data transfer active Signals that error has occurred in function block instance Short information on cause of error Detailed information on error Motion profile set error-free "P-0-0089.1-22: Output variable Done Data type BOOL Input Variables of the Firmware Function Block "MB_ChangeProfile‐ Step" Description Data for motion step were applied "P-0-0089.

The remote axes con‐ tained in the list "P-0-1601. Fig. edge-con‐ trolled) Keep activation of command active upon execution (permanent. edge-controlled) Command execution is aborted (one-time.1-24: Input / Output Variables of the Firmware Function Block "MB_Change‐ ProfileStep" MB_Command Brief Description Interface Description The function block MB_Command is used to execute. CCD: Addresses of projected drives" correspond to the order of Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) Fig.42/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable Axis Data type AXIS_REF Description Axis1 for MLD-S As of MPx04: Axis1 for MLD-M is the local axis Axis2 to Axis8 correspond to the remote axes. Type AXIS_REF BOOL BOOL BOOL DINT or MB_IDN (as of MPx06) . status-controlled) Command .1-25: Interface Variables Name VAR_IN_OUT VAR_INPUT Axis Execute Cancel KeepActive ParameterNum‐ ber Function Block MB_Command Comment Reference of axis Function block is enabled (one-time. monitor and abort com‐ mands.

this output contains a rough classification of the error With "Error" output set.1-27: Signal-Time Diagram for Signal Sequence "Execute-Done" .1-26: Signal-Time Diagram Interface Variables Function Block MB_Command Fig. this output contains detailed in‐ formation on the error See "Error Handling" on page 45 CommandExe‐ cuted CommandStatus BOOL MB_SERCOS_DATA_STA‐ TUS Command successfully completed Status of the command execution ErrorIdent ERROR_STRUCT Fig.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 43/209 Rexroth IndraDrive Firmware Libraries Name VAR_OUTPUT Done Active CommandAbor‐ ted Error ErrorID Type BOOL BOOL BOOL BOOL ERROR_CODE Comment Command successfully completed and reset Command execution active Command successfully aborted and reset Error during command execution With "Error" output set.

44/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig.1-29: Signal-Time Diagram for Signal Sequence "Execute-KeepActive-Done" .1-28: Signal-Time Diagram for Signal Sequence "Execute-Cancel-Comman‐ dAborted" Fig.

lib" library. ErrorIdent) for the duration of at least one call.lib") or a conversion function from the "RIL_Utilities. 16#0070. The function block "MB_Command" uses the error tables F_RELATED_TA‐ BLE. this is signaled via the "Error" output and via the elements of error classification (ErrorID. and INDRV_TABLE. "MB_ReadParameter" and "MB_ReadSercosAttribute" can signal other errors. the "CommandExecuted" output acknowledges that the command ex‐ ecution was completed. In Additional1 and Additional2 it can generate the errors contained in the table below. "ML_Base. Depending on the com‐ mand itself. the command execution can be aborted via the "Cancel" input at any time. the included function blocks "MB_WriteParameter". For the duration of at least one call. the command is auto‐ matically reset when processing has been completed.1-30: Functional Description Signal-Time Diagram for Signal Sequence "Execute-Error" After the function block has been enabled. The command must be specified in the parameter IDN format in accordance with the SERCOS stand‐ ard. "MB_ReadSercosDataS‐ tatus". The "KeepActive" input allows keeping the command active upon its execution. If an error occurs during the processing of the com‐ mand. the function block "MB_Com‐ mand" by means of "Execute" starts the command execution of the command defined via the "ParameterNumber" input. the command is auto‐ matically reset. Generally. Error Handling . Apart from this direct specification.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 45/209 Rexroth IndraDrive Firmware Libraries Fig.g. 16#0170. The current status of the command execution is permanently signaled at the "CommandStatus" output. In addition to this error. it is possible to use a predefined constant from the global variables of the basic library (e. When the "KeepActive" input is deactivated. The "Active" output and the corresponding data at the "Command‐ Status" output show the active processing of the command. the outputs "Done" or "CommandAborted" signal that a command was successfully completed or aborted.

When the slave axis is a real axis. a synchronous position command value for the slave axis is determined from the position of the master axis. this axis mustn't be master axis at the same time. As of "IndraDrive MP05": When "VmAxisInt" has been selected as slave axis. you have to set in which mode the synchronization process is to take place.1-31: ErrorID DEVICE_ERROR. 16#0006 INPUT_RANGE_ERROR. Invalid input . Velocity adjustment is carried out (relative synchroni‐ zation) and in the case of absolute synchronization.16#???? contains the current value from S-0-0390. The slave axis can be a real axis or (as of "IndraDrive MP05") the internal virtual master axis (VmAxisInt). 16#0008 Additional1 16#????? Error Numbers of the Error Table "F_RELATED_TABLE". In principle.1-33: Calculating the Synchronous Position Command Value "Xsync" At the "StartMode" input. internal virtual master axis (VmAxisInt) or real master axis (RmAxis). Error during command execution (control) Fig. Select the master axis at the "Master"input. 16#0008 STATE_MACHINE_ERROR. position adjustment is .Control commands do not support the inputs Cancel or KeepActive. you can choose from the following axes: ● ● ● External virtual master axis (VmAxisExt). the synchronous position command value "XSync" is determined according to the equation below (see also Functional Description of firmware "Phase Synchronization with Real/Virtual Master Axis"): Fig. 16#0006 INPUT_RANGE_ERROR.The ParameterNumber input does not contain any val‐ id command.The function block MB_Command does not support retriggering of the command execution. Caused by MB_Command MB_GearInPos With the function block "MB_GearInPos" it is possible to realize a motion of the slave axis which is phase synchronous to the master axis. 16#0005 16#0006 16#???? Invalid status of the state machine 16#???? specifies the invalid status 16#1701 16#0000 16#0002 16#0003 16#0002 16#0002 Additional1 16#0002 Additional2 16#0001 Description Invalid input . Fig.46/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries ErrorID INPUT_RANGE_ERROR. Caused by MB_Command Additional2 16#0000 Description Error during command execution (drive) . 16#0006 DEVICE_ERROR.1-32: Error Numbers of the Error Table "INDRV_TABLE". Invalid input .

When the function block "MB_GearInPos" is active. This has to be set at the "SyncMode" input. Synchronization acceleration" take effect during the synchroniza‐ tion process. For the library in which the function is available. the parameters "P‑0‑0143. the synchronization process only takes place at the first positive edge at "Execute". When the StartMode "0" or "1" has been set. for the virtual axis. Synchronization acceleration. it is the parameters "P-0-0920.numerator ● ● "P‑0‑0157. the repeated synchronization is not suppor‐ ted.1-34: Input variable Execute RatioNumerator Data type BOOL UINT Firmware Function Block "MB_GearInPos" Description See "Input Signals Execute / Enable" on page 22 Gear ratio . Synchronization velocity" and "P‑0‑0142. too. for real axes. for the virtual axis. Synchronization can take place by motion in positive direction. sec‐ ondary master". secondary mas‐ ter" (as of IndraDrive MP05) . The position of the master axis is directly converted into a position of the slave axis. As of "IndraDrive MP04V12" and only for real axes: If the synchronization proc‐ ess is to take place at every positive edge at "Execute". For a real axis. the StartMode "2" or "3" can be set. the position loop of the drive is active. actual position value 1/2) with the function block "MB_SetPositionControlMode". in negative di‐ rection or over the shortest distance. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. This means that the actual values (velocity and position) are adjusted to the command values calculated from the master position. Make the settings of the position loop (with/without lag error. secondary master" and "P-0-0921. Synchronization velocity. Master drive gear output revolutions. too. Master drive gear output revolutions" or "P-0-0926. Another positive edge only causes the data at the input of the function block to be applied.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 47/209 Rexroth IndraDrive Firmware Libraries carried out.

A drive error is signaled via the Error outputs of "MC_Power" or "MX_Pow‐ er". For this application.1-36: Output Variables of the Firmware Function Block "MB_GearInPos" . CommandAborted BOOL Error ErrorID * ErrorIdent * BOOL ERROR_CODE ERROR_STRUCT * With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. secondary master" (as of IndraDrive MP05) 0:= Shortest distance 1:= Positive direction 2:= Negative direction StartMode MC_START_MODE "P‑0‑0155. Synchronization mode. "Active" remains TRUE until "CommandAborted" or Error" is set. positioning status" (as of IndraDrive MP05) Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion. secondary mas‐ ter" (as of IndraDrive MP05) "P‑0‑0083. "ErrorIdent" shows the exact cause of the error See note below Fig. bit 12 of the parameterized axis. Gear ratio fine adjust" or "P-0-0927. Synchronization direction" or "P-0-0922. For the virtual axis. secondary master" (as of IndraDrive MP05) in % "P‑0‑0154. "InSync" corresponds to P-0-0115. "InSync" corresponds to bit 8 of "P-0-0768. secondary master" (as of IndraDrive MP05) 0:= Absolute synchronization only at first execution 1:= Relative synchronization only at first execution 2:= Absolute synchronization at every execution (as of IndraDrive MP04V12) 3:= Relative synchronization at every execution (as of IndraDrive MP04V12) Fig. Master drive gear input revolutions" or "P-0-0925.1-35: Output variable InSync Data type BOOL Input Variables of the Firmware Function Block "MB_GearInPos" Description With the output value TRUE. Master drive gear input revolutions.48/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable RatioDenominator Data type UINT Description Gear ratio . Additional1 and Additional2. Master drive gear fine adjust. Preferred synchro‐ nization direction. bit 12 of P-0-0115 corresponds to bit 8 "synchroni‐ zation mode in synchronization" of "P-0-0089. Virtual master axis. With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. Status word synchroniza‐ tion modes". the function block signals that the slave axis is synchronous. Synchronization mode".denominator ● ● MasterFineadjust SyncMode REAL MC_SYNC_DIRECTION "P‑0‑0156. bit 1 or "P-0-0919.

you have to set in which mode the synchronization process is to take place.1-37: Input / Output Variables of the Firmware Function Block "MB_GearIn‐ Pos" MB_MotionProfile The function block "MB_MotionProfile" realizes an electronic cam function. A synchronous position command value for the slave axis is determined from the position of the master axis. see: chapter 1. a selection parameter must have been entered in P-0-0916) VmAxisExt=P_0_0053 RmAxis=P_0_0052 Data type Description Axis1 for MLD-S or local axis for MLD-M Axis2 to Axis8 correspond to the remote axes. position adjustment is carried out. Velocity adjustment is carried out (relative synchroni‐ zation) and in the case of absolute synchronization. Select the master axis at the "Master" input. When the StartMode "0" or "1" has been set. too.5. At the "StartMode" input. CCD: Addresses of projected drives" correspond to the order of Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) As of IndraDrive MP05: VmAxisInt = P_0_0761 (in this case. not simulta‐ neously allowed as master axis). the synchronization process only takes place at the first positive edge at "Execute". This means that the actual values (velocity and position) are adjusted to the command values calculated from the master position. a table access angle (P-0-0227) is first determined according to the equation below: Fig. . To calculate the synchronous position command value XSynch. The following master axes are available: ● ● ● Slave AXIS_REF VmAxisInt=P_0_0761 (in order that P-0-0761 provides the correct value. The cams are analytically defined by the parameters which belong to the operation mode "electronic motion profile". internal virtual master axis (VmAxisInt) or real master axis (RmAxis). you can choose from the following axes: ● ● ● External virtual master axis (VmAxisExt).1-38: Table Access Angle With the table access angle as an argument. Fig. Another positive edge only causes the data at the input of the function block to be applied. a synchronous position command value is calculated by means of a 5th order polynomial.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 49/209 Rexroth IndraDrive Firmware Libraries NOTE: For the list of all possible errors. The remote axes contained in the list "P-0-1601.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Master AXIS_REF Selection of master axis.

denominator P‑0‑0156. Master drive gear output revolutions" Gear ratio .1-39: Input variable Execute RatioNumerator RatioDenominator MasterFineadjust SetSelection RelativePositioning Data type BOOL UINT UINT REAL UINT BOOL Firmware Function Block "MB_MotionProfile" Description See "Input Signals Execute / Enable" on page 22 Gear ratio . too. the position loop of the drive is active. actual position value 1/2) with the function block "MB_SetPositionControlMode". Synchronization velocity" and "P‑0‑0142. TRUE = relative positioning. Master drive gear input revolutions "P‑0‑0083.numerator "P-0-0157. For the synchronization process. . Synchronization acceleration" take effect. the parameters "P‑0‑0143. When the function block "MB_MotionProfile" is active. bit10: FALSE = fixed (absolute) position reference. bit9: Selection of motion profile set (0 or 1) P-0-0088.50/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries As of "IndraDrive MP04V12": If the synchronization process is to take place at every positive edge at "Execute". the StartMode "2" or "3" can be set. Gear ratio fine adjust" in % P-0-0088. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. Make the settings of the position loop (with/without lag error. For the library in which the function is available.

CommandAborted BOOL Error ErrorID * ErrorIdent * ActiveSet BOOL ERROR_CODE ERROR_STRUCT UINT * With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. Additional1 and Additional2. Status word synchronization modes". "InSync" corresponds to P-0-0115. Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion.1-40: Output variable InSync Data type BOOL Input Variables of the Firmware Function Block "MB_MotionProfile" Description With the output value TRUE.9) = ActiveSet(P-0-0089. bit12 of the parameterized axis and SetSelection(P-0-0088. bit3: The output displays the number of the active motion profile set. "Active" remains TRUE until "CommandAborted" or Error" is set. "ErrorIdent" shows the exact cause of the error P-0-0089.1-41: See note below Output Variables of the Firmware Function Block "MB_MotionProfile" NOTE: For the list of all possible errors. see: chapter 1.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 51/209 Rexroth IndraDrive Firmware Libraries Input variable SyncMode Data type MC_SYNC_DIRECTION Description "P‑0‑0154. Fig. Synchronization mode". bit 12 of P-0-0115 corresponds to bit 8 "synchroni‐ zation mode in synchronization" of parameter "P-0-0089.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 . With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. For this application.3).5. bit 1 0:= Absolute synchronization only at first execution 1:= Relative synchronization only at first execution 2:= Absolute synchronization at every execution (as of "IndraDrive MP04V12") 3:= Relative synchronization at every execution (as of "IndraDrive MP04V12") Fig. Synchronization direction": 0:= Shortest distance 1:= Positive direction 2:= Negative direction StartMode MC_START_MODE "P‑0‑0155. A drive error is signaled via the Error outputs of "MC_Power" or "MX_Pow‐ er". the function block signals that the slave axis is synchronous.

The units of the inputs which define the drive motion are fixed. The following master axes are available: VmAxisInt=P_0_0761 (in order that P-0-0761 provides the correct value.1-43: Input variable Execute PhaseShift Data type BOOL REAL Firmware Function Block "MB_Phasing" Description See "Input Signals Execute / Enable" on page 22 Additive master axis position (P‑0‑0054) in degrees .1-42: Input / Output Variables of the Firmware Function Block "MB_Motion‐ Profile" MB_Phasing The function block "MB_Phasing" allows realizing an offset to the master axis which is connected as input to a synchronization function block ("MC_CamIn" or "MC_GearInPos"). For the library in which the function is available. a selection parameter must have been entered in P-0-0916) VmAxisExt = P_0_0053 RmAxis = P_0_0052 Slave AXIS_REF Axis1 for MLD-S or local axis for MLD-M Axis2 to Axis8 correspond to the remote axes. The inputs "Velocity" and "Acceleration" determine the motion profile with which the dis‐ tance is traveled. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. The remote axes contained in the list "P-0-1601.52/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Master AXIS_REF Selection of master axis. The parameter "P‑0‑0054. Additive master axis position" is changed. CCD: Addresses of projected drives" correspond to the order of Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) Data type Description Fig.

The adjustment only takes effect with active synchroniza‐ tion function block ("MC_CamIn".DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 53/209 Rexroth IndraDrive Firmware Libraries Input variable Velocity Acceleration Data type REAL REAL Description Additive master axis position. "S‑0‑0160. Velocity data scaling type". The remote axes contained in the list "P-0-1601. see: chapter 1. "Velocity" and "Acceleration".5. "ErrorIdent" gives the exact cause of the error See note below Active CommandAborted BOOL BOOL Error ErrorID * ErrorIdent * BOOL ERROR_CODE ERROR_STRUCT * Fig. positioning velocity (P‑0‑0688) in rpm Additive master axis position. Acceleration data scaling type") define the units for the inputs "PhaseShift".1-44: Output variable Done Data type BOOL Input Variables of the Firmware Function Block "MB_Phasing" Description With "Done"=TRUE the firmware function block signals that PhaseShift has been reached (acknowledged by bit 6 of "P‑0‑0089. Status word for syn‐ chronous operating modes") With TRUE the input "Active" signals that the preset value has not yet been reached The output "CommandAborted" is set to TRUE.1-45: Output Variables of the Firmware Function Block "MB_Phasing" NOTE: For the list of all possible errors. The scaling parameters of the axis ("S‑0‑0044. CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) Data type Description Fig. Moving to the new value for the position offset ("PhaseShift" input) takes place in consideration of the values for velocity ("Velocity" input) and acceleration ("Acceleration" input) provided at the function block. For the library in which the function is available. Additional1 and Additional2.1-46: Input / Output Variables of the Firmware Function Block "MB_Phasing" MB_PhasingSlave With the function block "MB_PhasingSlave" it is possible to adjust the slave axis by a position offset. positioning acceleration (P‑0‑0689) in rad/s² Fig. see: "Library As‐ signment as of the Target "IndraDrive MP04"" . when the firmware function block has not yet signaled with "Done"=TRUE that it has been completed and the firmware function block was aborted with another motion function block With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements Table.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis1 for MLD-S or local axis for MLD-M Axis2 to Axis8 correspond to the remote axes. "MB_GearInPos" or "MB_MotionProfile"). Position data scaling type". "S‑0‑0076.

Additive position command value. Additional1 and Additional2.1-48: Output variable Done Active CommandAborted Error ErrorID * ErrorIdent * Data type BOOL BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT * Input Variables of the Firmware Function Block "MB_PhasingSlave" Description PhaseShift reached (acknowledged by "P‑0‑0152.1-49: Output Variables of the Firmware Function Block "MB_PhasingSlave" NOTE: For the list of all possible errors. positioning acceleration" Fig. Additive position command value. bit 0=1) With "Active"=TRUE the function block signals that it contributes to the axis motion With "CommandAborted"=TRUE the function block signals that synchroniza‐ tion has been aborted With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. see: chapter 1.5. Synchronization comple‐ ted". positioning velocity" "P-0-0687.1-47: Input variable Execute PhaseShift Velocity Acceleration Data type BOOL REAL REAL REAL Firmware Function Block "MB_PhasingSlave" Description See "Input Signals Execute / Enable" on page 22 "S-0-0048. "ErrorIdent" shows the exact cause of the error See note below Fig. Additive position command value" "P-0-0686.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 .54/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig.

With the deceleration set at "Deceleration" the drive is brought to standstill. the parameter P-0-0758 must be written to parameter "P-0-0916. bit 0=1. see: "Library As‐ signment as of the Target "IndraDrive MP04"" .1-50: Input / Output Variables of the Firmware Function Block "MB_Phasing‐ Slave" MB_Stop The firmware function block "MB_Stop" is used to bring the drive to the status STOP. It counts the positive edges of the "ExecuteLock" sig‐ nal and thereby signals whether the function block is run with edge. Further command triggering is only possible when the axis is in standstill. the instance variable "ActivateCounter" can be used. the master axis generator has to be activated via "P-0-0917. no other motion function block can be started. As long as the input "ExecuteLock" is TRUE. For this purpose. See also Functional Description of firmware "Master Axis Genera‐ tor" To test the function block. actual velocity value" to standstill via a defined ramp. With the rising edge at "ExecuteLock" the stopping process is started. this means that a running "MC_Stop" cannot be aborted by an "MB_Stop". the drive is brought to the status "AH" (Drive Halt). it is always the last instance which takes effect. If the PLC does not have control over the drive. Control word of master axis generator". Exception: An active "MC_Stop" cannot be interrupted by an "MB_Stop". To convert the virtual actual position value (P-0-0758) into the internal virtual master axis position (VmAxisInt. Mas‐ ter axis position for slave axis"). For this purpose. Master axis format converter signal selection". "P-0-0761. For the library in which the function is available. an error is returned. Virtual master axis. The remote axes contained in the list "P-0-1601. With "ExecuteLock"=FALSE the drive remains in "AH". CCD: Addresses of projected drives" correspond to the order of Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) As of IndraDrive MP06: VmAxisInt = P_0_0761 Data type Description Fig. "MC_Stop" has higher priority than "MB_Stop". Via the function block "MB_Stop" it is also possible to bring "P-0-0759.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 55/209 Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis1 for MLD-S or local axis for MLD-M Axis2 to Axis8 correspond to the remote axes. When several instances are called by "MC_Stop" or "MB_Stop" in a project.

the kind of deceleration depends on the error "ErrorID" gives a rough error description Via the elements Table. Fig. Additional1 and Additional2.1-52: Output variable Done Data type BOOL Input Variables of the Firmware Function Block "MB_Stop" Description With "Done"=TRUE (S-0-0331.5. The deceleration which is set is written to parameter "S‑0‑0372. "ErrorIdent" gives the exact cause of the error See note below Active CommandAborted BOOL BOOL Error ErrorID * ErrorIdent * BOOL ERROR_CODE ERROR_STRUCT * Fig.56/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig. bit 0=1) the firmware function block signals that the drive has stopped.1-53: Output Variables of the Firmware Function Block "MB_Stop" NOTE: For the list of all possible errors.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 . see: chapter 1. Only when the input "ExecuteLock" is TRUE is the output "Done" generated With "Active"=TRUE the firmware function block signals that it determines the axis motion With "CommandAborted"=TRUE the function block signals that another function block has commanded another status (other "MC_Stop" or "MB_Stop") With "Error"=TRUE the function block signals that an error is present. Drive Halt acceleration bipolar".1-51: Input variable ExecuteLock Deceleration Data type BOOL REAL Firmware Function Block "MB_Stop" Description With a rising edge at "ExecuteLock" the drive is switched to "AH" This input sets the deceleration.

As of "IndraDrive MP04V12": If the synchronization process is to take place at every positive edge at "Execute". a profile ac‐ cess angle (P-0-0227) is first determined according to the equation below: Fig. The input values (gear.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 57/209 Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis1 for MLD-S or local axis for MLD-M Axis2 to Axis8 correspond to the remote axes. distance. Select the master axis at the "Master"input. A synchronous position command value for the slave axis is determined from the position of the master axis. Access Angle (Table Access Angle) With the calculated table access angle. too. To calculate the synchronous position command value "XSynch". Another positive edge only causes the data at the input of the function block to be applied. cam) then take effect depending on the configuration of "P-0-0086. independent of P-0-0086. The remote axes contained in the list "P-0-1601. the table selected at the "CamTableID" input is accessed and a percentage is taken from it. This table value is multiplied with the position value at the "CamShaftDistance" input and provides the syn‐ chronous position command value. This has to be set at the "SyncMode" input. Configuration word syn‐ chronous operation modes". position adjustment is carried out. in negative direction or over the shortest distance. This means that the actual values (velocity and position) are adjusted to the command values calculated from the master position with par‐ ameterized velocity (P-0-0143. With modulo position scaling.1-55: Calculating P‑0‑0227. The input values (gear. . cam) therewith take effect immediately. When the StartMode "0" or "1" has been set. you have to set in which mode the synchronization process is to take place. distance. the synchronization process only takes place at the first positive edge at "Execute". internal virtual master axis (VmAxisInt) or real master axis (RmAxis). CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) VmAxisInt corresponds to the virtual master axis generator Data type Description Fig.1-54: Input / Output Variables of the Firmware Function Block "MB_Stop" MC_CamIn With the function block "MC_CamIn" it is possible to realize an electronic cam. Synchronization acceleration). At the "StartMode" input. Velocity adjustment is carried out (relative synchroni‐ zation) and in the case of absolute synchronization. Synchronization velocity) and acceleration (P-0-0142. you can choose from the following axes: ● ● ● External virtual master axis (VmAxisExt). synchronization can take place by motion in pos‐ itive direction. the StartMode "2" or "3" can be set. Cam Table.

Make the settings of the position loop (with/ without lag error.58/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries When the function block "MC_CamIn" is active. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. Gear ratio fine adjust" in % Cam distance. all outputs are reset Gear ratio . Synchronization direction": 0:= Shortest distance 1:= Positive direction 2:= Negative direction . the position loop of the drive is active.1-56: Input variable Execute RatioNumerator RatioDenominator MasterFineadjust CamShaftDistance SyncMode Data type BOOL UINT UINT REAL REAL MC_SYNC_DIRECTION Firmware Function Block "MC_CamIn" Description The function block is activated with a rising edge at "Execute". With a falling edge. actual position value 1/2) with the function block "MB_SetPositionControlMode". For the library in which the function is available.numerator "P-0-0157.denominator "P-0-0156. Master drive gear input revolutions" "P‑0‑0083. too. Scaling of percentage-based table values "P‑0‑0154. Master drive gear output revolutions" Gear ratio .

Status word synchronization modes".P‑0‑0785) Fig.1-57: Output variable InSync Data type BOOL Input Variables of the Firmware Function Block "MC_CamIn" Description With "InSync"=TRUE the function block signals that the slave axis is syn‐ chronous. bit12: "command value reached" of the parameterized axis and "CamTableID"="CamActiveID" and "P-0-0089. "InSync" corresponds to ● ● ● "P-0-0115. Device control: Status word".. With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. Additional1 and Additional2. see: chapter 1.8 according to parameters P‑0‑0072. A drive error is signaled via the "Error" outputs of "MC_Power". P‑0‑0780. Status word synchronization modes". bit 1 0:= Absolute synchronization only at first execution 1:= Relative synchronization only at first execution 2:= Absolute synchronization at every execution (as of IndraDrive MP04V12) 3:= Relative synchronization at every execution (as of IndraDrive MP04V12) CamTableID MC_CAM_ID Number of the cam table (1. With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. P‑0‑0092.1-58: See note below Output Variables of the Firmware Function Block "MC_CamIn" NOTE: For the list of all possible errors.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 59/209 Rexroth IndraDrive Firmware Libraries Input variable StartMode Data type MC_START_MODE Description "P‑0‑0155. bit 12 of P-0-0115 corre‐ sponds to bit 8 "synchronization mode in synchronization" of pa‐ rameter "P-0-0089.5. "Active" remains TRUE until "CommandAborted" or Error" is set. Active BOOL With "Active"=TRUE the function block signals that it determines the axis motion. Synchronization mode".. "ErrorIdent" shows the exact cause of the error Number of the cam active in the function block * CommandAborted BOOL Error ErrorID * ErrorIdent * CamActiveID BOOL ERROR_CODE ERROR_STRUCT Fig.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 . bit 5=1 (status distance switching). For this application.

see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. The remote axes contained in the list "P-0-1601. Transition to velocity control takes place. For the library in which the function is available. (S-0-0330.1-61: Output variable Done Active Data type BOOL BOOL Input Variables of the Firmware Function Block "MC_CamOut" Description With "Done"=TRUE the firmware function block signals that the preset ve‐ locity has been reached.1-59: Input / Output Variables of the Firmware Function Block "MC_CamIn" MC_CamOut The firmware function block "MC_CamOut" is used to terminate an active syn‐ chronization function block. . bit 0=1) With TRUE the "Active" output signals that it determines the axis motion.1-60: Input variable Execute Data type BOOL Firmware Function Block "MC_CamOut" Description See "Input Signals Execute / Enable" on page 22 Fig. The following master axes are available: ● ● ● Slave AXIS_REF VmAxisInt=P-0-0761 (in order that P-0-0761 provides the correct value. CCD: Addresses of projected drives" correspond to the order of Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) Fig. The actual velocity value available with a rising Execute edge is taken as the velocity com‐ mand value. a selection parameter must have been entered in P-0-0916) VmAxisExt=P-0-0053 RmAxis=P-0-0052 Data type Description Axis1 (only axis for MLD-S or local axis for MLD-M) Axis2 to Axis8 correspond to the remote axes.60/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Master AXIS_REF Selection of master axis.

the slave axis accelerates to the synchro‐ nous velocity with the acceleration set in "P‑0‑0142.1-64: Calculating the Synchronous Velocity For the library in which the function is available. When the function block is activated.1-63: Input / Output Variables of the Firmware Function Block "MC_CamOut" MC_GearIn With the function block "MC_GearIn" it is possible to realize a motion of the slave axis which is velocity synchronous to the master axis. see: "Library As‐ signment as of the Target "IndraDrive MP04"" .1-62: Output Variables of the Firmware Function Block "MC_CamOut" NOTE: For the list of all possible errors. Fig. "ErrorIdent" shows the exact cause of the error See note below Fig. Master axis position for slave axis) (as of IndraDrive MP05) "Axis1" (only axis for MLD-S or local axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. see: chapter 1. from the velocity of the master axis and the input data of the function block.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Slave AXIS_REF "VmAxisInt" (P-0-0761. CCD: Addresses of projected drives" corre‐ spond to the order of "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) Data type Description Fig.5. The synchronous velocity is generated according to the equation below. Synchronization acceler‐ ation". Additional1 and Additional2. The remote axes con‐ tained in the list "P-0-1601.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 61/209 Rexroth IndraDrive Firmware Libraries Output variable Error ErrorID * ErrorIdent * Data type BOOL ERROR_CODE ERROR_STRUCT * Description With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table.

this bit corresponds to bit 8 "synchronization mode in synchronization" of parameter "P-0-0089.numerator "P-0-0157. Additional1 and Additional2.62/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig. With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present.1-66: Output variable InGear Data type BOOL Input Variables of the Firmware Function Block "MC_GearIn" Description With "InGear"=TRUE the function block signals that the slave axis is ve‐ locity-synchronous. For this application. A drive error is displayed via the Error outputs of "MC_Power" With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table.denominator "P-0-0156.1-65: Input variable Execute RatioNumerator RatioDenominator MasterFineadjust Data type BOOL UINT UINT REAL Firmware Function Block "MC_GearIn" Description See "Input Signals Execute / Enable" on page 22 Gear ratio . Active CommandAborted BOOL BOOL With "Active"=TRUE the function block signals that it determines the axis motion. "ErrorIdent" shows the exact cause of the error See note below Error ErrorID * ErrorIdent * BOOL ERROR_CODE ERROR_STRUCT * Fig. Device control .status word: command value reached" of the parameterized axis. Master drive gear input revolutions" "P‑0‑0083. Gear ratio fine adjust" in % Fig. Master drive gear output revolutions" Gear ratio .1-67: Output Variables of the Firmware Function Block "MC_GearIn" . InGear corresponds to "P-0-0115 bit12. Status word synchronization modes". "Active" remains TRUE until "CommandAborted" or Error" is set.

