Electric Drives

and Controls

Hydraulics

Linear Motion and

Assembly Technologies

Rexroth IndraMotion
for Metal Forming 12VRS
Sequential Motion Control
Reference Book

Pneumatics

Service

R911334475
Edition 04

Bosch Rexroth AG

Title

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Rexroth IndraMotion
for Metal Forming 12VRS
Sequential Motion Control

Type of Documentation
Document Typecode
Internal File Reference
Purpose of Documentation

Reference Book
DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
RS-9bb78a0cab9a51140a6846a00106e303-3-en-US-10
This reference book contains information about the operation, programming
and the functionalities of the "IndraMotion for Metal Forming - Sequential Mo
tion Control 12VRS" system solution.
Furthermore, parameters and connection diagrams are described.

Record of Revision

Copyright

Edition

Release Date

Notes

Edition 01

05.2011

First edition for 12VRS

Edition 02

06.2011

Second edition for

12VRS (with online
help)

Edition 03

01.2012

Third edition for 12VRS

(with online help)

Edition 04

12.2012

Fourth edition for

12VRS (with online
help)

Bosch Rexroth AG 2012

This document, as well as the data, specifications and other information set
forth in it, are the exclusive property of Bosch Rexroth AG. It may not be re
produced or given to third parties without its consent.

Liability

Published by

The specified data is intended for product description purposes only and shall
not be deemed to be a guaranteed characteristic unless expressly stipulated
in the contract. All rights are reserved with respect to the content of this docu
mentation and the availability of the product.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 97816 Lohr a. Main, Germany
Phone +49 9352 18 0 Fax +49 9352 18 8400
http://www.boschrexroth.com/
System Development Automation Motion Logic Control StWe (FrWe/PiGe)

Note

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

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

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

2
2.1
2.2
2.3
2.4
2.4.1
2.4.2
2.4.3
2.4.4
2.4.5
2.4.6
2.5

3
3.1
3.1.1
3.1.2
3.2

4
4.1
4.2
4.2.1
4.2.2

4.2.3
4.3
4.4
4.5
4.6
4.7
4.7.1
4.7.2

About this Documentation............................................................................................ 15

Validity of the Documentation............................................................................................................... 15
Related Documentation........................................................................................................................ 15
Information Representation.................................................................................................................. 16
Safety Instructions............................................................................................................................. 16
Symbols Used................................................................................................................................... 16
Names and Abbreviations................................................................................................................. 17

System Presentation.................................................................................................... 19
Introduction........................................................................................................................................... 19
System Overview.................................................................................................................................. 19
Technical Data...................................................................................................................................... 20
Supported Hardware............................................................................................................................. 22
Control Units...................................................................................................................................... 22
MD2 Optional Cards.......................................................................................................................... 22
MA1 Optional Card............................................................................................................................ 22
sercos III I/O Modules........................................................................................................................ 22
Visualization Devices......................................................................................................................... 23
Communication with an External PLC............................................................................................... 23
Data Storage......................................................................................................................................... 23

Important Instructions for Use...................................................................................... 27

Intended Use........................................................................................................................................ 27
Introduction........................................................................................................................................ 27
Scope of Use and Application........................................................................................................... 27
Improper Use........................................................................................................................................ 28

Setting up and Commissioning the System................................................................. 29

Prerequisites......................................................................................................................................... 29
Setting up and Commissioning the Drives............................................................................................ 29
General Information........................................................................................................................... 29
Setting up Ethernet Communication.................................................................................................. 30
Changing the Network Settings...................................................................................................... 30
Testing the IP Address................................................................................................................... 33
Going Online with the SMC-Editor.................................................................................................. 34
Commissioning the Drives with IndraWorks...................................................................................... 34
Commissioning the sercos III Slaves (CCD Configuration).................................................................. 36
Downloading the VCP Application to the VCP 08.2.............................................................................. 38
Parameterization................................................................................................................................... 39
Creating an SMC Program................................................................................................................... 39
Switching from CLM/FLP to SMC......................................................................................................... 40
General Information........................................................................................................................... 40
Data Areas......................................................................................................................................... 40

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Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Table of Contents
Page
4.7.3
4.7.4
4.7.5

4.7.6

4.7.7

4.8
4.8.1
4.8.2
4.8.3
4.8.4
4.8.5
4.9

5
5.1
5.1.1
5.1.2
5.1.3

5.1.4

5.1.5

5.1.6

5.1.7

Online Change................................................................................................................................... 40
Logic Task......................................................................................................................................... 40
Vectors.............................................................................................................................................. 40
General Information........................................................................................................................ 40
Restart............................................................................................................................................ 41
Interrupt.......................................................................................................................................... 41
Command Block................................................................................................................................ 41
APE, AKP, BIC, CIO, VEO............................................................................................................. 41
SAC................................................................................................................................................ 42
CVT................................................................................................................................................ 42
Cams.............................................................................................................................................. 43
Flying Cutoff...................................................................................................................................... 43
Immediate Cut................................................................................................................................ 43
PSI / POI......................................................................................................................................... 43
Maximum Stroke Routine............................................................................................................... 43
Service Work........................................................................................................................................ 43
Overview............................................................................................................................................ 43
Replacing the Controller with Stationary Inserted MMC (Master Axis).............................................. 44
Replacing the Controller without Stationary Inserted MMC (Slave Axis)........................................... 47
Replacing the Controller without MMC (BASIC Slave Axis).............................................................. 50
Problems Potentially Occurring during Controller Replacement....................................................... 52
Instructions for Firmware Replacement (Release Update)................................................................... 52

Operation..................................................................................................................... 57
SMC-Editor........................................................................................................................................... 57
Overview............................................................................................................................................ 57
Runtime Environment........................................................................................................................ 57
Installation......................................................................................................................................... 57
Easy Installation............................................................................................................................. 57
Installation in the Silent Setup (Unattended Installation)................................................................ 57
Version Dependencies of the SMC-Editor on the System................................................................. 58
Sequential Motion Control.............................................................................................................. 58
IndraMotion for Handling................................................................................................................ 58
Source Program Format.................................................................................................................... 59
Sequential Motion Control.............................................................................................................. 59
IndraMotion for Handling................................................................................................................ 59
Input Window for Variables............................................................................................................. 60
Input Support..................................................................................................................................... 61
Intellisense...................................................................................................................................... 61
Symbolic Addressing with Sequential Motion Control.................................................................... 62
Automatic Formatting..................................................................................................................... 64
Functional Description....................................................................................................................... 64
File Menu........................................................................................................................................ 64
Edit Menu....................................................................................................................................... 65
View Menu...................................................................................................................................... 65
Build Menu...................................................................................................................................... 66

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

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Table of Contents
Page

5.1.8
5.2
5.2.1
5.2.2

5.2.3

5.2.4

5.3
5.3.1
5.3.2
5.3.3

5.3.4

Extras Menu................................................................................................................................... 66
Online Menu................................................................................................................................... 70
Target System Toolbar................................................................................................................... 74
Debug Functions (only for Sequential Motion Control)................................................................... 84
Parameter Box................................................................................................................................ 86
Backup / Restoring all Y-Parameters........................................................................................... 103
External Compiler......................................................................................................................... 107
Tips & Tricks.................................................................................................................................... 109
Useful Shortcuts........................................................................................................................... 109
VPC Control........................................................................................................................................ 109
General............................................................................................................................................ 109
Setting up and Commissioning the VCP 08.................................................................................... 110
Overview....................................................................................................................................... 110
Communication between VCP and Master Axis........................................................................... 111
VCP Termination Switches........................................................................................................... 112
Downloading the VCP Application Using a USB Stick................................................................. 112
Downloading the VCP Application via Ethernet............................................................................ 113
Description of VCP 08 Keys............................................................................................................ 122
General Information...................................................................................................................... 122
Layout of the VCP 08 Display....................................................................................................... 123
Menu Display Keys....................................................................................................................... 124
Operating Keys............................................................................................................................. 124
Data Entry Keys............................................................................................................................ 125
Navigation Keys............................................................................................................................ 126
Special Keys................................................................................................................................. 126
SMC System Screens..................................................................................................................... 127
Overview....................................................................................................................................... 127
Main Screen................................................................................................................................. 127
Jog Axis Screen............................................................................................................................ 129
Process Screen............................................................................................................................ 131
Function Screen........................................................................................................................... 147
Axis Information Screen............................................................................................................... 158
Parameter..................................................................................................................................... 158
Diagnostic Screen........................................................................................................................ 163
User Screen.................................................................................................................................. 163
Field Bus............................................................................................................................................. 164
Overview.......................................................................................................................................... 164
System Configuration...................................................................................................................... 165
Communication Types..................................................................................................................... 165
Cyclic Communication.................................................................................................................. 165
Communication via Parameter Channel....................................................................................... 167
Field Bus Interface Structure........................................................................................................... 168
Data Communication.................................................................................................................... 168
Field Bus Master Request Scheme.............................................................................................. 169
Field Bus Slave Request Scheme................................................................................................ 170
Field Bus Communication Examples:........................................................................................... 171

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Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Table of Contents
Page

5.3.5
5.3.6
5.3.7
5.3.8
5.3.9
5.4

6
6.1
6.2
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6.2.7

6.3
6.4
6.5
6.5.1
6.5.2
6.5.3

6.6
6.6.1
6.6.2
6.6.3

6.7
6.7.1
6.7.2
6.7.3
6.8
6.8.1
6.8.2
6.8.3
6.8.4
6.8.5

Error Description of a Status Response....................................................................................... 178

Data Check................................................................................................................................... 179
Handshaking................................................................................................................................. 179
Configuring an IndraLogic L as Profibus Master............................................................................. 179
Configuring an IndraMotion MLC as Profinet Controller.................................................................. 184
Configuring an IndraLogic L as Ethernet/IP Scanner...................................................................... 189
Configuring an IndraLogic L as EtherCAT Master........................................................................... 189
Configuring an IndraMotion MLC as sercos Master........................................................................ 189
Loading a User Program..................................................................................................................... 192

Programming............................................................................................................. 193
General Information............................................................................................................................ 193
Multitasking......................................................................................................................................... 193
General Information......................................................................................................................... 193
Automatic Tasks.............................................................................................................................. 195
Manual Routine............................................................................................................................... 196
Manual Cut Routine......................................................................................................................... 198
Restart Routine................................................................................................................................ 199
Cyclic Task...................................................................................................................................... 199
Flying Cutoff Routines..................................................................................................................... 201
Rapid Stop Routine...................................................................................................................... 201
Maximum Stroke Routine............................................................................................................. 201
Starting the User Program.................................................................................................................. 201
Stopping the User Program................................................................................................................ 201
Variables............................................................................................................................................. 203
General Information......................................................................................................................... 203
Programmable Variables................................................................................................................. 204
System Variables............................................................................................................................. 205
Axis-independent System Variables............................................................................................. 205
Axis-dependent System Variables................................................................................................ 207
Flags................................................................................................................................................... 210
General Information......................................................................................................................... 210
Programmable Flags....................................................................................................................... 211
System Flags................................................................................................................................... 211
Axis-independent System Flags................................................................................................... 211
Axis-dependent System Flags...................................................................................................... 211
Digital Inputs and Outputs.................................................................................................................. 213
General Information......................................................................................................................... 213
Process Input Image........................................................................................................................ 215
Process Output Image..................................................................................................................... 216
System Inputs and Outputs................................................................................................................ 217
General Information......................................................................................................................... 217
Configuring System Inputs and Outputs.......................................................................................... 217
Axis-independent System Inputs..................................................................................................... 218
Axis-dependent System Inputs........................................................................................................ 220
Axis-independent System Outputs.................................................................................................. 224

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Bosch Rexroth AG

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Table of Contents
Page
6.8.6
Axis-dependent System Outputs..................................................................................................... 225
6.8.7
Default Configuration Digital System Inputs and Outputs............................................................... 227
6.9
Language Version............................................................................................................................... 229
6.10
Overview of User Commands............................................................................................................. 229
6.11
Command Description........................................................................................................................ 234
6.11.1
General Information......................................................................................................................... 234
6.11.2
ACC Acceleration Change............................................................................................................ 235
6.11.3
AEA Set / Reset / Toggle Bit......................................................................................................... 236
6.11.4
AKN Acknowledge Bit................................................................................................................... 237
6.11.5
AKP Parallel Acknowledge with Mask.......................................................................................... 237
6.11.6
APE Parallel Setting with Mask.................................................................................................... 239
6.11.7
BAC Branch Conditional on Count............................................................................................... 240
6.11.8
BCE Branch Conditional on Bit..................................................................................................... 241
6.11.9
BIC Branch Conditional on Bit Mask............................................................................................. 241
6.11.10
CIO Copy Bit Field........................................................................................................................ 243
6.11.11
CMA Cam Axes: Activation........................................................................................................... 243
6.11.12
CMC Cam Axis: Configuration...................................................................................................... 244
6.11.13
CMM Cam Axis: Motion Step........................................................................................................ 246
6.11.14
CMP Cam Axis: Profile................................................................................................................. 251
6.11.15
CMS Cam Axis: Settings.............................................................................................................. 253
6.11.16
CON Continuous Operation.......................................................................................................... 255
6.11.17
COU Counter................................................................................................................................ 255
6.11.18
CPA Position-coupled axes: Activation......................................................................................... 256
6.11.19
CPJ Compare and Jump.............................................................................................................. 258
6.11.20
CPL Clear Position Lag................................................................................................................ 258
6.11.21
CPS Compare and Set a Bit......................................................................................................... 260
6.11.22
CRL Set Tailout Length - Cam Axis.............................................................................................. 260
6.11.23
CST Clear Subroutine Stack......................................................................................................... 261
6.11.24
CTA Torque-coupled Axes: Activation.......................................................................................... 263
6.11.25
CTC Torque-coupled Axes: Configuration.................................................................................... 264
6.11.26
CVA Velocity-coupled Axes: Activation........................................................................................ 266
6.11.27
CVC Velocity-coupled Axes: Configuration.................................................................................. 268
6.11.28
CVT Converting Variable <-> Bit Pattern...................................................................................... 268
6.11.29
EDG Edge Detection Bit............................................................................................................... 271
6.11.30
EOS End of Synchronization........................................................................................................ 271
6.11.31
FAK Multiplication Factor for Feed............................................................................................... 272
6.11.32
FOA Phase Synchronous Axes: Activation................................................................................... 273
6.11.33
FOC Phase Synchronous Axis: Configuration.............................................................................. 274
6.11.34
FUN Functions.............................................................................................................................. 275
6.11.35
HOM Home Axis........................................................................................................................... 277
6.11.36
JMP Unconditional Jump.............................................................................................................. 278
6.11.37
JSR Jump to Subroutine............................................................................................................... 279
6.11.38
JST Jump and Stop...................................................................................................................... 279
6.11.39
JTK Unconditional Jump Task...................................................................................................... 280
6.11.40
LMC Part Length by Registration Mark Counter........................................................................... 282
6.11.41
LMK Part Length or Registration Mark......................................................................................... 283

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Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Table of Contents
Page
6.11.42
6.11.43
6.11.44
6.11.45
6.11.46
6.11.47
6.11.48
6.11.49
6.11.50
6.11.51
6.11.52
6.11.53
6.11.54
6.11.55
6.11.56
6.11.57
6.11.58
6.11.59
6.11.60
6.11.61
6.11.62
6.11.63
6.11.64
6.11.65
6.11.66
6.11.67
6.11.68
6.11.69
6.11.70
6.11.71
6.11.72
6.11.73

7
7.1
7.1.1
7.1.2
7.1.3
7.1.4
7.2
7.2.1
7.2.2
7.2.3
7.2.4
7.2.5
7.2.6

LML Part Length........................................................................................................................... 283

LMR Part Length by Registration Mark......................................................................................... 283
MAT Mathematics......................................................................................................................... 284
MLO Material Length Output........................................................................................................ 284
MOM Torque Limit........................................................................................................................ 285
NOP No Operation........................................................................................................................ 286
PBK Stop Motion.......................................................................................................................... 286
PFA Positioning, Absolute to Positive Stop.................................................................................. 287
PFC Positioning to Positive Stop: Configuration........................................................................... 288
PFI Positioning, Incremental to Positive Stop............................................................................... 288
POA Positioning, Absolute with Immediate Block Stepping......................................................... 289
POI Positioning, Incremental with Immediate Block Stepping...................................................... 290
PSA Positioning, Absolute with In-Position................................................................................... 291
PSI Positioning, Incremental with In-Position............................................................................... 292
REP Registration Position Limit.................................................................................................... 293
RMI Registration Mark Interrupt.................................................................................................... 294
RSV Restart Behavior................................................................................................................... 296
RTS Return from Subroutine........................................................................................................ 297
RWY Read/Write Y-Parameter..................................................................................................... 298
SAC Set Absolute Counter........................................................................................................... 299
SET Set Variable Value................................................................................................................ 300
SOA Velocity Synchronous Axes: Activation................................................................................ 301
SOC Velocity Synchronous Axis: Configuration........................................................................... 303
SPO Position Offset of Synchronous Axes................................................................................... 304
SRM Search for Registration Mark............................................................................................... 305
STC Set Task Cycle Counter........................................................................................................ 308
TAA Torque Average: Activation.................................................................................................. 310
TAC Torque Average: Configuration............................................................................................ 312
VCC Velocity Change................................................................................................................... 312
VEO Velocity Override.................................................................................................................. 315
VOA Velocity Coupled Axis via PLC Global Register................................................................... 317
WAI - Waiting Time.......................................................................................................................... 319