2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Master AXIS_REF Selection of master axis. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. The actual velocity value available with a rising "Execute" edge is taken as the velocity command value. The following master axes are available: ● ● ● Slave AXIS_REF VmAxisInt=P-0-0761 (in order that P-0-0761 provides the correct value.5.1-70: Input Variables of the Firmware Function Block "MC_GearOut" . a selection parameter must have been entered in P-0-0916) VmAxisExt=P-0-0053 RmAxis=P-0-0052 Data type Description Axis1 (only axis for MLD-S or local axis for MLD-M) Axis2 to Axis8 correspond to the remote axes.1-68: Input / Output Variables of the Firmware Function Block "MC_GearIn" MC_GearOut The firmware function block "MC_GearOut" is used to terminate an active syn‐ chronization function block.1-69: Input variable Execute Data type BOOL Firmware Function Block "MC_GearOut" Description See "Input Signals Execute / Enable" on page 22 Fig. For the library in which the function is available. CCD: Addresses of projected drives" correspond to the order of Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) Fig. see: chapter 1. Transition to velocity control takes place for real axes.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 63/209 Rexroth IndraDrive Firmware Libraries NOTE: For the list of all possible errors. The remote axes contained in the list "P-0-1601.

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Rexroth IndraDrive Firmware Libraries
Output variable Done Active Error ErrorID * ErrorIdent * Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT * Description With "Done"=TRUE the firmware function block signals that the preset ve‐ locity has been reached. (S-0-0330, bit 0=1) With TRUE the "Active" output signals that it determines the axis motion. With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table, Additional1 and Additional2, "ErrorIdent" shows the exact cause of the error See note below

Fig.1-71:

Output Variables of the Firmware Function Block "MC_GearOut"

NOTE: For the list of all possible errors, see: chapter 1.5.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28
Input / output variable (VAR_IN_OUT) Slave AXIS_REF "VmAxisInt" (P-0-0761, Master axis position for slave axis) (as of IndraDrive MP05) "Axis1" (only axis for MLD-S or local axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes con‐ tained in the list "P-0-1601, CCD: Addresses of projected drives" corre‐ spond to the order of "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) Data type Description

Fig.1-72:

Input / Output Variables of the Firmware Function Block "MC_GearOut"

MC_MoveAbsolute
The firmware function block "MC_MoveAbsolute" is used to move the drive to a preset absolute position. Internally the operating mode "drive-controlled po‐ sitioning" is activated for this purpose. Make the settings of the position loop (with/without lag error, actual position value 1/2) with the function block "MB_SetPositionControlMode". For permanent control and remote axes the secondary operation mode 3 and its parameters are used. For temporary control the secondary PLC operation mode 11 and its parameters are used. The target position has to be preset at the input "Position". Via the inputs "Ve‐ locity", "Acceleration" and "Deceleration" you have to set how the drive moves to the target position (motion profile). Via the firmware function block "MC_MoveAbsolute" the parameter "P-0-0758, Virtual master axis, actual position value" of the master axis generator can be positioned in absolute form, too. For this pur‐ pose, the master axis generator has to be activated via "P-0-0917, Control word of master axis generator", bit 0=1. To convert the vir‐ tual actual position value (P-0-0758) into the internal virtual master axis position (VmAxisInt, "P-0-0761, Master axis position for slave axis") the parameter P-0-0758 must be written to parameter "P-0-0916, Master axis format converter signal selection". See also Functional Description of firmware "Master Axis Genera‐ tor" and "Master Axis Format Converter"

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Fig.1-73:
Operating mode parameter

Firmware Function Block "MC_MoveAbsolute"
Virt. master axis (as of MPx04) P-0-0766, Virtual master axis, position‐ ing command value P-0-0770, Virtual master axis, position‐ ing velocity P-0-0771, Virtual master axis, position‐ ing acceleration P-0-0760, Virtual master axis, position‐ ing control word P-0-0772, Virtual master axis, position‐ ing deceleration

PLC mode parameter

S-0-0282, Positioning command val‐ P-0-1450, PLC Positioning command value ue S-0-0259, Positioning Velocity S-0-0260, Positioning Acceleration S-0-0346, Positioning control word S-0-0359, Positioning deceleration P-0-1451, PLC Positioning velocity P-0-1452, PLC Positioning acceleration P-0-1454, PLC Positioning command value acceptance P-0-1453, PLC Positioning deceleration

Fig.1-74:
Input variable Execute Position Velocity Acceleration Deceleration Data type BOOL REAL REAL REAL REAL

Comparison of Operation Mode Parameters
Description See "Input Signals Execute / Enable" on page 22 The absolute position must be preset at the input "Position". Positioning velocity in physical unit Positioning acceleration in physical unit Positioning deceleration in physical unit

Fig.1-75:

Input Variables of the Firmware Function Block "MC_MoveAbsolute"

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Output variable Done Data type BOOL Description With "Done"=TRUE the firmware function block signals that the absolute target position has been reached. The processing is completed until the next 0-1 edge at the "Execute" input. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE), the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firm‐ ware function block has not been interrupted by an error or another firm‐ ware function block. ● ● Real axes: The output is set to TRUE when bit 2 is set in parameter "S-0-0437, Positioning status word". Virtual master axis: (as of MPx04VRS) The output is set to TRUE when bit 2 is set in parameter "P-0-0768, Virtual master axis, posi‐ tioning status".

Active CommandAborted

BOOL BOOL

With "Active"=TRUE the function block signals that it determines the axis motion. With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. A drive error is displayed via the Error outputs of "MC_Power" With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements Table, Additional1 and Additional2, "ErrorIdent" gives the exact cause of the error See note below

Error ErrorID * ErrorIdent *

BOOL ERROR_CODE ERROR_STRUCT *

Fig.1-76:

Output Variables of the Firmware Function Block "MC_MoveAbsolute"

NOTE: For the list of all possible errors, see: chapter 1.5.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28
Input / output variable (VAR_IN_OUT) Axis AXIS_REF Defines the axis. The following axes are possible: ● ● "Axis1" (axis for MLD-S or local axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The remote axes con‐ tained in the list "P-0-1601, CCD: addresses of projected drives" corre‐ spond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) "VmAxisInt" corresponds to the virtual master axis generator Data type Description

Fig.1-77:

Input / Output Variables of the Firmware Function Block "MC_MoveAb‐ solute"

MC_MoveAdditive
The firmware function block "MC_MoveAdditive" is used to move the drive in relative form by a distance in addition to the target position. The new target position results from the old target position, plus a distance. The distance is determined by the "Distance" input. The inputs "Velocity", "Acceleration" and "Deceleration" determine the motion profile.

DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library

Bosch Rexroth AG

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Rexroth IndraDrive Firmware Libraries Internally the operation mode "drive-controlled positioning" is activated. Make the settings of the position loop (with/without lag error, actual position value 1/2) with the function block "MB_SetPositionControlMode". For permanent control and remote axes the secondary operation mode 3 and its parameters are used. For temporary control the secondary PLC operation mode 11 and its parameters are used. Via the firmware function block "MC_MoveAbsolute" the parameter "P-0-0758, Virtual master axis, actual position value" of the master axis generator can be moved in relative form by a distance in ad‐ dition to the current target position. For this purpose, the master axis generator has to be activated via "P-0-0917, Control word of master axis generator", bit 0=1. To convert the virtual actual position value (P-0-0758) into the internal virtual master axis position (VmAxisInt, "P-0-0761, Master axis position for slave axis") the pa‐ rameter P-0-0758 must be written to parameter "P-0-0916, Master axis format converter signal selection". See also Functional Description of firmware "Master Axis Genera‐ tor" and "Master Axis Format Converter" For the library in which the function is available, see: "Library As‐ signment as of the Target "IndraDrive MP04""

Fig.1-78:
Operating mode parameter

Firmware Function Block "MC_MoveAdditive"
Virt. master axis P-0-0766, Virtual master axis, position‐ ing command value P-0-0770, Virtual master axis, position‐ ing velocity P-0-0771, Virtual master axis, position‐ ing acceleration

PLC mode parameter

S-0-0282, Positioning command val‐ P-0-1450, PLC Positioning command value ue S-0-0259, Positioning Velocity S-0-0260, Positioning Acceleration P-0-1451, PLC Positioning velocity P-0-1452, PLC Positioning acceleration

posi‐ tioning status". Virtual master axis.68/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Operating mode parameter S-0-0346. Positioning status word". With a falling edge. The processing is completed until the next 0-1 edge at the "Execute" input. Positioning velocity in physical unit Positioning acceleration in physical unit Positioning deceleration in physical unit Velocity Acceleration Deceleration REAL REAL REAL Fig.1-81: Output Variables of the Firmware Function Block "MC_MoveAdditive" . position‐ ing control word P-0-0772. The firmware function block remains active until one of the two out‐ puts"Done" and "Error" is set to TRUE. A drive error is displayed via the Error outputs of "MC_Power" With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements Table. master axis P-0-0760. the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firmware func‐ tion block has not been interrupted by an error or another firmware function block. PLC Positioning command value acceptance P-0-1453.1-79: Input variable Execute Data type BOOL Comparison of Operation Mode Parameters Description With a rising edge at "Execute" the data at the inputs are applied to the firmware function block. Virtual master axis. Active CommandAborted BOOL BOOL With "Active"=TRUE the firmware function block signals that it determines the axis motion With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. Virtual master axis. Positioning control word S-0-0359.1-80: Output variable Done Data type BOOL Input Variables of the Firmware Function Block "MC_MoveAdditive" Description With "Done"=TRUE the firmware function block signals that the target po‐ sition has been reached. PLC Positioning deceleration Virt. the new target position results from the old target position and the value set at the input "Distance". position‐ ing deceleration Fig. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE). Positioning deceleration PLC mode parameter P-0-1454. processing starts. "ErrorIdent" gives the exact cause of the error See note below Error ErrorID * ErrorIdent * BOOL ERROR_CODE ERROR_STRUCT * Fig. Virtual master axis: (as of MPx04VRS) The output is set to TRUE when bit 2 is set in parameter "P-0-0768. The status persists for one call before the outputs are reset Distance REAL At the input "Distance" the relative distance must be preset. all outputs are cleared. ● ● Real axes: The output is set to TRUE when bit 2 is set in parameter "S-0-0437. Additional1 and Additional2.

Master axis position for slave axis") the pa‐ rameter P-0-0758 must be written to parameter "P-0-0916. Control word of master axis generator". Internally the operation mode "drive-controlled positioning" is activated for this purpose. see: "Library As‐ signment as of the Target "IndraDrive MP04"" . For permanent control and remote axes the secondary operation mode 3 and its parameters are used. For this purpose. For temporary control the secondary PLC operation mode 11 and its parameters are used. the master axis generator has to be activated via "P-0-0917. actual position value" of the master axis generator can be moved in relative form by a distance starting from the current virtual actual position. starting from the current actual position. To convert the virtual actual position value (P-0-0758) into the internal virtual master axis position (VmAxisInt. The following axes are possible: ● ● "Axis1" (axis for MLD-S.5. Master axis format converter signal selection". actual position value 1/2) with the function block "MB_SetPositionControlMode". The remote axes con‐ tained in the list "P-0-1601.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 69/209 Rexroth IndraDrive Firmware Libraries NOTE: For the list of all possible errors. "Acceleration" and "Deceleration" you have to set the mo‐ tion profile (determines how the relative distance is traveled). The relative distance to be moved has to be preset at the input "Distance". Virtual master axis.1-82: Input / Output Variables of the Firmware Function Block "MC_MoveAd‐ ditive" MC_MoveRelative The firmware function block "MC_MoveRelative" is used to move the drive in relative form by a distance. Via the inputs "Velocity".2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Defines the axis. CCD: addresses of projected drives" corre‐ spond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) "VmAxisInt" corresponds to the virtual master axis generator Data type Description ● Fig. "P-0-0761. See also Functional Description of firmware "Master Axis Genera‐ tor" and "Master Axis Format Converter" For the library in which the function is available. Make the settings of the position loop (with/without lag error. Via the firmware function block "MC_MoveRelative" the parameter "P-0-0758. bit 0=1. see: chapter 1. local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes.

position‐ ing velocity P-0-0771. Virtual master axis. Positioning deceleration P-0-1451. Positioning Velocity S-0-0260. Positioning Acceleration S-0-0346. Virtual master axis. position‐ ing command value P-0-0770. Virtual master axis. they are cut off Velocity Acceleration Deceleration REAL REAL REAL Positioning velocity in physical unit Positioning acceleration in physical unit Positioning deceleration in physical unit Fig.70/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig.1-85: Input Variables of the Firmware Function Block "MC_MoveRelative" .1-83: Operating mode parameter Firmware Function Block "MC_MoveRelative" Virt. If the applied value has more decimal places. PLC Positioning acceleration P-0-1454. master axis (as of MPx04) P-0-0766. Positioning control word S-0-0359. PLC Positioning velocity P-0-1452. The number of possible decimal places depends on the parameterized scaling (see drive documentation). Positioning command val‐ P-0-1450. PLC Positioning command value ue S-0-0259. PLC Positioning deceleration Fig. position‐ ing acceleration P-0-0760. PLC Positioning command value acceptance P-0-1453. Virtual master axis. position‐ ing control word P-0-0772.1-84: Input variable Execute Distance Data type BOOL REAL Comparison of Operation Mode Parameters Description See "Input Signals Execute / Enable" on page 22 At the input "Distance" you have to preset the relative distance which is to be traveled starting from the current actual position. Virtual master axis. position‐ ing deceleration PLC mode parameter S-0-0282.

too. Virtual master axis: (as of MPx04VRS) The output is set to TRUE when bit 2 is set in parameter "P-0-0768. The processing is completed until the next 0-1 edge at the "Execute" input. The following axes are possible: ● ● "Axis1" (axis for MLD-S. A drive error is displayed via the Error outputs of "MC_Power" With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements Table. The remote axes con‐ tained in the list "P-0-1601. Active CommandAborted BOOL BOOL With TRUE the output "Active" signals that it determines the axis motion.1-87: Input / Output Variables of the Firmware Function Block "MC_MoveRe‐ lative" MC_MoveVelocity The firmware function block "MC_MoveVelocity" is used to preset a velocity for the drive. As the drive moves in velocity control. Additional1 and Additional2. Positioning status word". the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firmware func‐ tion block has not been interrupted by an error or another firmware function block. CCD: addresses of projected drives" corre‐ spond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) "VmAxisInt" corresponds to the virtual master axis generator Data type Description ● Fig. see: chapter 1. For temporary control the secondary PLC operation mode 8 and its parameters are used.5.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Defines the axis. For permanent control and remote axes the primary mode of operation and its parameters are used. With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. ● ● Real axes: The output is set to TRUE when bit 2 is set in parameter "S-0-0437. local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. .1-86: Output Variables of the Firmware Function Block "MC_MoveRelative" NOTE: For the list of all possible errors.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 71/209 Rexroth IndraDrive Firmware Libraries Output variable Done Data type BOOL Description With "Done"=TRUE the firmware function block signals that the preset dis‐ tance has been traveled. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE). "ErrorIdent" gives the exact cause of the error See note below Error ErrorID * ErrorIdent * BOOL ERROR_CODE ERROR_STRUCT * Fig. Virtual master axis. posi‐ tioning status". the firmware function block can be used for open-loop drives.

bit 0=1. Master axis position for slave axis") the parameter P-0-0758 must be written to parameter "P-0-0916. Position data scaling type S-0-0086. Virtual master axis. Velocity data scaling type S-0-0076. Mas‐ ter axis format converter signal selection". command value mode". the drive error "F2064 Incor‐ rect cmd value direction master axis generator" is triggered. To convert the virtual actual position value (P-0-0758) into the internal virtual master axis posi‐ tion (VmAxisInt. too. See also Functional Description of firmware "Master Axis Genera‐ tor" and "Master Axis Format Converter" The functional principle of the firmware function block "MC_Move‐ Velocity" differs in one important point depending on the selected axis: "VmAxisInt" "P-0-0769. the master axis generator has to be activated via "P-0-0917. see: "Library As‐ signment as of the Target "IndraDrive MP04"" . This parameter only takes effect with modulo scaling of the virtual master axis generator. "P-0-0761. For the function block "MC_MoveVelocity" the parameter has the following effect: ● ● ● 00: Positive direction: Only positive direction of rotation is al‐ lowed for positioning (relative/absolute) and jogging 01: Negative direction: Only negative direction of rotation is allowed for positioning (relative/absolute) and jogging 10: Shortest distance: Both positive and negative directions of rotation are allowed for positioning (relative/absolute)and jog‐ ging If this is not taken into consideration. For the library in which the function is available. For this purpose. ● ● ● S-0-0044. Control word of master axis generator". the units of the inputs which define the drive motion are taken from the scaling parameters.72/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries If they are scaling-dependent and unless otherwise described. Torque/force data scaling type Via the firmware function block "MC_MoveVelocity" a velocity can be preset for the virtual master axis generator.

Virtual master axis. PLC Velocity command value P-0-1461. If the applied value has more decimal places. they are cut off Acceleration in physical unit. positioning deceleration PLC mode parameter P-01460. positioning velocity P-0-0771. PLC Deceleration ramp 2 Fig. they are cut off Acceleration REAL Deceleration REAL Fig. Ramp 2 pitch P-0-1213. The number of possible decimal places de‐ pends on the parameterized scaling (see drive documentation). The number of possible decimal places depends on the parameterized scaling (see drive documentation). If the applied val‐ ue has more decimal places. Virtual master axis. Virtual master axis.1-89: Input variable Execute Velocity Data type BOOL REAL Comparison of Operation Mode Parameters Description See "Input Signals Execute / Enable" on page 22 Velocity in physical unit. positioning acceleration P-0-0772. Deceleration ramp 2 Firmware Function Block "MC_MoveVelocity" Virt.1-88: Operation mode parameter S-0-0036. The number of possible decimal places de‐ pends on the parameterized scaling (see drive documentation). Velocity command value P-0-1203.1-90: Input Variables of the Firmware Function Block "MC_MoveVelocity" . master axis (as of MPx04) P-0-0770.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 73/209 Rexroth IndraDrive Firmware Libraries Fig. If the applied value has more decimal places. they are cut off Deceleration in physical unit. PLC Ramp 2 pitch P-0-1463.

posi‐ tioning status". Device control: status word". see: chapter 1. InVelocity = "P-0-0115.1-91: Output Variables of the Firmware Function Block "MC_MoveVelocity" NOTE: For the list of all possible errors. With the rising edge of "Execute" the stopping process is started. "Active" remains TRUE until "CommandAborted" or Error" is set. The remote axes con‐ tained in the list "P-0-1601.1-92: Input / Output Variables of the Firmware Function Block "MC_MoveVe‐ locity" MC_Stop The firmware function block "MC_Stop" is used to bring the drive to the status STOP.5. A drive error is displayed via the Error outputs of "MC_Power" With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements Table. With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present.P-0-0759| < 1rpm or <1mm/min Active CommandAborted BOOL BOOL With "Active"=TRUE the function block signals that it determines the axis motion. . ● Real axes: "Axis1" etc. "ErrorIdent" gives the exact cause of the error See note below Error ErrorID * ErrorIdent * BOOL ERROR_CODE ERROR_STRUCT * Fig. bit 12 of the parameterized axis.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Defines the axis. CCD: addresses of projected drives" corre‐ spond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) "VmAxisInt" corresponds to the virtual master axis generator Data type Description ● Fig. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has reached the command velocity ("InVelocity"=TRUE). the output "InVeloci‐ ty" is set to TRUE for one call if the actual velocity corresponds to the command velocity. Additional1 and Additional2. message n_act = n_cmd ● Virtual master axis: "VmAxisInt" (as of MPx04VRS) InVelocity = bit4 AND bit13 of "P-0-0768. The following axes are possible: ● ● "Axis1" (local axis for MLD-S. local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. velocity .Bit4 = 1 -> generator provides const. In this application. . bit 12 of P-0-0115 corre‐ sponds to S-0-0330.Bit13 = 1 -> |P-0-0770 .74/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable InVelocity Data type BOOL Description With "InVelocity"=TRUE the firmware function block signals that the ve‐ locity preset by "Velocity" has been reached. Virtual master axis.

"P‑0‑0761. the drive goes to the status "AH" (Drive Halt). it is always the last instance which takes effect. See also Functional Description of firmware "Master Axis Generator" and "Master Axis Format Converter" For the library in which the function is available. Master axis position for slave axis"). It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with an edge. the master axis generator has to be activated via "P‑0‑0917. an error is returned. "MC_Stop" has higher priority than "MB_Stop". Virtual master axis. Control word of master axis generator". Virtual master axis. this means that a running "MC_Stop" cannot be aborted by an "MB_Stop". actual position value" must be writ‐ ten to the parameter "P‑0‑0916.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 75/209 Rexroth IndraDrive Firmware Libraries If the PLC does not have control over the drive. Via the firmware function block "MC_Stop" it is also possible to bring "P‑0‑0759. To test the function block "MC_Stop". bit0=1. actual velocity value" to standstill via a defined ramp (defined via "Deceleration" input). the instance variable "Acti‐ vateCounter" can be used. When an instance is called with an edge at "Execute". When the firmware function block "MC_Stop" is activated via a rising edge at the "Execute" input. When several instances are called by "MC_Stop" in a project. With the deceleration set at "Deceleration" the drive is brought to standstill. Further com‐ mand triggering of a motion function block will only be possible when the axis is in standstill and the "Execute" input has the value FALSE. "P‑0‑0758. To convert the virtual actual position value (P‑0‑0758) into the internal virtual master axis posi‐ tion (VmAxisInt. Master axis format converter signal selection". For this purpose.1-93: Firmware Function Block "MC_Stop" . An active "MC_Stop" cannot be interrupted by an "MB_Stop". see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. other instances when called (without edge) signal CommandAborted = TRUE.

"ErrorIdent" shows the exact cause of the error See note below Error ErrorID * ErrorIdent * BOOL ERROR_CODE ERROR_STRUCT * Fig. Slave axis (real axis): When S‑0‑0331. see: chapter 1. positioning deceleration" of the virtual master axis generator.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Defines the axis. Master axis generator ("VmAxisInt"): With a rising edge at "Execute" the master axis generator is brought to the positioning mode "halt" ("P‑0‑0760. The remote axes contained in the list "P‑0‑1601. Additional1 and Additional2. The deceleration which is set is written to parameter "S‑0‑0372. bit0=1 Virtual master axis generator ("VmAxisInt"): When the absolute value of P‑0‑0759 is smaller than P‑0‑0912 Active CommandAborted BOOL BOOL With "Active"=TRUE the firmware function block signals that it determines the axis motion With "CommandAborted"=TRUE the function block signals that another "MC_Stop" was activated or a drive error was present. See also "Input Signals Execute / Enable" on page 22 Deceleration REAL This input sets the deceleration. Drive Halt acceleration bipolar" of the slave axis (real axis) or parameter "P‑0‑0772.1-96: Input / Output Variables of the Firmware Function Block "MC_Stop" . bit1 and bit2 to "1").76/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable Execute Data type BOOL Description Slave axis ("Axis1" to "Axis8"): With a rising edge at "Execute" the drive is switched to "AH". Virtual master axis. A drive error is dis‐ played via the Error outputs of "MC_Power" With "Error"=TRUE the function block signals that an error is present. Fig. Virtual master axis. The following axes are possible: ● ● "Axis1" (local axis for MLD-S. CCD: Addresses of projected drives" correspond to the order of "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P‑0‑1601) "VmAxisInt" corresponds to the virtual master axis generator Data type Description ● Fig.5. positioning control word". the kind of deceleration depends on the error "ErrorID" gives a rough error description Via the elements: Table. local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes.1-94: Output variable Done Data type BOOL Input Variables of the Firmware Function Block "MC_Stop" Description With "Done"=TRUE the firmware function block signals that the axis has stopped.1-95: Output Variables of the Firmware Function Block "MC_Stop" NOTE: For the list of all possible errors.

see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. Note: With the parameter "S-0-0826. Fig. set when the function block provides the message "InTorque".1-98: Input variable Execute Torque TorqueRamp Data type BOOL REAL REAL Comparison of Operation Mode Parameters Description See "Input Signals Execute / Enable" on page 22 Torque/force command value (S-0-0080) Torque/force ramp (S-0-0822) with reference to the torque/force ramp time (S-0-0823) Note: If the input "TorqueRamp" is set to 0. Torque/force ramp Firmware Function Block MC_TorqueControl PLC mode parameter P-0-1465. the torque/force command val‐ ue is input abruptly.1-97: Operation mode parameter S-0-0080. PLC Torque/force command value P-0-1466.1-99: Output variable InTorque Data type BOOL Input Variables of the Firmware Function Block "MC_TorqueControl" Description Torque/force command value has been reached. the drive follows the command value input. PLC Torque/force ramp Fig. Torque/force window". For the library in which the function is available.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 77/209 Rexroth IndraDrive Firmware Libraries MC_TorqueControl The firmware function block "MC_TorqueControl" is used to activate the oper‐ ating mode "torque/force control". Active CommandAborted Error BOOL BOOL BOOL Function block or operating mode is active Function block was aborted With "Error"=TRUE the function block signals that an error is present . Torque/force command value S-0-0822.

Positioning command val‐ P-0-1450. Virtual master axis. The remote axes contained in the list "P-0-1601.1-101: Input / Output Variables of the Firmware Function Block "MC_CamOut" MX_MoveAbsolute The firmware function block "MX_MoveAbsolute" is used to move the drive to a preset absolute position. "Acceleration" and "Deceleration" you have to set how the drive moves to the target position (motion profile).2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Slave AXIS_REF Axis1 (only axis for MLD-S or local axis for MLD-M) Axis2 to Axis8 correspond to the remote axes. master axis (as of MPx04) P-0-0766.1-100: Output Variables of the Firmware Function Block "MC_CamOut" NOTE: For the list of all possible errors. Virtual master axis. actual position value 1/2) with the function block "MB_SetPositionControlMode". the secondary PLC operation mode "drive-controlled positioning without lag error with motor encoder" is in‐ ternally activated (see Functional Description of firmware "Drive-Controlled Positioning").78/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable ErrorID * ErrorIdent * Data type ERROR_CODE ERROR_STRUCT * Description "ErrorID" gives a rough error description Via the elements Table. position‐ ing acceleration S-0-0282. "ErrorIdent" gives the exact cause of the error See note below Fig. Additional1 and Additional2. They can be read for diagnostic purposes: Operation mode parameter PLC mode parameter Virt. For temporary control.5. Positioning Velocity S‑0‑0260. Positioning Acceleration P-0-1451. The target position has to be preset at the input "Position". Virtual master axis. the secondary operation mode 3 and its parameters are used. CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) Data type Description Fig. position‐ ing command value P-0-0770. Make the settings of the position loop (with/ without lag error. The corresponding PLC mode parameters are used as internal command val‐ ues instead of the usual operating mode parameters. As of MPx04 the operation mode "drive-controlled positioning" is internally activated. PLC Positioning velocity P-0-1452. For this purpose. For permanent control and remote axes. position‐ ing velocity P-0-0771. Via the inputs "Ve‐ locity". PLC Positioning acceleration . see: chapter 1. PLC Positioning command value ue S-0-0259. the secondary PLC operation mode 11 and its parameters are used.

1-102: Comparison of Operation Mode Parameters For the library in which the function is available.4 "Signal Time Diagrams of Most Frequently Used Inputs and Outputs" on page 22 At "Position" you have to preset the target position in fixed point format.25°. Virtual master axis. the number of decimal places of parameter "S‑0‑0282. Positioning deceleration PLC mode parameter P-0-1454. Example:If the drive is to be moved to a target position of 100. the value 1002500 must be written at "Position". Positioning control word S-0-0359. With preferred scaling (see Functional Description of firmware "Scaling Types"). PLC Positioning deceleration Virt.1-104: Input Variables of the Firmware Function Block "MX_MoveAbsolute" . To preset the position correctly. master axis (as of MPx04) P-0-0760. PLC Positioning command value acceptance P-0-1453.1-103: Input variable Execute Position Data type BOOL DINT Firmware Function Block "MX_MoveAbsolute" Description See chapter 1. Positioning command value" must be known. Velocity Acceleration Deceleration REAL REAL REAL Positioning velocity in physical unit Positioning acceleration in physical unit Positioning deceleration in physical unit Fig. position‐ ing deceleration Fig. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 79/209 Rexroth IndraDrive Firmware Libraries Operation mode parameter S-0-0346. Virtual master axis. the parameter has 4 decimal places. position‐ ing control word P-0-0772.

"ErrorIdent" gives the exact cause of the error. the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firm‐ ware function block has not been interrupted by an error or another firm‐ ware function block. The following axes are possible: ● ● "Axis1" (axis for MLD-S. With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. positioning status". A drive error is displayed via the Error outputs of "MC_Power" With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig. Additional1 and Additional2.5.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Error ErrorID BOOL ERROR_CODE Fig. Active CommandAborted BOOL BOOL With "Active"=TRUE the function block signals that it determines the axis motion.1-105: Input / output variable (VAR_IN_OUT) Axis AXIS_REF Data type Output Variables of the Firmware Function Block "MX_MoveAbsolute" Description Defines the axis.2 "Error Reference Lists for Func‐ tion Blocks as of Target "IndraDrive MP03"" on page 28 ErrorIdent (as of MPx03VRS) ERROR_STRUCT Via the elements Table. see chapter 1. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE). Virtual master axis.5.80/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable Done Data type BOOL Description With "Done"=TRUE the firmware function block signals that the absolute target position has been reached. CCD: addresses of projected drives" corre‐ spond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) "VmAxisInt" corresponds to the virtual master axis generator ● Fig. 1-107 " Descriptions of "ErrorID" of the Firmware Function Block "MX_MoveAbsolute" in Target "IndraDrive MPH02"" on page 81 Target "IndraDrive MP03": chapter 1. Virtual master axis generator (VmAxisInt): The output is set to TRUE when bit 2 is set in parameter "P-0-0768. The remote axes con‐ tained in the list "P-0-1601. Real axis: The output is set to TRUE when bit 2 is set in parameter "S-0-0437. The processing is completed until the next 0-1 edge at the "Execute" input. "Active" remains TRUE until "CommandAborted" or Error" is set.1-106: Input / Output Variables of the Firmware Function Block "MX_MoveAb‐ solute" . Positioning status word". local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes.

The distance is determined by the "Distance" input. Th new target po‐ sition results from the old target position. the parameter "P-0-0758.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 81/209 Rexroth IndraDrive Firmware Libraries ErrorID RESSOURCE_ERROR Description Drive does not have packages enabled for closed-loop ‑ or‑ Invalid axis reference ACCESS_ERROR_CODE Drive is not in control ‑ or‑ PLC has no control over drive ‑ or‑ Drive has not been homed ‑ or‑ Drive is in status "STOPPING" ("MX_Stop" with active "Execute" input) Fig. For temporary control. "P-0-0761. For this purpose.1-107: Descriptions of "ErrorID" of the Firmware Function Block "MX_MoveAb‐ solute" in Target "IndraDrive MPH02" MX_MoveAdditive The firmware function block "MX_MoveAdditive" is used to move the drive in relative form by a distance in addition to the target position. the secondary PLC operation mode 11 and its parameters are used. "Acceleration" and "Deceleration" determine the motion profile. Master axis position for slave axis"). Make the settings of the position loop (with/ without lag error. The inputs "Velocity". actual position value" of the master axis generator can be moved in relative form by a distance in addition to the current target position. To convert the virtual actual position value (P-0-0758) into the internal virtual master axis posi‐ tion (VmAxisInt. As of MPx04: Via the firmware function block "MX_MoveAdditive". Mas‐ ter axis format converter signal selection". plus a distance. the parameter P-0-0758 must be written to parameter "P-0-0916. the secondary operation mode 3 and its parameters are used. actual position value 1/2) with the function block "MB_SetPositionControlMode". Control word of master axis generator". the secondary PLC operation mode "drive-controlled posi‐ tioning without lag error with motor encoder" is internally activated (see Func‐ tional Description of firmware "Drive-Controlled Positioning"). Virtual master axis. bit0=1. For this purpose. the master axis generator has to be activated via "P-0-0917. See also Functional Description of firmware "Master Axis Genera‐ tor" and "Master Axis Format Converter" For the library in which the function is available. For permanent control and remote axes. As of MPx04 the operation mode "drive-controlled positioning" is internally activated. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" .

the parameter has 4 decimal places.25°.1-109: Input variable Execute Distance Data type BOOL DINT Comparison of Operation Mode Parameters Description See chapter 1. position‐ ing acceleration P-0-0760. PLC Positioning deceleration Fig. They can be read for diagnostic purposes: Operation mode parameter PLC mode parameter Virt.4 "Signal Time Diagrams of Most Frequently Used Inputs and Outputs" on page 22 At "Distance" you have to preset the relative distance in fixed point format. Example: If the drive is to be moved by a distance of 100. master axis (as of MPx04) P-0-0766. position‐ ing control word P-0-0772.1-108: Firmware Function Block "MX_MoveAdditive" The corresponding PLC mode parameters are used as internal command val‐ ues instead of the usual operation mode parameters. position‐ ing velocity P-0-0771. the number of decimal places of param‐ eter "S‑0‑0282. With preferred scaling (see Functional Description of firmware "Scaling Types"). the value 1002500 must be written at "Distance" Velocity Acceleration Deceleration REAL REAL REAL Positioning velocity in physical unit Positioning acceleration in physical unit Positioning deceleration in physical unit Fig. Virtual master axis. To preset the distance correctly. PLC Positioning command value ue S-0-0259.1-110: Input Variables of the Firmware Function Block "MX_MoveAdditive" . PLC Positioning acceleration P-0-1454. Virtual master axis. PLC Positioning velocity P-0-1452. PLC Positioning command value acceptance P-0-1453. Positioning deceleration P-0-1451. Positioning Velocity S‑0‑0260. position‐ ing command value P-0-0770. Virtual master axis. Positioning control word S‑0‑0359. position‐ ing deceleration S‑0‑0282. Positioning Acceleration S‑0‑0346. Virtual master axis. Positioning command val‐ P-0-1450. Positioning command value" must be known.82/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig. Virtual master axis.

Virtual master axis: (as of MPx04VRS) The output is set to TRUE when bit 2 is set in parameter "P-0-0768. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE).5. see chapter 1. The following axes are possible: ● ● "Axis1" (axis for MLD-S. Virtual master axis. ● ● Real axes: The output is set to TRUE when bit 2 is set in parameter "S-0-0437.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Fig. A drive error is signaled via the "Error" outputs of "MC_Power".1-111: Input / output variable (VAR_IN_OUT) Axis AXIS_REF Data type Output Variables of the Firmware Function Block "MX_MoveAdditive" Description Defines the axis. Positioning status word". With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 83/209 Rexroth IndraDrive Firmware Libraries Output variable Done Data type BOOL Description With "Done"=TRUE the firmware function block signals that the target po‐ sition has been reached. Active CommandAborted BOOL BOOL With "Active"=TRUE the firmware function block signals that it determines the axis motion With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present.1-112: Input / Output Variable of the Firmware Function Block "MX_MoveAd‐ ditive" . local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. 1-113 " Descriptions of "ErrorID" of the Firmware Function Block "MX_MoveAdditive" in Target "IndraDrive MPH02"" on page 84 Target "IndraDrive MP03": chapter 1. The remote axes con‐ tained in the list "P-0-1601.2 "Error Reference Lists for Func‐ tion Blocks as of Target "IndraDrive MP03"" on page 28 Error ErrorID * BOOL ERROR_CODE ErrorIdent ** (as of MPx03VRS) ERROR_STRUCT Via the elements: Table. CCD: Addresses of projected drives" corre‐ spond to the order of "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) "VmAxisInt" corresponds to the virtual master axis generator ● Fig. Additional1 and Additional2. "ErrorIdent" shows the exact cause of the error. The processing is completed until the next 0-1 edge at the "Execute" input.5. the "Done" output is set to TRUE for one call when the motion target has been reached and the processing of the firmware func‐ tion block has not been interrupted by an error or another firmware function block. posi‐ tioning status".

To convert the virtual actual position value (P-0-0758) into the internal virtual master axis position (VmAxisInt. The corresponding PLC mode parameters are used as internal command val‐ ues instead of the usual operating mode parameters. the master axis generator has to be activated via "P-0-0917. starting from the current actual position. Make the settings of the position loop (with/without lag error. For this purpose. For permanent control and remote axes. Master axis position for slave axis"). Via the inputs "Velocity". The relative distance to be moved has to be preset at the input "Distance". the parameter "P-0-0758. See also Functional Description of firmware "Master Axis Genera‐ tor" and "Master Axis Format Converter" . the secondary PLC operation mode 11 and its parameters are used. They can be read for diagnostic purposes: Via the firmware function block "MX_MoveRelative". "P-0-0761. Control word of master axis generator". Virtual master axis.1-113: Descriptions of "ErrorID" of the Firmware Function Block "MX_MoveAd‐ ditive" in Target "IndraDrive MPH02" MX_MoveRelative The firmware function block "MX_MoveRelative" is used to move the drive in relative form by a distance. actual position value" of the master axis generator can be moved in relative form by a distance starting from the current virtual actual position. the pa‐ rameter P-0-0758 must be written to parameter "P-0-0916. "Acceleration" and "Deceleration" you have to set the mo‐ tion profile (determines how the relative distance is traveled). the secondary operation mode 3 and its parameters are used.84/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries ErrorID RESSOURCE_ERROR_CODE Description Drive does not have packages enabled for closed-loop ‑ or ‑ Invalid axis reference ACCESS_ERROR_CODE Drive is not in control ‑ or ‑ PLC has no control over drive ‑ or ‑ Drive is in status "STOPPING" ("MX_Stop" with active "Execute" input) Fig. bit 0=1. For this purpose. For temporary control. the secondary PLC operation mode "drive-controlled positioning with‐ out lag error with motor encoder" is internally activated (see Functional De‐ scription of firmware "Drive-Controlled Positioning"). Master axis format converter signal selection". Internally the operation mode "drive-controlled positioning" is acti‐ vated. actual position value 1/2) with the function block "MB_SetPosition‐ ControlMode".

1-115: Input variable Execute Distance Data type BOOL DINT Firmware Function Block "MX_MoveRelative" Description See "Input Signals Execute / Enable" on page 22 At "Distance" you have to preset the relative distance to be traveled in fixed point format. the value 1002500 must be written at "Distance" Velocity REAL Positioning velocity in physical unit . Virtual master axis. Virtual master axis. position‐ ing control word P-0-0772. PLC Positioning acceleration P-0-1454. Positioning deceleration P-0-1451.1-114: Comparison of Operation Mode Parameters For the library in which the function is available. PLC Positioning command value acceptance P-0-1453. position‐ ing acceleration P-0-0760. Positioning control word S-0-0359. Positioning command value" must be known. Positioning command val‐ P-0-1450. the number of decimal places of param‐ eter "S‑0‑0282. PLC Positioning deceleration Fig. Positioning Acceleration S-0-0346.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 85/209 Rexroth IndraDrive Firmware Libraries Operation mode parameter PLC mode parameter Virt. position‐ ing command value P-0-0770. Positioning Velocity S‑0‑0260. PLC Positioning velocity P-0-1452. Virtual master axis.25° starting from the current actual position. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. PLC Positioning command value ue S-0-0259. position‐ ing velocity P-0-0771. master axis (as of MPx04) P-0-0766. Virtual master axis. To preset the distance correctly. the parameter has 4 decimal places. With preferred scaling (see Functional Description of firmware "Scaling Types"). Virtual master axis. position‐ ing deceleration S-0-0282. Example: If the drive is to be moved by a distance of 100.

Positioning status word". The remote axes con‐ tained in the list "P-0-1601. The processing is completed until the next 0-1 edge at the "Execute" input. A drive error is displayed via the Error outputs of "MC_Power" With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig.5. Active CommandAborted BOOL BOOL With TRUE the output "Active" signals that it determines the axis motion.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Fig.5.2 "Error Reference Lists for Func‐ tion Blocks as of Target "IndraDrive MP03"" on page 28 Error ErrorID BOOL ERROR_CODE ErrorIdent (as of MPx03VRS) ERROR_STRUCT Via the elements Table. 1-119 " Descriptions of "ErrorID" of the Firmware Function Block "MX_MoveRelative" in Target "IndraDrive MPH02"" on page 87 Target "IndraDrive MP03": chapter 1. Virtual master axis. The following axes are possible: ● ● "Axis1" (axis for MLD-S.86/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable Acceleration Deceleration Data type REAL REAL Description Positioning acceleration in physical unit Positioning deceleration in physical unit Fig. ● ● Real axes: The output is set to TRUE when bit 2 is set in parameter "S-0-0437. CCD: addresses of projected drives" corre‐ spond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) "VmAxisInt" corresponds to the virtual master axis generator ● Fig.1-116: Output variable Done Data type BOOL Input Variables of the Firmware Function Block "MX_MoveRelative" Description With "Done"=TRUE the firmware function block signals that the preset dis‐ tance has been traveled. Virtual master axis: (as of MPx04VRS) The output is set to TRUE when bit 2 is set in parameter "P-0-0768.1-117: Input / output variable (VAR_IN_OUT) Axis AXIS_REF Data type Output Variables of the Firmware Function Block "MX_MoveRelative" Description Defines the axis. Additional1 and Additional2. see chapter 1. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has been completed ("Done"=TRUE). "ErrorIdent" gives the exact cause of the error. posi‐ tioning status".1-118: Input / Output Variables of the Firmware Function Block "MX_MoveRe‐ lative" . the output "Done" is set to TRUE for one call when the motion target has been reached and the processing of the firmware func‐ tion block has not been interrupted by an error or another firmware function block. With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present. local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes.

1-120: Firmware Function Block "MX_MoveVelocity" . The function block never completes the processing. too. "InVelocity" keeps being displayed as long as "Execute" is active. Fig. In contrast to the output "Done". The corresponding PLC mode parameters are used as internal command val‐ ues instead of the usual operating mode parameters. They can be read for diagnostic purposes: For the library in which the function is available. the firmware function block can be used for open-loop drives. the secondary PLC operating mode "velocity control with motor encoder" is internally activated. As the drive moves in velocity control. for this purpose. the output "InVelocity" signals con‐ tinuous (error-free) fulfillment of the task. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"".1-119: Descriptions of "ErrorID" of the Firmware Function Block "MX_MoveR‐ elative" in Target "IndraDrive MPH02" MX_MoveVelocity The firmware function block "MX_MoveVelocity" is used to preset a velocity for the drive.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 87/209 Rexroth IndraDrive Firmware Libraries ErrorID RESSOURCE_ERROR_CODE Description Drive does not have packages enabled for closed-loop ‑ or ‑ Invalid axis reference ACCESS_ERROR_CODE Drive is not in control ‑ or ‑ PLC has no control over drive ‑ or ‑ Drive is in status "STOPPING" ("MX_Stop" with active "Execute" input) Fig.

2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Fig. see chapter 1.2 "Error Reference Lists for Func‐ tion Blocks as of Target "IndraDrive MP03"" on page 28 Active BOOL CommandAborted Error ErrorID BOOL BOOL ERROR_CODE ErrorIdent (as of MPx03VRS) ERROR_STRUCT Via the elements Table. "CommandAborted"=TRUE or "Error"=TRUE.1-123: Input / Output Variables of the Firmware Function Block "MX_MoveVe‐ locity" . 1-124 " Descriptions of "ErrorID" of the Firmware Function Block "MX_MoveVelocity" in Target "IndraDrive MPH02"" on page 89 Target "IndraDrive MP03": chapter 1. "ErrorIdent" gives the exact cause of the error.5. the output is set to FALSE again The output "CommandAborted" is set to TRUE when the firmware function block was aborted by another motion function block With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig. When the firmware function block signals "InVelocity"=TRUE.1-122: Input / output variable (VAR_IN_OUT) Axis AXIS_REF Data type Output Variables of the Firmware Function Block "MX_MoveVelocity" Description Axis number (only the global variable "Axis1" can be transmitted here) Fig. the output "InVeloci‐ ty" is set to TRUE for one call if the actual velocity corresponds to the command velocity With TRUE the output "Active" signals that the drive was switched to the corresponding secondary PLC operation mode and processes the input command values (drive follows input). Additional1 and Additional2.5.1-121: Output variable InVelocity Data type BOOL Input Variables of the Firmware Function Block "MX_MoveVelocity" Description With "InVelocity"=TRUE the firmware function block signals that the ve‐ locity preset by "Velocity" has been reached.88/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable Execute Velocity Acceleration Deceleration Data type BOOL REAL REAL REAL Description See "Input Signals Execute / Enable" on page 22 Velocity in physical unit Acceleration in physical unit Deceleration in physical unit Fig. When a 1-0 edge is applied to the "Execute" input before the firmware function block signals that it has reached the command velocity ("InVelocity"=TRUE).

Currently running positioning processes go to the status MCFB_ABORTED.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 89/209 Rexroth IndraDrive Firmware Libraries ErrorID RESSOURCE_ERROR_CODE ACCESS_ERROR_CODE Description Invalid axis reference Drive is not in control ‑ or ‑ PLC has no control over drive ‑ or ‑ Drive is in status "STOPPING" ("M?_Stop" with active "Execute" input) Fig. "Done" signals standstill. For the library in which the function is available. The "Execute" input acts on the "AH" signal in a level-oriented way so that the drive remains in status "AH" and therefore does not allow motion. Functional Principle With the rising edge of "Execute" the stopping process is started. When the "Execute" input goes to FALSE again. Drive Halt acceleration bipolar" the drive is brought to standstill. With the deceleration value parameterized in "S‑0‑0372. that is they are signaling CommandAborted := TRUE. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"".1-125: Firmware Function Block "MX_Stop" . the drive remains in the PLC mode "drive-controlled positioning" (with "halt") until it is moved again with an‐ other function block. With the duration of the TRUE level of "Execute".1-124: Descriptions of "ErrorID" of the Firmware Function Block "MX_MoveVe‐ locity" in Target "IndraDrive MPH02" MX_Stop The firmware function block "MX_Stop" is used to bring the drive to the status STOP. during that time no other motion function block can be started. Fig. the drive can be kept in status STOP.

With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig.1-128: ErrorID RESSOURCE_ERROR_CODE ACCESS_ERROR_CODE Description Input / Output Variables of the Firmware Function Block "MX_Stop" Invalid axis reference Drive is not in control ‑ or ‑ PLC has no control over drive Fig.10 1. see chapter 1.5. Additional1 and Additional2. 1-129 " Descriptions of "ErrorID" of the Firmware Function Block "MX_Stop" in Target "IndraDrive MPH02"" on page 90 Target "IndraDrive MP03": chapter 1. bit 0=1) the firmware function block signals that the drive has stopped. With a falling edge the PLC mode "positioning" with the positioning mode "positioning halt" is activated.1 MX_SysLibCom. Fig.lib Overview The library contains functions for the access to a serial interface: ● ● ● ● MX_fSysComStatus MX_SysComOpenAsync SysComClose SysComOpen .1-126: Output variable Done Data type BOOL Input Variables of the Firmware Function Block "MX_Stop" Description With "Done"=TRUE (S-0-0331. "ErrorIdent" gives the exact cause of the error.5.1-129: Descriptions of "ErrorID" of the Firmware Function Block "MX_Stop" in Target "IndraDrive MPH02" 1.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Fig. Only when the input "Execute" is TRUE is the output "Done" generated The output "Active" signals with TRUE that the drive has accepted the command and starts processing.90/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable Execute Data type BOOL Description With a rising edge at "Execute" the drive is switched to "AH". Feedbacks of the operating mode are valid as of that point of time.10.2 "Error Reference Lists for Func‐ tion Blocks as of Target "IndraDrive MP03"" on page 28 Active BOOL Error ErrorID BOOL ERROR_CODE ErrorIdent (as of MPx03VRS) ERROR_STRUCT Via the elements Table.1-127: Input / output variable (VAR_IN_OUT) Axis AXIS_REF Data type Output Variables of the Firmware Function Block "MX_Stop" Description Axis number (only the global variable "Axis1" can be transmitted here) Fig.

10.10.1-132: Return Value of the Firmware Function "MX_fSysComStatus" 1. For the library in which the function is available.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 91/209 Rexroth IndraDrive Firmware Libraries ● ● SysComRead SysComWrite 1.2 MX_fSysComStatus With the firmware function "MX_fSysComStatus" it is possible to poll the status of the opened port. Present errors are cleared after the function was called! This function can only work on the local axis "Axis1".1-130: Input variable dwHandle Data type DWORD Firmware Function Block "MX_fSysComStatus" Description Port Handle assigned by "SysOpencom" Fig. see: "Library As‐ signment as of the Target "IndraDrive MP04"" .3 MX_SysComOpenAsync The firmware function block "MX_SysComOpenAsync" is used to asynchro‐ nously open the communication channel of a serial interface.1-131: Return value MX_fSysComStatus Data type DWORD Input Variable of the Firmware Function "MX_fSysComStatus" Description The value returned by the function displays the status of the requested interface. For the library in which the function is available. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. The bits have the following significance: ● ● ● ● ● ● ● ● ● ● Bit #0: Receive buffer overflow Bit #1: Transmit buffer overflow Bit #2: Parity error was detected Bit #3: Break was detected Bit #4: "Fram" error was detected Bit #5: Not used Bit #6: Calling task has not opened the port Bit #7: Handle is invalid Bit #8: Receive buffer contains characters Bit #9: Transmit buffer contains characters Fig.

5. Handle DWORD Fig.4 "Signal Time Diagrams of Most Frequently Used Inputs and Outputs" on page 22 Indicate the serial interface to be opened. it is only possible to select the serial interface "COM1". see: "Library As‐ signment as of the Target "IndraDrive MP04"" .1-135: Output Variables of the Firmware Function Block "MX_SysComOpenA‐ sync" 1. 0xFFFFFFFF is returned.1-133: Input variable Execute Port Data type BOOL PORTS Firmware Function Block "MX_SysComOpenAsync" Description See chapter 1.1-134: Output variable Done Active Error ErrorID ErrorIdent Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT Input Variables of the Firmware Function Block "MX_SysComOpenA‐ sync" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements Table. "Active"=TRUE signals that the function block has accepted the processing command. Fig.4 SysComClose The firmware function "SysComClose" is used to close the communication channel of a serial interface (COM Port). Additional1 and Additional2.92/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig. the Port Handle is applied at "Handle" for transmission to the functions for data exchange via the serial interface ("SysComRead". see chapter 1. If the port cannot be opened. For the library in which the function is available. "ErrorIdent" gives the exact cause of the error. "Sy‐ sComWrite" etc.10.).2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 When "Done"=TRUE. Note: For the drive controllers of the IndraDrive range.

1-141: Return Value of the Firmware Function "SysComOpen" 1.5 SysComOpen The firmware function "SysComOpen" is used to open the communication channel of a serial interface. Note: For the drive controllers of the IndraDrive range. Fig.1-139: Input variable Port Data type Ports Firmware Function "SysComOpen" Description Indicate the serial interface to be opened.1-140: Return value SysComOpen Data type DWORD Input Variables of the Firmware Function "SysComOpen" Description Port Handle for transmission to the functions for data exchange via the serial interface (SysComRead.10. For the library in which the function is available. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. Fig.1-137: Return value SysComClose Data type BOOL Input Variables of the Firmware Function "SysComClose" Description With "SysComClose"=TRUE the function signals that the commu‐ nication channel was successfully closed Fig.10. . it is only possible to select the serial interface "COM1". If the port cannot be opened. SysComWrite etc.6 SysComRead The firmware function "SysComRead" is used to read data from the serial in‐ terface.).1-136: Input variable dwHandle Data type DWORD Firmware Function "SysComClose" Description Transmission of the interface access received from "SysComOpen" or "MX_Sy‐ sComOpenAsync" (Port Handle) Fig. 0xFFFFFFFF is returned as Handle.1-138: Return Value of the Firmware Function "SysComClose" 1.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 93/209 Rexroth IndraDrive Firmware Libraries Fig.

1-143: Return value SysComRead Data type DWORD Input Variables of the Firmware Function "SysComRead" Description Number of bytes actually read Fig.1-142: Input variable dwHandle dwBufferAddress dwBytesToRead dwTimeout Data type DWORD DWORD DWORD DWORD Firmware Function "SysComRead" Description Access (Handle) to the serial interface received from "SysComOpen" or "MX_Sy‐ sComOpenAsync" Address to which the bytes which were read are to be copied. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. For the library in which the function is available. Number of bytes which are to be read Time in [ms] after which the function returns at the latest Fig.1-145: Firmware Function "SysComWrite" .7 SysComWrite The firmware function "SysComWrite" is used to write data to the serial inter‐ face. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig.10.94/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries For the library in which the function is available. The address of the interface can be determined by means of the operator "ADR".1-144: Return Value of the Firmware Function "SysComRead" 1.

"MB" function blocks have not been PLCopen-certified but are based on this standard.11.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 95/209 Rexroth IndraDrive Firmware Libraries Input variable dwHandle dwBufferAddress Data type DWORD DWORD Description Access (Handle) to the serial interface received from "SysComOpen" or "MX_Sy‐ sComOpenAsync" Address from which the data. Public data types normally start with "MX_" and are capitalized.lib Target IndraDrive MPH02 IndraDrive MP03 IndraDrive MP04 IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Fig.lib MX_Base. Namespace All function blocks of the "Base" libraries begin with the prefix "MX_".1-146: Return value SysComWrite Data type DWORD Input Variables of the Firmware Function "SysComWrite" Description Number of bytes actually written Fig. Internal data types start with "INT_MX_" and are capitalized. function blocks/functions for parameters.1-147: Return Value of the Firmware Function "SysComWrite" 1. function blocks/functions for drive control. Library Base_MPH02. "MC" represents system-independent. "MX" represents function blocks which have been specifically program‐ med for the drive PLC. dwBytesToWrite dwTimeout DWORD DWORD Number of bytes which are to be written Time in [ms] after which the function returns at the latest Fig.1-148: Library Names Depending on the Targets When a new project with an IndraDrive target is created. . are to be taken. 100-percent PLCopen function blocks. functions for scaling. The address of the interface can be determined by means of the operator "ADR". which are to be written to the interface. the corresponding "Base" library is automatically included in the project and visible. Functions begin with the prefix "MX_f".1 MX_Base. data types or structures.11 1. functions for diagnosis. "MB" represents system-independent function block with motion-oriented functionalities.lib Base_MP03. "MC_" or "MB_".lib Introduction The following libraries contain ● ● ● ● ● ● ● ● general functions. cyclic parameters as direct variables (system-wide variables) and axis structures [for multi-axis system (MLD system mode)].

This PLC time slice is that part of a millisecond which remains after the drive controller and control tasks have been processed. .1-150: Return value ATAN2 Data type REAL Input Variables of the Firmware Function "ATAN2" Description φ Fig.2 Overview "Tools" .1-149: Input variable x y Data type REAL REAL Firmware Function "ATAN2" Description Cartesian coordinate x Cartesian coordinate y Fig. Timer ticks are returned that can be converted into microseconds with the func‐ tion "MX_fHighResTimerTicks_to_us".General Functions and Function Blocks ● ● ● ● ● ● ATAN2 MX_fGetFreeTicks MX_fGetHighResTime MX_fHighResTimerTicks_to_us MX_IECTaskGetLoad*1 MX_PositionLoopEventInfo*1 *1 Available as of target "IndraDrive MP05" ATAN2 For the conversion of Cartesian coordinates P(x.1-151: Return Value of the Firmware Function "ATAN2" MX_fGetFreeTicks The firmware function "MX_fGetFreeTicks" is used to determine the time of the last PLC time slice still available to the PLC. the function "ATAN2" is used to determine the angle φ.11. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig.y) into polar coordinates P(r. For the library in which the function is available.96/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries 1.φ).

1-154: Return Value of the Firmware Function "MX_fGetFreeTicks" MX_fGetHighResTime The firmware function "MX_fGetHighResTime" returns a growing timer value with high resolution. When a cyclic task takes more time to be processed than the cycle time which was set. ● For the library in which the function is available. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . The timer ticks can be converted into μs with the function "MX_fHighResTimerTicks_to_us" Fig.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 97/209 Rexroth IndraDrive Firmware Libraries ● ● When a freewheeling task is active. If "MX_fGetFreeTicks" is called in a task which has a clock slower than 1 ms. For the library in which the function is available.1-153: Return value MX_fGetFreeTicks Data type DINT Input Variable of the Firmware Function "MX_fGetFreeTicks" Description Returns timer ticks. "0" is always returned in this case because this task works for the whole time slice. only the available time of the last ms time slice is displayed. Timer ticks are returned that can be converted into microseconds with the func‐ tion "MX_fHighResTimerTicks_to_us". "MX_fGetFreeTicks" always returns the value "0". see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig.1-152: Input variable Dummy Data type INT Firmware Function "MX_fGetFreeTicks" Description There is always one input variable required for the compiler Fig.

1-155: Input variable Dummy Data type INT Firmware Function "MX_fGetHighResTime" Description There is always one input variable required for the compiler Fig. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. "MX_fGetHighRes‐ Time") Fig.1-157: Return Value of the Firmware Function "MX_fGetHighResTime" MX_fHighResTimerTicks_to_us The firmware function "MX_fHighResTimerTicks_to_us" is used to convert tim‐ er ticks into microseconds and return the value as REAL.1-160: Return Value of the Firmware Function "MX_fHighResTimer‐ Ticks_to_us" . for example.98/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig.1-156: Return value MX_fGetHighResTime Data type UDINT Input Variable of the Firmware Function "MX_fGetHighResTime" Description Returns timer ticks.1-158: Input variable HighResTimerTicks Data type UDINT Firmware Function "MX_fHighResTimerTicks_to_us" Description Transfer values are timer ticks (see. For the library in which the function is available.1-159: Return value MX_fHighResTimerTicks_to_us Data type REAL Input Variable of the Firmware Function "MX_fHighResTimer‐ Ticks_to_us" Description Returns the timer ticks in μs Fig. The timer ticks can be converted into μs with the function "MX_fHighResTimerTicks_to_us" Fig.

As soon as a function block instance has been created in the proj‐ ect. For the library in which the function is available.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 99/209 Rexroth IndraDrive Firmware Libraries MX_IECTaskGetLoad The function block "MX_IECTaskGetLoad" is used to activate the extended runtime measurement and displays information on the task load (see also Ap‐ plication Manual on IndraMotion MLD. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. but also in another (slower) task to save calculating time.1-162: Input Variables of the Firmware Function Block "MX_IECTaskGet‐ Load" . chapter "Runtime Measurements"). the extended runtime measurement is activated in the drive. The maximum task load is also measured. if the function block is not called in every cycle. It can only be activated in the MPH firmware (not MPB). The function block "MX_IECTaskGetLoad" can be called in the "own" task.1-161: Input variable bEnable stTaskName Data type BOOL STRING Firmware Function Block "MX_IECTaskGetLoad" Description At "bEnable"=TRUE the task information of the task named at the "stTas‐ kName" input is returned. At "stTaskName" indicate the name of the task the runtime information of which is to be displayed Fig.

with reference to the cycle time "rLoadMax" displays the maximum load of the task in percent.11.Function Blocks/Functions for Drive Control ● ● ● ● ● ● ● ● ● ● MB_Home MB_PreSetMode MX_Power / MC_Power MC_ReadStatus MX_Reset / MC_Reset MX_Command MX_SetControl MX_SetDeviceMode MX_SetOpMode MB_SetPositionControlMode MB_Home With the function block "MB_Home" it is possible to carry out the "drive-con‐ trolled homing procedure" in the selected axis. For the library in which the function is available.3 Overview "Drive Control" . but this firmware does not support extended runtime measurement Runtime information of the task Elements in "IecTaskLoad": ● ● ● ● "rLoad" displays the load of the task in the last cycle in percent. It is thereby possible to establish the position data reference for non-absolute encoders. with ref‐ erence to the cycle time "rFreeTime" displays the remaining unused calculating time of the task up to its next start. After the function block was carried out. see: "Library As‐ signment as of the Target "IndraDrive MP04"" . if the task exists and the outputs are valid With "Error"=TRUE the function block signals that an error is present: ● ● IecTaskLoad MX_IECTASKLOAD The task was not found (wrong task name) or The extended runtime measurement was activated in the MPB firmware.1-163: Output Variables of the Firmware Function Block "MX_IECTaskGet‐ Load" MX_PositionLoopEventInfo The function block "MX_PositionLoopEventInfo" is for exclusive use by Bosch Rexroth staff. 1. from the last cycle in µs "rMinFreeTime" displays the minimum remaining unused calculating time of the task up to its next start in µs Fig.100/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable bDone bError Data type BOOL BOOL Description "bDone" returns TRUE. details for carrying out the homing procedure have to be set. In the homing parameter. the axis is in standstill.