Functions................................................................................................................... 321
Operation Modes................................................................................................................................ 321
General Information......................................................................................................................... 321
Manual Mode................................................................................................................................... 321
Automatic Mode............................................................................................................................... 322
Parameter Mode.............................................................................................................................. 323
System Commands............................................................................................................................ 324
Overview.......................................................................................................................................... 324
File Selection with System Commands........................................................................................... 326
System Command 0: No System Command................................................................................... 326
System Command 1: Load SMC Program from MMC.................................................................... 326
System Command 2: Reserved....................................................................................................... 327
System Command 3: Load Default Values...................................................................................... 327

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Bosch Rexroth AG

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Table of Contents
Page
7.2.7
7.2.8
7.2.9
7.2.10
7.2.11
7.2.12
7.2.13
7.2.14
7.2.15
7.2.16
7.2.17
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7.9.1
7.9.2

7.9.3

7.9.4

7.10
7.10.1
7.10.2
7.10.3
7.10.4
7.10.5
7.10.6
7.10.7
7.11
7.11.1
7.11.2
7.11.3

System Command 4: Load SMC data from MMC........................................................................... 327

System Command 5: Save SMC data to MMC............................................................................... 328
System Command 6: Delete Programmable Variables................................................................... 329
System Command 7: Delete Programmable Flags......................................................................... 329
System Command 8: Reset Material Length Counter..................................................................... 329
System Command 9: Load Single Parameter Set from MMC......................................................... 329
System Command 10: Save Single Parameter Set to MMC........................................................... 330
System Command 11: Restore Drive Parameters from MMC......................................................... 330
System Command 12: Save Drive Parameters to MMC................................................................. 331
System Command 13: Reserved..................................................................................................... 331
System Command 14: Reserved..................................................................................................... 331
Optional Encoder (Measuring Wheel Mode)....................................................................................... 331
External Encoder................................................................................................................................ 333
Velocity Override................................................................................................................................ 333
Parking Axis........................................................................................................................................ 334
Virtual Axis.......................................................................................................................................... 335
Overview of Synchronization Modes and Axis Coupling.................................................................... 336
Synchronous Axis............................................................................................................................... 339
General Information......................................................................................................................... 339
Phase Synchronous Axis................................................................................................................. 340
General Information...................................................................................................................... 340
Commands................................................................................................................................... 340
Parameterization.......................................................................................................................... 341
Velocity Synchronous Axis.............................................................................................................. 341
General Information...................................................................................................................... 341
Commands................................................................................................................................... 342
Parameterization.......................................................................................................................... 343
Cam Axis......................................................................................................................................... 343
General Information...................................................................................................................... 343
Commands................................................................................................................................... 343
Parameterization.......................................................................................................................... 344
Axis Coupling...................................................................................................................................... 344
General Information......................................................................................................................... 344
Hardware prerequisites................................................................................................................... 345
Parameterization............................................................................................................................. 345
Description of the Error Reaction.................................................................................................... 346
Position Coupling (e.g., Gantry Group)........................................................................................... 349
Velocity Coupling (e.g., Anti-Backlash)........................................................................................... 351
Torque Coupling (e.g., Master\Slave).............................................................................................. 352
Flying Cutoff........................................................................................................................................ 353
Overview.......................................................................................................................................... 353
Configuring the Measuring Encoder................................................................................................ 362
Flying Cutoff Commands................................................................................................................. 364
LML Part Length........................................................................................................................ 364
LMR Part Length by Registration Mark...................................................................................... 366
LMK Part Length or Registration Mark...................................................................................... 368

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Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Table of Contents
Page

7.11.4
7.11.5

7.11.6

7.11.7
7.12
7.12.1
7.12.2
7.12.3

7.12.4

7.13
7.14
7.15
7.16
7.17
7.18

LMC Part Length by Registration Mark Counter........................................................................ 369

EOS End of Synchronization..................................................................................................... 372
Errors during Flying Cutoff Motion Commands............................................................................... 372
Program Example if Flying Cutoff Is Used....................................................................................... 373
Requirements............................................................................................................................... 373
Program Example......................................................................................................................... 373
Flying Cutoff Functions.................................................................................................................... 378
Test Mode (Simulation)................................................................................................................ 378
Manual Cut (Manual Mode).......................................................................................................... 382
Immediate Cut (Automatic Mode)................................................................................................. 384
Crop Cut....................................................................................................................................... 384
Rapid Stop Routine...................................................................................................................... 385
Maximum Stroke Routine............................................................................................................. 386
Cut Inhibit..................................................................................................................................... 387
Return Inhibit................................................................................................................................ 388
Return Optimization...................................................................................................................... 388
Short Parts.................................................................................................................................... 389
Material Length Counter............................................................................................................... 391
Product Length Counter............................................................................................................... 391
Scrap Cut Output.......................................................................................................................... 391
Maximum Part Length.................................................................................................................. 391
Part Separation............................................................................................................................. 393
Tailout........................................................................................................................................... 393
Material Pulse............................................................................................................................... 396
Presync Pulse............................................................................................................................... 397
Sequence Summary........................................................................................................................ 397
Drive-integrated Safety Technology................................................................................................... 399
General Information......................................................................................................................... 399
Commissioning................................................................................................................................ 400
Supported Safety Technology Hardware......................................................................................... 403
L2 - "Safe Torque Off".................................................................................................................. 403
L3 - "Safe Torque Off".................................................................................................................. 403
L4 - "Safe Torque Off and Safe Brake Control"............................................................................ 403
S2 - "Safe Motion"........................................................................................................................ 403
Supported Safe Operation Modes................................................................................................... 404
Safe Stop 1 ("SS1")...................................................................................................................... 404
Safe Stop 2 ("SS2")...................................................................................................................... 405
Safe Stop 1 (Emergency Stop) ("SS1ES")................................................................................... 405
Safe Motion ("SMM1-4")............................................................................................................... 405
Safe Torque Off ("STO")............................................................................................................... 406
Setup Mode........................................................................................................................................ 406
Homing............................................................................................................................................... 407
Lift Rolls (Electrically)......................................................................................................................... 409
Positive Stop Drive Procedure............................................................................................................ 410
Clear Outputs...................................................................................................................................... 411
Presignal............................................................................................................................................. 411

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

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Table of Contents
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7.19
7.20
7.20.1
7.20.2
7.20.3
7.20.4
7.21
7.22
7.23

8
8.1
8.1.1
8.1.2
8.1.3
8.2
8.3
8.4
8.5
8.6
8.7
8.8
8.9
8.9.1
8.9.2
8.10
8.10.1
8.10.2
8.10.3

Watchdog............................................................................................................................................ 412
sercos Analog Converter.................................................................................................................... 412
Overview.......................................................................................................................................... 412
Drive Parameters Involved.............................................................................................................. 413
Remarks.......................................................................................................................................... 414
Functional Description..................................................................................................................... 414
Multilingualism.................................................................................................................................... 414
Abort Program.................................................................................................................................... 415
Restart................................................................................................................................................ 416

Programming Examples............................................................................................. 419

Simple Program Examples................................................................................................................. 419
Simple Minimum Program............................................................................................................... 419
Programming Conditional Statements............................................................................................. 420
Programming Loops........................................................................................................................ 421
Product Data Management................................................................................................................. 421
Phase Synchronous Axis.................................................................................................................... 423
Velocity Synchronous Axis................................................................................................................. 425
Cam Axis............................................................................................................................................ 426
Position Coupling................................................................................................................................ 429
Velocity Coupling................................................................................................................................ 429
Torque Coupling................................................................................................................................. 430
Roll Feed............................................................................................................................................ 430
Roll Feed Press before Feed........................................................................................................ 430
Roll Feed Feed before Press........................................................................................................ 432
Flying Cutoff........................................................................................................................................ 433
Example without Registration Sensor.............................................................................................. 433
Example with Registration Sensor................................................................................................... 435
Further Examples............................................................................................................................ 436

Diagnostics and Backup............................................................................................ 437

9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8

General Information............................................................................................................................ 437

General Information on Error Detection.............................................................................................. 437
Diagnostic Numbers........................................................................................................................... 438
Error Numbers.................................................................................................................................... 441
Saving Y-Parameters.......................................................................................................................... 454
Restoring Y-Parameters..................................................................................................................... 455
Complete System Backup.................................................................................................................. 455
Complete System Restoration............................................................................................................ 456

10

User-defined Extensions............................................................................................ 459

10.1
10.2
10.3
10.3.1

Overview............................................................................................................................................. 459
HMI Extensions................................................................................................................................... 459
PLC Extensions.................................................................................................................................. 459
Overview.......................................................................................................................................... 459

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Page
10.3.2
10.3.3
10.3.4
10.3.5
10.3.6
10.3.7
10.3.8
10.3.9
10.3.10
10.3.11

10.4
10.4.1
10.4.2
10.4.3

11
11.1
11.2
11.2.1
11.2.2

Notes............................................................................................................................................... 459
Provision.......................................................................................................................................... 460
Variable I/O Link.............................................................................................................................. 460
Task Configuration.......................................................................................................................... 465
Linking External and Internal Inputs and Outputs............................................................................ 467
Access to Inputs, Outputs, Flags and Variables.............................................................................. 471
Commanding the Axes by Means of PLCopen Function Blocks or Axis Interfaces........................ 475
Loading of SMC Program Blocks ("Online Change") ...................................................................... 476
Programming Example.................................................................................................................... 480
Archiving and Restoring Projects.................................................................................................... 481
General Information...................................................................................................................... 481
Archive Project............................................................................................................................. 482
Restoring a Project....................................................................................................................... 486
Cyclic CCD Data................................................................................................................................. 490
Overview.......................................................................................................................................... 490
Free Process Data........................................................................................................................... 491
Signal Control Word / Signal Status Word....................................................................................... 492

Parameters................................................................................................................ 495
General............................................................................................................................................... 495
Axis-independent Y-Parameters......................................................................................................... 495
Overview.......................................................................................................................................... 495
Detailed Description........................................................................................................................ 497
Y000: Language........................................................................................................................... 497
Y001: Cycle Time......................................................................................................................... 498
Y002: Start Program..................................................................................................................... 500
Y003: Starting Block Automatic Task 2........................................................................................ 500
Y004: Starting Block Automatic Task 3........................................................................................ 501
Y005: Starting Line Auto Task 4................................................................................................... 501
Y006: Starting Block Manual Routine........................................................................................... 502
Y007: Starting Block Cyclic Task.................................................................................................. 502
Y008: Manual Routine after Automatic Mode............................................................................... 503
Y009: Clear Outputs..................................................................................................................... 503
Y010: AutoConfig I/Os.................................................................................................................. 504
Y011: Automatic Mode, In-config................................................................................................. 505
Y012: Clear Error, In-config.......................................................................................................... 505
Y013: Single Step, In-config......................................................................................................... 505
Y014: Parameter Mode, In-config................................................................................................. 506
Y015: nE-stop, In-config............................................................................................................... 506
Y016: Start, In-config.................................................................................................................... 507
Y017: nStop, In-config.................................................................................................................. 507
Y018: Manual Routine, In-config.................................................................................................. 508
Y019: Abort program, In-config.................................................................................................... 508
Y020: nError, Out-config............................................................................................................... 508
Y021: Automatic Mode, Out-config............................................................................................... 509
Y022: Manual Mode, Out-config................................................................................................... 509

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11.3
11.3.1
11.3.2

Y023: Parameter Mode, Out-config.............................................................................................. 510

Y024: Drive Enable, Out-config.................................................................................................... 510
Y025: Run, Out-config.................................................................................................................. 511
Y026: SMC-Program Valid, Out-config......................................................................................... 511
Y027: Operating Barrier, Out-config............................................................................................. 511
Y028: Master Axis Selection of the System.................................................................................. 512
Y029: System Diagnostic Number................................................................................................ 513
Y030: System Diagnostics............................................................................................................ 514
Y031: Watchdog Sensitivity.......................................................................................................... 514
Y032: System Command.............................................................................................................. 515
Y033: System Command Parameter............................................................................................ 515
Y034: Active System Command................................................................................................... 515
Y035: Active System Command Status........................................................................................ 516
Y036: Number of Axes................................................................................................................. 516
Y037: Number of sercos I/Os....................................................................................................... 517
Y038: Address, sercos I/O 1......................................................................................................... 517
Y039: Address, sercos I/O 2......................................................................................................... 517
Y040: Address, sercos I/O 3......................................................................................................... 518
Y041: Address, sercos I/O 4......................................................................................................... 518
Y042: Configuration, sercos I/O 1................................................................................................ 519
Y043: Configuration, sercos I/O 2................................................................................................ 519
Y044: Configuration, sercos I/O 3................................................................................................ 520
Y045: Configuration, sercos I/O 4................................................................................................ 520
Y046: System Control................................................................................................................... 521
Y047: SMC FW Version............................................................................................................... 521
Y048: Starting Block Restart Routine........................................................................................... 522
Y049: Restart, In-config................................................................................................................ 522
Y050: Restart Possible, Out-config.............................................................................................. 523
Axis-dependent Y-Parameters............................................................................................................ 523
Overview.......................................................................................................................................... 523
Detailed Description........................................................................................................................ 525
Yx00: Application Type................................................................................................................. 525
Yx01: Axis Type............................................................................................................................ 527
Yx02: Enable Axis........................................................................................................................ 528
Yx03: Jog Velocity........................................................................................................................ 528
Yx04: Maximum Velocity.............................................................................................................. 529
Yx05: Setup Velocity.................................................................................................................... 529
Yx06: Maximum Acceleration....................................................................................................... 530
Yx07: Maximum Torque............................................................................................................... 530
Yx08: Scaling Type....................................................................................................................... 531
Yx09: Modulo Value..................................................................................................................... 531
Yx10: Unit..................................................................................................................................... 532
Yx11: Negation of Positioning Data.............................................................................................. 532
Yx12: MicroAdjust......................................................................................................................... 533
Yx13: Presignal Duration.............................................................................................................. 533
Yx14: Presignal, Distance............................................................................................................ 534

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11.4
11.4.1
11.4.2

Yx15: Drive Enable, In-config....................................................................................................... 534

Yx16: nInterrupt, In-config............................................................................................................ 534
Yx17: Lift Rolls, In-config.............................................................................................................. 535
Yx18: Rolls Closed, In-config....................................................................................................... 536
Yx19: Optional Encoder, In-config................................................................................................ 536
Yx20: Jog+, In-config.................................................................................................................... 536
Yx21: Jog, In-config.................................................................................................................... 537
Yx22: Homing, In-config............................................................................................................... 537
Yx23: Homing Switch, In-config.................................................................................................... 538
Yx24: Setup Mode, In-config........................................................................................................ 538
Yx25: Setup End, In-config........................................................................................................... 539
Yx26: nFeedControl, In-config...................................................................................................... 539
Yx27: Registration Mark, In-config............................................................................................... 540
Yx28: Override.............................................................................................................................. 540
Yx29: Drive Enable, Out-config.................................................................................................... 541
Yx30: In Reference, Out-config.................................................................................................... 541
Yx31: Lift Rolls Active, Out-config................................................................................................ 542
Yx32: Optional Encoder Active, Out-config.................................................................................. 542
Yx33: In Position, Out-config........................................................................................................ 543
Yx34: Velocity Reached, Out-config............................................................................................. 543
Yx35: Setup Active, Out-config..................................................................................................... 544
Yx36: Setup Start Position, Out-config......................................................................................... 544
Yx37: Setup End Position, Out-config.......................................................................................... 544
Yx38: Presignal Active, Out-config............................................................................................... 545
Yx39: Axis Address...................................................................................................................... 545
Yx40: Max. Number of Press Strokes.......................................................................................... 546
Yx41: Safety Related Reduced Speed......................................................................................... 546
Yx42: SI Lock-off Behavior........................................................................................................ 547
Yx43: Activate Position Limit Switch............................................................................................. 548
Yx44: Travel Limit, Maximum Value............................................................................................. 548
Yx45: Travel Limit, Minimum Value.............................................................................................. 549
Yx46: Axis Diagnostic Number..................................................................................................... 549
Yx47: Configuration Cyclic CCD Process Data......................................................................... 549
Yx48 - Yx49: Reserved................................................................................................................. 551
Y-Parameters for Flying Cutoff........................................................................................................... 551
Overview.......................................................................................................................................... 551
Detailed Description........................................................................................................................ 552
Yx50: Starting Block Manual Cut Routine.................................................................................... 552
Yx51: Starting Block Maximum Stroke Routine............................................................................ 553
Yx52: Starting Block Rapid Stop Routine..................................................................................... 553
Yx53: Min. Synchronization Cycles.............................................................................................. 554
Yx54: Return Position................................................................................................................... 555
Yx55: Return Velocity................................................................................................................... 555
Yx56: Return Acceleration............................................................................................................ 556
Yx57: Measuring Wheel Feed Constant....................................................................................... 556
Yx58: Maximum Stroke Position................................................................................................... 557

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Table of Contents
Page

11.5
11.6

12
12.1
12.2
12.3
12.4
12.4.1
12.4.2
12.5
12.5.1
12.5.2
12.6

Yx59: Crop Cut Length................................................................................................................. 557