With "CommandAborted"=TRUE the function block signals that another motion function block was activated or a drive error was present.1-166: Output Variables of the Firmware Function Block "MB_Home" NOTE: For the list of all possible errors.1-167: Input / Output Variables of the Firmware Function Block "MB_Home" .1-164: Input variable Execute Data type BOOL Firmware Function Block "MB_Home" Description See "Input Signals Execute / Enable" on page 22 Fig. Additional1 and Additional2. velocity 0 With "Active"=TRUE the function block signals that it determines the axis motion. CCD: addresses of projected drives" correspond to the order according to Axis2 to Axis8 (Axis2 acts on the drive of list ele‐ ment 0 of P-0-1601) Data type Description Fig.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 101/209 Rexroth IndraDrive Firmware Libraries Fig.1-165: Output variable Done Active CommandAborted Error ErrorID * ErrorIdent * Data type BOOL BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT * Input Variable of the Firmware Function Block "MB_Home" Description Homing completed. With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements Table. "ErrorIdent" gives the exact cause of the error See note below Fig. The remote axes contained in the list "P-0-1601.5. "Active" remains TRUE until "CommandAborted" or Error" is set. see: chapter 1.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis1 (only axis for MLD-S or local axis for MLD-M) Axis2 to Axis8 correspond to the remote axes.

but the axis only starts when power is switched on with "MC_Power" and then directly follows the input values. Switch or wait until drive in operating mode ("bb") 3. With a falling edge. Switch power on with "MC_Power" The axis immediately starts moving in the desired way For the library in which the function is available. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. "MB_PreSetMode" can only be activated in the operating mode without power and without error. Switch drive on 2. "MB_PreSetMode" already commands the axis with the corresponding data. Activate "MB_PreSetMode" with rising "Execute" edge 4. all outputs are reset Fig. The following points exemplify a typical sequence when using the function block "MB_PreSetMode": 1.102/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries MB_PreSetMode With the function block "MB_PreSetMode" the axis can be prepared for com‐ mand triggering before power is switched on (PreSetMode / preselecting op‐ erating modes).1-168: Input variable Execute Data type BOOL Firmware Function Block "MB_PreSetMode" Description The function block is activated with a rising edge at "Execute".1-169: Output variable Done Error ErrorID * Data type BOOL BOOL ERROR_CODE Input Variable of the Firmware Function Block "MB_PreSetMode" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description . Start a motion function block (in "Ab") 5. After activation with a rising "Ex‐ ecute" edge it is allowed to activate a motion function block (such as "MC_MoveVelocity") or "MX_SetOpMode".

"TRUE ‑ FALSE ‑ TRUE"). in the drive with a possible delay (max. The remote axes contained in the list "P-0-1601. not in "Ab"). drive enable can be activated with this function block. the "Status" output provides FALSE and the "Error" output is TRUE.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 103/209 Rexroth IndraDrive Firmware Libraries Output variable ErrorIdent * Value Data type ERROR_STRUCT DINT * Description Via the elements Table.5. . Further calls of "MX_Power" / "MC_Power" with TRUE signal error.g. After every error ("Error"=TRUE). "MC_Power" also provides an error. this delay time must be taken into account. the PLC-internal "ON" signal is automatically set to FALSE and maintained FALSE until the next RE‐ SET of the PLC. "ErrorIdent" gives the exact cause of the error When the output "Done"=TRUE.1-171: Input / Output Variables of the Firmware Function Block "MB_PreSet‐ Mode" MX_Power / MC_Power When the internal PLC has permanent or temporary control over the drive. Independent of the "Enable" input.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Defines the axis. max. linked to the external signal. the "Status" output returns the current drive status. As of MPx04V08.g. when a mo‐ tion function block has detected an error and shut down the axis. The following axes are possible: ● ● "Axis1" (local axis for MLD-S. "Value" displays the value of the selected element Fig. CCD: addresses of projected drives" correspond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) Data type Description Fig. The function block "MX_Power" or "MC_Power" sets the PLC-internal signal "ON" to TRUE and thereby switches the drive on. local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. 1ms for ADVANCED. 2ms for BASIC or IndraDrive Mi). see: chapter 1. If the drive is not yet ready for power on (e. when several edges are generated (e. When a WATCHDOG or an exception occurs in the PLC. a new 0-1 edge has to be applied to the input "Enable" to activate drive enable in the drive.1-170: See note below Output Variables of the Firmware Function Block "MB_PreSetMode" NOTE: For the list of all possible errors. Additional1 and Additional2. The "ON" signal is the "ON" signal of the PLC that becomes active.

Drive enable is set with a rising edge and with a falling edge it is removed again. For this purpose.15 AND NOT P115. For safety reasons. the "Status" output returns the cur‐ rent drive status. Except for the Function Block Name) Description Via the "Enable" input.5. The "Status" output therefore goes to FALSE in the case of drive errors With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig. Independent of the "Enable" input. drive enable can be set for the drive. Additional1 and Additional2. the combination "drive in control and no error" is internally checked.1-174: Output Variables of the Firmware Function Block "MX_Power" / "MC_Power" . Fig.1-173: Output variable Status Data type BOOL Input Variables of the Firmware Function Block "MX_Power" / "MC_Pow‐ er" Description When the output "Status"=TRUE.2 "Error Reference Lists for Func‐ tion Blocks as of Target "IndraDrive MP03"" on page 28 Error ErrorID BOOL ERROR_CODE ErrorIdent (as of MPx03VRS) ERROR_STRUCT Via the elements: Table. drive enable is active and the drive is under torque.13).2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Fig.14 AND P115. "ErrorIdent" shows the exact cause of the error. the input takes effect in edge-controlled form. 1-176 " Descriptions of "ErrorID" of the Firm‐ ware Function Block "MX_Power" in Target "IndraDrive MPH02"" on page 105 As of target "IndraDrive MP03": chapter 1.1-172: Input variable Enable Data type BOOL Firmware Function Block "MX_Power" (Looks Like Firmware Function Block "MC_Power". see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. see chapter 1.104/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries For the library in which the function is available. Output status := (P115.5.

The following axes are possible: "MX_Power": ● ● ● "Axis1" (global variable) "Axis1" (local axis for MLD-S. The remote axes con‐ tained in the list "P-0-1601. as PLC in watchdog STATE_MACHINE_ERROR Drive is not in phase 4 ‑ or ‑ Drive was shutdown externally or by error of a motion function block ‑ or ‑ Drive is not in mode "AB" ‑ or ‑ Drive was brought to PreSetMode but not commanded. Any change of the axis at the input of the function block requires a repeated 0/1 transition at "Enable". see: "Library As‐ signment as of the Target "IndraDrive MP04"" . as drive not in operating mode ‑ or ‑ "Power" with "Enable"=TRUE not possible. CCD: Addresses of projected drives" corre‐ spond to the order of "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) "MC_Power": Data type Description Fig. see "MB_PreSetMode" Fig.1-175: ErrorID RESSOURCE_ERROR ACCESS_ERROR Description Input / Output Variable of the Firmware Function Block "MX_Power" / "MC_Power" Invalid axis reference "Power" with "Enable"=TRUE not possible. For the library in which the function is available.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 105/209 Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Defines the axis.1-176: Descriptions of "ErrorID" of the Firmware Function Block "MX_Power" in Target "IndraDrive MPH02" MC_ReadStatus With the function block "MC_ReadStatus" it is possible to read the current status of the axis. local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. The status of the axis is output in decoded form.

106/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig.1-178: Output variable Done Active Error ErrorID * ErrorIdent * Errorstop Stopping StandStill DiscreteMotion ContinuousMotion SynchronizedMotion Homing Disabled Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Input Variable of the Firmware Function Block "MC_ReadStatus" Description Valid value is available Processing of the data is running after completion of pre-processing With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. Additional1 and Additional2. "ErrorIdent" shows the exact cause of the error Drive/axis in status "Errorstop" Drive/axis in status "Stopping" Drive/axis in status "StandStill" Drive/axis in status "DiscreteMotion" Drive/axis in status "ContinuousMotion" Drive/axis in status "SynchronizedMotion" Drive in status "Homing" Drive/axis in status "Disabled" .1-177: Input variable Enable Data type BOOL Firmware Function Block "MC_ReadStatus" Description See "Input Signals Execute / Enable" on page 22 Fig.

see: chapter 1. If the command "S‑0‑0099. C0500 Reset class 1 diagnostics". C0500 Reset class 1 diagnostics" is al‐ ready active.1-179: See note below Output Variables of the Firmware Function Block "MC_ReadStatus" NOTE: For the list of all possible errors. If "MX_Reset" / "MC_Reset" had been acti‐ vated and has not yet been completed.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis1 (only axis for MLD-S or local axis for MLD-M) Axis2 to Axis8 correspond to the remote axes. CCD: Addresses of projected drives" correspond to the order of Axis2 to Axis8 (Axis2 acts on the drive of list element 0 of P-0-1601) Data type Description Fig. The remote axes contained in the list "P-0-1601. not supported by the target "IndraDrive"! Fig. it has to be cyclically called until it signals "Done"=TRUE or "Error" in the case of error. it is possible to trigger another reset with a positive edge at "Execute". For the function block "MX_Reset" (only targets "IndraDrive MPH02" and "IndraDrive MP03"). In order that the function block can correctly complete the reset command.5.1-180: Input / Output Variables of the Firmware Function Block "MC_ReadSta‐ tus" MX_Reset / MC_Reset The function block "MX_Reset" or "MC_Reset" is used to reset drive errors with the command "S‑0‑0099. only the command "S‑0‑0099. drive enable remains unchanged. the Motion Control is in addition reset and temporary PLC control is ceded again. . C0500 Reset class 1 diagnostics" is executed.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 107/209 Rexroth IndraDrive Firmware Libraries Output variable PreSetMode CoordinatedMotion Data type BOOL BOOL * Description Drive in status "PreSetMode" Drive/axis in status "CoordinatedMotion". it should first be completed before "MX_Reset" / "MC_Reset" is called. As of the target "IndraDrive MP04".

In this case.1-181: Input variable Execute Data type BOOL Firmware Function Block "MX_Reset" (Looks Like Firmware Function Block "MC_Reset". Only at a later call can the function block signal "Done". With a falling edge. As long as the SERCOS ring is not yet in phase 2 . Except for the Function Block Name) Description The function block is activated with a rising edge at "Execute". the re‐ sulting times for the function block calls themselves are always short.1-182: Output variable Done Error Data type BOOL BOOL Input Variables of the Firmware Function Block "MX_Reset" / "MC_Re‐ set" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed With "Error"=TRUE the function block signals that an error is present .108/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Only for the function block "MC_Reset": In the case of a remote axis.and temporarily during the transition from phase 3 to phase 4 . the function block signals an error. For the library in which the function is available. The data transmission can take several seconds. The outputs "Done" and "Error" have to be cyclically polled. depending on the load of the service channel.it is impossible to exchange data with remote axes. the task is ceded to the service channel (SERCOS III). see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. all outputs are reset Fig. Therefore.

1-185 " Descriptions of "ErrorID" of the Firmware Function Block "MX_Reset" in Target "IndraDrive MPH02"" on page 109 Target "IndraDrive MP03": chapter 1. For the library in which the function is available.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 109/209 Rexroth IndraDrive Firmware Libraries Output variable ErrorID Data type ERROR_CODE Description "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig.5.5. see chapter 1. The remote axes con‐ tained in the list "P-0-1601. The command is activated or deactivated with the "Enable" input. If TRUE is provided at the input. the command is started by writing "3" (dec.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Fig.1-184: ErrorID Input / Output Variable of the Firmware Function Block "MX_Reset" / "MC_Reset" Description Invalid axis reference Drive refuses "Reset" command RE‐ SSOURCE_ERROR ACCESS_ERROR Fig. The following axes are possible: "MX_Reset": ● ● ● "Axis1" (global variable) "Axis1" (local axis for MLD-S. In the case of FALSE.1-183: Input / output variable (VAR_IN_OUT) Axis AXIS_REF Data type Output Variables of the Firmware Function Block "MX_Reset" / "MC_Re‐ set" Description Defines the axis. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" .1-185: Descriptions of "ErrorID" of the Firmware Function Block "MX_Reset" in Target "IndraDrive MPH02" MX_Command The function block "MX_Command" is used to execute a drive command. local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes. CCD: addresses of projected drives" corre‐ spond to the order according to "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) "MC_Reset": Fig.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 ErrorIdent (as of MPx03VRS) ERROR_STRUCT Via the elements Table.). "ErrorIdent" gives the exact cause of the error. the command is aborted/terminated by writing "0". Additional1 and Additional2.

110/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig.1-186: Firmware Function Block "MX_Command" Fig.1-187: Executing a Drive Command .

it is impossible to exchange data with remote axes. The data transmission can take several seconds.5.2 "Error Reference Lists for Func‐ tion Blocks as of Target "IndraDrive MP03"" on page 28 ErrorIdent (as of MPx03VRS) ERROR_STRUCT Via the elements: Table.and temporarily during the transition from phase 3 to phase 4 . it is cleared with "Enable"=FALSE IDN of the command Fig. The outputs "CmdSta‐ tus" and "Error" have to be cyclically polled. Enum values for "CmdStatus" output: ● ● ● ● ● ● "MX_CMD_NO_ACTIVE": Command has not been set "MX_CMD_SETTING": Command has been set "MX_CMD_END_OK": Command completed without error "MX_CMD_IS_BREAK": Command interrupted "MX_CMD_IS_WORK": Command being processed "MX_CMD_BREAK_ERROR": Command aborted with error Error ErrorID BOOL ERROR_CODE With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig. Input variable Enable CmdIdent Data type BOOL DINT or MB_IDN (as of MPx06) Description The function block is status-controlled. Additional1 and Additional2. "ErrorIdent" shows the exact cause of the error. Only at a later call can "CmdStatus" signal "MX_CMD_END_OK". depending on the load of the service channel. the function block signals an error.1-188: Output variable CmdStatus Data type MX_CMD_STATUS Input Variables of the Firmware Function Block "MX_Command" Description The output displays the current status of the command. 1-191 " Descriptions of "ErrorID" of the Firm‐ ware Function Block "MX_Command" in Target "IndraDrive MPH02"" on page 112 As of target "IndraDrive MP03": chapter 1. Therefore.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Fig. As long as the SERCOS ring is not yet in phase 2 . the resulting times for the func‐ tion block calls themselves are always short.1-189: Output Variables of the Firmware Function Block "MX_Command" .DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 111/209 Rexroth IndraDrive Firmware Libraries In the case of a remote axis. In this case. the task is ceded to the service channel (SERCOS III).5. see chapter 1. The command is started with "Ena‐ ble"=TRUE.

In order that the firmware function block can detect a TRUE/FALSE tran‐ sition at its Enable input. The signals "Drive Halt" (AH). this makes sense when the axis is first controlled via a master communication and the internal PLC is to continue controlling the axis in a certain situation (e. . a separate instance should be used for each axis.1-190: ErrorID EINGANGS_RANGE_ERROR_CODE Input / Output Variable of the Firmware Function Block "MX_Command" Description IDN is not available ‑ or ‑ IDN is no parameter ACCESS_ERROR Access not allowed Fig.g. With "PLCControl"=TRUE the PLC gets control over the drive. This results in the following behavior when temporary control was gotten with "MX_SetControl": ● Switching off: With the firmware function block MX_Power/MC_Power. with "PLCCon‐ trol"=FALSE the external master communication gets control over the drive. With PLC control. When switching to temporary control. it must be called at least once with Enable=TRUE. ● Switching on: With the firmware function block "MX_Power"/"MC_Power". The following axes are possible: MPx02 and MPx03: ● ● ● "Axis1" (global variable) "Axis1" (local axis for MLD-S. When the axis generally is to be moved with the internal PLC. If the corresponding function blocks are not used. the internal signals are set to TRUE. CCD: Addresses of projected drives" corre‐ spond to the order of "Axis2" to "Axis8" ("Axis2" acts on the drive of list element 0 of P-0-1601) As of MPx04: Data type Description Note: The input is only applied at a rising edge of the Enable input. the internal "ON" signal is set to TRUE. per‐ manent control should be activated. "Drive on" (ON) and the operation mode selection are switched. local axis or only axis for MLD-M) "Axis2" to "Axis8" correspond to the remote axes.1-191: Descriptions of "ErrorID" of the Firmware Function Block "MX_Com‐ mand" in Target "IndraDrive MPH02" MX_SetControl The function block "MX_SetControl" is used to switch control between master communication and PLC. The "ON" signal can be controlled with the function block "MX_Power". If several axes are to be controlled. The remote axes con‐ tained in the list "P-0-1601. Fig. the signals "AH" and "ON" are only operated internally.112/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Defines the axis. The "Drive Halt" signal is controlled by the function block "MX_Stop" or by stopping the PLC. error).

With "PLCControl"=TRUE the internal PLC gets temporary control over the drive at the next 0-1 edge at "Execute". see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. Independent of "Execute". In the case of program download (no online change) or PLC reset. temporary control is automatically ceded again. the primary mode of operation and the secondary operation modes 1-6 are parameterized and used. All outputs. With "PLCControl"=FALSE control is ceded to the master communication at the next 0-1 edge at "Execute". it must be called at least once with Ena‐ ble=FALSE. This measure is not necessary when switching from the parameter mode to the operating mode takes place between the call of "MX_SetControl" and "MC_Power". "PLCControlStat" provides the actual value. With permanent control. PLCControl BOOL Fig. an‐ other switching process can be started with an "Execute" edge.1-193: Input Variables of the Firmware Function Block "MX_SetControl" . PLC configuration"). the secondary PLC operation modes are used.1-192: Input variable Execute Data type BOOL Firmware Function Block "MX_SetControl" Description The function block is activated with a rising edge at "Execute". While switching is running ("Done" and "Error" not yet TRUE). For the library in which the function is available. except for the "PLCControlStat" output.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 113/209 Rexroth IndraDrive Firmware Libraries In order that the firmware function block can detect a FALSE/TRUE tran‐ sition at its Enable input. are reset with a falling edge at "Execute". To be observed for PLCopen motion function blocks as of target "IndraDrive MP04": ● ● With temporary control. The function block "MX_SetControl" supplies error if permanent control is already active (setting via "P‑0‑1367.

Otherwise. PLC configuration") RE‐ SSOURCE_ERROR ACCESS_ERROR Fig. "PLCControlStat" provides the actual value.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 With "PLCControlStat"=TRUE the drive-internal PLC has control over the drive.5. Additional1 and Additional2. Independent of "Execute". see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . see chapter 1. With "PLCControlStat"=FALSE the master communication has control over the drive. A mode is set by a rising edge of "Execute". 1-196 " Descriptions of "ErrorID" of the Firmware Function Block "MX_SetControl" in Target "IndraDrive MPH02"" on page 114 Target "IndraDrive MP03": chapter 1. Master communication status".114/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable Done Error ErrorID Data type BOOL BOOL ERROR_CODE Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig. "MX_SetDeviceMode" should be called until the output "Done" or the output "Error" becomes TRUE. the function block returns an error via "Error".5. Fig. Independent of "Execute". If switching is not allowed ("P‑0‑4086.1-196: Descriptions of "ErrorID" of the Firmware Function Block "MX_SetCon‐ trol" in Target "IndraDrive MPH02" MX_SetDeviceMode The function block "MX_SetDeviceMode" is used to switch the drive to the pa‐ rameter or operating mode.1-195: ErrorID Input / Output Variables of the Firmware Function Block "MX_SetCon‐ trol" Description Invalid axis reference Permanent control has already been set ("P‑0‑1367. For the library in which the function is available.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 ErrorIdent (as of MPx03VRS) PLCControlStat BOOL ERROR_STRUCT Via the elements: Table. During the switching process. direct switching might not be possible again. the current status is displayed in the output "ActOperationMode".1-194: Input / output variable (VAR_IN_OUT) Axis AXIS_REF Data type Output Variables of the Firmware Function Block "MX_SetControl" Description Axis number (only the global variable "Axis1" can be transmitted here) Fig. as "MX_SetDeviceMode" then possibly is not in its initial status. bit 0=0). "ErrorIdent" shows the ex‐ act cause of the error.

1-198: Output variable Done Error ErrorID Data type BOOL BOOL ERROR_CODE Input Variables of the Firmware Function Block "MX_SetDeviceMode" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig.1-199: Output Variables of the Firmware Function Block "MX_SetDeviceMode" . except for the output "ActOperationMode". see chapter 1.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 115/209 Rexroth IndraDrive Firmware Libraries Fig.1-197: Input variable Execute Data type BOOL Firmware Function Block "MX_SetDeviceMode" Description The function block is activated with a rising edge at "Execute".5. Additional1 and Additional2. "ErrorIdent" gives the exact cause of the error.5. All outputs. OperationMode BOOL With "OperationMode"=TRUE the drive is switched to operating mode (phase 4) with the next 0-1 edge at "Execute".2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 ErrorIdent (as of MPx03VRS) ActOperationMode ERROR_STRUCT Via the elements Table. BOOL Fig. the current communication phase is displayed at "Ac‐ tOperationMode". the current communication phase is displayed at "Ac‐ tOperationMode". Fig. Independent of "Execute". 1-201 " Descriptions of "ErrorID" of the Firmware Function Block "MX_SetDeviceMode" in Target "IndraDrive MPH02"" on page 116 Target "IndraDrive MP03": chapter 1. are reset with a falling edge at "Execute".2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 With "ActOperationMode"=TRUE the drive is in operating mode (phase 4). With "OperationMode"=FALSE the drive is switched to parameter mode (phase 2) with the next 0-1 edge at "Execute". Independent of "Execute". With "ActOperationMode"=FALSE the drive is in parameter mode (2<=current phase 4).

for example. The secondary PLC operation modes are not allowed as "NewOpMode" and internally provided for the PLCopen profile of the PLC. The primary operation mode corresponds to the value "0" and the secondary operation modes correspond to the values "1" to "3" for firmware MPH02VRS and "1" to "7" for MPx03VRS firmwares.1-200: ErrorID Input / Output Variables of the Firmware Function Block "MX_SetDevi‐ ceMode" Description Invalid axis reference Phase switch not allowed ‑ or ‑ Switching impossible as parameter faulty RE‐ SSOURCE_ERROR ACCESS_ERROR Fig. During the switching process. The current operation mode is provided independent of "Execute".1-201: Descriptions of "ErrorID" of the Firmware Function Block "MX_SetDevi‐ ceMode" in Target "IndraDrive MPH02" MX_SetOpMode The function block "MX_SetOpMode" is used to directly switch the operation mode of the drive.116/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Data type Description Fig. The operation mode that was set is activated in the following position loop cycle. as "MX_Se‐ tOpMode" then possibly is not in its initial status. If after the switching process the drive is moved with "MX_MoveR‐ elative". "MX_SetOp‐ Mode" mustn't be used. . Oth‐ erwise direct switching might not be possible again. The switching process mustn't be activated by several instances at the same time! When the PLCopen profile is used for motion control. "MX_SetOpMode" should be called until the "Done" output or the "Error" output becomes TRUE. an operation mode >3 for MPH02VRS and >7 as of MPx03VRS is implicitly set. "MX_SetOpMode" is provided for direct control of the drive via its operation modes and their parameters.

after it has been switched on. For the library in which the function is available. When the function block "MB_PreSetMode" is used.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 117/209 Rexroth IndraDrive Firmware Libraries To be observed as of target "IndraDrive MP04": ● As of this target. The 7th secondary operation mode can be freely parameter‐ ized and selected in operation with the function block "MX_Se‐ tOpMode". Active motion function blocks signal "CommandAborted" when a new operation mode is set with "MX_SetOpMode". the axis changes from "AH" to "AF" or "AU". These param‐ eters cannot be written any more! ● ● ● ● ● The operation mode mustn't be switched by several instances at the same time. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig.1-202: Firmware Function Block "MX_SetOpMode" . immediately switches to this secondary operation mode without shortly remaining in "Drive Halt" before. At the command "MX_SetOpMode". the first 6 operation modes have a fixed pa‐ rameter setting with permanent control and mustn't be changed. Attention: In the multi-axis system MLD-M. the drive. the command val‐ ue parameters of the operation modes used by the PLCopen function blocks have already been configured in the multiplex channel (CCD process data) for remote axes. this is prevented by the system.

Secondary operation mode 4 5: S‑0‑0285. "NewOpMode" can presently have the following values: ● ● ● ● ● ● ● ● Execute BOOL 0: S‑0‑0032. Secondary operation mode 5 6: S‑0‑0286. the following global variables can be transmitted "Axis1" (axis for MLD‑S) "Axis1" (local axis or only axis for MLD-M). Secondary operation mode 1 2: S‑0‑0034. The output adopts the value set at "NewOpMode".2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Fig.5. see chapter 1. Secondary operation mode 7 As of target "IndraDrive MP03": The function block is activated with a rising edge at "Execute". Independent of "Execute". except for the "ActOpMode" output. "ErrorIdent" shows the ex‐ act cause of the error. Secondary operation mode 6 7: S‑0‑0287. "Axis2" to "Axis8" (first or last slave in the order of the list P‑0‑4031.1-203: Output variable ActOpMode Done Error ErrorID Data type WORD BOOL BOOL ERROR_CODE Input Variables of the Firmware Function Block "MX_SetOpMode" Description "ActOpMode" signals which operation mode is active in the drive at drive enable. With "Done"=TRUE the function block signals that the processing of the task has been successfully completed With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig.1-205: Input / Output Variable of the Firmware Function Block "MX_SetOp‐ Mode" . Fig.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 ErrorIdent (as of MPx03VRS) ERROR_STRUCT Via the elements: Table. Overview of device addresses) Fig.5. Primary operation mode 1: S‑0‑0033. Secondary operation mode 2 3: S‑0‑0035. Additional1 and Additional2. are reset with a falling edge at "Execute".1-204: Input / output variable (VAR_IN_OUT) Axis AXIS_REF Data type Output Variables of the Firmware Function Block "MX_SetOpMode" Description Axis number. All outputs.118/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable NewOpMode Data type WORD Description The operation mode set at "NewOpMode" is activated by a 0-1 edge at "Exe‐ cute". 1-206 " Descriptions of ErrorID of the Firmware Function Block MX_SetOpMode in Target IndraDrive MPH02" on page 119 Target "IndraDrive MP03": chapter 1. Secondary operation mode 3 4: S‑0‑0284. the current operation mode is displayed at "ActOp‐ Mode".

1-206: Descriptions of "ErrorID" of the Firmware Function Block "MX_SetOp‐ Mode" in Target "IndraDrive MPH02" MB_SetPositionControlMode The function block "MB_SetPositionControlMode" is used to set the position loop.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 119/209 Rexroth IndraDrive Firmware Libraries ErrorID RESSOURCE_ERROR ACCESS_ERROR IN‐ PUT_RANGE_ERROR Description Invalid axis reference PLC has no control over drive Invalid operation mode Fig. For the library in which the function is available. All outputs are reset with a falling edge at "Execute".1-207: Input variable Execute LaglessPositionControl Data type BOOL BOOL Firmware Function Block "MB_SetPositionControlMode" Description The function block is activated with a rising edge at "Execute". see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. Control word of axis controller": 0: Position control with lag error 1: Lagless position control . The value at the "LaglessPositionControl" input influences bit 2 of "S‑0‑0520.

5.120/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable ExternalEncoder Data type BOOL Description The value at the "ExternalEncoder" input influences bit 0 of "S‑0‑0520. "ErrorIdent" shows the exact cause of the error See note below Fig.1-209: Output Variables of the Firmware Function Block "MB_SetPositionCon‐ trolMode" NOTE: For the list of all possible errors.11. Positioning control word": 0: Last effective target position as dedicated point for relative positioning command values 1: Current actual position value as dedicated point for relative positioning command values Fig.1-210: Input / Output Variable of the Firmware Function Block "MB_SetPosi‐ tionControlMode" 1. Overview of device addresses") Data type Description Fig. Additional1 and Additional2. The value at the "MoveAbsUseCmdPos" input influences bit 4 of "S‑0‑0346.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number.4 Overview "Diagnostic" . "Axis2" to "Axis8" (first or last slave in the order of the list "P‑0‑4031. the following global variables can be transmitted "Axis1" (axis for MLD‑S) "Axis1" (local axis or only axis for MLD-M). see: chapter 1. Control word of axis controller": 0: Control with motor encoder (actual position value-1) 1: Control with external encoder (actual position value-2) MoveAbsUseCmdPos BOOL The "MoveAbsUseCmdPos" input is only available as of the target "IndraDrive MP06".1-208: Output variable Done Error ErrorID * ErrorIdent * Data type BOOL BOOL ERROR_CODE ERROR_STRUCT * Input Variables of the Firmware Function Block "MB_SetPositionCon‐ trolMode" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table.Functions for Diagnosis ● ● ● MX_fGetDriveWarning MX_fSetDriveError MX_fSetDriveWarning .

3 F2014 PLC .1-211: Input variable WarningNo Axis Data type DINT AXIS_REF Firmware Function "MX_fGetDriveWarning" Description Order number of warning to be read Axis number (only the global variable "Axis1" can be transmitted here) Fig. The error diagnosis can be cleared by executing the function block "MX_Re‐ set" / "MC_Reset". the errors ● ● ● ● F2011 PLC . otherwise FALSE Fig. Depending on the value at the input "ErrorNo" (1 to 4).Error no. 1 F2012 PLC . the warning mes‐ sages ● ● ● ● E2011 PLC . 4 are triggered in the drive. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. 2 F2013 PLC .DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 121/209 Rexroth IndraDrive Firmware Libraries MX_fGetDriveWarning The firmware function "MX_fGetDriveWarning" allows polling whether a certain warning diagnosis is active in the drive. .Warning no.Warning no. the function provides TRUE as return value.Error no.1-212: Return value MX_fGetDriveWarning Data type BOOL Input Variables of the Firmware Function "MX_fGetDriveWarning" Description If the warning to be checked is active in the drive. 1 E2012 PLC . Depending on the value at the input "WarningNo" (1 to 4).Warning no.Error no. 4 are checked.Error no. 3 E2014 PLC . For the library in which the function is available.Warning no.1-213: Return Value of the Firmware Function "MX_fGetDriveWarning" MX_fSetDriveError The firmware function "MX_fSetDriveError" triggers an error diagnosis in the drive. 2 E2013 PLC .

Warning no.1-214: Input variable ErrorNo Axis Data type DINT AXIS_REF Firmware Function "MX_fSetDriveError" Description Order number of error to be triggered Axis number (only the global variable "Axis1" can be transmitted here) Fig. 3 E2014 PLC . Depending on the value at the input "WarningNo" (1 to 4). see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. otherwise FALSE Fig. the warning mes‐ sages ● ● ● ● E2011 PLC .1-215: Return value MX_fSetDriveError Data type BOOL Input Variables of the Firmware Function "MX_fSetDriveError" Description If the value of "ErrorNo" is within the allowed range (1 to 4).1-216: Return Value of the Firmware Function "MX_fSetDriveError" MX_fSetDriveWarning The firmware function "MX_fSetDriveWarning" is used to set or clear a warning diagnosis in the drive.Warning no.122/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries For the library in which the function is available.Warning no. 2 E2013 PLC . 4 are triggered in the drive. the function provides TRUE as return value.Warning no. For the library in which the function is available. 1 E2012 PLC .

DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 123/209 Rexroth IndraDrive Firmware Libraries Fig. the function pro‐ vides TRUE as return value.11. otherwise FALSE Fig.1-219: Return Value of the Firmware Function "MX_fSetDriveWarning" 1.1-218: Return value MX_fSetDriveWarning Data type BOOL Input Variables of the Firmware Function "MX_fSetDriveWarning" Description If the value of "WarningNo" is within the allowed range (1 to 4).Function Blocks/Functions for Parameters ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● MB_ChangeCamData *4 MB_ReadListParameter *2 MB_ReadMaxRealValue *1 MB_ReadMaxValue *1 MB_ReadMinRealValue *1 MB_ReadMinValue *1 MB_ReadName *1 MB_ReadParameter *1 MB_ReadRealListParameter *3 MB_ReadRealParameter *1 MB_ReadSercosAttribute *1 MB_ReadSercosDataStatus *2 MB_ReadStringParameter *2 MB_ReadUnit / MX_ReadUnit *1 MB_WriteListParameter MB_WriteParameter *1 MB_WriteRealListParameter MB_WriteRealParameter *1 MB_WriteStringParameter *2 MX_fCheckCmdRequest*2 *3 *2 .1-217: Input variable SetWarning WarningNo Axis Data type BOOL DINT AXIS_REF Firmware Function "MX_fSetDriveWarning" Description TRUE: set warning.5 Overview "Parameters" . FALSE: clear warning Order number of warning to be triggered Axis number (only the global variable "Axis1" can be transmitted here) Fig.

The function block does not check the content of the data to be transmitted. Cam table 5 P-0-0783. Drive Parameter and "NumberOfEle‐ ments" The individual data to be transmitted may be within the range of ‑799. the function block transports the volume of 4-byte data specified by the "NumberOfElements " input to the cam parameter selected with "Cam‐ TableID". Cam table 7 P-0-0785.124/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries ● ● ● ● ● ● ● ● ● ● *1 MX_fReadParamDINT MX_fReadStringParam MX_fSetParamLimits*3 MX_fSetParamName*3 MX_fSetParamUnit*3 MX_fWriteParamDINT MX_fWriteStringParam MX_ReadParamDINT MX_SetCmdState *2 MX_WriteParamDINT Available as of target "IndraDrive MP03" Available as of target "IndraDrive MP04" Available as of target "IndraDrive MP05" Available as of target "IndraDrive MP06" *2 *3 *4 MB_ChangeCamData Brief Description The function block "MB_ChangeCamData" supports loading of cam profiles to the drive parameters intended for this purpose. These factors are .1-220: Assignment of "CamTableID". Cam table 6 P-0-0784. the user must make sure that the data volume and the data type (DINT) of the information to be transmitted are correct. Cam table 4 P-0-0782.000.000. Cam table 1 P-0-0092. At present. i. drives of the "Rexroth IndraDrive" product range support 8 cams.999. 4 cams with a maximum of 1024 cam elements and 4 cams with a maximum of 128 cam elements. Cam table 8 NumberOfElements 0 or 3 to 1024 0 or 3 to 1024 0 or 3 to 1024 0 or 3 to 1024 0 or 3 to 128 0 or 3 to 128 0 or 3 to 128 0 or 3 to 128 Fig.999 to +799. the individual data to be transmitted are converted to a percentage value with 6 decimal places. The time required for transmitting cam profiles depends on different factors. CamTableID CAM_TABLE_1 CAM_TABLE_2 CAM_TABLE_3 CAM_TABLE_4 CAM_TABLE_5 CAM_TABLE_6 CAM_TABLE_7 CAM_TABLE_8 Drive parameter P-0-0072.999. Cam table 2 P-0-0780. the value to be transmitted is divided by 1. The table below shows the assignment of the "CamTableID" input. the corre‐ sponding drive parameter and the possible number of cam elements for the "NumberOfElements" input. In the drive.999.e. Cam table 3 P-0-0781. Beginning at the location in the PLC memory to which the "CamTableAdr" pointer points.

When the cam profile is transmitted to a local axis.15 ms 30 . a cam profile is traveled by means of linear or cubic spline interpolation. Notes on application: When the function block "MB_ChangeCamData" is used to write data to a local axis. it takes approx. Configura‐ tion word synchronous operation modes". therefore. Cam table 1").1-221: Typical Times Required to Transmit 1024 Cam Elements The specified times are not absolute times. compared to the linear cam interpolation. the PLC program only continues running when the function block "MB_ChangeCam‐ Data" signals with "Done"=TRUE that it has successfully written the data. In the drive. Interface Description Fig. a freewheeling PLC task or a cyclic PLC task with a big cycle time should be used so that the watchdog (F6010) is not generated when the watchdog monitor has been activated. 5 ms longer to transmit a cam profile with 1024 elements. coefficients are calculated when a cam profile is written. The linear cam interpolation is activated via "P-0-0086. bit 7="1". For cubic spline interpolation.1 Fig.1 / CDB01.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 125/209 Rexroth IndraDrive Firmware Libraries ● ● ● ● ● Location of the target axis (local axis or remote CCD slave axis) Control section which is used Number of elements to be transmitted Cycle time of the PLC task Active CCD cycle time Local axis 6 . Drives of the "Rexroth IndraDrive" product range can process two types of cam formats (see "P-0-0072. or when it signals with "Error"=TRUE that an error has occur‐ red.45 ms Remote CCD slave axis 1024 * CCD cycle time + 250ms 1024 * CCD cycle time + 250ms Typical times required to transmit 1024 cam elements: Control section CSH1.1 CSB01.1-222: Function Block "MB_ChangeCamData" .

Additional1 and Additional2. P-0-0780. "ErrorIdent" shows the exact cause of the error See note below Fig.1-224: Output Variables of the Firmware Function Block "MB_ChangeCamDa‐ ta" NOTE: For the list of all possible errors..1-225: Input / Output Variable of the Firmware Function Block "MB_Change‐ CamData" MX_fCheckCmdRequest The firmware function "MX_fCheckCmdRequest" is used to return the com‐ mand input which was preset via the drive parameter "P‑0‑1449.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number..P-0-0785) Number of data points which are to be transmitted to the specified cam table Pointer to PLC memory range which contains the data to be transported. see: "Library As‐ signment as of the Target "IndraDrive MP04"" . see: chapter 1.1-223: Output variable Done Active Error ErrorID * ErrorIdent * Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT * Input Variables of the Firmware Function Block "MB_ChangeCamData" Description With "Done"=TRUE. the following global variables can be transmitted: "Axis1" (axis for MLD‑S) "Axis1" (local axis or only axis for MLD-M). Example: CamTableAdr := ADR(arFeld1) Fig.5.126/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable Execute CamTableID NumberOfElements CamTableAdr Data type BOOL MC_CAM_ID UINT POINTER TO DINT Description See "Input Signals Execute / Enable" on page 22 Number of the cam table to be written (1. "Axis2" to "Axis8" (first or last slave in the order of the list "P‑0‑4031.8 according to parameters P-0-0072. the function block signals that the cam data were trans‐ mitted "Active"=TRUE signals that the function block has accepted the processing command With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. C4900 PLC command". P-0-0092. For the library in which the function is available. Overview of device addresses") Data type Description Fig.

1-229: Firmware Function "MX_fReadParamDINT" .1-227: Return value MX_fCheckCmdRequest Data type MX_CMD_REQUEST Input Variables of the Firmware Function "MX_fCheckCmdRequest" Description The function "MX_fCheckCmdRequest" can return the following values: ● ● ● ● MX_CMD_REQ_ERROR: an invalid axis number was trans‐ mitted MX_CMD_REQ_STOP: command is to be terminated MX_CMD_REQ_BREAK: command is to be interrupted MX_CMD_REQ_START: command is to be started Fig. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig.1-228: Return Value of the Firmware Function "MX_fCheckCmdRequest" MX_fReadParamDINT The firmware function "MX_fReadParamDINT" is used to read a parameter value and return it as DINT.1-226: Input variable Axis Data type AXIS_REF Firmware Function "MX_fCheckCmdRequest" Description Axis number (only the global variable "Axis1" can be transmitted here) Fig. For the library in which the function is available. The function block "MX_ReadParamDINT" is suited for this purpose. For unsigned parameters with 32 bits the return value can simply be converted with the function "DINT_TO_UDINT". With this function it is at first impossible to recognize whether the reading of the parameter was successful or not.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 127/209 Rexroth IndraDrive Firmware Libraries Fig.

a separate task should be used. Afterwards. When the function is called. Note: The value "0" is returned if the parameter or list element cannot be read Fig. apply "0" to "ListElem". the second element with "2" etc. In addition to "MaxLen" a closing 0-character is copied. The return value returns the characters actually read (without 0). the first element with "1". see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig.1-231: Return Value of the Firmware Function "MX_fReadParamDINT" MX_fReadStringParam With the firmware function "MX_fReadStringParam" it is possible to read a pa‐ rameter the operating data of which has the ASCII format (string). the complete text is immediately read. With "‑1" at "ListElem" it is the actual length. The reading process can take some time. the zeroth element is read with "0".1-230: Return value MX_fReadParamDINT Data type DINT Input Variables of the Firmware Function "MX_fReadParamDINT" Description Provides the value of the element specified with "Ident" and "ListElem". To read a single parameter. For the library in which the function is available. but also the values of list parameters. with "‑2" it is the maximum length of a list parameter which is read Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Description At the "Ident" input apply the IDN of the parameter the value of which is to be read Fig. For list parameters.128/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable Ident Data type DINT or MB_IDN (as of MPx06) ListElem INT It is possible to read the value of a single parameter. If necessary. control goes back to the program. depending on the text length.1-232: Firmware Function "MX_fReadStringParam" .

DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 129/209 Rexroth IndraDrive Firmware Libraries Input variable Ident Data type DINT or MB_IDN (as of MPx06) Text MaxLen Axis STRING(255) INT AXIS_REF Text buffer 255 characters Number of characters to be read (without closing 0) Axis number (only the global variable "Axis1" can be transmitted here) Description IDN of the parameter Fig. a PLC exception occurs and the function returns the value "0". This function mustn't be called from the system event "Position‐ Loop". For the library in which the function is available.1-233: Return value MX_fReadStringParam Data type INT Input Variables of the Firmware Function "MX_fReadStringParam" Description Returns the characters actually read (without 0) Fig. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. (load defaults procedure for PLC)]. the limit values are set to their default values again. com. When the function is called from "PositionLoop". proc. By switching off or by "load defaults procedure for PLC" [C0730 Load def.1-235: Firmware Function "MX_fSetParamLimits" .1-234: Return Value of the Firmware Function "MX_fReadStringParam" MX_fSetParamLimits With the firmware function "MX_fSetParamLimits" it is possible to set the limit values of the Global Register PLC parameters.

(load defaults proce‐ dure for PLC)]. This function mustn't be called from the system event "Position‐ Loop". the names of the Global Register PLC parameters are set to their default values again. By switching off.130/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable Ident Data type DINT or MB_IDN (as of MPx06) MinValue MaxValue DINT DINT Minimum value to be set Maximum value to be set Description A constant from the global variables can be transmitted here Fig. When the names of the Global Register PLC parameters were changed.1-237: Return Value of the Firmware Function "MX_fSetParamLimits" MX_fSetParamName With the firmware function "MX_fSetParamName" it is possible to set the names of the Global Register PLC parameters.1-238: Firmware Function "MX_fSetParamName" . For the library in which the function is available. This behavior is due to technical reasons. When the function is called from "PositionLoop". they are set to the English names by "load defaults pro‐ cedure for PLC" [C0730 Load def.1-236: Return value MX_fSetParamLimits Data type UINT Input Variables of the Firmware Function "MX_fSetParamLimits" Description The function can return the following values: ● ● 0: Limit values were successfully set 1: Error. inadmissible IDN was given Fig. com. proc. a PLC exception occurs and the function returns the value "0". see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig.

(load defaults procedure for PLC)]. By switching off or by "load defaults procedure for PLC" [C0730 Load def.1-242: Input Variables of the Firmware Function "MX_fSetParamUnit" .1-241: Input variable Ident Data type DINT or MB_IDN (as of MPx06) NewUnit STRING(20) Firmware Function "MX_fSetParamUnit" Description A constant from the global variables can be transmitted here Unit to be set (maximum length: 20 characters) Fig. the units are set to their default values again. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. a PLC exception occurs and the function returns the value "0". proc.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 131/209 Rexroth IndraDrive Firmware Libraries Input variable Ident Data type DINT or MB_IDN (as of MPx06) NewName STRING(60) Name to be set (maximum length: 60 characters) Description A constant from the global variables can be transmitted here Fig. When the function is called from "PositionLoop".1-239: Return value MX_fSetParamName Data type UINT Input Variables of the Firmware Function "MX_fSetParamName" Description The function can return the following values: ● ● 0: Name was successfully set 1: Error.1-240: Return Value of the Firmware Function "MX_fSetParamName" MX_fSetParamUnit With the firmware function "MX_fSetParamUnit" it is possible to set the units of the Global Register PLC parameters. For the library in which the function is available. com. inadmissible IDN was given Fig. This function mustn't be called from the system event "Position‐ Loop".

It is possible to write in unbuffered or buffered form. With this function it is at first impossible to recognize whether the writing of the parameter was successful or not.132/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Return value MX_fSetParamUnit Data type UINT Description The function can return the following values: ● ● 0: Unit was successfully set 1: Error. In the case of buffered writing. another access with buffering will fail (ACCESS_ERROR). For list parameters only the last write access should take place with "WriteBuffered"=TRUE. For the library in which the function is available. data should only be written in buffered form if necessary. inadmissible IDN was given Fig. as the entire list is buffered at each access. As this takes much calcu‐ lating time.1-244: Firmware Function "MX_fWriteParamDINT" . While a parameter is buffered. The function block "MX_WriteParamDINT" is suited for this purpose. For unsigned parameters with 32 bits the input value "Value" can be converted with the function "UDINT_TO_DINT". see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. the parameter values every time are transferred to the non-volatile memory.1-243: Return Value of the Firmware Function "MX_fSetParamUnit" MX_fWriteParamDINT The firmware function "MX_fWriteParamDINT" is used to write data to a pa‐ rameter.

the complete text is immediately written. a separate task should be used. When the function is called. the parameter values every time are transferred to the non-volatile memory.1-246: Return Value of the Firmware Function "MX_fWriteParamDINT" MX_fWriteStringParam The firmware function "MX_fWriteStringParam" is used to write data to a text parameter. It is possible to write in unbuffered or buffered form. control goes back to the program. For the library in which the function is available. In the case of buffered writing. depending on the text length. As this takes much calcu‐ lating time. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . data should only be written in buffered form if necessary. The writing process can take some time. another access with buffering will fail (ACCESS_ERROR). If necessary.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 133/209 Rexroth IndraDrive Firmware Libraries Input variable Ident Data type DINT or MB_IDN (as of MPx06) ListElem INT List element number: For list parameters starting with "0" and for single parameter always "0" "‑1" for writing the actual length (only allowed for list parameters) Value WriteBuffered Axis INT BOOL AXIS_REF Value which is to be written to the selected element "WriteBuffered"=TRUE: Value is buffered.1-245: Return value MX_fWriteParamDINT Data type BOOL Input Variables of the Firmware Function "MX_fWriteParamDINT" Description Dummy output without significance Fig. After‐ wards. While a parameter is buffered. "WriteBuffered"=FALSE: Val‐ ue is not buffered Axis number (only the global variable "Axis1" can be transmitted here) Description IDN of the specified parameter Fig.

The IDN of the list parameter to be read has to be applied at the "Parameter‐ Number" input..1-247: Input variable Ident Data type DINT or MB_IDN (as of MPx06) Text WriteBuffered Axis STRING(255) BOOL AXIS_REF Firmware Function "MX_fWriteStringParam" Description IDN of the specified parameter Text string "WriteBuffered"=TRUE: Value is buffered "WriteBuffered"=FALSE: Value is not buffered Axis number (only the global variable "Axis1" can be transmitted here) Fig..1-248: Return value MX_fWriteStringParam Data type INT Input Variables of the Firmware Function "MX_fWriteStringParam" Description The return value returns the characters actually written (without 0) Fig. . The function block "MB_ReadListParameter" can work on the local axis ("Axis1") and via SERCOS III on remote axes ("Axis2". The processing of the function block is started with a rising edge at the "Execute" input ("Execute"=TRUE). It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with an edge. Local Axis When the function block is used for a local axis. The number of bytes to be read has to be indicated at the "NoOfBytes" input. After the list elements have been read. all list elements of the selected parameter are immediately read when the function block is called. the instance variable "ActivateCounter" can be used. control goes back to the program and TRUE is pro‐ vided at the "Done" output.134/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig.). .1-249: Return Value of the Firmware Function "MX_fWriteStringParam" MB_ReadListParameter With the function block "MB_ReadListParameter" it is possible to read the cur‐ rent value of a list parameter. To test the function block "MB_ReadListParameter". "Ax‐ is3".

DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 135/209 Rexroth IndraDrive Firmware Libraries You should observe that the reading process can take some time. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. depending on the data vol‐ ume. the function block signals an error. 200μs are required with Advanced control section. The data transmission can take several seconds. As long as the SERCOS ring is not yet in phase 2 . The outputs "Done". if necessary. depending on the volume of data to be read. Example: To read all list elements of parameter P‑0‑0072 (1024 long words). approx. With a falling edge.1-250: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_ReadListParameter" Description The function block is activated with a rising edge at "Execute".it is impossible to exchange data with remote axes. Only at a later call can the function block signal "Done". "Active" and "Error" have to be cyclically polled. Remote Axes Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode.and temporarily during the transition from phase 3 to phase 4 . When the function block is used for remote axes. the read task is ceded to the service channel (SERCOS III). all outputs are reset IDN of the parameter to be read . you should use a separate task. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. For the library in which the function is available. In this case. in the CCD basic mode and in the CCD system mode.

Example: NoOfBytes:=SIZEOF(arFeld1) NOTE: When reading parameters of the "IDN" data format. "Active"=TRUE signals that the function block has accepted the processing command. Additional1 and Additional2. Overview of device addresses") Data type Description Fig.1-251: Output variable Done Active Error ErrorID * ErrorIdent * NoOfRecBytes Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT UINT * Input Variables of the Firmware Function Block "MB_ReadListParame‐ ter" Description With "Done"=TRUE the function block signals that the cyclic reading of the data value of the parameter was successful For remote axes. For the library in which the function is available.1-252: See note below Output Variables of the Firmware Function Block "MB_ReadListPara‐ meter" NOTE: For the list of all possible errors.5.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. the following global variables can be transmitted: "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V08": "Axis1" (local axis or only axis for MLDM). for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. "ErrorIdent" shows the exact cause of the error The "NoOfRecBytes" output signals how many bytes were actually read Fig. you have to ob‐ serve that as of MPx06 one element contains 4 bytes (MB_IDN)! ValueAdr POINTER TO BYTE At the "ValueAdr" input indicate the initial address of the field to which the bytes that have been read are to be written. see: chapter 1. "Axis2" to "Axis8" (first or last slave in the order of the list "P‑0‑4031.136/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable NoOfBytes Data type UINT Description The number of bytes to be read has to be indicated at the "NoOfBytes" input. Example: ValueAdr := ADR(arFeld1) Fig. The value is returned in REAL format. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" .1-253: Input / Output Variable of the Firmware Function Block "MB_ReadList‐ Parameter" MB_ReadMaxRealValue With the function block "MB_ReadMaxRealValue" it is possible to read the maximum allowed value of a parameter.

"MaxValue" signals the maximum input value of the selected parameter. all outputs are reset At the "ParameterNumber" input apply the IDN of the parameter the maximum value of which is to be read Fig.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 137/209 Rexroth IndraDrive Firmware Libraries Fig. Additional1 and Additional2. "ErrorIdent" shows the exact cause of the error If "Done"=TRUE. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. With a falling edge.5. see: chapter 1.1-256: See note below Output Variables of the Firmware Function Block "MB_ReadMaxReal‐ Value" NOTE: For the list of all possible errors.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 .1-255: Output variable Done Active Error ErrorID * ErrorIdent * MaxValue Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT REAL Input Variables of the Firmware Function Block "MB_ReadMaxRealVal‐ ue" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes. the input value of the parameter has decimal places which have to be taken into account and used for calculation * Fig. "Active"=TRUE signals that the function block has accepted the processing command.1-254: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_ReadMaxRealValue" Description The function block is activated with a rising edge at "Execute". Note: According to the scaling.

in the CCD basic mode and in the CCD system mode. the following global variables can be transmitted: "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M). "Active" and "Error" have to be cyclically polled.1-257: Input / Output Variable of the Firmware Function Block "MB_ReadMax‐ RealValue" In the case of a remote axis. MB_ReadMaxValue With the function block "MB_ReadMaxValue" it is possible to read the maximum allowed value of a parameter. "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031. Over‐ view of device addresses"). As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode.it is impossible to exchange data with remote axes. In this case. the resulting times for the function block calls themselves are always short. depending on the load of the service channel. As long as the SERCOS ring is not yet in phase 2 . Therefore. the function block signals an error. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . For the library in which the function is available.138/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. Only at a later call can the function block signal "Done". The outputs "Done". The data transmission can take several seconds.and temporarily during the transition from phase 3 to phase 4 . Please observe the notes below! Data type Description Fig. The value is returned in DINT format. the task is ceded to the service channel (SERCOS III). Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode.

the input value of the parameter has decimal places which have to be taken into account and used for calculation * Fig.5.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 . all outputs are reset At the "ParameterNumber" input apply the IDN of the parameter the maximum value of which is to be read Fig.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 139/209 Rexroth IndraDrive Firmware Libraries Fig.1-260: See note below Output Variables of the Firmware Function Block "MB_ReadMaxValue" NOTE: For the list of all possible errors. "ErrorIdent" shows the exact cause of the error If "Done"=TRUE. Note: According to the scaling.1-259: Output variable Done Active Error ErrorID * ErrorIdent * MaxValue Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT DINT Input Variables of the Firmware Function Block "MB_ReadMaxValue" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes. Additional1 and Additional2. "Active"=TRUE signals that the function block has accepted the processing command. see: chapter 1.1-258: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_ReadMaxValue" Description The function block is activated with a rising edge at "Execute". for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. "MaxValue" signals the maximum input value of the selected parameter. With a falling edge.

the resulting times for the function block calls themselves are always short. depending on the load of the service channel. MB_ReadMinRealValue With the function block "MB_ReadMinRealValue" it is possible to read the min‐ imum allowed value of a parameter.it is impossible to exchange data with remote axes. As long as the SERCOS ring is not yet in phase 2 . see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" .140/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. In this case. the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M). Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. Over‐ view of device addresses"). The value is returned in REAL format. "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031. the task is ceded to the service channel (SERCOS III). in the CCD basic mode and in the CCD system mode. For the library in which the function is available. The outputs "Done". Please observe the notes below! Data type Description Fig. The data transmission can take several seconds. Therefore.and temporarily during the transition from phase 3 to phase 4 . the function block signals an error.1-261: Input / Output Variable of the Firmware Function Block "MB_ReadMax‐ Value" In the case of a remote axis. Only at a later call can the function block signal "Done". "Active" and "Error" have to be cyclically polled.

1-264: See note below Output Variables of the Firmware Function Block "MB_ReadMinReal‐ Value" For the list of all possible errors.2 "Error Refer‐ ence Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 . Additional1 and Additional2.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 141/209 Rexroth IndraDrive Firmware Libraries Fig. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. "Active"=TRUE signals that the function block has accepted the processing command. "ErrorIdent" shows the exact cause of the error If "Done"=TRUE. all outputs are reset At the "ParameterNumber" input apply the IDN of the parameter the minimum value of which is to be read Fig. see: chapter 1. With a falling edge. the input value of the parameter has decimal places which have to be taken into account and used for calculation * Fig.5. "MinValue" signals the minimum input value of the selected parameter. Note:According to the scaling.1-263: Output variable Done Active Error ErrorID * ErrorIdent * MinValue Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT REAL Input Variables of the Firmware Function Block "MB_ReadMinRealVal‐ ue" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes.1-262: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_ReadMinRealValue" Description The function block is activated with a rising edge at "Execute".

Over‐ view of device addresses"). Please observe the notes below! Data type Description Fig. the resulting times for the function block calls themselves are always short. Therefore.it is impossible to exchange data with remote axes. "Active" and "Error" have to be cyclically polled. The value is returned in DINT format. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . Only at a later call can the function block signal "Done". The outputs "Done". In this case. depending on the load of the service channel. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031. the following global variables can be transmitted: "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M).and temporarily during the transition from phase 3 to phase 4 . The data transmission can take several seconds. As long as the SERCOS ring is not yet in phase 2 .1-265: Input / Output Variable of the Firmware Function Block "MB_ReadMin‐ RealValue" In the case of a remote axis. the function block signals an error.142/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. the task is ceded to the service channel (SERCOS III). Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. For the library in which the function is available. in the CCD basic mode and in the CCD system mode. MB_ReadMinValue With the function block "MB_ReadMinValue" it is possible to read the minimum allowed value of a parameter.

DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 143/209 Rexroth IndraDrive Firmware Libraries Fig. Note: According to the scaling.1-267: Output variable Done Active Error ErrorID * ErrorIdent * MinValue Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT DINT Input Variables of the Firmware Function Block "MB_ReadMinValue" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes. With a falling edge. see: chapter 1.1-266: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_ReadMinValue" Description The function block is activated with a rising edge at "Execute". Additional1 and Additional2.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 . "MinValue" signals the minimum input value of the selected parameter. "Active"=TRUE signals that the function block has accepted the processing command. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table.5. all outputs are reset At the "ParameterNumber" input apply the IDN of the parameter the minimum value of which is to be read Fig. "ErrorIdent" shows the exact cause of the error If "Done"=TRUE.1-268: See note below Output Variables of the Firmware Function Block "MB_ReadMinValue" NOTE: For the list of all possible errors. the input value of the parameter has decimal places which have to be taken into account and used for calculation * Fig.

At the "ParameterNumber" input you have to apply the parameter number of the parameter the name of which is to be read. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . Over‐ view of device addresses"). a detailed description of the error is output at the outputs "ErrorID" and "ErrorIdent". depending on the load of the service channel.1-269: Input / Output Variable of the Firmware Function Block "MB_ReadMin‐ Value" In the case of a remote axis.it is impossible to exchange data with remote axes.144/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. In the case of error. As long as the SERCOS ring is not yet in phase 2 . Incorrect processing is signaled by "Error"=TRUE. Error-free processing is signaled by "Done"=TRUE. The data transmission can take several seconds. For the library in which the function is available. The outputs "Done". the resulting times for the function block calls themselves are always short. Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. MB_ReadName With the function block "MB_ReadName" it is possible to read the name of a parameter. In this case. Only at a later call can the function block signal "Done". Please observe the notes below! Data type Description Fig. in the CCD basic mode and in the CCD system mode. "Active" and "Error" have to be cyclically polled. the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M). "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031.and temporarily during the transition from phase 3 to phase 4 . As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. The processing of the function block is started with a rising edge at the "Execute" input. the function block signals an error. the task is ceded to the service channel (SERCOS III). Therefore.

5.2 "Error Refer‐ ence Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 . "Active"=TRUE signals that the function block has accepted the processing command. Additional1 and Additional2. "ErrorIdent" shows the exact cause of the error If "Done"=TRUE.1-271: Output variable Done Active Error ErrorID * ErrorIdent * Name Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT STRING(255) * Input Variables of the Firmware Function Block "MB_ReadName" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes.1-270: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_ReadName" Description The function block is activated with a rising edge at "Execute". for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. With a falling edge.1-272: See note below Output Variables of the Firmware Function Block "MB_ReadName" For the list of all possible errors. all outputs are reset At the "ParameterNumber" input apply the IDN of the parameter the name of which is to be read Fig. Fig. see: chapter 1. "Name" signals the name of the selected parameter.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 145/209 Rexroth IndraDrive Firmware Libraries Fig.

"Active" and "Error" have to be cyclically polled.and temporarily during the transition from phase 3 to phase 4 . the task is ceded to the service channel (SERCOS III). The return value is DINT. MB_ReadParameter With the function block "MB_ReadParameter" it is possible to read the current value of a parameter. the input variables are only applied with a 0‑1 edge at the "Enable" input.146/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. Over‐ view of device addresses"). "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031. The data transmission can take several seconds. For the library in which the function is available. in the CCD basic mode and in the CCD system mode. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . List and string parameters cannot be read with the function block. Only at a later call can the function block signal "Done". the resulting times for the function block calls themselves are always short. the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M).1-273: Input / Output Variable of the Firmware Function Block "MB_Read‐ Name" In the case of a remote axis. As long as the SERCOS ring is not yet in phase 2 . With the function block "MB_ReadParameter". Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. the function block signals an error. depending on the load of the service channel. In this case. The outputs "Done".it is impossible to exchange data with remote axes. Please observe the notes below! Data type Description Fig. Therefore. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode.

DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 147/209 Rexroth IndraDrive Firmware Libraries Fig. Accord‐ ing to the scaling.1-276: See note below Output Variables of the Firmware Function Block "MB_ReadParameter" For the list of all possible errors. "Value" signals the value of the selected parameter. it is cleared with "Enable"=FALSE At the "ParameterNumber" input apply the IDN of the parameter (e. see: chapter 1.5. FP_S_0_0052) the current value of which is to be read Fig. The command is started with "Ena‐ ble"=TRUE. "Active"=TRUE signals that the function block has accepted the processing command. the parameter has decimal places which have to be taken into account and used for calculation * Fig. Additional1 and Additional2.g.1-274: Input variable Enable ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_ReadParameter" Description The function block is status-controlled. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table.1-275: Output variable Done Active Error ErrorID * ErrorIdent * Value Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT DINT Input Variables of the Firmware Function Block "MB_ReadParameter" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes.2 "Error Refer‐ ence Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 . "ErrorIdent" shows the exact cause of the error If "Done"=TRUE.

In this case. The processing of the function block is started with a rising edge at the "Execute" input ("Execute"=TRUE). the resulting times for the function block calls themselves are always short.). . MB_ReadRealListParameter With the function block "MB_ReadRealListParameter" it is possible to read the current list of a list parameter. Local Axis When the function block is used for a local axis. the task is ceded to the service channel (SERCOS III). The data transmission can take several seconds. The number of bytes to be read has to be indicated at the "NoOfBytes" input. control goes back to the program and TRUE is pro‐ vided at the "Done" output.it is impossible to exchange data with remote axes. the in‐ stance variable "ActivateCounter" can be used. Please observe the notes below! Data type Description Fig. The function block "MB_ReadRealListParameter" can work on the local axis ("Axis1") and via SERCOS III on remote axes ("Axis2". in the CCD basic mode and in the CCD system mode. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. It counts the posi‐ tive edges of the "Execute" signal and thereby signals whether the function block is run with an edge. Therefore. the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M). The IDN of the list parameter to be read has to be applied at the "Parameter‐ Number" input. Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. Over‐ view of device addresses"). "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031.. As long as the SERCOS ring is not yet in phase 2 ..and temporarily during the transition from phase 3 to phase 4 . depending on the load of the service channel. After the list elements have been read. "Active" and "Error" have to be cyclically polled. The outputs "Done". "Axis3".148/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. To test the function block "MB_ReadRealListParameter". Only at a later call can the function block signal "Done". all list elements of the selected parameter are immediately read when the function block is called. the function block signals an error.1-277: Input / Output Variable of the Firmware Function Block "MB_ReadPara‐ meter" In the case of a remote axis. .