Yx60: Maximum Part Length........................................................................................................ 557
Yx61: Error Reaction Max. Part Length........................................................................................ 558
Yx62: Registration Mark Sensor Offset........................................................................................ 559
Yx63: Tool Width.......................................................................................................................... 559
Yx64: Tool Offset.......................................................................................................................... 559
Yx65: Tool Cycle Time................................................................................................................. 560
Yx66: Test Mode Velocity............................................................................................................. 560
Yx67: Test Mode Acceleration...................................................................................................... 561
Yx68: Material Pulse Distance...................................................................................................... 561
Yx69: Flying Cutoff Configuration................................................................................................. 562
Yx70: Cut Inhibit, In-config........................................................................................................... 563
Yx71: Return Inhibit, In-config...................................................................................................... 564
Yx72: Immediate Cut, In-config.................................................................................................... 564
Yx73: Crop Cut, In-config............................................................................................................. 564
Yx74: Return Optimization, In-config............................................................................................ 565
Yx75: Rapid Stop, In-config.......................................................................................................... 565
Yx76: Reset Material Length Counter, In-config........................................................................... 566
Yx77: Enable Test Mode, In-config.............................................................................................. 566
Yx78: Reset Product Length Counter, In-config........................................................................... 567
Yx79: Scrap Cut Active, Out-config.............................................................................................. 567
Yx80: Cut Inhibit Active, Out-config.............................................................................................. 568
Yx81: Return Optimization Active, Out-config.............................................................................. 568
Yx82: Return Inhibit Active, Out-config......................................................................................... 569
Yx83: Max. Part Length Reached, Out-config.............................................................................. 569
Yx84: Material Pulse, Out-config.................................................................................................. 569
Yx85: Presync Pulse, Out-config.................................................................................................. 570
Yx86: Presync Value.................................................................................................................... 570
Yx87: Maximum Tailout Length ................................................................................................... 571
Yx88: No Material, In-config......................................................................................................... 571
Yx89: Tailout Done, Out-config.................................................................................................... 572
Parameters Influenced by the SMC (S/P-Parameters)....................................................................... 572
S/P-Parameters of IndraDrive............................................................................................................. 583

Connection Diagrams................................................................................................ 585

General Information............................................................................................................................ 585
Input/Output Assignment on the Master Board Card.......................................................................... 585
Input/Output Configuration of the Parallel Interface............................................................................ 587
Connection Diagrams of the sercos III I/O Modules........................................................................... 587
sercos III I/O Module with Digital Inputs and Outputs...................................................................... 587
sercos III I/O Module with Analog Inputs and Outputs.................................................................... 588
Encoder Connection of Option and External Encoder........................................................................ 588
Encoder Connection ENS................................................................................................................ 588
Encoder Connection EN2................................................................................................................ 588
Multi Encoder Interface....................................................................................................................... 589

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13

Service and Support.................................................................................................. 591

Index.......................................................................................................................... 593

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About this Documentation

About this Documentation

1.1

Validity of the Documentation

Overview on target groups and

product phases

In the following illustration, the framed activities, product phases and target
groups refer to the present documentation.
In the product phase "Engineering", the target group "programmer" can
execute the activities "parameterizing, programming and configuring" using
this documentation.
Product
phases

Selection

Mounting

(assembly/installation)

Presales
Design engineer

Programmer

Engineering

Operation

Decommissioning

Aftersales
Mechanic/
electrician)

Programmer
Commissioning engineer

Technologist
Target
groups

Commissioning

Technologist

Process
specialist

Process specialist
Machine
operator

Activities

Fig.1-1:

1.2

To select
To prepare
To design
To construct

To unpack
To mount
To install

To parameterize

To program
To configure
To simulate

To optimize
To test

Maintenance
technician

Mechanic/
electrician

Service

Disposal company

To operate
To maintain
To remove
faults

Assigning this documentation to the target groups, product phases

and target group activities

IndraDrive firmware documentation

Parameter Description

Notes on Troubleshooting Guide (Diagnostics Description)

DOK-INDRV*-GEN-**VRS**-PA**-EN-P
DOK-INDRV*-GEN-**VRS**-WA**-EN-P
Functional Description
DOK-INDRV*-MP*-**VRS**-FK**-EN-P

Application Manual
DOK-INDRV*-MLD-**VRS**-AW**-EN-P

Integrated safety technology

DOK-INDRV*-SI*-**VRS**-FK**-EN-P

Hardware documentation (Project Planning Manual)

Supply units and power sections IndraDrive

DOK-INDRV*-HMV-S-D+HCS-PR02-EN-P

Control unit
DOK-INDRV*-CSH********-PR**-EN-P

To dispose

To create
the NC program

Related Documentation

To dismount

Supply unit IndraDrive M

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

About this Documentation

DOK-INDRV*-HMV-*******-PR**-EN-P

Small operating terminal VCP 08.2

DOK-SUPPL*-VCP*08.2***-PR**-EN-P

Rexroth Inline Block IO for SERCOS III With Digital Inputs and Outputs
DOK-CONTRL-S3DI16DIO16-KB01-EN-P

Rexroth Inline Block IO for SERCOS III With Analog Inputs and Outputs
DOK-CONTRL-S3AI4AO2***-KB01-EN-P

1.3

Information Representation

1.3.1

Safety Instructions
If there are safety instructions, they contain certain signal words (Danger,
Warning, Caution, Notice) and if applicable, signal alert symbols (acc. to
ANSI Z535.6-2006).
The signal word draws the attention to the safety instruction and indicates the
risk potential.
The signal alert symbol (warning triangle with exclamation mark) positioned
in front of the signal words Danger, Warning and Caution indicates hazards
for individuals.

DANGER
In case of non-compliance with this safety instruction, death or serious injury
will occur.

WARNING
In case of non-compliance with this safety instruction, death or serious injury
can occur.

CAUTION
In case of non-compliance with this safety instruction, minor or moderate in
jury can occur.

NOTICE
In case of non-compliance with this safety instruction, material or property
damage can occur.

1.3.2

Symbols Used
Note

Notes are represented as follows:

This is a note for the user.

Tip

Tips are represented as follows:

This is a tip for the user.

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About this Documentation

1.3.3

Names and Abbreviations

Term

Explanation

Zeroed

Set value to 0

IL

Instruction list

CANopen

Field bus

DeviceNet

Field bus

Ethernet

Communication interface

FB

Function block

FBD

Function block diagram

IWE

IndraWorks Engineering

CA

Criteria analysis

LD

Ladder diagram

MMC

Multimedia card

NC

Numerical Control

OEM

Original Equipment Manufacturer

POU

Program organization unit

PROFIBUS-DP

Field bus

sercos

Field bus

SFC

Sequential function charts

ST

Structured text

LCR

Link result

Fig.1-2:

Terms and abbreviations used

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System Presentation

System Presentation

2.1

Introduction
The "Sequential Motion Control" (SMC) is a modular 6-axis control which can
be combined with maintenance-free, highly dynamic Rexroth AC servo drives
to provide a powerful and economically efficient drive and control system. In
addition, the system uses the IndraDrive family featuring Safety-on-Board.
Therefore, the system meets the current safety requirements for digital servo
drives specified in the following new standards:

IEC 61508:2001

ISO 13849-1:2006

IEC 62061:2005 and

IEC 61800-5-2:2007.

Typical fields of application:

2.2

Feed axes

Synchronous separators

Linear and XY gantries

Packaging machines

Thermoforming machines

Handling devices

Automatic bending machines

Woodworking machines

System Overview
The SMC is a system solution which is based on "IndraDrive MLD" with up to
6 axes and is programmed in a block-oriented programming language.
The SMC-Editor is used for programming and allows the user to load and
execute programs in the SMC. The program can be executed blockwise (Sin
gleStep debugging). Flags, variables and states can be monitored.
Parameter input does not require any special programming unit. Production
data can be transferred online via field bus or Ethernet (PC or HMI).
Due to the powerful user program, the SMC is able to handle complicated
processing tasks.

If combined with maintenance-free, highly dynamic Rexroth servo drives, the

SMC helps to

considerably increase productivity through better system availability and

an enhanced feed performance.

The quality can be improved significantly through increment-precise

control of position, velocity and acceleration.

An additional PLC can be avoided in many cases, due to comprehen

sive auxiliary functions and a PLC that complies with IEC 61131.

Programming is based on a practice-oriented language with the help of

the SMC-Editor. PLC skills are not required to program a machine.

The user program can contain up to 3000 block commands which allow
splitting up of complex machine sequences.

Drive and machine data can be adjusted to the required conditions by

entering the necessary parameters (e.g., via the VCP).

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System Presentation

Since drives and measuring encoders are continuously monitored and

the certified safety technology which is integrated in the drives can op
tionally be used, the SMC increases the reliability of the system.

The SMC can be combined with additional drive and I/O modules to
form a compact control and drive package.

Fig.2-1:

2.3

SMC system overview

Technical Data
The SMC provides the following technical data:

Operation modes:

Parameter mode

Manual mode

Automatic mode
Special operation modes:

Single Step

Setup mode
Control details:

Support of up to 6 axes (digital and analog drive technology)

Support of up to 4 "sercos III" I/O modules one of which can be a

"sercos III" analog I/O module

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System Presentation

Up to 246 digital inputs

Up to 218 digital outputs

Support of up to 2 external SSI encoders

Units can be defined in mm, inches and degrees

Incremental or absolute positions programmable

Velocity can be selected in % of the maximum velocity

Maximum system and setup velocities can be programmed via parame

ters

Feed velocity programmable in the user program

2 touch probe inputs per axis, with a reaction time of 4 s

Program data:

User program with up to 3000 blocks

Any number of subroutines, nesting depth down to 16 levels

2000 programmable variables, 1000 remanent (up to SMC12V04: 1200

programmable variables, 200 remanent)

1200 programmable flags, 200 remanent variables

700 system variables

700 system flags

Multitasking with up to 4 automatic tasks and one cyclic task

In addition, the partially open solution provides a programmable logic

task (according to IEC 61131-3).
PLC functions:

IL, LD, FBD, SFC, ST, CFC editors

Programming according to IEC 61131-3

PLCopen libraries
Master communication:

Parallel interface

Profibus

Profinet

Ethernet/IP

EtherCAT

sercos III
Interfaces:

Ethernet

Serial RS232

sercos III
Measuring systems:

Resolver

Linear and rotary sine/cosine encoders (1 Vss)

Linear and rotary incremental encoders

Absolute measuring encoders with SSI format (gray code and binary
code)

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

System Presentation

2.4

Supported Hardware

2.4.1

Control Units
The PLC integrated in the IndraDrive (MLD) is used as control unit. The mas
ter control unit has to be of type "IndraDrive Advanced+" (CSH01.3).
The maximum number of slave control units that can be used is 5.

They may include the following type:

"IndraDrive Advanced" (CSH01.1C)

"IndraDrive Basic Universal" (CSB01.1C)

"IndraDrive Basic Universal double axis" (CSD01.1C) as of 12V06

"IndraDrive Cs Basic Universal" (HCS01.1) as of 12V06

Control units which are configured as SAC (sercos analog converter) are also
supported. See also chapter 7.20 "sercos Analog Converter" on page 412.
If the master control unit is configured as SAC, slot X8 can not be
freely assigned, as an MA1 card has to be plugged in. Thus, mas
ter axis encoders or optional encoders cannot be directly connec
ted to the master control unit. Consequently, the FlyingCutoff can
not be operated with a real encoder.

2.4.2

MD2 Optional Cards

Up to 2 optional cards of type MD2 are supported. These cards feature 16
digital inputs and 16 digital outputs as well as two additional SSI encoder in
terfaces.
MD2 cards are only supported by control units of the type
"Advanced". Up to 2 MD2 optional cards are supported. These
cards can only be used in slaves axes 1 and 2.

2.4.3

MA1 Optional Card

The MA1 optional card is supported in the CCD master. It features 2 analog
inputs and 2 analog outputs that can process 10-V signals.
Full support of the MA1 card is only provided in the CCD master.
In the CCD slaves, MA1 cards can only be used for operation of
the sercos analog converter; however, the remaining analog
channels cannot be freely assigned either.

2.4.4

sercos III I/O Modules

In addition, up to 4 sercos III I/O modules can be connected (one analog
sercos III I/O module).
16 inputs and 16 outputs are provided for each module for digital sercos III
I/O modules. Mixed operations are not supported.

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System Presentation

NOTICE

When switching to parameter mode, the out

puts of the sercos III I/O modules temporarily
change to safe state.

When switching to parameter mode, the outputs of the sercos III I/O modules
temporarily change into safe state, i.e. the outputs are switched to "0V" or
"FALSE". This fact has to be taken into account when configuring the system
in order to avoid dangerous situations.
This behavior does not occur if the system exits the parameter mode.

2.4.5

Visualization Devices
A VCP 08.2 is provided as HMI device for parameterization and operation. It
can be connected to the master control unit via the serial or the Ethernet in
terface.
Programming of SMC programs via the VCP is not supported.
The SMC operation with VCP is explained in detail in chapter 5.2 VCP Oper
ation, page 109..
Other HMI devices can exchange data with the SMC via the symbol file
(OPC).

2.4.6

Communication with an External PLC

The master control unit features an optional card for master communication
with an external PLC.

In addition to the I/Os, the "Profibus" or "Multi-Ethernet" master communica

tion option allows the exchange of the following data with the external PLC:

Y-Parameters

System variables (VS) and programmable variables (VF, VFR)

System flags (MS) and programmable flags (MF, MFR)

A more detailed description of the communication via field bus can be found
under chapter 5.3 Field Bus, page 164.
The "Parallel Interface" master communication option is also sup
ported. This optional card can also be used as a digital I/O exten
sion. Data cannot be exchanged.

2.5

Data Storage
SMC programs and parameter files are stored on the MMC memory card of
the master control unit. Thus, an MMC is mandatory.

The following file types are used:

Source text file with the entire SMC program incl. comments (*.SCS,
"Sequential Motion Control source file")

Compiled binary file of the SMC program (*.SCB, "Sequential Motion

Control binary file")

Backup file with all Y-parameters and single parameter sets (*.SCD,
"Sequential Motion Control data file")

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System Presentation
Since this data can be lost (e.g., defective MMC or loss of MMC),
it is recommended that this data is also stored outside of the con
trol. For example, the data can be stored on an external PC using
a card reader.

The "\User" directory on the supplied MMC additionally provides

the following files and documentation:

Release version of the SMC system solution as a boot proj

ect (Default.prg) with related symbol file (Boot.sdb) for the
visualization on the VCP 08

VCP HMI applications (VCP 08), see also chapter 5.2 "VPC
Control" on page 109 and chapter 10.2 "HMI Extensions"
on page 459

IndraWorks project archive

(Sequential_Motion_Control_12VRS_Template.zip) as parti
ally open solution with integrated library for the variable I/O
connections ("Sequential_Motion_Control_12VRS.lib"), see
also chapter 10.3 "PLC Extensions" on page 459

for the PROFIBUS communication

Device master file (GSD file) of the IndraDrive control

device to configure the master

Sample Siemens S7 project with documentation to con

nect to an S7-300 using cyclic communication

Sample Siemens S7 project with documentation

S7-300 using asynchronous communication (parameter
channel) for reading/writing S-/P-parameters

for the PROFINET communication

Device master file (GSDML file) of the IndraDrive con

trol device to configure the controller

for the EtherCat communication

Device master file (XML file) of the IndraDrive control

device to configure the master

for the Ethernet/IP communication

Device master file (EDS file) of the IndraDrive control

device to configure the master

for the "sercos III" communication

Device master file (XML file) of the IndraDrive control

device to configure the master

Functional description Sequential Motion Control 12VRS

Release Notes
All required master axis parameters are stored on the MMC.

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System Presentation

Fig.2-2:

Multi Media Card (MMC)

A PC can read data from and write data to the MMC by means of a card
reader.
The MMC can be safely removed only if the system is not con
nected.
The MMC has the following folder structure and contains the following data:
The "Documentation" and "User" folders can be used to store ad
ditional data. Since it contains filed system data, the folder struc
ture of the memory card should not be changed.
The following table describes the content of the individual folders provided on
the MMC:
Folder

Content

Documentation

Unused folder

Firmware

Drive firmware (MPC) for the master axis

Parameter

System parameters, drive parameters and non-volatile data

PLC

PLC boot project and SMC symbol file

User

Root directory for user data

...\Documentation

Contains the documentation, the release notes and other related docu
ments

...\Documentation\DE

Contains the German version of the user documentation

...\Documentation\EN

Contains the English version of the user documentation

...\Documentation\SupportDocs

Contains additional documentations, such as diagnostic texts and a pre

printed VCP key labels

...\Examples

Contains sample programs

...\Fieldbus

Contains device description files and examples for the supported field
buses

...\Fieldbus\EtherCat

Device master file (XML file) of the IndraDrive control device

...\Fieldbus\EthernetIP

Device master file (EDS file) of the IndraDrive control device

...\Fieldbus\Profibus

Device master file (GSD file) of the IndraDrive control device

...\Fieldbus\Profibus\Examples

Sample S7 projects with documentation

...\Fieldbus\ProfiNet

Device master file (GSDML file) of the IndraDrive control device

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System Presentation
Folder

Content

...\Fieldbus\Sercos3

Device master file (XML file) of the IndraDrive control device

...\IndraWorks_Projects

IndraWorks project archive with complete PLC project

...\Saveset_org

This folder contains a backup copy of the contents of the "Parameter"

and "PLC" folders (as shipped).

...\Saveset_org\Parameter

Original parameters and non-volatile data

...\Saveset_org\Plc

Original PLC boot project and symbol file

Contains installation files

...\Setup

SMC-EditorSetupxxVyy.exe (SMC-Editor)

...\SMC_VCP

Compiled VCP HMI projects

...\SMC_VCP\Ethernet\TSvisRT

Compiled VCP 08 project for communication via Ethernet

...\SMC_VCP\Serial\TSvisRT

Compiled VCP 08 project for communication via the serial interface

...\Update

Required for the execution of the function "Restore device data" and
"Backup device data" of the SMC-Editor. The backup files for the Y-pa
rameters ("Y_Parameter_bak.scp") and the flags/variables ("M_V_Da
ta_bak.scd") are saved and read out in this directory. As of SMC12V06.

...\Update\Axis1

Required for the execution of the function "Restore Device Data" of the
SMC-Editor for restoring the PLC retain data ("Retain_MLD1.par"). As of
SMC12V06.