Example: To read all list elements of parameter P‑0‑0072 (1024 long words). if necessary. For the library in which the function is available. depending on the data vol‐ ume. The outputs "Done". The data transmission can take several seconds.it is impossible to exchange data with remote axes. the function block signals an error. "Active" and "Error" have to be cyclically polled. When the function block is used for remote axes. Only at a later call can the function block signal "Done"=TRUE. Remote Axes Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. the read task is ceded to the service channel (SERCOS III). 314μs are required with Advanced control section.1-278: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_ReadRealListParameter" Description The function block is activated with a rising edge at "Execute". see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 149/209 Rexroth IndraDrive Firmware Libraries You should observe that the reading process can take some time. in the CCD basic mode and in the CCD system mode. In this case.and temporarily during the transition from phase 3 to phase 4 . you should use a separate task. As long as the SERCOS ring is not yet in phase 2 . depending on the volume of data to be read. IDN of the parameter to be read . As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. all outputs are reset. approx. With a falling edge.

5. see: chapter 1. Example: ValueAdr := ADR(arFeld1) Fig.1-279: Output variable Done Active Error ErrorID * ErrorIdent * NoOfRecBytes Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT UINT * Input Variables of the Firmware Function Block "MB_ReadRealList‐ Parameter" Description With "Done"=TRUE the function block signals that the cyclic reading of the data value of the parameter was successful For remote axes. .1-280: See note below Output Variables of the Firmware Function Block "MB_ReadRealList‐ Parameter" NOTE: For the list of all possible errors. the following global variables can be transmitted: "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V08": "Axis1" (local axis or only axis for MLDM). "Axis2" to "Axis8" (first or last slave in the order of the list "P‑0‑4031. "ErrorIdent" shows the exact cause of the error The "NoOfRecBytes" output signals how many bytes were actually read Fig. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. "Active"=TRUE signals that the function block has accepted the processing command. Overview of device addresses"). in the CCD basic mode and in the CCD system mode. Additional1 and Additional2. Data type Description Fig.1-281: Input / Output Variable of the Firmware Function Block "MB_ReadReal‐ ListParameter" Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. List and string parameters cannot be read with the function block "MB_ReadRealParameter".150/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable NoOfBytes ValueAdr Data type UINT Description The number of bytes to be read has to be indicated at the "NoOfBytes" input POINTER TO REAL At the "ValueAdr" input indicate the initial address of the field to which the bytes that have been read are to be written.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. MB_ReadRealParameter With the function block "MB_ReadRealParameter" it is possible to read the current value of a parameter. The return value is REAL. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode.

1-282: Input variable Enable ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_ReadRealParameter" Description The function block is status-controlled. As of the firmware MPx04V10.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 151/209 Rexroth IndraDrive Firmware Libraries WARNING Up to MPx04V08: Property damage. too fast). see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. For the library in which the function is available. The command is started with "Ena‐ ble"=TRUE. it is cleared with "Enable"=FALSE At the "ParameterNumber" input apply the IDN of the parameter the current value of which is to be read Any new parameter number will only be applied with the next positive edge at the "Enable" input Fig.1-283: Output variable Done Active Error ErrorID * Data type BOOL BOOL BOOL ERROR_CODE Input Variables of the Firmware Function Block "MB_ReadRealPara‐ meter" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes. "Active"=TRUE signals that the function block has accepted the processing command. the travel motion of the remote axis can be wrong (e. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description . the value of the parameter is scaled in accord‐ ance with the axis of which the parameter is read and which is applied at the function block.g. death or serious injury by reading parameters of remote axes! When the scaling settings in the master and in a remote axis are different. this is due to the fact that up to the firmware MPx04V08 the scaling had been made in accord‐ ance with the setting of the master when parameters of remote axes were read.

see: chapter 1.5. The outputs "Done". "Active" and "Error" have to be cyclically polled. "ErrorIdent" shows the exact cause of the error If "Done"=TRUE. Over‐ view of device addresses"). the task is ceded to the service channel (SERCOS III). At the "ParameterNumber" input you have to apply the parameter number of the parameter the status of which is to be read. List and string parameters cannot be read with the function block.1-285: Input / Output Variable of the Firmware Function Block "MB_ReadReal‐ Parameter" In the case of a remote axis. a detailed description of the error is output at the outputs "ErrorID" and .1-284: See note below Output Variables of the Firmware Function Block "MB_ReadRealPara‐ meter" For the list of all possible errors. "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031.and temporarily during the transition from phase 3 to phase 4 . in the CCD basic mode and in the CCD system mode. Incorrect processing is sig‐ naled by "Error"=TRUE. Therefore. depending on the load of the service channel.152/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable ErrorIdent * Value Data type ERROR_STRUCT REAL * Description Via the elements: Table. the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M). Additional1 and Additional2. Please observe the notes below! Data type Description Fig.2 "Error Refer‐ ence Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. Error-free processing is signaled by "Done"=TRUE. "Value" signals the value of the selected parameter Fig. The data transmission can take several seconds. In the case of error. the function block signals an error. MB_ReadSercosDataStatus With the function block "MB_ReadSercosDataStatus" it is possible to read the status of a parameter. As long as the SERCOS ring is not yet in phase 2 . As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. the resulting times for the function block calls themselves are always short. In this case. Only at a later call can the function block signal "Done".it is impossible to exchange data with remote axes. Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode.

DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 153/209 Rexroth IndraDrive Firmware Libraries "ErrorIdent". The input variables are applied with the positive edge of "Enable".1-286: Input variable Enable Data type BOOL Firmware Function Block "MB_ReadSercosDataStatus" Description The function block is status-controlled. "Active"=TRUE signals that the function block has accepted the processing command. At the "ParameterNumber" input you have to apply the parameter number of the parameter the status of which is to be read ParameterNumber DINT or MB_IDN (as of MPx06) Fig. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Error ErrorID * BOOL ERROR_CODE . see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig.1-287: Output varia‐ ble Done Active Data type BOOL BOOL Input Variables of the Firmware Function Block "MB_ReadSercosDa‐ taStatus" Description With "Done"=TRUE the function block signals that the processing of the function block has been successfully completed For remote axes. New input values only take effect via the repeated positive edge of "Enable". For the library in which the function is available.

the resulting times for the function block calls themselves are always short.1-289: Input / Output Variable of the Firmware Function Block "MB_ReadSer‐ cosDataStatus" In the case of a remote axis. Please observe the notes below! Data type Description Fig. Additional1 and Additional2. Only at a later call can the function block signal "Done". the following global variables can be transmitted ● ● "Axis1" (local axis or only axis for MLD-M). Enum values for "Status" output: "MB_SERCOS_DATA_NOT_SET": Command has not been set "MB_SERCOS_DATA_SETTING": Command has been set "MB_SERCOS_DATA_END_OK": Command completed without error "MB_SERCOS_DATA_INTERRUPTED": Command interrupted "MB_SERCOS_DATA_IN_PROCESS": Command being processed "MB_SERCOS_DATA_BREAK_ERROR": Command aborted with error "MB_SERCOS_DATA_DATUM_FAULT": Invalid operating data * See note below Fig.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number.5. The data transmission can take several seconds.it is impossible to exchange data with remote axes. In this case. Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. "Active" and "Error" have to be cyclically polled.154/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output varia‐ ble ErrorIdent * Status Data type ERROR_STRUCT MB_SERCOS_DATA_STATUS Description Via the elements: Table. Over‐ view of device addresses"). The outputs "Done". in the CCD basic mode and in the CCD system mode. Therefore. the function block signals an error.and temporarily during the transition from phase 3 to phase 4 . "ErrorIdent" shows the exact cause of the error The output displays the current status of the parameter. the task is ceded to the service channel (SERCOS III). depending on the load of the service channel. see: chapter 1. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode.1-288: Output Variables of the Firmware Function Block "MB_ReadSercosDa‐ taStatus" NOTE: For the list of all possible errors. . As long as the SERCOS ring is not yet in phase 2 . "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031.

1-291: Output variable Done Active Error ErrorID * Data type BOOL BOOL BOOL ERROR_CODE Input Variables of the Firmware Function Block "MB_ReadSercosAttri‐ bute" Description With "Done"=TRUE the function block signals that the cyclic reading of the SERCOS attribute is successfully running For remote axes. all outputs are reset At the "ParameterNumber" input you have to apply the parameter number of the parameter the SERCOS attribute of which is to be read.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 155/209 Rexroth IndraDrive Firmware Libraries MB_ReadSercosAttribute With the function block "MB_ReadSercosAttribute" it is possible to read the SERCOS attribute of a parameter. For the library in which the function is available. In the case of error. The processing of the function block is started with a rising edge at the "Execute" input. At the "ParameterNumber" input you have to apply the parameter number of the parameter the SERCOS attribute of which is to be read. Incorrect processing is signaled by "Error"=TRUE. a detailed description of the error is output at the outputs "ErrorID" and "ErrorIdent". With a falling edge. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description . see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig.1-290: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_ReadSercosAttribute" Description The function block is activated with a rising edge at "Execute". Fig. NOTE: Any new parameter number will only be applied with the next positive edge at the "Execute" input. "Active"=TRUE signals that the function block has accepted the processing command. Error-free processing is signaled by "Done"=TRUE.

"Active" and "Error" have to be cyclically polled.it is impossible to exchange data with remote axes. In the case of error. In this case. a detailed description of the error is output at the outputs "ErrorID" and "ErrorIdent".1-293: Input / Output Variable of the Firmware Function Block "MB_ReadSer‐ cosAttribute" In the case of a remote axis. Additional1 and Additional2.156/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable ErrorIdent * Attribute Data type ERROR_STRUCT DWORD * Description Via the elements: Table. The data transmission can take several seconds. the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M). The outputs "Done". Error-free processing is signaled by "Done"=TRUE.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. Incorrect processing is signaled by "Error"=TRUE. Only at a later call can the function block signal "Done". Please observe the notes below! Data type Description Fig. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. "ErrorIdent" shows the exact cause of the error If "Done"=TRUE. the task is ceded to the service channel (SERCOS III). At the "ParameterNumber" input you have to apply the parameter number of the parameter the unit of which is to be read. "Attribute" signals the attribute of the selected parameter Fig. depending on the load of the service channel. the function block signals an error.5. MB_ReadUnit / MX_ReadUnit With the function block "MB_ReadUnit" or "MX_ReadUnit" it is possible to read the unit of a parameter. see: chapter 1. . The processing of the function block is started with a rising edge at the "Execute" input. As long as the SERCOS ring is not yet in phase 2 . Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. Over‐ view of device addresses"). "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031. Therefore. the resulting times for the function block calls themselves are always short. in the CCD basic mode and in the CCD system mode.and temporarily during the transition from phase 3 to phase 4 .1-292: See note below Output Variables of the Firmware Function Block "MB_ReadSercosAt‐ tribute" NOTE: For the list of all possible errors.

see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. "ErrorIdent" shows the exact cause of the error If "Done"=TRUE.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 157/209 Rexroth IndraDrive Firmware Libraries For the library in which the function is available.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 .5.1-294: Firmware Function Block "MB_ReadUnit" (Looks Like Firmware Func‐ tion Block "MX_ReadUnit". "Active"=TRUE signals that the function block has accepted the processing command.1-295: Output variable Done Active Error ErrorID * ErrorIdent * Unit Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT STRING(255) * Input Variables of the Firmware Function Block "MB_ReadUnit" / "MX_ReadUnit" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes.1-296: See note below Output Variables of the Firmware Function Block "MB_ReadUnit" / "MX_ReadUnit" NOTE: For the list of all possible errors. Except for the Function Block Name and the "ParameterNumber" Input) Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Description The function block is activated with a rising edge at "Execute". for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. see: chapter 1. With a falling edge. all outputs are reset At the "ParameterNumber" input you have to apply the parameter number of the parameter the unit of which is to be read Fig. Additional1 and Additional2. "Unit" signals the unit of the selected parameter Fig.

. After that. If necessary. In this case. depending on the load of the service channel. "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031.. As long as the SERCOS ring is not yet in phase 2 . all characters of the selected ASCII parameter are immediately read when the function block is called. the resulting times for the function block calls themselves are always short. "Axis3". As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. Over‐ view of device addresses"). depending on the text length. a separate task should be used.it is impossible to exchange data with remote axes.. the function block signals an error. Local Axis When the function block is used for a local axis. The data transmission can take several seconds. MB_ReadStringParameter With the function block "MB_ReadStringParameter" it is possible to read a pa‐ rameter the operating data of which has the ASCII format (string). Please observe the notes below! Data type Description Fig. in the CCD basic mode and in the CCD system mode. The reading process can take some time.1-297: Input / Output Variables of the Firmware Function Block "MB_ReadU‐ nit" / "MX_ReadUnit" In the case of a remote axis. The function block "MB_ReadStringParameter" can work on the lo‐ cal axis ("Axis1") and via SERCOS III on remote axes ("Axis2". the instance variable "ActivateCounter" can be used.158/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with an edge. At the "ParameterNumber" input you have to apply the parameter number of the parameter the operating data of which is to be read.). The processing of the function block is started with a rising edge at the "Execute" input. control goes back to the program and TRUE is provided at the "Done" output. To test the function block. "Active" and "Error" have to be cyclically polled. Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. the task is ceded to the service channel (SERCOS III). Therefore. The outputs "Done". the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M). Only at a later call can the function block signal "Done".and temporarily during the transition from phase 3 to phase 4 . .

for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description . in the CCD basic mode and in the CCD system mode.1-299: Output variable Done Active Error ErrorID * Data type BOOL BOOL BOOL ERROR_CODE Input Variables of the Firmware Function Block "MB_ReadStringPara‐ meter" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes. For the library in which the function is available. "Active" and "Error" have to be cyclically polled. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode.it is impossible to exchange data with remote axes. the read task is ceded to the service channel (SERCOS III). the function block signals an error. The outputs "Done". As long as the SERCOS ring is not yet in phase 2 . depending on the text length.and temporarily during the transition from phase 3 to phase 4 . With a falling edge.1-298: Input variable Execute ParameterNumber Data type BOOL DINT Firmware Function Block "MB_ReadStringParameter" Description The function block is activated with a rising edge at "Execute". see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. The data transmission can take several milliseconds.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 159/209 Rexroth IndraDrive Firmware Libraries Remote Axes Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. all outputs are reset At the "ParameterNumber" input you have to apply the parameter number of the parameter the operating data of which is to be read Fig. "Active"=TRUE signals that the function block has accepted the processing command. In this case. Only at a later call can the function block signal "Done". When the function block is used for remote axes.

see: chapter 1. you have to apply. Overview of device addresses") Data type Description Fig. According to the scaling. Additional1 and Additional2. "Axis2" to "Axis8" (first or last slave in the order of the list "P‑0‑4031. at the "ParameterNum‐ ber" input. "ErrorIdent" shows the exact cause of the error "Value" provides the operating data of the selected parameter Fig.160/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable ErrorIdent * Value Data type ERROR_STRUCT STRING(255) * Description Via the elements: Table. List and string parameters cannot be written with "MB_WritePara‐ meter".5. The value which is to be written to the parameter has to be applied at the "Value" input and has to be of the DINT type. the parameter has decimal places which have to be taken into account and used for calculation! . To do this.1-301: Input / Output Variable of the Firmware Function Block "MB_Read‐ StringParameter" MB_WriteParameter With the function block "MB_WriteParameter" it is possible to write a defined value to a parameter.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number.1-300: See note below Output Variables of the Firmware Function Block "MB_ReadStringPara‐ meter" NOTE: For the list of all possible errors. the following global variables can be transmitted "Axis1" (axis for MLD‑S) "Axis1" (local axis or only axis for MLD-M). the parameter number of the parameter the value of which is to be written.

non-volatile memory ("flash") or on the MultiMediaCard (MMC). the changed parameter value is stored in the device-internal. non-volatile memory ("flash") or on the MultiMediaCard (MMC). Storage mode" in such a way that changed parameter values are only stored by exe‐ cuting the command "S‑0‑0264. Storage behavior of "MB_WriteParameter" as of "IndraDrive MP05" with local axes: Depending on parameter "S‑0‑0269. To test the function block "MB_WriteParameter". Storage mode". see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. C2400 Selectively backup working memory procedure command". set "S‑0‑0269. the instance var‐ iable "ActivateCounter" can be used. C2200 Backup working memory pro‐ cedure command". the changed parameter value is stored in the deviceinternal. non-volatile memory ("flash") or on the Mul‐ tiMediaCard (MMC). Storage behavior of "MB_WriteParameter" in "IndraDrive MP04" as of version 10 and "IndraDrive MP05" with remote axes: Depending on parameter "S‑0‑0269.1-302: Firmware Function Block "MB_WriteParameter" . NOTICE Destruction of the fixed value parameter mem‐ ory by constant activation/execution of the function block! When the function block is frequently executed. Stor‐ age mode". either immediately or by execut‐ ing the command "S‑0‑0264. either immediately or by executing the command "S‑0‑0264. C2200 Backup working memory procedure command". It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with an edge. For the library in which the function is available. C2200 Backup working memory procedure command" in the device-internal.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 161/209 Rexroth IndraDrive Firmware Libraries Storage behavior of "MB_WriteParameter" in "IndraDrive MP03" and "IndraDrive MP04" with local axes: Parameter changes are generally written in unbuffered form! Subsequent storage in the in‐ ternal memory or on the MMC is only possible via "S-0-0293.

162/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Value DINT At the "Value" input.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M). . Over‐ view of device addresses"). apply the parameter number of the parameter to be written Fig.1-304: Output Variables of the Firmware Function Block "MB_WriteParameter" NOTE: For the list of all possible errors. Only at a later call can the function block signal "Done". Additional1 and Additional2. "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031.and temporarily during the transition from phase 3 to phase 4 .1-305: Input / Output Variable of the Firmware Function Block "MB_WritePara‐ meter" In the case of a remote axis. As long as the SERCOS ring is not yet in phase 2 . "ErrorIdent" shows the exact cause of the error See note below Fig. all outputs are reset At the "ParameterNumber" input.it is impossible to exchange data with remote axes.5. The data transmission can take several seconds. the task is ceded to the service channel (SERCOS III). Please observe the notes below! Data type Description Fig. the resulting times for the function block calls themselves are always short. see: chapter 1. Take the scaling of the selected parameter into account Description The function block is activated with a rising edge at "Execute". In this case. apply the value which is to be written to the parameter. depending on the load of the service channel. the function block signals an error. Therefore. The outputs "Done". for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. With a falling edge. "Active" and "Error" have to be cyclically polled. "Active"=TRUE signals that the function block has accepted the processing command.1-303: Output variable Done Active Error ErrorID * ErrorIdent * Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT * Input Variables of the Firmware Function Block "MB_WriteParameter" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes.

.). con‐ trol goes back to the program and TRUE is provided at the "Done" output. either immediately or by executing the command "S‑0‑0264.. The inputs "NoOfBytes" and "ValueAdr" should be used as follows: Example: inst_MB_WriteRealListParameter : MB_WriteRealListParameter. The function block "MB_WriteRealListParameter" can work on the local axis ("Axis1") and via SERCOS III on remote axes ("Axis2". As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. set "S‑0‑0269.16] OF REAL. NOTICE Destruction of the fixed value parameter mem‐ ory by constant activation/execution of the function block! When the function block is frequently executed. in the CCD basic mode and in the CCD system mode.. C2200 Backup working memory procedure command". . all list elements of the applied array are immediately written when the function block is called.). the changed parameter value is stored in the device-internal. Storage mode". non-volatile mem‐ ory ("flash") or on the MultiMediaCard (MMC). To test the function block "MB_WriteRealListParameter".NoOfBytes:=SIZEOF(ar‐ Feld1).. arFeld1 : ARRAY[1. C2200 Backup working memory procedure command" in the device-internal...DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 163/209 Rexroth IndraDrive Firmware Libraries Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. the instance variable "ActivateCounter" can be used. non-volatile memory ("flash") or on the Mul‐ tiMediaCard (MMC). .ValueAdr:=ADR(arFeld1). The IDN of the list parameter to be written has to be applied at the "Parame‐ terNumber" input.. After that. MB_WriteRealListParameter With the function block "MB_WriteRealListParameter" it is possible to write de‐ fined values to a list parameter. inst_MB_WriteRealListParameter(. It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with an edge.. "Axis3". Local Axis When the function block is used for a local axis. Depending on parameter "S‑0‑0269.. Storage mode" in such a way that changed parameter values are only stored by exe‐ cuting the command "S‑0‑0264.

24 ms are required with Advanced control section. Remote Axes Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. depending on the data vol‐ ume. In this case. When the function block is used for remote axes. the function block signals an error. For the library in which the function is available. If necessary.164/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries You should observe that the writing process can take some time. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. apply the IDN of the list parameter to be writ‐ ten .it is impossible to exchange data with remote axes. depending on the volume of data to be written. Only at a later call can the function block signal "Done"=TRUE. a sep‐ arate task should be used. At the "ParameterNumber" input.and temporarily during the transition from phase 3 to phase 4 . The outputs "Done". "Active" and "Error" have to be cyclically polled. in the CCD basic mode and in the CCD system mode. The data transmission can take several seconds. the write request is ceded to the service channel (SERCOS III). Example: To write all list elements of parameter P‑0‑0072 (1024 long words). As long as the SERCOS ring is not yet in phase 2 .1-306: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Firmware Function Block "MB_WriteRealListParameter" Description The function block is activated with a rising edge at "Execute". see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. approx.

Overview of device addresses") Data type Description Fig. the NoOfBytes is calculated as follows: NoOfBytes = 4 * (number of elements) ValueAdr POINTER TO REAL At the "ValueAdr" input indicate the initial address of the field to which the bytes that have been read are to be written.1-308: Output Variables of the Firmware Function Block "MB_WriteRealList‐ Parameter" NOTE: For the list of all possible errors. the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V08": "Axis1" (local axis or only axis for MLDM). Note: As the list elements are stored in a REAL array (REAL data type = 4byte).. "Axis2" to "Axis8" (first or last slave in the order of the list "P‑0‑4031. "Active"=TRUE signals that the function block has accepted the processing command. The function block "MB_WriteListParameter" can work on the local axis ("Axis1") and via SERCOS III on remote axes ("Axis2". Note: The applied field must be of the REAL data type.1-307: Output variable Done Active Error ErrorID * ErrorIdent * Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT * Input Variables of the Firmware Function Block "MB_WriteRealListPara‐ meter" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes. "ErrorIdent" shows the exact cause of the error See note below Fig. Fig. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. . see: chapter 1.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 165/209 Rexroth IndraDrive Firmware Libraries Input variable NoOfBytes Data type UINT Description The number of bytes to be written has to be indicated at the "NoOfBytes" input Example: NoOfBytes := SIZEOF(arFeld1). Additional1 and Additional2. Example: ValueAdr := ADR(arFeld1). "Ax‐ is3". .1-309: Input / Output Variable of the Firmware Function Block "MB_WriteReal‐ ListParameter" MB_WriteListParameter With the function block "MB_WriteListParameter" it is possible to write defined values to a list parameter.5..2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number.).

depending on the volume of data to be written. Cam table 1" are to be written (one element of parameter P-0-0072 consists of 4 bytes). As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. Remote Axes Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. After that. the write request is ceded to the service channel (SERCOS III). Storage mode" in such a way that changed parameter values are only stored by exe‐ cuting the command "S‑0‑0264. all list elements of the applied array are immediately written when the function block is called. if. It is better to write only the actually required elements.166/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries The IDN of the parameter to be written has to be applied at the "Parameter‐ Number" input. Local Axis When the function block is used for a local axis. The data transmission can take several seconds. approx. if necessary. Only at a later call can the function block signal "Done". con‐ trol goes back to the program and TRUE is provided at the "Done" output. C2200 Backup working memory procedure command". depending on the data vol‐ ume. the instance variable "ActivateCounter" can be used. To test the function block "MB_ReadWriteParameter". . either immediately or by executing the command "S‑0‑0264. 16 ms are required with Advanced control section. It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with an edge. 8 elements of parameter "P‑0‑0072. "Active" and "Error" have to be cyclically polled. non-volatile mem‐ ory ("flash") or on the MultiMediaCard (MMC). C2200 Backup working memory procedure command" in the device-internal. for exam‐ ple. set "S‑0‑0269. NOTICE Destruction of the fixed value parameter mem‐ ory by constant activation/execution of the function block! When the function block is frequently executed. in the CCD basic mode and in the CCD system mode. non-volatile memory ("flash") or on the Mul‐ tiMediaCard (MMC). Example: To write all list elements of parameter P‑0‑0072 (1024 long words). the changed parameter value is stored in the device-internal. you should use a separate task. You should observe that the writing process can take some time. The outputs "Done". Storage mode". Depending on parameter "S‑0‑0269. "32" has to be applied to "NoOfBytes" (8*4). When the function block is used for remote axes.

apply the IDN of the list parameter to be writ‐ ten The number of bytes to be written has to be indicated at the "NoOfBytes" input.and temporarily during the transition from phase 3 to phase 4 .it is impossible to exchange data with remote axes. you have to observe that as of MPx06 one element contains 4 bytes (MB_IDN)! ValueAdr POINTER TO BYTE At the "ValueAdr" input. In this case.1-310: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) NoOfBytes UINT Firmware Function Block "MB_WriteListParameter" Description The function block is activated with a rising edge at "Execute". With a falling edge. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. Example: NoOfBytes:=SIZEOF(arFeld1) NOTE:When writing parameters of the "IDN" data format. Example: ValueAdr := ADR(arFeld1) Fig.1-311: Output variable Done Active Error Data type BOOL BOOL BOOL Input Variables of the Firmware Function Block "MB_WriteListParame‐ ter" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes. the function block signals an error. all outputs are reset At the "ParameterNumber" input. indicate the address of the field which contains the data/elements to be written for the list parameter. "Active"=TRUE signals that the function block has accepted the processing command.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 167/209 Rexroth IndraDrive Firmware Libraries As long as the SERCOS ring is not yet in phase 2 . for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present . For the library in which the function is available.

DEC_MV or FLOAT. Storage behavior of "MB_WriteRealParameter" in "IndraDrive MP04" as of version 10 and "IndraDrive MP05" with remote axes: Depending on parameter "S‑0‑0269. Overview of device addresses") Data type Description Fig. Storage behavior of "MB_WriteParameter" as of "IndraDrive MP05" with local axes: Depending on parameter "S‑0‑0269. the changed parameter value is stored in the deviceinternal. the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V08": "Axis1" (local axis or only axis for MLDM). either immediately or by executing the command "S‑0‑0264. either immediately or by executing the command "S‑0‑0264. non-volatile mem‐ ory ("flash") or on the MultiMediaCard (MMC). IDN and lists and ASCII cannot be written. Stor‐ age mode". the types BIN. Storage mode". .2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. the changed parameter value is stored in the device-internal. Additional1 and Additional2. see: chapter 1. "ErrorIdent" shows the exact cause of the error See note below Fig. The value which is to be written to the parameter must be of type DEC_OV. C2200 Backup working memory procedure command".1-313: Input / Output Variable of the Firmware Function Block "MB_WriteList‐ Parameter" MB_WriteRealParameter With the function block "MB_WriteRealParameter" you can write a defined val‐ ue to the parameter belonging to the parameter number. Storage behavior of "MB_WriteRealParameter" in "IndraDrive MP03" and "IndraDrive MP04" with local axes: Parameter changes are generally written in unbuffered form! Subsequent storage in the internal memory or on the MMC is only possible via "S-0-0293.168/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable ErrorID * ErrorIdent * Data type ERROR_CODE ERROR_STRUCT * Description "ErrorID" gives a rough error description Via the elements: Table.1-312: Output Variables of the Firmware Function Block "MB_WriteListPara‐ meter" NOTE: For the list of all possible errors.5. C2400 Selectively backup working memory procedure command". HEX. "Axis2" to "Axis8" (first or last slave in the order of the list "P‑0‑4031. non-volatile memory ("flash") or on the MultiMediaCard (MMC). C2200 Backup working memory procedure command".

the value of the parameter is scaled in accordance with the axis of which the parameter is written and which is applied at the function block. death or serious injury by writing parameters of remote axes! When the scaling settings in the master and in a remote axis are different. set "S‑0‑0269. WARNING Up to MPx04V08: Property damage. As of the firmware MPx04V10. non-volatile memory ("flash") or on the Mul‐ tiMediaCard (MMC). when parameters of remote axes had been written. the value of the parameter is scaled in accord‐ ance with the axis of which the parameter is written and which is applied at the function block. As of the firmware MPx04V10. too fast). List and string parameters cannot be written with the function block "MB_WriteRealParameter". this is due to the fact that up to the firmware MPx04V08 the scaling had been made in accord‐ ance with the setting of the master when parameters of remote axes were written. C2200 Backup working memory procedure command" in the device-internal. Storage mode" in such a way that changed parameter values are only stored by exe‐ cuting the command "S‑0‑0264. the scaling was carried out according to the setting of the master which could be wrong. to write list parameters. For the library in which the function is available. please use the function block "MB_WriteListParameter".g. the travel motion of the remote axis can be wrong (e.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 169/209 Rexroth IndraDrive Firmware Libraries NOTICE Destruction of the fixed value parameter mem‐ ory by constant activation/execution of the function block! When the function block is frequently executed. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . CAUTION Up to MPx04V08: Property damage when writ‐ ing parameters of remote axes! Up to the firmware MPx04V08.