Fig.2-3:

MMC folder structure and content

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Important Instructions for Use

Important Instructions for Use

3.1

Intended Use

3.1.1

Introduction
All Bosch Rexroth controls and drives are developed and tested in accord
ance with the state of the art.
As it is however impossible to follow up the ongoing development of all mate
rials with which our controls and drives may come into contact (e.g. lubricants
at machine tools), reactions with the materials used in our systems cannot be
generally excluded.
For this reason, before using new lubricants, cleaning agents etc., it has to be
ensured that they are compatible with the materials of our housings and devi
ces.
The products may only be used in the proper manner. If they are not used as
intended, situations may arise that can lead to personal injury or damage to
property.
Bosch Rexroth, as the manufacturer of the products, will not as
sume any warranty, liability or payment of damages in case of
damage resulting from a non-intended use of the products. If he
fails to use the products as intended, the user will be solely re
sponsible for any resulting risks.
Before using the Bosch Rexroth products, the following prerequisites must be
fulfilled to ensure that they are used as intended:

3.1.2

Any person who in any way whatsoever is involved in handling our prod
ucts must read and understand the corresponding safety instructions
and the notes on intended use.

To the extent that the products are hardware elements, they must be left
in their original state; i.e. no structural modifications must be carried out.
Software products must not be decompiled and the source codes must
not be modified.

Damaged or defective products must neither be installed nor be put into

operation.

It must be guaranteed that the products are installed according to the in

structions mentioned in the documentation.

Scope of Use and Application

Bosch Rexroth drive controllers are intended to control electrical motors and
monitor their operation.
To control and monitor the motor, it may be necessary to connect additional
sensors and actuators.
The drive controllers must only be used with the accessories and
mounting parts listed in this Documentation. Components that are
not expressly mentioned must neither be attached nor connected.
The same is valid for cables and lines.

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Important Instructions for Use

The operation must only be carried out with the component con
figurations and combinations that were expressly mentioned and
with the software and firmware indicated and specified in the re
spective functional description.
Before commissioning, every drive controller must be programmed to ensure
that the motor executes the appropriate functions for the application.
The drive controllers have been developed for use in single and multi-axes
drive and control tasks.
To allow for application-specific requirements in the drive controllers, our
product range comprises various device types with different drive powers and
interfaces.
The drive controller must be operated only in the mounting and installation
conditions, the position, and the ambient conditions (temperature, degree of
protection, moisture, EMC, etc.) specified in this Documentation.

3.2

Improper Use
Use of the drive controllers in applications other than those specified or de
scribed in the documentation and technical data is considered as "improper".
Drive controllers must not be used if they

are exposed to operating conditions which do not correspond to the

specified ambient conditions. Operation under water, under extreme
temperature fluctuations or extreme maximal temperatures etc. is pro
hibited.

Furthermore, the drive controllers must not be used in any applications

not expressly approved by Bosch Rexroth. For this, please read the
statements given in the general safety instructions!

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Setting up and Commissioning the System

Setting up and Commissioning the System

4.1

Prerequisites
This chapter briefly describes the steps required for successfully starting the
first SMC program. For detailed information, please refer to the correspond
ing chapters.

Commissioning requires the following hardware components:

Drive controller with MMC for the master axis:

"IndraDrive Advanced+" (CSH01.3C)

Drive controller for the slave axes (optional with MMC):

"IndraDrive Advanced" (CSH01.1C)

"IndraDrive Basic Universal" (CSB01.1C)

"IndraDrive Basic Universal double axis" (CSD01.1C)

"IndraDrive Cs Basic Universal" (HCS01.1)

IBM-compatible PC

Ethernet connection between PC and IndraDrive

Commissioning requires the following software components:

Drive firmware or higher for the master axis:

MPC08V04 (FWA-INDRV*-MPC-08VRS-D5-1-ALL-MA)

Drive firmware or higher for the slave axes:

MPH08V04 (FWA-INDRV*-MPH-08VRS-D5-1-SNC-NN)

MPB08V04 (FWA-INDRV*-MPB-08VRS-D5-1-SNC-NN)

MPD08V04 (FWA-INDRV*-MPD-08VRS-D5-1-SNC-NN)

MPB17V08 (FWA-INDRV*-MPB-17VRS-D5-1-SNC-NN)

Engineering system IndraWorks 11V10 or higher

SMC-Editor 05V32 or higher

Drive controllers of type CSH01.2 are not supported.

4.2

Setting up and Commissioning the Drives

4.2.1

General Information
The IndraDrive MLD with MPC firmware (master axis) contains an integrated
motion control with PLC complying with IEC 61131-3.
This section describes the steps required for commissioning the drives ac
cording to specifications.
After completing the first startup, the defined application-specific parameter
values, which also include the production data, must be stored. The stored
parameter values ensure that the drive behavior required for the particular
machine axis can be reproduced (see also chapter 9.7 "Complete System
Backup" on page 455).
The initial state existing after first startup can be restored again by reloading
the stored parameter values.

The application-specific parameter values can be saved as follows:

MMC copy the parameter values by means of a drive command (sep

arately for each drive)

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IndraWorks commissioning tool save the parameter values to an ex

ternal storage device

Control master save the parameter values to the master-side data

carrier (MMC)
The selection of the appropriate drive power unit and the motor
size depends on the dynamic requirements of the application. All
drive settings have to be provided by the user preferably in
IndraWorks.
Ensure that the multimedia card (MMC) is installed in the drive
before powering up the system. The SMC cannot initialize proper
ly without the necessary firmware which is directly read from the
MMC during power up.

4.2.2

Setting up Ethernet Communication

Changing the Network Settings

Commissioning requires an Ethernet connection between the PC and the
master axis. An Ethernet connection can be established for IndraWorks, the
VCP 08 and the SMC-Editor. The SMC-Editor can be used to transmit SMC
programs to the MMC of the drive via a FTP connection.
Ensure that an Ethernet cable connects the Ethernet port X26 of the drive
and the network.

The system is provided with the following network settings by default:

IP address: 192 . 168 . 1 . 1

Subnet mask: 255 . 255 . 255 . 0

Gateway address: 0 . 0 . 0 . 0
When setting up the Ethernet communication on the CCD master,
it must be noted that the engineering interface (X26) and the CCD
interface (X24/X25) must use different sub-networks.
All parameters for the drive network setting can be modified via the display of
the drive in the Easy menu.

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The Easy menu can always be accessed (without being released) by press
ing "Enter"; see the following figures:

Fig.4-1:

Activating the Easy menu

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In the menu Engin. / X26 the Ethernet connection to "Engineering" can be
viewed or configured:

Fig.4-2:

Network settings on the IndraDrive display via the Easy menu

Fig.4-3:

Submenu of "Ethernet"

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Fig.4-4:

Example for setting the IP address for "FKM-Eng." "X22-X23"

The modifications in the IP address only become effective after a

reboot of the drive.

Testing the IP Address

To test the network settings, open a Windows command line and check the
IP address of the drive. Ensure that PC and drive are connected to the same
network.
1. Select Start Run in Windows and enter "cmd" in the run window.
2. Enter the following command into the command line:
ping 192.168.1.1 (use the IP address configured for the drive)

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The following figure shows a successful test data transmission between
PC and drive:

Fig.4-5:

Testing the network settings using the command line

Going Online with the SMC-Editor

The "SMC-EditorSetupxxVyy.exe" installation file for the SMC-Ed
itor resides in the ".\User\Setup" director of the MMC of the mas
ter axis or in the "\AddOns\Tools\SMC-Editor" directory of the
IndraWorks data storage medium. To install the SMC-Editor, copy
the file to the PC and execute the file. Follow the instructions of
the installation wizard.
1. Start the SMC-Editor and configure the IP address of the drive in the
"Manage target systems" dialog under "Target system, IP address".
See also chapter "Target System Toolbar" on page 74.
2. Then click on the "Login" button to establish the connection between the
SMC-Editor and the drive.

Fig.4-6:

4.2.3

Setting the IP address and logging in

Commissioning the Drives with IndraWorks

IndraDrive controllers are commissioned and configured with the
"IndraWorks" commissioning software. This software is purchased in addition
to the SMC application components.
Standard licensing agreements must be strictly adhered to.

Proceed as follows to commission the drives:

1. Start IndraWorks Engineering (Start All Programs Rexroth
IndraWorks Engineering)
2. After having started IndraWorks Engineering, click on "Scan for devices"
to establish the connection to the drive.

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Fig.4-7:

Scanning for devices with IndraWorks

3. The dialog allows you to select the devices and the connection type you
wish the system to scan for.
The device type to be selected must be "IndraDrive".
In the example, the user wishes the system to scan for an IndraDrive
with Ethernet connection, see also chapter 4.2.2 "Setting up Ethernet
Communication" on page 30. The next step of the dialog requires that
the connection settings be configured. Then the system will display the
result of the scan.

Fig.4-8:

Scan for Devices dialog

4. After the scan for devices has been completed, a new project is auto
matically created and opened. The drives can now be parameterized.

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If Project Explorer fails to be opened automatically, you can find it
in the View Project Explorer menu.
The "PM" button allows access to the parameterization level,
which can be exited with the "OM" button.

Fig.4-9:

IndraWorks ready for commissioning the drives

The drives are then commissioned and parameterized in the appropriate

dialogs.

4.3

Commissioning the sercos III Slaves (CCD Configuration)

Additional sercos participants are commissioned via IndraWorks. This re
quires that a project has been opened in IndraWorks and the connection to
the SMC has been established (see chapter 4.2.3 "Commissioning the
Drives with IndraWorks" on page 34).
For hardware supported by the SMC, please refer to chapter 2.4 "Supported
Hardware" on page 22.

To commission additional sercos slaves, proceed as follows:

1. Switch the SMC to parameter mode. To achieve this, either use the "pa
rameter mode" input (see "Parameter mode" on page 219) or click on
the "PM" button in the tool bar of IndraWorks.
On delivery, the "parameter mode" input is assigned to connector
X32, pin 7 of the master axis.
2. Check whether all of the drives to be operated in the sercos ring have
the same version and release. If not, problems may arise during config
uration of the sercos ring.
You can make this check on the display of the particular drive. Click on
the "Enter" button on the display. Click on the "up arrow" button until
"Device Info" is displayed and confirm with "Enter". Now click on the
"down arrow" button until "FW Info" is displayed. The firmware is now
displayed as scrolling text.

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If the versions or releases in the drives differ from each other, the
firmware must be updated, see chapter 4.9 "Instructions for Firm
ware Replacement (Release Update)" on page 52.
3. Connect the new sercos participants to each other and to the sercos
master using a suitable Ethernet cable.
4. Open the "CCD: Basic Settings" dialog by right-clicking the "sercos III
(CCD)" node in the Project Explorer.
Configure the CCD basic settings: Activate the "Cross Communication
Drive active" checkbox and for " Coupling phase at PM/OM of the CCD
master" and the mode for the commanding master to "MLD-M in CCD
master (MLD-M system mode)".
CCD: Basic settings

Fig.4-10:

Configuring the CCD basic settings

The dialog also displays the nodes found in the ring under "Address
found" to the bottom right.
5. Enter the addresses found in the "Axis projecting" and "I/O projecting"
tabs and confirm each address by clicking on the "Apply" button.
The "Topology / Topology monitoring" tab shows the actual and target
addresses of the sercos participants. Topology monitoring can also be
configured.
The sercos addresses of the participants may never exist in the
sercos ring more than once. The sercos addresses of the partici
pants may be changed in the "Topology / Topology monitoring"
tab.
After completed configuration, the communication phase changes to
"P2".
6. The devices found under the sercos node in the Project Explorer are up
dated after the connection has been switched to offline and then to on
line mode again. Thereafter, the devices can be parameterized via the
appropriate dialogs.

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Trouble-shooting

sercos III I/O Modules

If problems arise when exiting the "Parameter" operation mode, we recom

mend proceeding as follows:

Read the documentation on the particular error message.

Check the firmware versions of all drives.

Load the basic parameters on those drives which display an error mes
sage after switching to P4.
The SMC automatically configures the digital sercos III I/O modules on run
ning up. IndraWorks dialogs can be used for diagnostic purposes.
The following IndraWorks dialog is used for configuring the analog sercos III
I/O modules:

Fig.4-11:

Configuring the analog sercos III I/O modules

To open the dialog, double-click on "I/O Configuration" (in the Project Explor
er to the left) and select the desired device (to the upper right). The items that
can be configured are the output range, the conductor, the filter, and the
measuring range. After completed configuration, click the "Apply Configura
tion " button. The SMC automatically configures the PLC output and PLC in
put registers on running up.

4.4

Downloading the VCP Application to the VCP 08.2

To operate the SMC system solution with the VCP 08, the application inter
face must be downloaded to the operating terminal. For the steps required to
download the VCP application via a USB stick, see chapter "Downloading the
VCP Application Using a USB Stick" on page 112 and via Ethernet, see
chapter "Downloading the VCP Application via Ethernet" on page 113.

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4.5

Parameterization
The configuration of S-parameters, P-parameters and Y-parameters can be
adjusted to the specific application. For a detailed description of how to use
the parameters, please refer to chapter 11 "Parameters" on page 495.
A standard configuration of the digital system inputs and outputs
is automatically configured by the SMC during startup (see chap
ter 6.8.7 "Default Configuration Digital System Inputs and Out
puts" on page 227).
If this is not desired, parameter Y010 (see chapter "Y010: Auto
Config I/Os" on page 504) should be set to FALSE. Otherwise,
the system inputs and outputs will be configured to the default
values during each startup.

Y-Parameters

S-/P-parameters

4.6

Y-parameters (system parameters) can be parameterized via

SMC-Editor

the VCP

Field bus
Y-parameters are stored in the non-volatile data memory of the PLC.
S- and P-parameters can be parameterized via

IndraWorks.

SMC-Editor

the VCP

Field bus
S- and P-parameters are stored in the active memory of the controller.
This can be the

memory on the multimedia card (MMC)

the memory in the drive controller

Creating an SMC Program

An SMC program can only be created with the SMC-Editor, page 57,.
The created SMC program or one of the supplied example programs can
then be downloaded to and processed in the MMC of the drive via the SMCEditor.
1. Set up the connection to the master axis in the dialog Manage target
system..., page 74,.
2. Use the appropriate menu item for Login, page 70.
This downloads the current SMC program to the MMC and to the inter
nal processing memory of the SMC.
The SMC should not be in manual mode. The input "nStop" should be
set to TRUE.
3. Click on the "Automatic" button to switch to "Automatic mode" and start
the SMC program with the "Start" input.
The currently processed block number should change.

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Setting up and Commissioning the System

For an overview of the supplied example programs, please refer
to chapter 8 Program Examples, page 419. You can also find
the example programs in the ".\User\Examples" directory of the
MMC of the drive.

4.7

Switching from CLM/FLP to SMC

4.7.1

General Information
This section describes the (most important) differences between SMC and
CLM/FLP and helps users to get a general overview.

NOTICE

Clearing cyclic "errors" causes damage to the

internal memory (flash or MMC)

Cyclic activation of "Clear Error" without correction of the error cause is not
allowed, because it causes damage to the internal memory (flash or MMC)
on the IndraDrive control section (see "F2100 Incorrect access to command
value memory"). The number of write cycles to the internal device memory is
limited. Generation of an error message results in an entry of detailed error
diagnostics into the drive logbook and therefore to access to the internal de
vice memory.

4.7.2

Data Areas
The addressing scheme for the inputs and outputs of the hardware as well as
for flags and variables has been modified.
The defined SMC syntax can be found in the following diagrams and tables:
Inputs and outputs: see chapter 6.7.1 "General Information" on page 213
Flags: see chapter 6.6.1 "General Information" on page 210
Variables: see chapter 6.5.1 "General Information" on page 203

4.7.3

Online Change
Online changes can be made, i.e., it is not possible to change individual com
mand blocks while an SMC program is being processed using an extension
in the PLC part, see chapter 10.3.9 "Loading of SMC Program Blocks (On
line Change) " on page 476.
However, the values of programmable flags and variables can still be
changed at runtime, e.g., by means of the SMC program, with the help of the
SMC-Editor, or via field bus.

4.7.4

Logic Task
Contrary to CLM, a free-running logic task of low priority is no longer availa
ble in addition to the tasks and routines in manual and automatic modes. If
necessary, such a functionality must be programmed by the user in
IndraLogic. This functionality is therefore only available in partially open SMC
projects (see also chapter 10.3 "PLC Extensions" on page 459).

4.7.5

Vectors

General Information
The vectors/vector programs known from the CLM are now called routines.
For example, the manual vector of the CML is now referred to as "manual
routine".

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For a detailed description of the routines available with the SMC and their
use, please refer to chapter 6.2 "Multitasking" on page 193.

Restart
A restart vector/routine is supported in SMC12V04 and higher.

Interrupt
The SMC does not support any interrupt vector or routine.

4.7.6

Command Block

APE, AKP, BIC, CIO, VEO

The new hardware and I/O architecture affects the implementation of the fol
lowing user commands:
APE

Parallel setting with screen (max. 6 bits are queried; 8 bits

in case of CLM)

AKP

Parallel query with screen (max. 6 bits are queried; 8 bits in

case of CLM)

BIC

Branch conditional on bit field value

CIO

Copy bit field

VEO
Velocity override
The use of these commands in the SMC is similar to that in the CLM.

Fundamental features of the commands for the use of I/O data are:
The complete flag area (MS000MS699, MF000MF999, MFR000
MFR199) can still be accessed without any restrictions.

If existing I/O hardware is accessed through these commands , the

maximum usable pin or bit area is automatically defined by the I/O hard
ware addressed.
Permitted areas are:

Inputs:

X31:

"IndraDrive:" Pins 3 - 7

"IndraDrive Cs:" Pins 1 - 8

X32:

"IndraDrive:" Pins 6 - 9

X33:

"IndraDrive double axis:" Pins 1 - 6

X34:

"IndraDrive double axis:" Pins 1 - 5

sercos I/O 14:

Pins 1 16

Parallel interface:
Pins 1 8, 20 27

Option MD2:
Pins 17, 1622, 3132

Field bus (word 16):

Bits 015

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Outputs:

X31:
"Indra Drive Cs": Pin 8

X32:
"IndraDrive": Pins 6 9

sercos I/O 14:

Pins 1 16

Parallel interface:
Pins 1013, 1518, 2829, 3134, 3637

Option MD2:
Pins 8 15, 23 30

Field bus (word 16):

Bits 015

If these commands are used to access non-cohering pin areas of I/O

hardware, the system internally makes an automatic jump to the next
possible pin number. It is therefore possible to copy the complete input/
output image of the parallel interface or of the MD2 option, e.g., via the
CIO command.
Example:

CIO I.A2.MD2.PIN1 MF100 16

All of the 16 inputs of the MD2 are copied to the flag area, starting with
MF100, i.e., pins 17 and pins 1622 and pins 3132.

Possible access errors:

If the commands are used to access the pins or bits beyond the maxi
mum possible pin or bit area, the SMC generates an error.
Example:
CIO I.A2.MD2.PIN16 MF100 16
Error because the pin area is accessed beyond pin 32 (only pins 1622
and pins 3132, i.e., only 9 bits are permitted).

SAC
This command moves the coordinate system or sets it to a specific value.
The changes made with the SAC command take temporary effect.
After a restart or switch to parameter mode, the original coordinate system
will again be effective.
The next block is selected after several cycles.
Difference as compared with the CLM:
In the CLM, the original coordinate system became active even after an error.
The time required for executing the command has also changed.
For a detailed description of the SAC command, please refer to chapter
6.11.61 "SAC Set Absolute Counter" on page 299.

CVT
BCD conversion (decade switch) no longer possible, as was the case with
the CLM.

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For a detailed description of the CVT command, please refer to chapter
6.11.28 "CVT Converting Variable <-> Bit Pattern" on page 268.

Cams
Contrary to the FLP, the master axis start position may exceed the master
axis end position. This is essential for roll feed applications. See also chapter
7.9.4 "Cam Axis" on page 343.

4.7.7

Flying Cutoff

Immediate Cut
The immediate cut function can be activated even during the return motion of
the slide, and not only at the start position. This allows handling of short
parts.

PSI / POI
The SMC provides the SPO user command for moving away the material.
Motion commands (PSI, POI, PSA, POA) are not permitted for the flying axis
as long as an LMx command (e.g., LML) is active.
For a detailed description of the SPO command, please refer to chapter
6.11.65 "SPO Position Offset of Synchronous Axes" on page 304.

Maximum Stroke Routine

The maximum carriage travel vector available with the CLM is now called
maximum stroke routine.

4.8

Service Work

4.8.1

Overview
If the system is still operable, the system is completely backed up
before the device is replaced (see also chapter 9.7 "Complete
System Backup" on page 455).
A controller of the IndraDrive family consists of the "power section" and "con
trol section" components (incl. firmware). The control section can be config
ured with additional components (encoder interface, optional safety technolo
gy module, etc.). In principle, it is always possible to replace one of the two
components (control section or power section) in case of a defect. However,
the control section and the power section are firmly connected to each other
and may only be replaced separately by service technicians assigned by
Bosch Rexroth or by trained users. For this reason, the following sections de
scribe how to replace the complete controller with regard to the safety tech
nology.
The installation and the removal of the complete controller are described in
the project planning manual of the power section.
Applicable only to service technicians assigned by Bosch Rexroth
and appropriately trained users:
The replacement of a defective power section does not require
any special handling because of the integrated safety technology;
i.e., re-commissioning of the safety technology and acceptance
test are not necessary.

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The replacement of a controller in which the controller section is
configured with the starting lockout option ("L2") does not require
any special measures, i.e., additional measures must only be tak
en if the "S2" option is used!
Do not upgrade the firmware version while replacing the controller
because, otherwise, the acceptance test of the safety technology
must be repeated.

While replacing a controller, please note that, on delivery, the safety technol
ogy of the controller is not active:

The status of "P03207, Safety technology password level" is set to

zero, and

"INDRASAVE" is entered in "P-0-3206, Safety technology password".

A controller that has already been in operation and is supplied for
replacement purposes, must be reset to the state as shipped be
fore being used ("deactivate the safety technology").
The following diagram shows the required individual steps:

Fig.4-12:

4.8.2

General controller replacement sequence

Replacing the Controller with Stationary Inserted MMC (Master Axis)

Saving parameter values
1. Switch the drive off and on again.
2. Switch into parameterization mode (PM or P2)
3. Switch into the service menu using the drive display
Access additional displays by pressing both the <Esc> and <Enter>
keys simultaneously and holding them for at least 8 seconds; then press
the <Up> key twice to activate the service menu.

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4. Select "device replace" in the submenu using the <Arrow> buttons and
confirm with <Enter>.
5. Activate the "save Data?" command
The active PLC non-volatile data is copied from the internal memory of
the controller to the MMC inserted in the controller.

Fig.4-13:

Activating the "save Data?" and "restore Data?" commands

while replacing the controller via the control panel

If the device has suffered a total breakdown and it is not possible

to save the PLC non-volatile data before replacing the device, the
parameter values and non-volatile data loaded after first startup
must later be loaded together with the parameter values (see
"Loading parameter values after a total device breakdown" on
page 52)!
6. Disconnect the controller device from the power supply voltage (param
eter values will be automatically saved).
7. Remove the MMC from the controller.

Replace the controller device

1. Switch off the drive voltage. Wait for the discharge of the DC intermedi
ate circuit.

DANGER

Live bus bars (more than 50 V), even if

the power supply voltage is switched off!
Risk of electric shock in case of contact!

Wait for discharge time of the intermediate circuit (L+/L-); before

touching the power rail, verify that the voltage is below 50 V!
2. Replace the defective controller

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Reset the controller device into the operational state

1. Return the machine to the operational state according to the instructions
of the machine manufacturer.

Load firmware and parameter values via MMC

If the firmware and drive parameters are to be transferred to the replacement
controller device via the MMC, ensure that the MMC folder "Firmware" con
tains the firmware required for the drive and that the MMC folder "Parame
ters" contains the parameters backed up before replacing the device.
1. Disconnect the replacement controller device from the control voltage.
2. Insert the MMC into the replacement controller device.
3. Connect the controller to the control voltage again.
4. Based on the "History" of the replacement device, the message "Firm
ware update?" can appear during booting.
Acknowledge this message by pressing <Enter> on the control panel.
The firmware is loaded from the plugged-in MMC into the controller de
vice.
If the "Firmware update?" message is not displayed, start the
firmware update on the display as follows:

"3. Service" "Firmware update" "FWA update"

5. This can be followed by one of the following messages:

"Load new param.?"

"activate new MMC?"

Acknowledge the appropriate message by pressing <Enter> on the

control panel.
The drive parameters are loaded from the MMC to the volatile memory
of the device; if applicable, the following message appears: "Load new
safety?"
Acknowledge this message by pressing <Enter> on the control panel.
The safety technology parameters are loaded from the MMC to the
memory of the optional safety technology module.
After the parameter loading process is completed, the drive waits for fur
ther actions of the control master.
If you wish to activate the safety technology in the replacement
device (according to the replaced device), switch the drive to ope
rating mode (OM) after having loaded the safety technology pa
rameters before switching off the drive!

Set the machine into an operational state

1. Return the machine to the operational state according to the instructions
of the machine manufacturer.
2. Check the drive functions.

Check the safety technology parameters

1. Finally, with the safety technology enabled, check whether the correct
safety technology parameters were loaded for the drive. Thus, check the

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data given in "P-0-3205, Safety technology device identifier" (machine
type, unit, drive for axis/spindle).

Prepare a protocol with the following content and add it to the machine's
safety-relevant documentation:

Drive controller device replaced on (date)

Change counter safety memory (P-0-3201) is on (value)

Operating hour during last memory modification (P-0-3202) is on

(value)

(Date), (Name), (Signature)

4.8.3

Replacing the Controller without Stationary Inserted MMC (Slave Ax

is)
Saving parameter values
If possible, save the parameter values of the drive before replacing the defec
tive device.
If you wish to replace the controller by means of the MMC, ensure that the
"Firmware" folder of the MMC contains the firmware required for the drive
(e.g., FWA-INDRV*-MPH-08V02-D5.IBF).
If you cannot save the parameter values before replacing the de
vice due to a total device breakdown, you can later only load the
parameter values saved on first startup (see "Loading parameter
values after a total device breakdown" on page 52)!
1. Switch the drive off and on again.
2. Switch into parameterization mode (PM or P2).
The parameter values of the defective device are saved via the control
panel of the controller with temporarily inserted MMC ("hot plug").
If the MMC does not remain (permanently) inserted in the device
as stationary MMC, it may be temporarily inserted into and re
moved again from the turned-on device after completion of the
boot phase ("hot plug" and "hot unplug").
3. Change to the service menu
Access additional displays by pressing both the <Esc> and <Enter>
keys simultaneously and holding them for at least 8 seconds; then press
the <Up> key twice to activate the service menu.
4. Select "device replace" in the submenu using the <Arrow> buttons and
confirm with <Enter>.
5. Activate the "save Data?" command
The active parameter values [according to "S-0-0192, IDN-list of all
backup operation data" and "P-0-0195, IDN list of non-volatile data (re
placement of devices)"] and the PLC non-volatile data are copied from
the internal controller memory to an MMC temporarily inserted in the
controller.

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Fig.4-14:

Activating the "save Data?" and "restore Data?" commands

while replacing the controller via the control panel

Replace the controller device

1. Switch off the drive voltage. Wait for the discharge of the DC intermedi
ate circuit.

DANGER

Live bus bars (more than 50 V), even if

the power supply voltage is switched off!
Risk of electric shock in case of contact!

Wait for discharge time of the intermediate circuit (L+/L-); before

touching the power rail, verify that the voltage is below 50 V!
2. Replace the defective controller

Reset the controller device into the operational state

1. Return the machine to the operational state according to the instructions
of the machine manufacturer.

Load firmware and parameter values via MMC

If the firmware and drive parameters are to be transferred to the replacement
controller device via the MMC, ensure that the MMC folder "Firmware" con
tains the firmware required for the drive and that the MMC folder "Parame
ters" contains the parameters backed up before replacing the device.
1. Disconnect the replacement controller device from the control voltage.
2. Insert the MMC into the replacement controller device.
3. Connect the controller to the control voltage again.
4. Based on the "History" of the replacement device, the message "Firm
ware update?" can appear during booting.
Acknowledge this message by pressing <Enter> on the control panel.

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The firmware is loaded from the plugged-in MMC into the controller de
vice.

If the "Firmware update?" message is not displayed, start the

firmware update on the display as follows:

"3. Service" "Firmware update" "FWA update"

This can be followed by one of the following messages:

"Load new param.?"

"Load Par from MMC?"

5. Acknowledge the appropriate message by pressing the <Enter> key
on the control panel.
The drive parameters are loaded from the MMC to the volatile memory
of the device; if applicable, the following message appears: "Load new
safety?"
6. Acknowledge this message by pressing the <Enter> key on the con
trol panel.
The safety technology parameters are loaded from the MMC to the
memory of the optional safety technology module.
7. Switch into parameterization mode (PM or P2).
8. Save the PLC non-volatile data and parameters.
Save the PLC non-volatile data and parameters to the internal nonvolatile memory of the controller by activating the "restore Data?" com
mand via the control panel of the MMC (storage according to parame
ters "S00192, IDN-list of all backup operation data" and "P00195,
IDN list of non-volatile data (replacement of devices)").
After completion of the parameter loading processes, the drive waits for
further actions of the control master.
If you wish to activate the safety technology in the replacement
device (according to the replaced device), switch the drive to ope
rating mode (OM) after having loaded the safety technology pa
rameters before switching off the drive!
9. Switch off the controller.
10. Remove the MMC from the device.
11. Switch the controller back on.
This may be followed by the message "Load new param.?".
12. Acknowledge this message by pressing <Enter> on the control panel.
The drive parameters are now loaded from the non-volatile memory
("Flash") to the volatile memory ("RAM") of the device.
The device will now behave like a device without any inserted MMC.

Set the machine into an operational state

1. Return the machine to the operational state according to the instructions
of the machine manufacturer.
2. Check the drive functions.

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Check the safety technology parameters

1. Finally, with the safety technology enabled, check whether the correct
safety technology parameters were loaded for the drive. Thus, check the
data given in "P-0-3205, Safety technology device identifier" (machine
type, unit, drive for axis/spindle).

Prepare a protocol with the following content and add it to the machine's
safety-relevant documentation:

Drive controller device replaced on (date)

Change counter safety memory (P-0-3201) is on (value)

Operating hour during last memory modification (P-0-3202) is on

(value)

(Date), (Name), (Signature)

4.8.4

Replacing the Controller without MMC (BASIC Slave Axis)

Replacing a controller without MMC is reasonable only if the con
troller is equipped with a BASIC single axis control section.
If the controller is equipped with a different control section and
you follow the steps described below, we cannot ensure that all of
the parameterized functions of the controller are available again
after the controller has been replaced. That is why we recom
mend that you replace such controllers with MMC.

Although the following drive parameters are backed up when the

controller is replaced without MMC, they are not automatically re
stored. If necessary, they must therefore be parameterized after
the parameter values have been loaded:

S-0-0265, Language selection

S-0-0267, Password

S-0-1040, Drive address of master communication

S-0-1350, C6400 reboot command

P-0-3206, Safety technology password

P-0-4021, Baud rate RS-232/485

P-0-4022, Drive address of serial interface

P-0-4025, Drive address of master communication

P-0-4095, RS-232/485 Parity

Saving parameter values

If possible, save the parameter values of the drive before replacing the defec
tive device.
If you cannot save the parameter values before replacing the de
vice due to a total device breakdown, you can later only load the
parameter values saved on first startup (see "Loading parameter
values after a total device breakdown" on page 52)!
1. Switch the drive off and on again.
2. Switch into parameterization mode (PM or P2).
3. The parameter values of the defective device can be saved via the

"IndraWorks" commissioning tool or the control master:

"IndraWorks" commissioning tool:

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Select the appropriate menu item to save the parameter values ac
cording to list parameters S-0-0192 and P-0-0195 to an external
data carrier (hard disk, floppy disk, or the like) (serial communica
tion with the controller or via the SYSDA/sercos interface).

Control master:
The control master saves the parameter values according to list
parameters S-0-0192 and P-0-0195 to a master-side data carrier.

Replace the controller device

1. Deenergize the drive. Wait for the discharge of the DC intermediate cir
cuit.

DANGER

Live bus bars (more than 50 V), even if

the power supply voltage is switched off!
Risk of electric shock in case of contact!

Wait for discharge time of the intermediate circuit (L+/L-); before

touching the power rail, verify that the voltage is below 50 V!
2. Replace the defective controller.

Reset the controller device into the operational state

1. Return the machine to the operational state according to the instructions
of the machine manufacturer.

Loading the firmware and the parameter values

If the firmware and drive parameters are to be transferred to the replacement
controller, the necessary firmware must be available and the parameter of the
respective axis must be stored.
1. Connect the controller to the control voltage again.
2. Based on the "History" of the replacement device, one of the following
messages may be displayed during booting:

"F2120 MMC: defective, missing, exchange"

Acknowledge this message by pressing <Esc> on the control
panel.

"Load new param.?"

Acknowledge this message by pressing <Enter> on the control
panel.
Select the appropriate menu item in IndraWorks to load the firmware
stored on an external data carrier (hard disk, floppy disk, or the like) to
the controller (serial communication with the controller).
The parameter values can be loaded via the "IndraWorks" commission
ing tool or the control master:

"IndraWorks" commissioning tool

Select the appropriate menu item to load the parameter values
which were saved to an external data carrier (hard disk, floppy
disk, or the like) according to list parameters S-0-0192 and
P-0-0195 immediately prior to device replacement to the controller
(serial communication with the controller or via the SYSDA/sercos
interface). If safety technology is provided, further actions are re
quired (see chapter 4.8.3 "Replacing the Controller without Sta
tionary Inserted MMC (Slave Axis)" on page 47).

Control master:

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The axis-specific parameter values which were saved prior to de
vice replacement can also be loaded via the control master. The
control master loads the parameter values which were saved to a
master-side data carrier (according to list parameters S-0-0192
and P-0-0195) immediately prior to device replacement to the con
troller. If safety technology is provided, further actions are required
(see chapter 4.8.3 "Replacing the Controller without Stationary In
serted MMC (Slave Axis)" on page 47).

Set the machine into an operational state

1. Return the machine to the operational state according to the instructions
of the machine manufacturer.
2. Check the drive functions.

4.8.5

Problems Potentially Occurring during Controller Replacement

The following sections briefly describe critical problems and the steps recom
mended for handling such problems.

Loading parameter values after a

total device breakdown

If it was not possible to save the parameter values according to list parame
ters S-0-0192 and P-0-0195 immediately prior to device replacement (total
device breakdown), the parameter values saved on first startup must be loa
ded.
In case of drives with absolute encoder and modulo format, the
dimensional reference must be re-established after the parameter
values saved on first startup have been loaded, even if the actual
position values are confirmed to be valid via parameter
"S-0-0403, Position feedback value status"!

NOTICE

The parameter values saved on first startup

can be used for restoring the readiness of the
drive subsequent to device replacement to a
limited extent only.

Check the actual position values and the active target position before ena
bling the drive and the PLC retain data (Y-parameters) if necessary!

4.9

Instructions for Firmware Replacement (Release Update)

Drive firmware

Prior to the firmware exchange of the SMC, it has to be checked if the re

quired drive firmware is available on the master axis.