1-315: Output variable Done Active Error ErrorID * ErrorIdent * Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT * Input Variables of the Firmware Function Block "MB_WriteRealPara‐ meter" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes.5. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table.1-314: Input variable Execute ParameterNumber Data type BOOL DINT or MB_IDN (as of MPx06) Value REAL Firmware Function Block "MB_WriteRealParameter" Description The function block is activated with a rising edge at "Execute". apply the IDN of the list parameter to be writ‐ ten At the "Value" input. all outputs are reset At the "ParameterNumber" input.170/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig. "ErrorIdent" shows the exact cause of the error See note below Fig. Additional1 and Additional2. "Active"=TRUE signals that the function block has accepted the processing command. Take the scaling of the selected parameter into account Fig.1-316: Output Variables of the Firmware Function Block "MB_WriteRealPara‐ meter" For the list of all possible errors.2 "Error Refer‐ ence Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 . With a falling edge. apply the value which is to be written to the parameter. see: chapter 1.

set "S‑0‑0269. MB_WriteStringParameter With the function block "MB_WriteStringParameter" it is possible to write a pa‐ rameter the operating data of which has the ASCII format (string). non-volatile mem‐ ory ("flash") or on the MultiMediaCard (MMC). The outputs "Done". the resulting times for the function block calls themselves are always short. Please observe the notes below! Data type Description Fig. in the CCD basic mode and in the CCD system mode. NOTICE Destruction of the fixed value parameter mem‐ ory by constant activation/execution of the function block! When the function block is frequently executed. As long as the SERCOS ring is not yet in phase 2 . either immediately or by executing the command "S‑0‑0264.. depending on the load of the service channel. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 171/209 Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number. . the task is ceded to the service channel (SERCOS III). the function block signals an error.and temporarily during the transition from phase 3 to phase 4 . Depending on parameter "S‑0‑0269. non-volatile memory ("flash") or on the Mul‐ tiMediaCard (MMC). Over‐ view of device addresses"). the following global variables can be transmitted "Axis1" (axis for MLD‑S) As of target "IndraDrive MP04V10": ● ● "Axis1" (local axis or only axis for MLD-M).1-317: Input / Output Variable of the Firmware Function Block "MB_WriteReal‐ Parameter" In the case of a remote axis. "Active" and "Error" have to be cyclically polled. C2200 Backup working memory procedure command". Therefore.it is impossible to exchange data with remote axes. "Axis3". In this case. The function block "MB_WriteStringParameter" can work on the lo‐ cal axis ("Axis1") and via SERCOS III on remote axes ("Axis2". the changed parameter value is stored in the device-internal. Storage mode" in such a way that changed parameter values are only stored by exe‐ cuting the command "S‑0‑0264.). Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode. The data transmission can take several seconds. Only at a later call can the function block signal "Done". C2200 Backup working memory procedure command" in the device-internal. "Axis2" to "Axis8" (first or last slave in the order of list "P‑0‑4031.. . Storage mode".

The processing of the function block is started with a rising edge at the "Execute" input.172/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries At the "ParameterNumber" input you have to apply the parameter number of the parameter the operating data of which is to be written. the instance variable "ActivateCounter" can be used. in the CCD basic mode and in the CCD system mode. The writing process can take some time. When the function block is used for remote axes. If necessary.1-318: Firmware Function Block "MB_WriteStringParameter" . the write request is ceded to the service channel (SERCOS III). depending on the text length. In this case. It counts the positive edges of the "Execute" signal and thereby signals whether the function block is run with an edge. When the function is called. The outputs "Done". the complete text is immediately read. control goes back to the program.and temporarily during the transition from phase 3 to phase 4 . As long as the SERCOS ring is not yet in phase 2 . a separate task should be used. the function block signals an error. Only at a later call can the function block signal "Done". "Active" and "Error" have to be cyclically polled. all characters of the selected ASCII parameter are immediately written when the function block is called. depending on the text length. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. As of MPx05V16 and MPx06: Accessing parameters of remote ax‐ es is possible in the MLD-M system mode. To test the function block. Local Axis When the function block is used for a local axis. Afterwards. For the library in which the function is available. Remote Axes Up to MPx05V14: Accessing parameters of remote axes is only possible in the MLD-M system mode.it is impossible to exchange data with remote axes. The data transmission can take several milliseconds.

the following global variables can be transmitted "Axis1" (axis for MLD‑S) "Axis1" (local axis or only axis for MLD-M).5. the function block gives a feedback as to whether the reading was successful. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . For the library in which the function is available. see: chapter 1. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. all outputs are reset At the "ParameterNumber" input you have to apply the parameter number of the ASCII parameter the operating data of which is to be written At the "Value" input. Overview of device addresses") Data type Description Fig. "Active"=TRUE signals that the function block has accepted the processing command.1-321: Input / Output Variable of the Firmware Function Block "MB_Write‐ StringParameter" MX_ReadParamDINT The function block "MX_ReadParamDINT" is used to read a parameter value and return it as DINT. For unsigned parameters with 32 bits the return value can be converted with the function "DINT_TO_UDINT". "ErrorIdent" shows the exact cause of the error See note below Fig. apply the value which is to be written to the ASCII pa‐ rameter. "Axis2" to "Axis8" (first or last slave in the order of the list "P‑0‑4031. Additional1 and Additional2. Fig.1-320: Output Variables of the Firmware Function Block "MB_WriteStringPara‐ meter" NOTE: For the list of all possible errors. Among other things. With a falling edge.1-319: Output variable Done Active Error ErrorID * ErrorIdent * Data type BOOL BOOL BOOL ERROR_CODE ERROR_STRUCT * Input Variables of the Firmware Function Block "MB_WriteStringPara‐ meter" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 173/209 Rexroth IndraDrive Firmware Libraries Input variable Execute ParameterNumber Value Data type BOOL DINT STRING(255) Description The function block is activated with a rising edge at "Execute".2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number.

174/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Fig.5.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 ErrorIdent (as of MPx03VRS) Value ERROR_STRUCT Via the elements: Table.5. "ErrorIdent" shows the ex‐ act cause of the error.1-324: Output Variables of the Firmware Function Block "MX_ReadParam‐ DINT" . "Active"=TRUE signals that the function block has accepted the processing command. "Value" signals the value of the selected element DINT Fig. 1-326 " Descriptions of "ErrorID" of the Firmware Function Block "MX_ReadParamDINT" in Target "IndraDrive MPH02"" on page 175 Target "IndraDrive MP03": chapter 1. Additional1 and Additional2.1-323: Output variable Done Active Error ErrorID Data type BOOL BOOL BOOL ERROR_CODE Input Variables of the Firmware Function Block "MX_ReadParamDINT" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes. All outputs are reset with "Enable"=FALSE IDN of the parameter List element number: For list parameters starting with "0" and for single parameter always "0" "‑1" for reading the actual length (only allowed for list parameters) "‑2" for reading the max length (only allowed for list parameters) Fig. for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig. see chapter 1.1-322: Input variable Enable Ident ListElem Data type BOOL DINT INT Firmware Function Block "MX_ReadParamDINT" Description The function block is activated with "Enable"=TRUE.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 If the output "Done"=TRUE.

With a falling edge. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig.1-325: ErrorID Input / Output Variable of the Firmware Function Block "MX_ReadPar‐ amDINT" Description Invalid axis reference Access not allowed IDN is not available RESSOURCE_ERROR ACCESS_ERROR INPUT_RANGE_ERROR Fig. the following values can be transmitted to the func‐ tion block: ● ● ● ● ● ● "MX_CMD_NO_ACTIVE": Command has not been set "MX_CMD_SETTING": Command has been set "MX_CMD_END_OK": Command completed without error "MX_CMD_IS_BREAK": Command interrupted "MX_CMD_IS_WORK": Command has been set and enabled "MX_CMD_BREAK_ERROR": Command aborted with error . C4900 PLC command".DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 175/209 Rexroth IndraDrive Firmware Libraries Input / output variable (VAR_IN_OUT) Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Data type Description Fig.1-326: Descriptions of "ErrorID" of the Firmware Function Block "MX_Read‐ ParamDINT" in Target "IndraDrive MPH02" MX_SetCmdState With the firmware function block "MX_SetCmdState" it is possible to set the command status of "P‑0‑1449. all outputs are reset At the "CmdStatus" input.1-327: Input variable Execute CmdStatus Data type BOOL MX_CMD_STATUS Firmware Function "MX_SetCmdState" Description The function block is activated with a rising edge at "Execute". For the library in which the function is available.

As this takes much calcu‐ lating time. Additional1 and Additional2.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 MX_WriteParamDINT The firmware function block "MX_WriteParamDINT" is used to write a param‐ eter. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" . data should only be written in buffered form if necessary. see: chapter 1.1-328: Output variable Done Error ErrorID * ErrorIdent * Data type BOOL BOOL ERROR_CODE ERROR_STRUCT * Input Variables of the Firmware Function "MX_SetCmdState" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed With "Error"=TRUE the function block signals that an error is present "ErrorID" gives a rough error description Via the elements: Table. 1 2: C4902 PLC command error no.1-329: Output Variables of the Firmware Function Block "MX_SetCmdState" NOTE: For the list of all possible errors.5. 1: C4901 PLC command error no. For list parameters only the last write access should take place with "WriteBuffered"=TRUE. as the entire list is buffered at each access. It is possible to write in unbuffered or buffered form. 4 Axis AXIS_REF Axis number (only the global variable "Axis1" can be transmitted here) Fig. For the library in which the function is available. While a parameter is buffered. another access with buffering will fail (ACCESS_ERROR). a command error number can be transmitted.176/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Input variable DiagNo Data type DINT Description For the case "CmdStatus"==MX_CMD_BREAK_ERROR. "ErrorIdent" shows the exact cause of the error See note below Fig. 3 4: C4904 PLC command error no. the parameter values every time are transferred to the non-volatile memory. In the case of buffered writing. For unsigned parameters with 32 bits the input value "Value" can simply be converted with the function "UDINT_TO_DINT". 2 3: C4903 PLC command error no.

1-330: Input variable Execute (as of MPx03VRS) Enable (only MPH02VRS) Ident DINT or MB_IDN (as of MPx06) ListElem INT BOOL Data type BOOL Summary of changes MPx02 ‑ MPx03: Kind of activation input ("Enable" or "Execute"). for single axes this output is not set! With "Error"=TRUE the function block signals that an error is present . all outputs are reset with "Enable"=FALSE IDN of the parameter With the "ListElem" input you have to specify the element which is to be written.1-331: Output variable Done Active Error Data type BOOL BOOL BOOL Input Variables of the Firmware Function Block "MX_WriteParamDINT" Description With "Done"=TRUE the function block signals that the processing of the task has been successfully completed For remote axes. "Active"=TRUE signals that the function block has accepted the processing command. "-1" for writing the actual length (only allowed for list parameters) Value DINT At the input "Value". The function block is star‐ ted with "Enable"=TRUE. With FALSE the parameter is always written in unbuffered form WriteBuffered BOOL Fig. Take the scaling of the selected parameter into account. the parameter has decimal places which have to be taken into account and used for calculation With "WriteBuffered"=TRUE the value is written in buffered form. List element number: For list parameters starting with "0" and for single parameter always "0". if the parameter has been designed for this purpose.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 177/209 Rexroth IndraDrive Firmware Libraries !Changes Fig. For MPH02VRS the function block is status-controlled. apply the value which is to be written to the parameter. According to the scaling. output "Active" Firmware Function Block "MX_WriteParamDINT" Description The function block is activated with a rising edge at "Execute". All outputs are reset with a falling edge at "Execute".

For the library in which the function is available. Additional1 and Additional2.1-333: ErrorID RESSOURCE_ERROR ACCESS_ERROR INPUT_INVALID_ERROR Description Input / Output Variable of the Firmware Function Block "MX_WritePar‐ amDINT" Invalid axis reference Access not allowed Parameter not available Fig. etc. see chapter 1. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" MX_fDINT_AccTo_REAL Fig.Functions for Scaling The firmware function "MX_fDINT_AccTo_REAL" converts an acceleration val‐ ue in the fixed point format of data type DINT into a REAL value.5.11.1-332: Input / output variable (VAR_IN_OUT) Axis AXIS_REF Data type Output Variables of the Firmware Function Block "MX_WriteParam‐ DINT" Description Axis number (only the global variable "Axis1" can be transmitted here) Fig.0 is returned. 0.178/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable ErrorID Data type ERROR_CODE Description "ErrorID" gives a rough error description Target "IndraDrive MPH02": fig. The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1.1-335: Firmware Function "MX_fDINT_AccTo_REAL" . 1-334 " Descriptions of "ErrorID" of the Firmware Function Block "MX_WriteParamDINT" in Target "IndraDrive MPH02"" on page 178 Target "IndraDrive MP03": chapter 1.". "ErrorIdent" shows the ex‐ act cause of the error.6 "Scaling" .2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 Fig. If the axis reference is invalid.1-334: Descriptions of "ErrorID" of the Firmware Function Block "MX_Write‐ ParamDINT" in Target "IndraDrive MPH02" 1. Axis2. according to the scaling which has been set.5.2 "Error Reference Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 ErrorIdent (as of MPx03VRS) ERROR_STRUCT Via the elements: Table.

"Axis1" from the global axis variables "AxisAddressing" of "MX_Base. e.g. according to the scaling which has been set Fig.1-340: Return Value of the Firmware Function "MX_fDINT_DistTo_REAL" MX_fDINT_VelTo_REAL The firmware function "MX_fDINT_VelTo_REAL" converts a velocity value in the fixed point format of data type DINT into a REAL value. according to the scaling which has been set Fig.lib". etc. 0. If the axis reference is invalid.1-337: Return Value of the Firmware Function "MX_fDINT_AccTo_REAL" MX_fDINT_DistTo_REAL The firmware function "MX_fDINT_DistTo_REAL" converts a position value in the fixed point format of data type DINT into a REAL value. If the axis reference is invalid. according to the scaling which has been set.1-339: Return value MX_fDINT_DistTo_REAL Data type REAL Input Variables of the Firmware Function "MX_fDINT_DistTo_REAL" Description Returns the position value in the REAL format. can be transmitted here Fig. For the library in which the function is available.". e. can be transmitted here Fig. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.0 is returned. Axis2. according to the scaling which has been set.1-338: Input variable Distance Axis Data type DINT AXIS_REF Firmware Function "MX_fDINT_DistTo_REAL" Description Position value in fixed-point DINT format Axis address: The corresponding axis.1-336: Return value MX_fDINT_AccTo_REAL Data type REAL Input Variables of the Firmware Function "MX_fDINT_AccTo_REAL" Description Returns the acceleration value in the REAL format. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. 0 is returned. . The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1.lib".g.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 179/209 Rexroth IndraDrive Firmware Libraries Input variable Acceleration Axis Data type DINT AXIS_REF Description Acceleration value in fixed-point DINT format Axis address: The corresponding axis.

etc.1-344: Firmware Function "MX_fREAL_AccTo_DINT" . can be transmitted here Fig. Axis2. If the axis reference is invalid. etc.". "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.lib".1-341: Input variable Velocity Axis Data type DINT AXIS_REF Firmware Function "MX_fDINT_VelTo_REAL" Description Velocity value in fixed-point DINT format Axis address: The corresponding axis. For the library in which the function is available. according to the scaling which has been set Fig. e.180/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1.g. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. according to the scaling which has been set. 0. The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1.".1-343: Return Value of the Firmware Function "MX_fDINT_VelTo_REAL" MX_fREAL_AccTo_DINT The firmware function "MX_fREAL_AccTo_DINT" converts an acceleration val‐ ue in the REAL format into a fixed-point DINT value. Axis2.0 is returned. For the library in which the function is available.1-342: Return value MX_fDINT_VelTo_REAL Data type REAL Input Variables of the Firmware Function "MX_fDINT_VelTo_REAL" Description Returns the velocity value in the REAL format.

The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1. can be transmitted here Fig. The function can be used for the real axes "Axis1.1-348: Return value MX_fDINT_DistTo_REAL Data type DINT Input Variables of the Firmware Function "MX_fREAL_DistTo_DINT" Description Returns the position value in the fixed-point DINT format. etc.1-345: Return value MX_fREAL_AccTo_DINT Data type DINT Input Variables of the Firmware Function "MX_fREAL_AccTo_DINT" Description Returns the acceleration value in the fixed-point DINT format. Axis2. according to the scaling which has been set Fig. e. . If the axis reference is invalid. Axis2.". 0 is returned. etc.1-349: Return Value of the Firmware Function "MX_fREAL_DistTo_DINT" MX_fREAL_TorqueRampTo_DINT The firmware function "MX_fREAL_TorqueRampTo_DINT" converts a torque/ force ramp value in the REAL format into a fixed-point DINT value.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 181/209 Rexroth IndraDrive Firmware Libraries Input variable Acceleration Axis Data type REAL AXIS_REF Description Acceleration value in the REAL format Axis address: The corresponding axis.lib".g.lib".1-346: Return Value of the Firmware Function "MX_fREAL_AccTo_DINT" MX_fREAL_DistTo_DINT The firmware function "MX_fREAL_DistTo_DINT" converts a position value in the REAL format into a fixed-point DINT value. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.1-347: Input variable Distance Axis Data type REAL AXIS_REF Firmware Function "MX_fREAL_DistTo_DINT" Description Position value in the REAL format Axis address: The corresponding axis. accord‐ ing to the scaling which has been set Fig.".g. according to the scaling which has been set. e. according to the scaling which has been set. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. can be transmitted here Fig. For the library in which the function is available.

Axis2.182/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries For the library in which the function is available. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. according to the scaling which has been set Fig. e.g.1-352: Return Value of the Firmware Function "MX_fREAL_TorqueRamp‐ To_DINT" MX_fREAL_TorqueTo_DINT The firmware function "MX_fREAL_TorqueTo_DINT" converts a torque/force value in the REAL format into a fixed-point DINT value. etc. e.".lib". For the library in which the function is available. can be transmitted here Fig.1-350: Input variable TorqueRamp Axis Data type REAL AXIS_REF Firmware Function "MX_fREAL_TorqueRampTo_DINT" Description Torque/force ramp value in the REAL format Axis address: The corresponding axis.1-351: Return value MX_fREAL_TorqueRampTo_DINT Data type DINT Input Variables of the Firmware Function "MX_fREAL_TorqueRamp‐ To_DINT" Description Returns the velocity value in the fixed-point DINT format.1-353: Input variable Torque Axis Data type REAL AXIS_REF Firmware Function "MX_fREAL_TorqueTo_DINT" Description Torque/force value in the REAL format Axis address: The corresponding axis. according to the scaling which has been set. The function can be used for the real axes "Axis1.1-354: Input Variables of the Firmware Function "MX_fREAL_TorqueTo_DINT" .g. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base. can be transmitted here Fig. see: "Library As‐ signment as of the Target "IndraDrive MP04"" Fig. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.lib".

according to the scaling which has been set.12.12 1.lib". The function can be used for the virtual master axis / master axis encoder and for the real axes "Axis1. according to the scaling which has been set Fig. can be transmitted here Fig. with "MX_SynchronControl" you can realize the consistent data exchange via the real-time channel: .".1-356: Input variable Velocity Axis Data type REAL AXIS_REF Firmware Function "MX_fREAL_VelTo_DINT" Description Velocity value in the REAL format Axis address: The corresponding axis.1-355: Return Value of the Firmware Function "MX_fREAL_TorqueTo_DINT" MX_fREAL_VelTo_DINT The firmware function "MX_fREAL_VelTo_DINT" converts a velocity value in the REAL format into a fixed-point DINT value.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 183/209 Rexroth IndraDrive Firmware Libraries Return value MX_fREAL_TorqueTo_DINT Data type DINT Description Returns the torque/force value in the fixed-point DINT format. see: "Library As‐ signment for the Targets "IndraDrive MPH02" and "IndraDrive MP03"" or "Library Assignment as of the Target "IndraDrive MP04"" Fig. etc.g. 0 is returned.1-357: Return value MX_fREAL_VelTo_DINT Data type DINT Input Variables of the Firmware Function "MX_fREAL_VelTo_DINT" Description Returns the velocity value in the fixed-point DINT format. e.1-358: Return Value of the Firmware Function "MX_fREAL_VelTo_DINT" 1. Axis2. If the axis reference is invalid. accord‐ ing to the scaling which has been set Fig. For the library in which the function is available. "Axis1" from the global axis variables "AxisAddressing" of "MX_Base.1 MX_DSP.lib General Information The following libraries contain the function block "MX_SynchronControl".

lib DSP_MP03. as well as the command value input clock. ● ● Only "IndraDrive MP03" and "IndraDrive MP04": Checks whether MLD-S synchronizes the drive internally Checks and measures the remaining time – – ● ● Task structure Ticks. If the task has not been processed by then. conversion to time (µs) Information regarding possibly occurred errors Checks whether a watchdog was present (MDT data were not calculated in time . the drive has to know the point of time at which new command values are available.2 MX_SynchronControl ● ● ● Controls the real-time channel (e. the RTcW command values are not taken into account. so that the drive can interpolate the command values.task took too long) The firmware function block "MX_SynchronControl" is used to control the be‐ havior of a controller task which uses the real-time channel (RTC task).lib Range RTC Control Fig. If the function block has been instanciated. This function block is optional.12. If the command values are of the type which has to be processed by the drive within one command value input clock. With firmware MPx03VRS. its parameters become effective. command values with firmware MPH02VRS are synchro‐ nously transmitted to the drive immediately after the end of the task. Unless instanciated.g.lib MX_DSP.1-359: Library Names Depending on the Targets In the IndraDrive targets.184/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Target IndraDrive MPH02 IndraDrive MP03 IndraDrive MP04 IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Library DSP_MPH02. the command values are transmitted at the latest possi‐ ble point of time [corresponds to first position loop interrupt after RTC task cycle time – (MPH=500 μs and MPB=1 ms)]. particularly in the description of the inputs/outputs! 1. functions and data types of the firmware function block partly differ. if no 1st class master communication is available (only SERCOS at present) The control unit presets cyclic command values in the NC clock. Please observe the notes in the descrip‐ tions below. . delay when writing command values) Synchronous (equidistant) input of command values Only "IndraDrive MP03" and "IndraDrive MP04": Internal synchronization of the drive.

1. the functionality of "MX_SynchronControl" has been extended in such a way that MLD‑S can synchronize the drive internally. when no master communication is able to do this. at least one RTcW var‐ iable has to be used in the project. only the SERCOS master communication synchronizes the drive internally. the "SyncDrive" input and the "DriveIsSync" output do not exist. With the target versions "IndraDrive MP03" and "IndraDrive MP04". the drive is always synchronized internally. too.in this case the virtual master axis position. if a virtual master axis generator is to be realized. you use one of the two motion task types ("motion task synchronous to master com‐ munication" or "CCD-synchronous motion task") in connection with the axis data structure "AxisData" (see MLD-M). "F4016 PLC double real-time channel failure" is gen‐ erated (as of "IndraDrive MP03"). If these command values fail twice in succession. Conditions For example. 2. The real-time channel is provided to write command values (RTcW_xxxx) and read actual values (RTcR_xxxx) in a cyclically equidistant way.) This is required. the "SyncDrive" input and the "DriveIsSync" output are used for this purpose. it is recom‐ mended that for cyclic command value input. . The drive must have been internally synchronized. the real-time channel can comprise 4 command values and 4 actual values. (At present. Example of Application. As of "IndraDrive MP05": According to the application. for example. With the target version "IndraDrive MP05". The command value input clock must correspond to the NC cycle time. when a command value generator is to be realized with the integrated PLC (MLD-S) and the command values of the generator have to be processed by the drive within one command value input clock.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 185/209 Rexroth IndraDrive Firmware Libraries Only one instance is allowed in one project. The cycle time of the controller task or the NC cycle time must be accord‐ ingly adjusted. To be able to read the RTcR actual values. these command val‐ ues are not taken into account. independent of the mas‐ ter communication. two conditions must have been fulfilled for this purpose. If the RTC task has not been processed by the point of time at which the RTcW command values are to be written. With the target version "IndraDrive MPH02". the drive has to correctly process the cyclic command value .

no "DriveIsSync" output changes MP03/ MP04→MP05: Fig.1-360: Firmware Function Block "MX_SynchronControl" . "ErrorIdent" output MPH02→MP0 3/MP04: Summary of No "SyncDrive" input. data type changes and scaling of "CmdDelay". additional "DriveIsSync" output.186/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Summary of Additional "SyncDrive" input. data type of "ErrorID".

The function block is activated with "Enable"=TRUE. MLD-S internally synchro‐ nizes the drive when the RTC task time corresponds to the NC cycle time and the master communication does not internally synchronize the drive. which the drive is to process within one command value input clock. SyncDrive (only "IndraDrive MP03" and "IndraDrive MP04") BOOL You might want to have the drive internally synchronized by MLD‑S. for the drive in equi‐ distant form. this value is internally increased by 1 ms. Summarized: The command values are applied with the next position loop interrupt after beginning of RTC task+CmdDelay [ms]+1 ms Enable BOOL The function block "MX_SynchronControl" is status-controlled. all outputs are reset with "Enable"=FALSE. "RestTimeMin". this is the case when the master communication currently used is not able to do this and MLD-S is to input cyclic command values. the following values can be written to the input: "-1" (only allowed as of target version "IndraDrive MP03". the statistics outputs "Rest‐ TicksMin".DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 187/209 Rexroth IndraDrive Firmware Libraries Input variable CmdDelay Data type INT Description The "CmdDelay" input determines after which time the RTC variables are to be written. default value as of MPx03VRS): The command values are transmitted at the latest possible point of time (corresponds to first position loop interrupt after RTC task cycle time ‑ 1 ms) "0" (default value for IndraDrive MPH02): The command values are trans‐ mitted at the earliest possible point of time (first position loop interrupt after 1 ms after beginning of RTC task) Other values: "0" to ""cycle time of RTC task"‑2 ms" Note: If an odd pos.1-361: Input Variables of the Firmware Function Block "MX_SynchronControl" . number of ms is input for "CmdDelay". StatReset BOOL With a positive edge at the "StatReset" input. "RestTimeMax" and "CmdWdg" are reset to their initial value Fig. the following values WORD can be written to the input: (IndraDrive MPH02) "-1" (only allowed as of target version "IndraDrive MP03". default value as of MPx03VRS): The command values are transmitted at the latest possible point of time (corresponds to first position loop interrupt after RTC task cycle time ‑ 500 μs) "0" (default value for IndraDrive MPH02): The command values are trans‐ mitted at the earliest possible point of time (first position loop interrupt after 500 μs after start of the RTC task) Other values: "0" to ""cycle time of RTC task"‑1 ms" Summarized: The command values are applied with the next position loop interrupt after beginning of RTC task+CmdDelay [ms]+500 μs With firmware of the "MPB" type (Low Performance). "RestTicksMax". With "SyncDrive"=TRUE and "Enable"=TRUE. (as of IndraDrive MP03) With firmware of the "MPH" type (High Performance).

only takes effect in conjunction with the "Syn‐ cDrive" input With "Error"=TRUE the function block signals that an error is present As of the target version IndraDrive MP03. ERROR_STRUCT contains the following elements: "Table". see: chapter 1.1-362: See note below Output Variables of the Firmware Function Block "MX_SynchronCon‐ trol" For the list of all possible errors. the function block signals that MLD-S internally synchronizes the drive.2 "Error Refer‐ ence Lists for Function Blocks as of Target "IndraDrive MP03"" on page 28 ErrorID 1 2 3 4 5 6 7 Description Several tasks use variables of the real-time channel Too many real-time variables defined (maximum 4 command values and 4 actual values) Undefined parameters in ident list (internal error) Variable offset value too high (internal error) Incorrect variable type (Bit/Byte or STRUCT.188/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries Output variable DriveIsSync (only "IndraDrive MP03" and "IndraDrive MP04") Error ErrorID BOOL ERROR_CODE (as of IndraDrive MP03)* Data type BOOL Description With TRUE at the output. In the case of error. the "ErrorID" output is of the ERROR_CODE type (ENUM value). internal error) There is more than one instance of the function block "MX_SynchronControl" existing The value at the "CmdDelay" input is greater than or equal to the task cycle time . "Addition‐ al1" and optionally "Additional2". the error code is output here.5. WORD For the target version IndraDrive MPH02. the "ErrorID" output is of the (IndraDrive MPH02) WORD type. The ENUM value which is output in the case of error gives a rough error description. (see ErrorID Reference List for the Firmware Function Block MX_SynchronControl for IndraDrive MPH02 ) ErrorIdent (as of MPx03VRS)* CmdWdg RestTicksAct RestTicksMin RestTicksMax RestTimeAct RestTimeMin RestTimeMax ERROR_STRUCT The output signals the exact cause of the error. BOOL UDINT UDINT UDINT UINT UINT UINT * "CmdWdg"=TRUE means that the RTC task had not been processed at the point of time at which the RTcW were supposed to be transmitted Current ticks of the idle task Minimum ticks of the idle task Maximum ticks of the idle task Time slices in 1 ms current Time slices in 1 ms minimum Time slices in 1 ms maximum Fig.

2 Functions The library "MX_SysLibMem. it is possible to synchronously access a file directory system on the target. 1) Interchanging bytes in the memory .13. The section "Notes on Utilization" describes the MLD-specific fea‐ tures.12. they are used for memory management.13 1. Directory entries can be read. 1.14 1.lib" are available as of the target "IndraDrive MP05".3 Notes on Programming In preparation 1. Functions for the dynamic memory management are not included.3 Notes on Utilization General Information The library "MX_SysLibMem.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 189/209 Rexroth IndraDrive Firmware Libraries ErrorID 8 9 Description PLC variable not in defined in MDT (internal error) Internal variable access (internal error) Fig. see the IndraLogic help under "SysLibMem".13.14. The functions can be used ● ● ● ● to compare two storage locations. 1.lib" and as of the target "IndraDrive MP05".13.lib" contains the following functions: ● ● ● ● ● SysMemCmp SysMemCpy SysMemMove SysMemSet SysMemSwap For a detailed description of the corresponding function blocks and functions. to initialize or preassign a memory range. For detailed descriptions of the functions.1 MX_SysLibDir General Information With the functions of the library "MX_SysLibDir.1-363: "ErrorID" Reference List for the Firmware Function Block "MX_Syn‐ chronControl" for IndraDrive MPH02 1. 1.lib" only works on the local axis (Axis1). to copy or shift from one memory to the other or to swap1) (processing takes place synchronously).1 MX_SysLibMem General Information The functions of the library "MX_SysLibMem. see the IndraLogic help under "SysLibMem".

Access to the root node from the user's point of view can be obtained without indicating the directory.*') SysDirOpen('*.14. When listing the directories.*') . with single "\" and with double "\\" (Windows-compatible). The section "Notes on Utilization" describes the MLD-specific fea‐ tures. The function blocks for editing and creating directories are not sup‐ ported! 1. possibly still open Handles are closed. as if "User" were a separate partition.15 "MX_SysLibFile" and "MX_SysLibFileAsync" MX_SysLibFile.2 Functions The library "MX_SysLibDir. The "User" directory itself is not dis‐ played.txt') SysDirOpen('MyFile.14.3 Notes on Utilization General Information Only the MMC directory "User" can be accessed. Another "SysDirOpen" then is no longer possible.. Any access from the user program to the root directory is redirected to the MMC directory "User". which displays a file. 1..lib SysFileOpenAsync SysFileWriteAsync SysFileReadAsync SysFileCloseAsync SysFileDeleteAsync SysFileCopyAsync Functions of the Libraries "MX_Sy‐ sLibFile" and "MX_SysLibFileA‐ sync" . There is a maximum of four Handles available for "SysDirOpen". Otherwise.*') SysDirOpen('\\*. SysDirOpen When a search is started with "SysDirOpen".txt') SysDirOpen('MyDir\*. Possible data when listing files: ● ● ● ● ● ● ● SysDirOpen('MyFile.lib SysFileOpen SysFileWrite SysFileRead SysFileClose SysFileDelete SysFileCopy MX_SysLibFileAsync. see the IndraLogic help under "SysLibDir". SysDirRead After a call of "SysDirRead". it is afterwards necessary to read with "SysDirRead" until the function does not find any other entry.lib" contains the following functions: ● ● SysDirOpen SysDirRead For a detailed description of the functions "SysDirOpen" and "Sys‐ DirRead". When the PLC is reset.txt') SysDirOpen('\*. only the content of the "User" directory and possibly contained subdirectories are displayed. this file is blocked for deleting until the next call of "SysDirRead". "SysDirOpen" does not release the Handle with its internal resources.190/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries 1.