The following points always have to be complied with if the drive firmware
has to be updated:

The firmware may only be replaced by qualified personnel.

Copy the drive firmware required to the "\Firmware" directory of the

MMC.

After switch-on, the drive might display the prompt "Firmware update ?".
Confirm the firmware update with <Enter>.
You can retrieve the current version of the drive firmware on the display of
the IndraDrive by selecting "1. extended display" "1.5 S-0-0030".
The drive firmware release version should be identical on all axes.

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Firmware option - SMC

The following points have to be complied with in the specified order and the
specified actions are to be carried out in order to ensure a successful ex
change of the SMC firmware option:

A device in running order with the following SMC firmware version is re

quired.
FWS-MLDTFA-SMC-12V02-D0 or higher
1. Check the SMC firmware version in parameter "Y047: SMC FW-Ver
sion" (SMC10VRS: Drive parameter P-0-1361).
This verifies that the above requirement is met.
2.

Read the release documentation.

The release documentation can be found, amongst others, on the MMC
of the master axis under the ".\User\Documentation" directory.

3.

Switch to parameter mode.

4.

Backup the entire system.

See also chapter 9.7 "Complete System Backup" on page 455.

5.

Save the drive parameters.

Save all drive parameters (S- and P-parameters) of the master axis and
slave axis to an external data carrier (hard disk, floppy disk, or the like)
via the "IndraWorks Ds/D/MLD" commissioning tool.

6.

Save the PLC retain data (Y-parameter) on the MMC.

via "IndraWorks":
Execute the drive command "C54 Command Save PLC retain data on
MMC" (P-0-4054)
via the "display" of the master axis:
Select "Service" "copy Data" and execute "saveData to MMC".
Make sure you save the Y-parameters additionally using system
command 5 "Save Y-parameters to MMC", see chapter 7.2.8
"System Command 5: Save SMC data to MMC" on page 328.
This is the only option to restore the Y-parameters if the retain da
ta size changes.
If the retain data size changes, these parameters are irretrievably
lost. If necessary, note down the values of the programmable
non-volatile variables and flags (VFR, MFR).
The system command can be started using the SMC-Editor, VCP
or via field bus.

7.

Upload new release.

The MMC can be accessed using FTP or a memory card reader.
The drive has to be disconnected before removing the MMC
when using a memory card reader.
Please ensure that the MMC backup was completed successfully.

Subsequently, delete all directories on the MMC:

all subdirectories in the "\User\.." directory but not the files of the
"\User\.." directory (these files consist of SMC programs, backup
files, language files,..) and the "\Update\.." sub-directory

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8.
9.

Please copy the following data of the new SMC release to the MMC:

from the "\Plc\.." directory, the files "DEFAULT.PRG", "DE

FAULT.CHK" and "BOOT.SDB" (these files contain the PLC boot
project)

all subdirectories in the "\User\.." directory but not the files of the
"\User\.." directory

more user-specific data which is to be copied to the MMC

Switch the drive off and on again.
Switch the drive to parameter mode.
The drive display shows PM or P2.

10.

Upload the backed up PLC retain data (Y-parameters) from the MMC.

via "IndraWorks":
Stop the PLC via the "MLD Configuration " dialog
Execute the drive command "C55 Command Load PLC retain
data from MMC" (P-0-4055)

via the "display" of the master axis:

Select "Service" "copy Data" "loadData from MMC" and
execute "PLC Retain".
If command C55 is completed with an error (e.g. C5503 because the re
tain data size has changed), the Y-parameters must be loaded from the
backup file using system command 4, see chapter 7.2.7 "System Com
mand 4: Load SMC data from MMC" on page 327. In order to be able
to execute system command 4, the PLC has to be in operation and the
drive has to be in parameter mode.

11.

Upload the backed up drive parameters

Load the drive parameter values saved under point 5 (S- and P-parame
ters) to the master axis and slave axes via the "IndraWorks Ds/D/MLD"
commissioning tool.

12.

Switch to operating mode

The system is now in running condition with the new firmware.
If error "Invalid SMC program" (error number "90h") is reported
during loading of the SMC program, the SMC program has to be
recompiled and downloaded again to the control. The SMC-Editor
of the current release has to be used for this operation.
The SMC program is only compiled when the SMC program has
changed. This means that it might be necessary to change the
program to a minor degree (e.g., by adding an NOP command) to
force compilation. Subsequently, this change can be undone.
The current SMC-Editor release is contained in the "\User\Setup
\.." directory of the MMC. Please install the current release of the
SMC-Editor.

13.

Check the functions

Check the functionality of the converted system thoroughly after the
firmware exchange.

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The S/P/Y-parameter values should be identical to the values before the
release update. Check the SMC firmware version in parameter "Y047:
SMC FW-Version" (SMC10VRS: Drive parameter P-0-1361).
The previous version can be restored at any time by deleting the
MMC. Subsequently, the MMLC image backup has to be copied
to the MMC.

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Operation

Operation

5.1

SMC-Editor

5.1.1

Overview
The SMC-Editor serves to create, manage and commission the

Sequential Motion Control and

IndraMotion for Handling programs

The application programs are entered and processed with the SMC-Editor.
The programs are compiled to binary format for the interpreter of the target
system prior to transfer to the target system.
After having been activated on the target system with Sequential Motion Con
trol, the desired program can be started, stopped or operated in single-step
mode for debugging purposes.
In addition, the values of predefined variables and flags or of variables and
flags selected during runtime can be displayed and edited.

5.1.2

Runtime Environment
The SMC-Editor requires the following runtime environment:

Microsoft Windows 2000 / Windows XP / Windows 7

Using the SMC-Editor with Windows 7 requires administrator
rights.

5.1.3

Microsoft .NET Framework 2.0

Installation

Easy Installation
Installation of the SMC-Editor can be started by double-clicking the installa
tion file SMC-EditorSetupXXVxx.exe. Finally, the different dialogs of the in
stallation routine have to be followed!

Installation in the Silent Setup (Unattended Installation)

The installation routine of the SMC-Editor supports the installation in silent
mode. With this type of installation, no input is necessary on the part of the
user during the installation. The input necessary in the "easy installation" are
initialized with predefined default values. Installation in silent mode may e.g.
be useful if the installation of the SMC-Editor is to be called in the installation
routine of external programs.
The installation in silent mode can be started by means of the command line
parameter -s or /s.

If the installation is started without more command line parameters, the other
wise necessary information is initialized as follows:

Installation language: German (in the first start, the SMC-Editor starts in
the German version)

Installation directory:

<Windows application directory>\Rexroth\SMC-Editor upon new in

stallation

installation directory selected in advance with update installation

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Installed components:

Example files

Help files
Creation of a desktop link

Using the optional switch -f2 or /f2, a log file can be created for analyzing the
installation success.
Example:
SMC-EditorSetup05V26.exe -s -f2C:\Setup.log
This call starts the installation of the SMC-Editor in silent mode and enters
the installation success in the [ResponseResult] section in the "Setup.log"
file. If the installation is successful, ResultCode = 0 is entered.

5.1.4

Version Dependencies of the SMC-Editor on the System

Sequential Motion Control

The release versions of the SMC-Editor are always downward-compatible to
the firmware version of the Sequential Motion Control 10VRS and 12VRS.
Thus, the previous Sequential Motion Control applications can also be used
with the current SMC-Editor.
The version dependencies of the Sequential Motion Control (SMC) to the
SMC-Editor are described in the following tables.
Sequential Motion Control (SMC)

SMC-Editor

12V06

05V36 or higher release

12V04

05V32 or higher release

12V02

05V26 or higher release

Fig.5-1:

Compatible versions combinations of Sequential Motion Control

12VRS and the SMC-Editor

Sequential Motion Control (SMC)

SMC-Editor

10V12 or higher

05V26 or higher release

10V10

05V24 or higher release

05V24 or higher release

10V08

05V22
05V20

10V06
10V04

05V24 or higher release

05V20
05V24 or higher release
05V18

10V01

05V16

Fig.5-2:

Compatible versions combinations of Sequential Motion Control

10VRS and the SMC-Editor

IndraMotion for Handling

The release versions of the SMC-Editor are always downward-compatible
with the IndraMotion for Handling 02VRS and 12VRS releases. That means

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Operation
that the latest SMC-Editor can also be used for former IndraMotion for Han
dling releases.
The version dependences of IndraMotion for Handling (IM-HA) to the SMCEditor are displayed in the following table.
IndraMotion for Handling Release (IMSMC-Editor
HA)
12V04

05V34 or higher release

12V02

05V30 or higher release

02V09 and later releases of IndraMotion

05V28 or higher release
for Handling 02VRS

Fig.5-3:

5.1.5

Recommended version combinations of SMC-Editor and IndraMotion

for Handling

Source Program Format

Sequential Motion Control

Each program line consists of:
Label(optional)

Command

Parameter (optional)

The individual program line components are separated by tabs or blank

spaces, as shown in the following example:

Fig.5-4:

Program lines, Sequential Motion Control (length program)

Basic program structure of the Sequential Motion Control:

Comments without format:

The apostrophe symbol (" ' ") comments the rest of the line.

A label (jump target) has to begin in the first column.

Label names must begin with a letter or an underline character.

Numbers and special characters may not be used as the first character
of label names.

Names of variables may contain nothing but letters, numbers and under
line character.
The first character must be a letter or an underline character.

A command can only begin starting with the second column.

Independent of the country setting in the operating system, real num

bers (e.g., in parameters) always have to be entered with a point (".") as
a decimal separator.

IndraMotion for Handling

Each program line consists of:
Command

Parameter (optional)

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Operation
The individual program line components are separated by tabs or blank
spaces, as shown in the following example:

Fig.5-5:

Program line, IndraMotion for Handling (test program)

Basic program structure of IndraMotion for Handling:

Comments without format:

The apostrophe symbol (" ' ") comments the rest of the line. Contrary to
the comment command "//", comments containing the apostrophe sym
bol do not have any effect on the binary code. These comments only
serve to comment on the source text.

Names of variables may contain nothing but letters, numbers and under
line character.
The first character must be a letter or an underline character.

Independent of the country setting in the operating system, real num

bers (e.g., in parameters) always have to be entered with a point (".") as
a decimal separator.

Input Window for Variables

Variables can be entered in the input window at the lower edge of the screen.
Symbolic names can be assigned to the individual variables. These names
are stored along with the source text of the program.
Program types are differentiated.
There is one tab each for integer and real variables as well as for inputs, out
puts and points in space in "IndraMotion for Handling" programs:

Fig.5-6:

Input window for variables (variables input window outputs)

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Operation
There is one tab each for flags and variables in the "Sequential Motion Con
trol" programs:

Fig.5-7:

Input window for variables with Sequential Motion Control (variables

input window)

In "IndraMotion for Handling" programs, symbolic names, e.g., for

tool center points, are not applied to the binary code during com
pilation. For this reason, the symbolic names in the PLC has to be
appropriately adjusted to ensure uniform representation in the
SMC-Editor and on the IndraMotion for Handling control panels.

5.1.6

Input Support

Intellisense
After the first character for the command has been entered, a command list is
displayed as a drop-down list, starting with the first character that has been
entered. A command list is also displayed when using the key combination
<Ctrl>+<space key>, starting with the letter "A".

Fig.5-8:

Intellisense, drop-down list

The selected command in the list can be executed using the <Return>,
<Space> or <Tab> key. <Escape> can be used to close the list without apply
ing a value.

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Operation
The user can continue to make entries even if the list is opened. The list will
close automatically once the command input has been completed.
After the command has been applied, a "tool tip" is displayed with the com
mand structure and all required parameters:

Fig.5-9:

Intellisense, tool tip (CPJ Value1 Comparison condition Free Varia

ble)

The current parameter to be entered is displayed in bold print.

The drop-down list contains all defined variables which can be entered here
(of course a constant value or a variable name that has not yet been defined
can be entered here, too).
If there are selection values for certain parameters, then these values are dis
played in the drop-down list.
For jump targets, all jump labels defined in the file are displayed in the list:

Fig.5-10:

Intellisense, drop-down list (CPJ Value1 Comparison condition Val

ue1 < value2)

No lists are displayed for parameters, for which only constant values are per
mitted and for which no selection values are defined.

Symbolic Addressing with Sequential Motion Control

Digital inputs and outputs:

The digital inputs and outputs can also be addressed with the Intellisense
function. This function is provided if a command parameter of the bit type is
expected. Digital inputs and outputs are selected in 4 steps

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Operation

which are described in more detail below.

1. Select the I/O code:
#

Fig.5-11:

2.

Press "." to switch to the HW address selection.

Fig.5-12:

3.

Symbolic addressing, selecting the HW address (I/O Code

AKN Bit Job A6 Axis 6 (Slave 5))

Select the word address in the next step:

Fig.5-13:

4.

Symbolic addressing, selecting the I/O code (I/O Code AKN Bit
Job Q Output)

Symbolic addressing, selecting the word address (I/O Code

AKN Bit Job X32 Connector X32)

... Then select the pin number:

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Operation

Fig.5-14:
Flags:

Symbolic addressing, selecting the pin number (I/O Code AKN

Bit Job Pin7)

Flags are selected in a single step. In addition, it is only necessary to enter

the number of the desired flag.

Automatic Formatting
Upon confirming the entry of the current line by pressing the <Return> key,
this line is automatically formatted.
In general, automatic formatting can be switched off using the Tools Op
tions Display menu or undone using the undo function (<Ctrl>+<Z>).
The menu Edit Format selection or the right mouse button and the context
menu can be used to manually format previously selected lines (irrespective
of the settings made under Options).

5.1.7

Functional Description

File Menu
New... (Ctrl + N)

Creates a new program.

Various different program templates and program types (default or user-de
fined templates) can be selected.
The default template is "Standard.scs".

Open... (Ctrl + O)
Close

Opens the file dialog box to load an existing program file.

Closes the current program file.
If necessary, a query is displayed, asking the user whether the changes
should be saved.

Save (Ctrl + S)
Save as...
Import...

Saves all changes to the current program file.

Saves the current program under another file name.
This function can be used to select a binary handling program (*.HPR) and
import it to the editor.
The symbolic names of the default template (Standard.has) are used for the
variables and points during recompilation to the source format.

Page setup...
Header and footer...

Opens a dialog which can be used to enter print settings such as paper for
mat, page layout and margins.
Opens the dialog for defining the header and footer for printing.
The following placeholders can be inserted here:
$FileName ...

Name of current program file

$FilePath ...

File path of current program file

$FileDate ...

Modification date of current program file

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Operation
$FileTime ...

Modification time of current program file

$PrintDate ...

Print date

$PrintTime ...

Print time

$Page ...

Page number

Fig.5-15:
Print... (Ctrl + P)

Placeholder

Opens the print dialog.

The printer, the pages to be printed, the number of copies, etc. can be set in
this dialog and printing can be started.

Print preview

Recent files
Exit

Opens a preview that shows how a printout of the current document would
look. Settings from the page setup dialog and the selected header and footer
are taken into consideration here.
Quick access to the most recently loaded programs.
Exit the SMC-Editor.

Edit Menu
Undo (Ctrl + Z)

Undoes the most recent change.

Redo (Ctrl + Y)

Recovers the most recently undone change.

Cut (Ctrl + X)

Deletes the currently selected text and copies it to the clipboard.

Copy (Ctrl + C)

Copies the currently selected text to the clipboard.

Paste (Ctrl + V)

Inserts text that was copied to the clipboard at the current cursor position.

Find... (Ctrl + F)

Opens the "Find" dialog to search for a specific text.

Find Next (F3)

Repeats the most recent search.

Replace... (Ctrl + H)

Opens the "Replace" dialog, which can be used to find a specific text and re
place it with another text.

Go To (Ctrl + G)

Opens a dialog which can be used to place the cursor in a specific program
line or a specific program block.

Next error (F4)

Places the cursor in the next error location found in the most recent compiler
run.

Previous error (Shift + F4)

Places the cursor in the previous error location found in the most recent com
piler run.

Format selection
Select all (Ctrl + A)
Font...
Colors...
Monitor variable

All selected program lines are reformatted.

Selects the entire program text.
Opens a dialog to set the font used in the editor.
Opens a dialog to set the colors that are used to highlight commands, key
words, etc. (also refer to the menu "Options / Display " on page 69).
Applicable only to Sequential Motion Control programs and open debugger.
The variable or flag present at the cursor position is included in the list of
watch variables.

View Menu
Parameter Box (Alt + F10)

Opens or closes the window for reading or inputting parameter values (see
also chapter "Parameter Box" on page 86).

Message window (Alt + F11)

Opens or closes a window with the messages of the most recent compiler
run.

Variables window (Alt + F12)

Opens or closes the window for entering variables (see also chapter "Input
Window for Variables" on page 60).

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Operation

Build Menu
Compile program (F11)

Compiles the current program file.

If needed, the most recent program changes are automatically saved first.
Then the compiler is started. After successful completion of the compilation,
the binary program with the extension "*.HPR" (IndraMotion for Handling) or
"*.SCB" (Sequential Motion Control) is saved to the directory which also con
tains the source program.
The message window is opened during the compiling process (see Options:
internal compiler):

Fig.5-16:

Message window ("Build" menu Messages)

Any error messages are displayed here.

You can go directly to the error location in the source text by double clicking
on an error message or via "Edit / Next error (F4), page 65".
In the event of an compilation error, the background color of the message
window turns to light-red. This allows the user to identify that compilation
failed.
Each open source program has its own "logical" message window. As a re
sult, the message window displays the messages of the currently active pro
gram if more programs than one are opened.

Extras Menu
FTP debug output

Opens or closes an output window, in which the current FTP communication

is logged for diagnostic purposes.

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Operation
Options / General

Fig.5-17:

Tools / Options / General

Legend:

User interface language

The user interface language can be selected.
Restart the SMC-Editor to activate the selected language.

Network timeout
The timeout time (for download and PLC connection) can be set.

Poll Time for Watch Variables

The rate at which the watch variables are refreshed can be set.

Load last program on Start-up

This specifies whether the most recently loaded program should auto
matically be reopened upon starting the SMC-Editor.
If a program file is transferred via the command line (e.g., by doubleclicking or via a link), this file has higher priority. In other words, the file
in the command line is opened. In other words, the file in the command
line is opened.

Log PLC handler

It can be helpful to activate the log file of the PLC handler for testing
purposes. This file is called "PLCLog.txt" and is found in the SMC-Editor
program directory. This option will only become effective after the SMCEditor has been restarted.

Use internal compiler

This is used to specify whether compiling is carried out using the inter
nal compiler or using the external console program "SMC-Comp.exe".

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Operation
The internal compiler displays error messages directly in an output win
dow of the editor (see menu: "Message window (Alt + F11)" on page 65
and menu: "Next error (F4) " on page 65).

SMC language version

Applicable only to Sequential Motion Control programs:
The language version specifies the language version which can be inter
preted by the Sequential Motion Control. Every SMC firmware release is
only able to interpret certain language versions. The Release Notes for
the Sequential Motion Control contain an overview of which language
versions can be interpreted by the individual SMC releases. In the in
stallation of the SMC-Editor, all previous language versions of the Se
quential Motion Control are installed. The active language version of the
Sequential Motion Control is determined by the SMC-Editor in the down
load of programs or when changing to the online mode and adjusted ac
cordingly for the editor.

Fig.5-18:

Adjustment of the language version

The language version for offline operation can, however, also be explic
itly set manually. After opening of the option dialog, the currently active
language version in the SMC-Editor is displayed in the "SMC language
version" line.
In the selection box, all installed language versions are displayed in the
drop-down list. Selection of the desired language version and subse
quent confirmation by means of OK activates the selected language ver
sion for the SMC-Editor.

IM-HA language version

Only with IndraMotion for Handling:
The language version specifies the language version which can be inter
preted by the IndraMotion for Handling system. Every IM-HA firmware
release is only able to interpret certain language versions. The Release
Notes for IndraMotion for Handling contain an overview of which lan
guage versions can be interpreted by the individual IM-HA releases. In
the installation of the SMC-Editor, all previous language versions are in
stalled. The active language version is determined by the SMC-Editor in
the download of programs or when changing to the online mode and ad
justed accordingly for the editor.

Fig.5-19:

Adjustment of the language version

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Operation
The language version for offline operation can, however, also be explic
itly set manually. After opening of the option dialog, the currently active
language version in the SMC-Editor is displayed in the "IM-HA language
version" line.
In the selection box, all installed language versions are displayed in the
drop-down list. Selection of the language version and subsequent confir
mation by means of OK activates the selected language version for the
SMC-Editor.
From version 05V30, the compiler outputs the language version in
the message window.
Options / Display

Fig.5-20:

Tools / Options / Display

Legend:

Colors
The font colors used to highlight commands, key words, etc. can be set
here.
In order to achieve good legibility on the screen, the use of dark or
strong colors is recommended.
Click on Default to reset the colors to the default setting.

Tabulator widths
Specifies the tabulator widths of the first and the following columns.

Parameter separator
Specifies whether spaces or tabulators are inserted between the param
eters upon (automatic or manual) formatting of a program line.

Automatic formatting
Tick the box if the currently entered program line is to be formatted auto
matically after pressing Enter.

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Operation

Online Menu
General Information
By means of the online menu, a connection to the target system can be es
tablished. The target systems can be managed, programs can be loaded to
the target systems and files can be copied from the target system to the PC.
Behavior of the online menu differs, depending on the control system used.

The functionality of the online menu is described in the following chapters de

pending on the system:

Sequential Motion Control online menu, page 70

IndraMotion for Handling online menu, page 72

Online Menu Sequential Motion Control

Login (F12)

Establishes a connection to the target system.

If necessary, the program in the active window of the SMC-Editor is first com
piled and stored.
The connection to the target system can only be established (log
in) if the program in the active window of the SMC-Editor can be
compiled without any errors.
If the current source program in the SMC-Editor is different from the active
program on the target system (difference in name or source text), the current
program of the SMC-Editor can be immediately activated upon login. To ach
ieve this, the current program is transmitted to the target system; a program
having the same name, if any is already existing in the target system, is over
written; and, if necessary, the active program on the target system is stop
ped. Subsequently, the debug mode is opened for Sequential Motion Control
programs.
If it is not intended to activate the current program in the SMC-Editor upon
login, only the connection to the target system is established and the debug
ger is opened to display the current status.

Logout (Shift + F12)

Download

Exits the debugger and closes the connection to the target system.
Transfers the current program in the SMC-Editor (binary and source pro
grams) to the set target system. If no compiled binary program exists for the
current program, then a dialog is displayed in which you can initiate the
compiling process. The download process can take some time depending on
the size of the program and the target system's (network) speed. Notes per
taining to the current communication status are displayed in the message
window.
The Tools FTP debug output command can be used to open a window, in
which the current communication is logged for diagnostic purposes.

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Operation
Upload

This function can be used to select any files from the target system and to
upload it to the PC:

Fig.5-21:

Online menu, upload (dialog: program from the target system

"MyMLD(192.168.1.1)")

The upload functions differ depending on the file type selected:

Upload (all file types):

The selected file is uploaded to the directory displayed in the "Upload di
rectory" box.

Upload and open in editor (all file types except Sequential Motion Con
trol (*.SCB) and Handling binary programs (*.HPR)):
The selected file is uploaded to the directory displayed in the "Upload di
rectory" box and is opened in the SMC-Editor.

Upload, decompile and open in editor (only Handling binary programs

(*.HPR files)): See also chapter "IndraMotion for Handling Online Menu"
on page 72.
In addition to the upload function, the toolbar supports the following functions:

Delete (<Del>):
Deletes the file selected from the target system.

Rename (<F2>):
The file selected from the target system can be renamed.

Refresh (<F5>):
The displayed list of the files existing on the target system is updated.

Open upload directory:

The directory displayed in the "Upload directory" box is opened in the
Windows Explorer.

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Operation

Sorting order:
The alphabetical sorting order of the files existing on the target system
is inverted.

Start parameter mode

Starts the parameter mode. The menu item is only visible if the connection to
the target system is active (online mode).

Exit parameter mode

Exits the parameter mode. The menu item is only visible if the connection to
the target system is active (online mode).

Archive device data

Starts the backup of the device data. The device data can only be backed up
if the connection to the target system is active (online mode). Also refer to
chapter "Save/restore device data (only for Sequential Motion Control)" on
page 75.

Restore device data

Starts restoring the device data. The device data can only be restored if the
connection to the target system is active (online mode). Also refer to chapter
"Save/restore device data (only for Sequential Motion Control)" on page 75.

Manage target system...

Opens the target system manager.

Define the target system settings and save them under user-defined (unique)
name.
In addition to the IP address, the user name and password for the FTP login
on the target system can be entered.
Define the directory of the target system to which the programs are to be
saved in the "Download directory" input field.
The radio buttons can be selected to preselect the default values for the tar
get systems.

IndraMotion for Handling Online Menu

Login (F12)

Establishes a connection to the target system.

After successful login and the related connection establishment to the target
system, the parameter box is opened in the SMC-Editor. Here, a direct ac
cess to the Y-parameter of the connected control is now provided.

Logout (Shift + F12)

Closes the connection to the target system. If the parameter box is opened,
the parameter box is switched into the offline mode.

Download

Transfers the current program in the SMC-Editor (binary and source pro
grams) to the set target system. If no compiled binary program exists for the
current program, then a dialog is displayed in which you can initiate the
compiling process. The download process can take some time depending on
the size of the program and the target system's (network) speed. Notes per
taining to the current communication status are displayed in the message
window.
The Tools FTP debug output command can be used to open a window, in
which the current communication is logged for diagnostic purposes.
The program download is accompanied by further checks if
IndraMotion for Handling is used.
See also chapter "Program Download with IndraMotion for Han
dling" on page 83.

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Operation
Upload

This function can be used to select any files from the target system and to
upload it to the PC:

Fig.5-22:

Online menu, upload (dialog: program from the target system

"MyMLD(192.168.1.1)")

The upload functions differ depending on the file type selected:

Upload (all file types):

The selected file is uploaded to the directory displayed in the "Upload di
rectory" box.

Upload and open in editor (all file types except Sequential Motion Con
trol (*.SCB) and Handling binary programs (*.HPR)):
The selected file is uploaded to the directory displayed in the "Upload di
rectory" box and is opened in the SMC-Editor.

Upload, decompile and open in editor (only Handling binary programs

(*.HPR files)):
The selected file is uploaded to the directory displayed in the "Upload di
rectory" box.
Then the binary program is decompiled and opened in the SMC-Editor
as an unnamed source program.
The program can subsequently be saved under a user-defined name.
While a binary program is decompiled, it is not the source pro
gram originally used for compilation that is generated, because
comments of the original source program are not contained in the
compiled binary file.

In addition to the upload function, the toolbar supports the following functions:

Delete (<Del>):

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Operation
Deletes the file selected from the target system.

Rename (<F2>):
The file selected from the target system can be renamed (only possible
with IndraMotion MLD target system!)

Refresh (<F5>):
Refresh the displayed list of the files on the target system.

Open upload directory:

The directory displayed in the "Upload directory" box is opened in the
Windows Explorer.

Sorting order:
The alphabetic sorting order of the files on the target system can be in
verted.

Manage target system...

Opens the target system manager.

Define the target system settings and save them under user-defined (unique)
name.
In addition to the IP address, the user name and password for the FTP login
on the target system can be entered.
Define the directory of the target system to which the programs are to be
saved in the "Download directory" input field.
The radio buttons can be selected to preselect the default values for the tar
get systems.

Target System Toolbar

Sequential Motion Control

Fig.5-23:

Target system toolbar

Target system box

Select the target system. You can use the drop-down list box to easily access
the stored target systems or open the target system manager.

Login button

Establishes a connection to the target system. See also "Login (F12)" on

page 70.

Logout button

Exits the debugger and closes the connection to the target system.

Download button

Transfers the current program (binary and source program) to the set target
system (see also "Download" on page 70).

Upload button

This function can be used to select any files desired from the target system
and to upload it to the PC (see also "Upload" on page 71).

Archive device data

Starts the backup of the device data. The device data can only be backed up
if the connection to the target system is active (online mode). Also refer to
chapter "Save/restore device data (only for Sequential Motion Control)" on
page 75.

Restore device data

Starts the restoration of the device data. The device data can only be re
stored if the connection to the target system is active (online mode). Also re
fer to chapter "Save/restore device data (only for Sequential Motion Control)"
on page 75.

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Operation
PM Button

Starts the parameterization mode. The button is only visible if the connection
to the target system is active (online mode).

OM Button

Ends the parameterization mode. The button is only visible if the connection
to the target system is active (online mode).

Save/restore device data (only for Sequential Motion Control)

General Information
SMC-specific device data can be saved and restored using the following but
tons:

Archive device data

Restore device data

The function allows an existing system to be duplicated. The backed up data

can be saved on your PC and restored to the same or another existing SMC
system if necessary.

System Requirements
At the least the following release versions are required to save or restore the
device data.

SMC-Editor release: 05V36 or later release

SMC firmware release: 12V06 or later release

Device data can only be saved or restored in parameter mode
and with an active connection to the SMC (online mode via the
Login button).
A SMC system ready for execution is always required to restore a
backup file. A backup file cannot be restored without an executa
ble SMC system.
The same number of drives, as on the SMC system on which the
backup was created, must be connected on the master axis on
the SMC system on which the backup file should be restored. If
the number of axes deviate between the backup and restoration
system, the device data cannot be restored.

Archive device data

The device data is saved in a zip compressed file. Click the Save device data
button to select the storage location of the backup file. The name of the
backup file is automatically generated by the SMC-Editor with the date and
time stamp according to the following format:
SMC_Backup_YYYY-MM-DD-hh-mm-ss.zip
Another name other than the recommended name for the backup
file can be used. For example, the backup file can be assigned
any name.

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Operation

Fig.5-24:

Defining file names and the directory for saving device data

Click Save to start saving the device data. The current process status is dis
played in the wizard for the device backup. The device data backup may take
several minutes.

Fig.5-25:

Wizard for saving device data

After the device data backup is started, the following data is first saved on the
MMC of the master axis by the SMC:

Backup of the drive parameters (S- and P-parameters), the PLC retain
data and the PLC boot project. The backup is carried out by starting the
"C6500 Archive device data" drive command. The backup files are cre
ated in the ".\User\Backup\.." directory on the MMC of the master axis.

Backup of the Y-parameters in the "Y_Parameter_bak.scp" parameter

file and the flags and variables of the SMC in the "M_V_Data_bak.scd"
file. The files are saved in the ".\User\Update" directory.

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Operation
The files and directories required for restoring the SMC system are archived
in the zip-compressed backup file on the PC. The following files and directo
ries are saved in the ZIP archive:
Data required for restoring the SMC system
Directory path

Saved files

Saved sub-directories, in
cluding files and sub-direc
tories

.\Plc1)

All

.\User2)

All

\Backup3) + \Update4)

Fig.5-26:

Saved files in the zip-compressed backup file

Typically, the following PLC files are in the ".\Plc" directory:

BOOT.SDB: Symbol file for the PLC boot project

DEFAULT.PRG: PLC boot project

DEFAULT.CHK: Boot project checksum

persist.dat: Flag for persistent variables

1)

Apart from additional user-specific files, the following SMC system files are
in the ".\User" directory:

*.SCS files: All source files of the SMC sequence programs

*.SCB files: All binary files of the SMC sequence programs

*.SCL files: User-specific language files

Prog_Assign.sca: Mapping file of file names and file numbers for system
commands

SCD files: Backup files of SMC data

2)

The ".\User\Backup" directory is created during the execution of the "C6500

Archive device data" drive command and contains the parameter backups of
the drive parameters (S- and P-parameters) required for restoring the SMC
system.
3)

The following data is created in the ".\User\Update" directory:

"Y_Parameter_bak.scp": Backup of all Y-parameters

"M_V_Data_bak.scd": Backup of all variables and flags (MS, MF, MFR,

VS, VF, VFR)

"SMCDriveInfo.dat": Information file that at least contains the required

release versions of the supported drive firmware of the SMC release.
4)

The two files "SMC_Backup.log" and "SMC_BackupInfo.txt" are

also included in the backup file. All actions executed during the
backup are entered along with the time stamp and status (suc
cessful/failed) in the "SMC_Backup.log" file. The "SMC_BackupIn
fo.txt" file contains information on the SMC system on which the
backup was performed. The SMC firmware release, the number
of the operated axes and their firmware release versions are en
tered.

Restore Device Data

to select the storage location of the zip-com
Click Restore Device Data
pressed backup file that you would like to restore.

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Operation

Fig.5-27:

Select the backup file to be restored.

WARNING
When a backup file is restored, all files that are contained in the backup file
are transferred to the MMC of the master axis. Files with the same name that
already exist on the MMC are overwritten in the process.

Fig.5-28:

Confirming data restoration of the backup file

After confirming with Next, an overview is displayed that shows the differen
ces between the current configuration of your SMC system and the configura
tion of the backup file. If differences are detected, one or several warning
icons or error icons are displayed in the overview.

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Operation

The following parameters are compared:

SMC firmware release: If the SMC firmware release of the backup file
differs from the SMC firmware release of the system, the SMC firmware
release of the backup file is restored when the backup file is restored.

Drive firmware:

The drive firmware is not contained in the SMC backup file. If dif
ferences are detected with the drive firmware, the overview dialog
merely indicates this. Various releases of the drive firmware in the
backup file and the SMC system currently operated are each listed.
The different releases of the drive firmware are not updated when
the backup file is restored.

Fig.5-29:

Number of drives: If the number of drives differs, the backup

file cannot be restored. In this case, make sure that there is
the same number of drives on the SMC system on which you
would like to restore the device data as the number of drives
connected to the master axis on the SMC system on which
the backup file was created.

Overview prior to the start of restoring the device data

For each firmware release of the Sequential Motion Control

(SMC), there are specific minimum requirements concerning the
drive firmware releases for the respective drives. When the back
up file is restored, an analysis is performed to determine which
firmware release of the SMC is to be restored. If the drive firm
ware versions of the SMC system currently operated do not meet
the minimum requirements for the SMC firmware release to be re
stored, the restoration process is aborted with an error message.
The error message lists the minimum firmware release versions
required for the drives. In this case, first update the firmware of
the drives before starting to restore the SMC backup file.
After confirming the overview dialog with Finish, the process for restoring the
device data begins. The current process status is displayed in the wizard for
the device restoration. The entire restoration step runs automatically so that
no user entries are required until a confirmation message on the successful
restoration is displayed.

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Operation
After the files are transferred from the backup archive, the master
axis is automatically restarted. The process for restoring the de
vice data is automatically continued after the drive is restarted.

Fig.5-30:

Restarting the master axis

The process for restoring the device data may take several mi
nutes.

IndraMotion for Handling

Fig.5-31:

Target system toolbar

Target system box

Select the desired target system from this box. You can use the drop-down
list box to easily access the stored target systems or open the target system
manager.

Login button

Establishes a connection to the target system (see also "Login (F12)" on

page 72).

Logout button

Closes the connection to the target system.

Download button

Transfers the current program (binary and source program) to the set target
system (see also "Download" on page 72).

Upload button

This function can be used to select any files desired from the target system
and to upload it to the PC (see also "Upload" on page 73).

PM Button

Starts the parameterization mode. The button is only visible if the connection
to the target system is active (online mode).