. subdirectories can nevertheless be externally cre‐ ated and used in the drive. As of the target "IndraDrive MP05".lib". With the functions of the libraries..lib" and "MX_SysLibFileAsync. see the IndraLogic help. The content of the libraries "MX_SysLibFile. For asynchronous file access.lib" and "SysLibFileAsync. the functions of the library "MX_SysLibFi‐ leAsync. ● Notes on Utilization Differences From the Descriptions of "SysFileOpen" and "SysFileOpenAsync": For the syntax and the behavior of the function blocks. the help in IndraLogic applies.2004 14. and to determine or change the current offset. they accept a task and provide the status of the task in other calls.56" in the drive. ● .lib".DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 191/209 Rexroth IndraDrive Firmware Libraries MX_SysLibFile.lib" As of the target "IndraDrive MP05".lib SysFileEOFAsync SysFileGetPosAsync SysFileGetSizeAsync SysFileGetTimeAsync SysFileRenameAsync SysFileSetPosAsync Fig. be‐ cause there is no real-time clock in the drive. the functions of the library "MX_SysLib‐ File.lib" is a subset of the original libraries "SysLibFile.06. the following mode applies to the .1-364: General Information Functions of the Libraries "MX_SysLibFile. cyclically oriented functions are used.lib" and "MX_SysLibFileA‐ sync. . ● ● For detailed descriptions of the libraries "SysLibFile..do not contain any function for creating or deleting subdir‐ ectories. The libraries "MX_SysLibFile.lib SysFileEOF SysFileGetPos SysFileGetSize SysFileGetTime SysFileRename SysFileSetPos MX_SysLibFileAsync..lib" and "SysLibFileAsync. In contrast to the current online help. In addition. When created. it is possible to write data to files or read data from files.. files always get the same time stamp "09. closed..lib" and "MX_SysLib‐ FileAsync.lib". The section "Notes on Utilization" describes the MLD-specific features.lib" support asynchronous file access. "Synchronous file access" means that a function is called and only returns after the output has been completed. With other functions it is possible – – – to determine the file size or the point of time of the last access.do not contain any function for reading the time stamps.lib" support synchronous file access. files can be ● ● ● ● ● ● opened. deleted and renamed.

txt') SysFileOpen('MyDirectory\MyFile. Any access from the user program to the root directory is redirected to the MMC directory "User".1-365: Library Names Depending on the Targets The sections below only describe the data types and structures relevant to the user.. "SysFileOpen"/"SysFileOpenAsync" accesses with "w" (write) or "rw" (read/write) cause the content of the file to be deleted.lib The library "MX_SysLibIecTasks. but data which are written are appended at the end of the file) The "Open" functions do not open the files exclusively so that other access to the same file is possible.lib" is a subgroup of "SysLibIecTasks.lib".. . Possible data when opening. the error "F2006" is gen‐ erated.lib RIL_CommonTypes. when the PLC program is reset with Reset or the MMC is removed. ● ● 1. an error is returned) "a" (append) (file is opened as with 'w'.lib CommonTypes_MP03.192/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries functions "SysFileOpen" and "SysFileOpenAsync" in which the file has to be opened: ● ● ● ● ● ● "w" (write) (file is overwritten or created again) "r" (read) (file is opened for reading only. an error is returned) "rw" (read and write) (file is overwritten.16 1. . RIL_CommonTypes. copying. They are compulsorily closed however.txt') SysFileOpen('\\MyFile. the files can be kept open.txt') SysFileOpen('\MyFile. deleting. files: – – – – ● SysFileOpen('MyFile. In the latter case.lib Fig.lib The following libraries contain data types and structures most of which are only used internally: Target IndraDrive MPH02 IndraDrive MP03 IndraDrive MP04 IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Library CommonTypes. With "a" (ap‐ pend) it is only possible to write data to the end of the file. It is impossible to include contents in the middle of a file. "SysIECTaskGetConfig" and "SysIECTaskGetInfo" are supported.txt') As long as the PLC program is running.17 MX_SysLibIecTasks. if the file does not exist. if the file does not exist. Only the MMC directory "User" can be accessed.

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Data Type "ERROR_CODE"

"ERROR_CODE" is a data type relevant to the user. With function blocks, the data type is used for the "ErrorID" output. The Enum value describes the error which occurred. The significance of the data type "ERROR_CODE" depends on the target. "ERROR_CODE" can have the following values:

"ERROR_CODE" NONE_ERROR NONE_ERROR_CODE INPUT_INVALID_ERROR INPUT_INVALID_ERROR_CODE COMMUNICATION_ERROR COMMUNICATION_ERROR_CODE RESOURCE_ERROR RESOURCE_ERROR_CODE ACCESS_ERROR

Error number as of IndraDrive MP03 16#0000 16#0001 16#0002 16#0003 16#0004

Error num‐ Description ber MPx02 0 1 Error-free status Error-free status Error due to invalid input Error due to invalid input Error when communication is established or during communication 5 6 Error when communication is established or during communication The resource (e.g. a parameter) is not available The resource (e.g. a parameter) is not available The resource exists but it cannot be accessed. Example: You want to write a parameter in phase 4 which can only be written in phases 2 and 3 An access error has occurred Current status of state machine prevents or pro‐ hibits further processing During processing it was detected that unde‐ fined or too high or too low command values were generated due to one or several input val‐ ues During processing it was detected that unde‐ fined or too high or too low command values were generated due to one or several input val‐ ues A calculation error has occurred [e.g. division by "0", or "non" for Float variables (value outside of value range)] A calculation error has occurred [e.g. division by "0", or "non" for Float variables (value outside of value range)] A higher-level device error has occurred An undefined error has occurred An undefined error has occurred

ACCESS_ERROR_CODE STATE_MACHINE_ERROR INPUT_RANGE_ERROR

16#0005 16#0006

3 -

INPUT_RANGE_ERROR_CODE

-

2

CALCULATION_ERROR

16#0007

-

CALCULATION_ERROR

-

4

DEVICE_ERROR OTHER_ERROR OTHER_ERROR_CODE

16#0008 16#7FFE -

254

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Rexroth IndraDrive Firmware Libraries
"ERROR_CODE" SYSTEM_ERROR SYSTEM_ERROR_CODE Error number as of IndraDrive MP03 16#7FFF Error num‐ Description ber MPx02 255 A system error has occurred A system error has occurred

Fig.1-366:
Structure "ERROR_STRUCT"

Significance of the Data Type "ERROR_CODE" for Firmwares MPx02, MPx03 and MPx04

"ERROR_STRUCT" is a structure relevant to the user. As of the target "IndraDrive MP03", the structure is used with function blocks for the "ErrorI‐ dent" output. "ERROR_STRUCT" contains information which describes the occurred error in detail. Elements of the structure "ERROR_STRUCT": ● Table "Table" is of the ENUM type. The ENUM value refers to the list required for identifying the specific error of "Additional1". ● Additional1 "Additional1" is of the DWORD type. "Additional1" contains the specific error number and can be used in conjunction with "Additional2" in different ways, depending on the system. ● Additional2 "Additional2" is of the DWORD type. "Additional2" can contain additional information. Its content differs depending on the system.

1.18

RIL_SocketComm.lib
The library "RIL_SocketComm.lib" is supported as of the target "IndraDrive MP05". It contains functions and function blocks which allow using the TCP/ UDP communication. The library "RIL_SocketComm.lib" is supported by several targets and therefore is described in the documentation "Basic Libraries, IndraLogic 1x".

1.19

RIL_Utilities
The library "RIL_Utilities.lib" is supported as of the firmware MPx05V04. The library is supported by several targets and therefore is described in the documentation "Basic Libraries, IndraLogic 1x".

1.20

RIL_VExUtil.lib
The library "RIL_VExUtil.lib" is supported as of the target "IndraDrive MP05". It contains a function block allowing safe key-type operation with all Rexroth HMI devices of the "VEx" type. The library "RIL_VExUtil.lib" is supported by several targets and therefore is described in the documentation "Basic Libraries, IndraLogic 1x".

1.21

SysLibCallback.lib
The library "SysLibCallback.lib" is supported as of the target "IndraDrive MPH02". It contains functions for activating defined callback functions for run‐ time events. The library is supported by several targets; it is described in the IndraLogic help under "SysLibCallback.lib".

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1.22

SysLibSem.lib
The library "SysLibSem.lib" is supported as of the target "IndraDrive MP06". It contains functions for synchronized data exchange between tasks. The library is supported by several targets; it is described in the IndraLogic help under "SysLibSem.lib".

1.23
1.23.1

SysLibSockets
General
The library "SysLibSockets.lib" is available as of the target "IndraDrive MP05". The functions contained in the library support the access to sockets2) for communication via TCP/IP and UDP. By means of the functions contained in the library and as of the target "IndraDrive MP05", IndraMotion MLD can be programmed as UDP or TCP/IP server resp. UDP or TCP/IP client. To keep the programming effort at a low level, using the "RIL_Sock‐ etComm.lib" is recommended for standard TCP/IP or UDP com‐ munication .

1.23.2

Overview of Function Blocks and Functions
For a detailed description of the corresponding function blocks and functions, see the IndraLogic help under "SyslibSockets". The section "Notes on Utilization" describes the MLD-specific fea‐ tures. ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ●
2)

SysSockAccept SysSockBind SysSockClose SysSockConnect SysSockCreate SysSockGetHostByName SysSockGetHostName SysSockGetLastErrorSync SysSockSetOption and SysSockGetOption SysSockHtonI, SysSockHtons, SysSockNtohI and SysSockNtohs SysSockInetAddr SysSockInetNtoa SysSockIoctl SysSockListen SysSockSelect SysSockShutdown SysSockRecv
A socket is a bidirectional software interface for interprocess (IPC) or network com‐ munication.

TCP-specific:

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Rexroth IndraDrive Firmware Libraries ● ● ● SysSockSend SysSockRecvFrom SysSockSendTo

UDP-specific:

1.23.3

Notes on Utilization
For a detailed description of the corresponding function blocks and functions, see the IndraLogic help under "SyslibSockets". This section describes the MLD-specific features.
General Information

● ● ●

The symbols of the different socket options and maximum values are de‐ fined in the global variables of "SysLibSockets.lib". The symbols of the error codes are defined in "MX_Base.lib". To write portable software, you should work with the symbols of the con‐ stant definitions of the global variables from "SysLibSockets.lib" and "MX_Base.lib", not with their numeric values. As a maximum, MLD may open 20 sockets (the maximum value "MAX_OPEN_SYNCSOCKETS" is defined in the global variables of "Sy‐ sLibSockets.lib"). NOTE: It might not be possible to open all 20 sockets, because the drive already uses these resources.

The transmit and receive buffer size cannot be changed and has been set to 1500 bytes (1446 bytes of net data). This means that, for example, 4000 bytes of data to be transmitted will be transmitted as 3 data packages with 1446 bytes and one package with 1108 bytes of net data. The timeout for reception cannot be changed and has been set to 10000 ms. For transmission there is no timeout. For server applications, it is recommended that you use the port addresses 49.152 to 65.535. (See also "IANA" (Internet Assigned Numbers Authority, http://www.iana.com) For reset and reloading of an MLD program, it is not necessary to write callback functions. In the case of reset and download, MLD automatically deletes all sockets it had opened. In the "Non Blocking Mode", the error code "ERR_UNAVAILABLE (-51)" can be sporadically signaled. This error means that a resource is presently unavailable and the function call has to be repeated.

● ●

"SysSockAccept"

Before "SysSockAccept", "SysSockListen" must be called. "SysSockListen" sets a table to accept connection requirements. This table must be ready before "SysSockAccept" starts blocking and waits for connection attempts. Generally, "SysSockConnect" may only be called once per socket after "Sys‐ SockCreate". ● Blockingmode: If Connect is impossible, "SysSockConnect" blocks for 1 minute and then returns with the return value =FALSE. The error code can be read with the function "SysSockGetLastErrorSync". Non Blockingmode: If the return value =FALSE and the error code sup‐ plied by "SysSockGetLastErrorSync" ="NU_IS_CONNECTING", it is nec‐ essary to find out via the function "SysSockSelect" whether the socket is ready for transmission and/or reception.

"SysSockConnect"

"SysSockCreate"

"SysSockCreate" definitely sets "Blockingmode".

it is cleared. After the socket error has been read. Optval (structure SOCKET_LINGER) "SOCKET_SO_BROADCAST" (allows transmitting broadcast messages) "SOCKET_SO_LINGER" (dwell time when closing the socket) "SOCKET_SO_ERROR" (only "SysSockGetoption") The behavior described for "SysSockGetLastErrorSync" applies in this case Options for "diLevel=SOCKET_IPPROTO_TCP" ● SOCKET_TCP_NODELAY (this option controls the Nagle's algorithm of the socket) – ● Optval (UINT8): Disabled="0". the option value is not transmitted as a value. Options for "diLevel=SOCKET_SOL" Options for "diLevel=SOCKET_IPPROTO_IP" There aren't any options supported. There aren't any options supported. as described. Options for "diLevel=SOCKET_IPPROTO_UDP" . but as a pointer to the value. The pointer must be DWORD. Supported socket levels: ● ● ● ● ● ● SOCKET_SOL SOCKET_IPPROTO_IP SOCKET_IPPROTO_TCP SOCKET_IPPROTO_UDP SOCKET_SO_ERROR (only "SysSockGetOption") "SOCKET_SO_REUSEADDR" (allows linking several addresses to the same port) – ● ● ● – – Optval (int16): Disabled="0". Enabled<>"0". "SysSockGetLastError" should be called immediately after an error has been detected. The transmission parameter "diSocket" is not evaluated. Enabled<>"0". Occurring errors are stored in task-oriented form and read in this way. "SysSockSetOption" and "Sys‐ SockGetOption" Correction of the documentation: With "SysSockSetOption". According to the program structure. SOCKET_SO_KEEPALIVE (this option controls the keep-alive for the TCP connections of the socket) – ● ● Optval (UINT8): Disabled="0". Enabled<>"0". when "diType=SOCK_STREAM" "SysSockGetLastErrorSync" "diProtocol=SOCKET_IPPRO‐ "SysSockGetLasterrorSync" supplies the last detected socket error. Enabled<>"0". so that the error code is not overwritten otherwise. Optval (int16): Disabled="0".DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 197/209 Rexroth IndraDrive Firmware Libraries Possible transmission parameters: "diAddressFamily=SOCKET_AF_INET" "diType=SOCK_STREAM" or "diType=SOCK_DGRAM" "diProtocol=SOCKET_IPPROTO_TCP" or TO_UDP".

The transmission parameter "diFlags" is not supported. "SysSockSendTo" "SysSockRecvFrom" The transmission parameters "diFlags" and "diSockAddrSize" are not suppor‐ ted. Sockets set in "fdRead" have received data. For this parameter. The return value 0="gracefully closed" is not supported. "fdRead") must be checked from "0" to "fd_count". The return value 0="gracefully closed" is not supported. The transmission parameters "diFlags" and "diSockAddrSize" are not suppor‐ ted. "SysSockNtohI" and "SysSockN‐ tohs" . The figure below explains how the byte order of the port is converted to littleendian by "SysSockHtons" or converted to big-endian by "SysSockNtohs". If it is desired that the function returns immediately. If the number is greater than "0". "SysSockHtons". Reading the error status with "fdExcept" is not supported. – – Blockingmode: "piParameter=SOCKET_SO_BLOCKING" Non Blockingmode: "piParameter=SOCKET_SO_NOBLOCKING" ● "diCommand=SOCKET_FIONREAD" [Reads the number of received bytes which are ready in the socket. it is necessary to write "ptvTimeout.tv_sec" and "tv_usec"="0". "SysSockRecv" The transmission parameter "diFlags" is not supported. it is necessary to enter "0". it is necessary to enter "0". For this parameter. The number of received bytes is con‐ tained in the argument ("piParameter"). it is necessary to enter "0". an error has occurred. ● "SysSockSend" The value of "diBufferSize" may be a maximum of MAX_IP_DA‐ TA_SIZE=65495.g. "SysSockSelect" ● If "0" is transmitted for the pointer in the case of "ptvTimeout". The return value 0="gracefully closed" is not supported. Sockets which are not ready have been set to "0" in the array. The return value 0="gracefully closed" is not supported. the return value actually is of the DINT type and supplies "0" or "1". For these parameters. the trans‐ mitted arrays (e. At this place.] Correction of the documentation: The return value of "SysSock‐ Ioctl" is described as BOOL in the description of the function. For these parameters. it is necessary to enter "0". The value of "diBufferSize" may be a maximum of MAX_IP_DATA_SIZE=65 495.198/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries "SysSockIoctl" ● "diCommand=SOCKET_FIONBIO" [sets Blockingmode to the value of the transmitted argument (piParameter)]. "SysSockHtonI". They can be read in non-blocking form with "SysSockRecv". it is necessary to enter "0". If the return value is "-1". "SysSock‐ Select" blocks until the request has been fulfilled. "SysSockSelect" returns the number of ready sockets.

the reading and writing connec‐ tions of the socket are terminated.lib The library "Util.lib The library "SysLibStr.1-367: "SysSockShutdown" Converting Byte Orders of the Port ● ● ● With "diHow=SOCKET_SHUT_RD". as controllers. 1. 1. It contains functions for handling strings. the reading connection of the socket is terminated. .lib" The functions contained in the library "MX_Debug. it is described in the IndraLogic help under "Util.lib" is supported as of the target "IndraDrive MPH02".25 Util. function manip‐ ulators and for analog value processing. signal generators.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 199/209 Rexroth IndraDrive Firmware Libraries Fig. it is described in the IndraLogic help under "SysLibStr.lib". math‐ ematical auxiliary functions. With "diHow=SOCKET_SHUT_RDWR". With "diHow=SOCKET_SHUT_WR". It contains function blocks that can be used for BCD conversion.26 For Internal Test Purposes Only!: The Library "MX_Debug.24 SysLibStr.lib". The library is supported by several targets.lib" are required for internal test purposes (laboratory). the writing connection of the socket is terminated.lib" is supported as of the target "IndraDrive MPH02". 1. bit/byte functions. The library is supported by several targets.

a drive error (F6010) is generated and the PLC is stopped. See also "Notes on Application" in the Application Manual on Rexroth IndraMotion MLD.lib Fig. If access is not allowed.28 Do Not Use!: Internal Functions. division) and check the access. If access is allowed.1-368: Library Names Depending on the Targets When a new project with the target "IndraDrive" is created. The functions of the "CheckRtv" library are implicitly called by the PLC program and mustn't be included in a user program! Operating Principle The functions of the "CheckRtv" library are called at each corresponding action (e.lib MX_CheckRtv. the "CheckRtv" library is not available there. death or serious injury by incorrect control of motors when using func‐ tions from the library "MX_Debug. Function Blocks.200/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Rexroth IndraDrive Firmware Libraries WARNING Property damage.27 For Program-Internal Use Only!: Functions for Checking or Signaling Runtime Errors The following libraries contain functions for checking or signaling runtime errors. data types and structures: .g.lib"! The functions from the library "MX_Debug. Functions ● ● ● ● ● ● ● CheckBounds CheckDivByte CheckDivDWord CheckDivReal CheckDivWord CheckRangeSigned CheckRangeUnsigned 1. the program runs without restriction. Exception: The target "IndraDrive MPH02". the corresponding library is automatically included and visible. function blocks.lib" are required for internal test pur‐ poses and the user mustn't use them! 1. such as division by zero: Target IndraDrive MP03 IndraDrive MP04 IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Library CheckRtv_MP03. Data Types and Structures The following libraries contain internal functions.

DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 201/209 Rexroth IndraDrive Firmware Libraries Target IndraDrive MPH02 IndraDrive MP03 IndraDrive MP04 IndraDrive MP05 IndraDrive MP06 IndraDrive MP07 Library Internal_MPH02.lib Internal_MP03.1-369: Library Names Depending on the Targets NOTICE The library "Internal" is an internal. Internal is automatically linked and visible to the user.lib Fig. undocu‐ mented interface to the drive The functions and function blocks of the library "Internal" are internally required and the user mustn't use them! When a new project is created. .lib MX_Internal.

202/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library .

even on weekend and on holidays.com Internet Preparing Information You will also find additional notes regarding service. mainte‐ nance (e.DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 203/209 Appendix 2 2. especially type co‐ des and serial numbers Your phone.boschrexroth. Germany and our worldwide service will assist you with all kinds of enquiries. For hotline numbers refer to the sales office addresses on the Internet. fax numbers and e-mail address so we can contact you in case of questions.de http://www. Helpdesk Phone Fax E-mail +49 (0) 9352 40 50 60 +49 (0) 9352 40 49 41 service. delivery addresses) and training.1 Appendix Service and Support Our service helpdesk at our headquarters in Lohr. . You can reach us around the clock .g. Service Hotline Worldwide Outwith Germany please con‐ tact our sales/service office in your area first.svc@boschrexroth. For quick and efficient help please have the following information ready: ● ● ● Detailed description of the fault and the circumstances Information on the type plate of the affected products.

204/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library .

................................................ 156 MB_SetPositionControlMode....................................................................................................................................................... 200 C D Data exchange......................... 39 MB_Command................................................DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 205/209 Index Index AnalyzationNew.............. 55 MB_WriteListParameter............ 171 MC_CamIn........................................... 142 MB_ReadName.................................................. 200 Internal functions........................ 165 MB_WriteParameter........................................................... 27 ERROR_CODE............................................................................... 103 MC_ReadStatus........ 35 Diagnostic................................................................................ 200 Internal structures.................................. 189 MLD_TABLE.........................lib................................ 5 Notations ........ 42 MB_GearInPos........................................... 138 MB_ReadMinRealValue.................................................. 53 MB_PreSetMode............. 200 CheckDivWord.................................. 199 CheckBounds..................................... 27 E F File access Asynchronous ......... 200 CheckDivReal............................................ 36........................ 27 ErrorIdent.......... 100 MB_MotionProfile......... 134 MB_ReadMaxRealValue....................................................... 119 MB_Stop................................................................................................ 100 DSP........................... 136 MB_ReadMaxValue............................................................................. 37 MB_ChangeProfileStep.............. 183 Data types General . 64 MC_MoveAdditive......... 71 MC_Power..................................... 35 Asynchronous file access........ 7 Drive control................. 158 MB_ReadUnit.............................................................................................. 60 MC_GearIn................................................................ 28 M .................................. 74 MC_TorqueControl.............. 105 MC_Reset..................................................................................................... 146 MB_ReadRealListParameter... 34 MB_IDN ........................................................................... 200 I MB_ChangeCamData.......................................... 168 MB_WriteStringParameter...................................................................... 152 MB_ReadStringParameter............................................................................ 22 Internal_MP03................ 77 Means of representation Conventions of notation ......................... 197 Directory of function block libraries of Rexroth IndraLogic.............. 200 Internal function blocks....................................................... 61 MC_GearOut... 140 MB_ReadMinValue............................... 148 MB_ReadRealParameter.....................................................lib................................................. 107 MC_Stop............................................. 57 MC_CamOut............................. 183 Error.............................................................................................. 200 CheckDivDWord.. 201 Internal_MPH02..... 96 A L Library CommonTypes ................................................................................ 155 MB_ReadSercosDataStatus.............. 191 Synchronous ...................................................................... 5 Notes .............................. 200 CheckRangeUnsigned...................................................... 120 diLevel................................................................................................................................. consistent......................................................................................................................... 46 MB_Home........................ 201 Internal data types.................................................................................... 192 Debug ................................................................................................................................................. 200 CheckRtv.................................................. 49 MB_Phasing.................................. 200 CheckDivByt.......................................................... 124 MB_ChangeProfileSet...... 191 INDRV_TABLE.................................................................................................... 52 MB_PhasingSlave................... 144 MB_ReadParameter........................................................................... 66 MC_MoveRelative................................................. 26 ErrorID........... 150 MB_ReadSercosAttribute.................................................................. 163 MB_WriteRealParameter........ 27 Error handling........................................................ 34 Input signals "Execute" / "Enable"....................................... 63 MC_MoveAbsolute................................... 160 MB_WriteRealListParameter......................................................................................... 191 ATAN2............ 200 CheckRangeSigned....................................................................... 69 MC_MoveVelocity..................................................................................lib............... 5 Memory management.......... 27 ERROR_STRUCT. 102 MB_ReadListParameter........................

................................................ 191 SysComClose.................. 126 MX_fDINT_AccTo_REAL...................... 97 MX_fHighResTimerTicks_to_us.. 90 Support see Service Hotline .....................................lib.......lib.............................................................................................................................................................................. 93 SysComRead................................... 178 MX_fDINT_DistTo_REAL................................... 22 R Real-time channel........... 190 SysFileEOF..................... 116 MX_Stop.. 203 Synchronous file access.................................................................................. 182 MX_fREAL_VelTo_DINT. 196 S ...... 81 MX_MoveRelative. 190 SysFileRename.................. 194 RIL_VExUtil..................... 191 SysFileGetPos........................ 189 Notes on utilization ........................ 190 SysFileOpenAsync.................................................................................................................... 28 MX_Base............................................................................................................. 112 MX_SetDeviceMode..... 189 M M P MX_WriteParamDINT........................................ 78 MX_MoveAdditive.............................. 184 MX_SysComOpenAsync........................ 114 MX_SetOpMode................... 191 SysFileGetPosAsync............................. 191 SysFileGetSizeAsync...................................... 191 SysFileEOFAsync........................................................................ 91 MX_fWriteParamDINT.................................. 181 MX_fREAL_TorqueTo_DINT........................................................................................................................................................................ 103 MX_ReadParamDINT....................................................................................................................lib Notes on utilization ............. 133 MX_IECTaskGetLoad........................................ 122 MX_fSetParamLimits................... 190 SysFileCopyAsync........................................................................................................................................lib............................................................................................. 191 SysFileRenameAsync..................................................... 194 Runtime errors Signaling / checking ................ 191 SysFileGetTimeAsync........................................................ 109 MX_fCheckCmdRequest............... 93 SysComWrite..... 191 SysFileSetPosAsync............................. 190 SysFileDelete.......................................................lib............ 190 SysFileDeleteAsync........................................................... 84 MX_MoveVelocity.......................... 129 MX_fSetParamName.................... 190 SysDirRead....................... 175 MX_SetControl...........lib.. 94 SysDirOpen...................... 190 SysLibCallback.................. 191 SysFileOpen..........................lib Notes on utilization .............. 200 Scaling............... 191 SysFileGetSize........ 190 SysFileCloseAsync.......... 156 MX_Reset.............................. 173 MX_ReadUnit.................................. 191 SysFileGetTime............................................................................................lib............................................................................... 179 MX_fGetDriveWarning.................................... 92 SysComOpen..................................................................................... 190 SysFileCopy... 87 MX_PositionLoopEventInfo............ 190 SysFileReadAsync...lib........ 183 MX_fSetDriveError...................................................... 121 MX_fSetDriveWarning.................... 195 SysLibSockets.. 194 SysLibSem...................................................................lib.................. 99 MX_Internal......... 190 SysFileWriteAsync........................................................................................................ 190 MX_SysLibMem Functions .................. 191 SysFileWrite...................................... 178 SERCOS_TABLE............................................................................ 131 MX_fSysComStatus.... 90 MX_SysLibDir....................... 192 MX_SysLibFile.................................................................... 89 MX_SynchronControl... 190 SysFileRead............ 91 MX_SysLibCom.......................................................... 176 Parameters........................................................................ 98 MX_fReadParamDINT............................. 96 MX_fGetHighResTime.............................................. 128 MX_fREAL_AccTo_DINT............lib.............................................. 191 SysFileSetPos.......... 33 Serial interface................. 190 MX_SysLibFileAsync.............................. 107 MX_SetCmdState............................................................... 183 RIL_SocketComm...............................206/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Index MLDS_TABLE............................. 127 MX_fReadStringParam............................................................................................................. 100 MX_Power................................................................................. 181 MX_fREAL_TorqueRampTo_DINT.............. 190 MX_SysLibFile Notes on utilization .................................................. 180 MX_fREAL_DistTo_DINT............................................................................................................................................................... 190 SysFileClose......................................... 95 MX_Command.............. 201 MX_MoveAbsolute.............................................................. 123 Processing commands in a PLCopen function block......................................................... 132 MX_fWriteStringParam.............. 179 MX_fDINT_VelTo_REAL....................................................................................... 189 MX_SysLibDir................................... 121 MX_fGetFreeTicks.................... 130 MX_fSetParamUnit................................................ 189 MX_SysLibMem...................lib................................................

. 195 SysSockConnect.......................................... 195 SysSockIoctl diCommand ........... 189 SysMemCpy.......................................... 197 SysSockHtonI.... 195 Socket levels .................................................................................................................... 195 Tools................lib.... 195 SysSockGetOption................................................................................ 195 SysSockNtohI............................. 195 SysSockRecv............................................................................................................ 195 SysSockBind..................................................... 189 SysMemSet........................................................................................ 199 SysMemCmp............................................................. 195 SysSockGetHostName.................. 195 SysSockGetHostByName............ 195 Socket levels .......................................................... 196 SysSockSetOption................................. 195 SysSockloctl........................... 195 SysSockNtohs..................................................................................................... 195 SysSockSend........................................... 195 SysSockInetAddr............. 195 diHow ........................................................ 96 U UDP communication.................... 189 SysSockAccept............................................... 195 SysSockGetLastErrorSync....... 195 SysSockHtons..................................................................................................................................................................................................................... 195 SysSockInetNtoa........................................................................... 196 SysSockSendTo..... 197 SysSockShutdown... 195 SysSockCreate..................... 189 SysMemMove................................... 199 T TCP/IP communication..............................DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 207/209 Index SysLibStr........... 196 SysSockSelect......................................................................................... 195 SysSockClose...................................................................... 189 SysMemSwap................. 195 ............................................... 195 SysSockRecvFrom................................... 198 S S SysSockListen..............................................

208/209 Bosch Rexroth AG DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library .

DOK-INDRV*-MLD-SYSLIB*-FK05-EN-P Rexroth IndraDrive Rexroth IndraMotion MLD Library Bosch Rexroth AG 209/209 Notes .

R911309224 .