OM Button

Ends the parameterization mode. The button is only visible if the connection
to the target system is active (online mode).

Reset button

This deletes all pending error, warning and information messages. It also in
terrupts an active program in automatic mode. The system then enters the
RESET state once all axes are stopped.

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Operation
Program compare

The program comparison can be started manually. The opened program is

compared with the program on the control having an identical name. Devia
tions are displayed. Also see the following chapter.

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Operation

Program Download with IndraMotion for Handling

"IndraMotion for Handling" systems automatically make the following addi
tional checks while the program is downloaded:
In a first step, the system checks whether there is already a program having
the current name existing on the target system. If yes, the two programs are
examined. If the program or its (teach) points have been changed on the tar
get system (via the control panels or the PLC) since the last download, this is
detected by the program (the checksum of the program on the target system
is equal to zero).
The program comparison can also be started manually by means of the Pro
gram compare button. See also "Program compare" on page 81.
In this case, a window is opened, in which the differences in the program
header (meta data), the program code and the point coordinates of the two
programs are compared.

Fig.5-32:

Program download with IndraMotion for Handling (dialog: Attention:

Program on target system changed)

Differences (changes) in the point coordinates are highlighted by a different

background color. The window size and the position of the horizontal separa
tion bars can be changed.

The user can overwrite the changes made on the target system with the new
program or

upload the program code and / or

the point coordinates from the target system and apply them to the cur
rent program.
Only comments compiled to the binary code can be identified with
the comment command "//". Comments marked with the apostro
phe symbol do not affect the binary code. These comments only
serve to comment on the source text. For this reason, these com
ments get lost while the program code is uploaded from the target
system to the SMC-Editor.

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Operation

Debug Functions (only for Sequential Motion Control)

General information on debug functions
After the debugger has been opened (login), the name of the current program
in the editor is compared with the name of the loaded program. If the names
are identical, it is no longer possible to make any changes to the current pro
gram (incl. flags and variables) because the program is write-protected. The
background color of the program window turns to gray. In the Run state (pro
gram was started), the current program line is highlighted in the editor win
dow. If the checksum of the program in the editor is identical to that in the
SMC, the current program line is highlighted with a blue bar in the editor. If
the checksums are different (the program in the editor does not correspond to
the program in the SMC), the current program line is only highlighted by blue
borders. Any other programs opened in the editor can still be edited. Once
the debugger is exited (logout), the active program is no longer write-protec
ted.

Fig.5-33:

Debug functions (only for Sequential Motion Control) (dialog: Debug

ger)

The debugger window is separated into two parts.

The left side is for controlling the SMC and provides information pertaining to
its current status.
"Clear Error" button

"Automatic" button

All existing errors (faults) are cleared with a positive edge at the "Clear Error"
input. Errors can be cleared in parameter mode and in operation mode. How
ever, while phase switching is active, e.g., from parameter mode to operation
mode, it is not possible to execute the "Clear Error" function.
The SMC provides three operation modes:
- Parameter mode
- Automatic mode
- Manual mode
The individual operation modes are activated through two system inputs. If
neither the "Parameter mode" input nor the "Automatic mode" input is applied
as operation mode, the SMC is set to manual mode.
If the "Automatic mode" input is applied, the SMC is set to automatic mode.

"Start" button (F8)

If automatic mode is selected, the program is started after a positive edge at

the "Start" input. Program start is only possible if drive enable (cf. "Yx15:
drive enable, In config") is set for all active axes.

"nStop" button

The user program run is stopped immediately if there is no signal at the

"nStop" input any longer.

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Operation
If following a straight line, the motion of the axis is immediately decelerated
with the programmed delay until it comes to a rest. If there still remains a re
sidual distance to be traveled, this distance is stored and will be the first to be
traveled upon restart. There will be no dimensional loss of reference.
Without the "nStop" signal, no jogging and homing motions are possible in
manual mode.
Ongoing jogging and homing motions are stopped immediately.
If the "Flying Cutoff" application type is configured, the removal of the "nStop"
input acts as a cycle stop, i.e., motions that have already been started will be
completed before they are stopped.
"Single Step" button

Upon activation of the single step mode, a positive edge at the "Start" input
always triggers only one command (current command) of the task or routine
selected to be processed.
Once the command is completed, the next command of the task or routine
will not be started before the next positive edge at the "Start" input.
Only one task or routine can be processed at a time in single step mode.
This task or routine can be one of the 4 automatic tasks, the cyclic tasks or
the manual routine or manual cut routine. Processing of the other active tasks
or routines is continued in "normal" cycles. Since this has a considerable ef
fect on the timing sequence, it must be ensured that no unintentional actions
or motions are carried out.
The task or routine for single step mode can be selected with the SMC Editor
in online mode on the debugger window.

"Error" LED

In the event of a failure, this output is immediately switched off.

The error can only be acknowledged
if there is positive edge at the "Clear Error" input,
by pressing the "Clear" key on the VCP 08, or
by clicking the "Clear Error" button on the "Debugger" window of the SMC
Editor.

"Automatic" LED

If the SMC is in the "Automatic" mode, this output is activated.

If a new user program is loaded (e.g., via the SMC Editor) or if a running pro
gram is prematurely terminated (cf. "Abort program"), this output is cleared
and not set again until successful completion.

"Run" LED

This output indicates that a user program is currently processed in an auto

matic task or in the manual routine or manual cut routine. It is set if a start
signal has been given and there is no stop signal. If the program was stopped
(e.g., by the "nStop" signal, by the "JST" command or after switchover to
"Manual" mode), this output is cleared.

Active program

The "Active Program" field displays the program that is loaded. All programs
available on the target system are displayed by extending the list. A new pro
gram can be loaded.

The background color of the program name can have the following states:

Green:
The current program in the editor corresponds to the loaded program.
That means that both the checksum and the name of the current source
program are identical to the checksum and the name of the loaded bina
ry program.

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Operation

Yellow:
The current program in the editor does not correspond to the loaded
program.
That means that either the checksum or the name of the current source
program is not identical to the checksum and the name of the loaded bi
nary program.

Red:
An error occurred while a program was loaded. In this case, "Error" is
always displayed as active program.

Task drop-down list box

The task whose program counter is displayed in the "SetNbr" box and which
can be processed in single step mode can be defined in the task drop-down
list box.

"Auto Scroll" checkbox

If the "Auto Scroll" checkbox is activated, the current program line of the set
task is always scrolled to the visible area. If necessary, the "Auto Scroll"
checkbox can be deactivated to view a different program area.
The right side of the "Debugger" window shows the watch variables. The dis
play is updated automatically each time values are changed.
The context menu ("Add Watch") can be used to apply flags and variables
from the program text or the flag and variable grid to the watch window. The
variables which have thus been dynamically included in the list (not the varia
bles predefined in WatchVars_SCS.ini) can be resorted by drag-and-drop
and edited (e.g., display format) or removed from the context menu.

Parameter Box
General Information
The window for reading or to enter parameter values can be opened via the
menu View Parameter box. The parameter box is used for the commission
ing and for diagnostic purposes of the control system.
The parameter box can be activated for both, the "Sequential Motion Control"
system and for "IndraMotion for Handling".

In the following chapters, the functioning is described in a system-dependent

way:

Sequential Motion Control - Parameter box, page 86

IndraMotion for Handling online menu, page 90

Sequential Motion Control - Parameter Box

General Information
When the Sequential Motion Control program is opened, the parameter box
can be opened in offline and in online mode.
If the connection to the target system is active (online mode), there is direct
access to all Y-parameters of the Sequential Motion Control as well as to all
parameters of the operated drives.
By means of the parameter export, backup of the parameter values in a pa
rameter file (file extension *.scp) can be prepared on the PC. With the import
function, parameter backups can be opened in offline mode and loaded into
the SMC in online mode.

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Operation

Fig.5-34:

Parameter box in online mode

Online Mode
General Information
In online mode, there is direct access to all Y-parameters of the control as
well as to all S- and P-parameters of the operated drives.
By double-clicking on a line in the "Source" column, the potential
parameter sources (System, FlyingCutoff as well as axes operat
ed with the SMC) are displayed in a drop-down list box. In this
drop-down list, the desired parameter source can be selected.

Toolbar
New

Inserts a new blank line in the parameter box.

If a cell or line within the parameter box is highlighted, the new blank line is
inserted below the highlighted line or the highlighted cell. If no line or cell is
highlighted, the new blank line is inserted below the last line in the parameter
box.
After insertion of a new line, system is entered by default in the source col
umn. In the IDN column, the desired parameter ident number can then be en
tered. Also refer to chapter "Entering the Parameter Ident Number - Sequen
tial Motion Control" on page 96.

Deleting

Deletes one or several lines in the parameter box.

If one cell in the parameter box is highlighted, the line with the highlighted cell
is deleted. If several lines are highlighted, all highlighted lines are deleted
(see also chapter "Highlighting Entire Lines" on page 101).
Highlighted lines can be deleted using the <Del> key.

Import parameters

Imports the parameters of a Sequential Motion Control parameter file (file

extension *.scp).
During the import, all parameters contained in a parameter file are loaded in
to the parameter box and displayed.

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Operation
In online mode, before the parameter import, it can be selected whether the
parameter values are also to be loaded into the SMC or the drive parameters.

Fig.5-35:

Optional: parameter value import

Yes: During import, the parameter values are first of all written into the
drive or control parameters. After the import is completed, the parame
ters in the parameter file are displayed in the parameter box and the
current parameter values are read.

No: The parameters in the parameter file are displayed in the parameter
box and the current parameter values are read out.
Many SMC or drive parameters cannot be written as they are ex
clusively created in the control or by the drives and can only be
read out for diagnostic purposes. Consequently, errors may occur
in the parameter import. If one parameter of the parameter file
cannot be written or if other errors occur during the parameter im
port, the plain text error message is displayed in the import dialog
for diagnostics. The parameter values of the parameters for which
an error message is displayed have not been written. The original
parameter value before the import remains preserved.

Fig.5-36:

Display of the error messages upon parameter import in the import di

alog

Many SMC or drive parameters can only be written in parameter

mode. We therefore recommend changing into parameter mode
before importing a parameter backup (see also "PM Button" on
page 75).
Export parameters

Exports the parameters displayed in the parameter box into a Sequential

Motion Control parameter file (file extension *.scp).

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Operation
During parameter export in the online mode, the parameters contained in the
parameter box are read and written into a parameter file. The parameter val
ues are entered sorted by sources ("system", "Flying Cutoff", axis 1-6).
Load system parameters

Loads all relevant Y-parameters.

In online mode, the following Y-parameters are loaded:

All axis-independent Y-parameters (system)

All Flying Cutoff Y-parameters

All axis-dependent Y-parameters of the operated axes

After loading of the Y-parameters in the parameter box, the Y-parameters are
read by the SMC in online mode and the parameter values read out are dis
played in the parameter box.

Offline Mode
General Information
In offline mode, existing parameter backups can be loaded using the parame
ter box and edited. There is no direct access to the parameters of the Se
quential Motion Control or the drives. To save changed parameter values, a
parameter export (backup in a parameter file) is to be carried out.
When changing to the online mode, the current values of the parameters in
the parameter box can be imported. I.e., the parameter values can be written
to the SMC or drive parameters:

Fig.5-37:

Importing the parameter values when changing from offline mode to

online mode

In offline mode, no individual new parameters can be added to the parameter

box. The "Source" and "IDN" columns are write-protected and can therefore
not be edited.

Toolbar
Deleting

Deletes one or several lines in the parameter box.

If one cell in the parameter box is highlighted, the line with the highlighted cell
is deleted. If several lines are marked, all marked lines are deleted (see also
chapter "Highlighting Entire Lines" on page 101).
Highlighted lines can be deleted using the <Del> key.

Import parameters

Imports the parameters of a Sequential Motion Control parameter file (file

extension *.scp).
During the import, all parameters contained in a parameter file are loaded in
to the parameter box and are displayed. The parameter values can be edited
after the import.

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Operation
To save changed parameter values, the parameters in the param
eter box have to be exported to a parameter file. When changing
to the online mode, the current values of the parameters in the
parameter box can be imported to the SMC or the drives. Please
refer to the information about Importing parameters, page 87.
Export parameters

Exports the parameters displayed in the parameter box into a Sequential

Motion Control parameter file (file extension *.scp).
During parameter export in offline mode, the parameters contained in the pa
rameter box are written into a parameter file. The parameter values are en
tered sorted by sources ("system", "Flying Cutoff", axis 1-6).

Load system parameters

Loads all Y-parameters.

In offline mode, the following Y-parameters are loaded:

All axis-independent Y-parameters ("system")

All Flying Cutoff Y-parameters

All axis-dependent Y-parameters of axes 1 to 6.

IndraMotion for Handling - Parameter Box

General Information
When the IndraMotion for Handling program is opened, the parameter box
can be opened in offline and in online mode.
If the connection to the target system is active (online mode), there is direct
access to all Y-parameters of the control.
By means of the parameter export, backup of the parameter values in a pa
rameter file (file extension *.hap) can be prepared on the PC. With the import
function, parameter backups can be opened in offline mode and loaded into
the control in online mode.

Fig.5-38:

Parameter box in online mode

Online Mode
General Information
In online mode, there is direct access to all Y-parameters of the control.
Double-clicking a cell in the "Source" column displays the possi
ble parameter sources ("system", "kinematics") in a drop-down
list. In this drop-down list, the desired parameter source can be
selected. Analogously, the desired axis can be selected in the
"Axis" column.

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Operation

Fig.5-39:

Drop-down list of sources upon double-click

Toolbar
New

Inserts a new blank line in the parameter box.

If a cell or line within the parameter box is highlighted, the new blank line is
inserted below the highlighted line or the highlighted cell. If no line or cell is
highlighted, the new blank line is inserted below the last line in the parameter
box.
After insertion of a new line, "system" is entered by default in the source col
umn. In the IDN column, the desired parameter ident number can then be en
tered. Also refer to chapter "Entering the Parameter Ident Number IndraMotion for Handling" on page 97.

Deleting

Deletes one or several lines in the parameter box.

If one cell in the parameter box is highlighted, the line with the highlighted cell
is deleted. If several lines are marked, all marked lines are deleted (see also
chapter "Highlighting Entire Lines" on page 101).
Highlighted lines can be deleted using the <Del> key.

Import parameters

Export parameters

The parameter import via Importing parameters is not supported in online

mode. For important a parameter backup file, see chapter "Importing a Pa
rameter Backup" on page 94.
Exports the parameters displayed in the parameter box into an
IndraMotion for Handling parameter file (file extension *.hap).
During parameter export in the online mode, the parameters contained in the
parameter box are read and written into a parameter file.

Load system parameters

Loads all relevant Y-parameters.

In online mode, the following Y-parameters are loaded:

All axis-independent Y-parameters (system)

All kinematic-specific Y-parameters (kinematics)

All axis-dependent Y-parameters

Before the initial loading of the Y-parameters in offline mode, the
system should be configured first using the Determine configura
tion button. In the configuration, the number of available kinemat
ics as well as the number of available axes is to be determined.
According to the determined configuration, the Y-parameters of
the activated kinematics and axes are displayed when clicking the
Load system parameters button. Also refer to "Determine configu
ration" on page 92.

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Operation
After loading of the Y-parameters in the parameter box, the Y-parameters of
the control are read in online mode and the parameter values read out are
displayed in the parameter box.
Determine configuration

Specifies the current system configuration.

The button opens a configuration dialog. In this dialog, the number of availa
ble kinematics, axes and the assignment of the axes to the relevant kinemat
ics are defined.
In online mode, the settings in the configuration dialog are directly
applied to the corresponding Y-parameters of the control in case
of confirmation by means of OK.

The following Y-parameters are written or read in the configura

tion dialog:

Y-0-0001: Number of kinematics

Y-0-1001: X-axis available

Y-0-1002: Y-axis available

Y-0-1003: Z-axis available

Y-0-1004: A-axis available

Y-0-1005: B-axis available

Y-0-1006: C-axis available

Y-0-1028: Kinematic name

Click on the Load system parameters button to read the Y-param
eters from the control. According to the configuration read out, the
Y-parameters of the activated kinematics and axes are displayed.
For more information on the configuration dialog, also refer to chapter "Deter
mine the Configuration" on page 94.

Offline Mode
General Information
In offline mode, existing parameter backups can be loaded and edited using
the parameter box. There is no direct access to the control parameters. To
save changed parameter values, a parameter export (backup in a parameter
file) is to be carried out.
When changing to the online mode, the current values of the parameters in
the parameter box can be imported. I.e., the parameter values can be loaded
to the control:

Fig.5-40:

Importing the parameter values when changing from offline mode to

online mode

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In offline mode, no individual new parameters can be added to the parameter
box. The "Source", "Axis" and "IDN" columns are write-protected and can
therefore not be edited.

Toolbar
Deleting

Deletes one or several lines in the parameter box.

If one cell in the parameter box is highlighted, the line with the highlighted cell
is deleted. If several lines are marked, all marked lines are deleted (see also
chapter "Highlighting Entire Lines" on page 101).
Highlighted lines can be deleted using the <Del> key.

Import parameters

Imports the parameters of an IndraMotion for Handling parameter file (file

extension *.hap).
During the import, all parameters contained in a parameter file are loaded in
to the parameter box and displayed. The parameter values can be edited af
ter the import.
To save changed parameter values, the parameters in the param
eter box have to be exported to a parameter file. When changing
to online mode, the current values of the parameters in the pa
rameter box can be imported into the control. Information about
Importing parameters in online mode, page 91 applies.

Export parameters

Exports the parameters displayed in the parameter box into an

IndraMotion for Handling parameter file (file extension *.hap).
During parameter export in offline mode, the parameters contained in the pa
rameter box are written into a parameter file.

Load system parameters

Loads all relevant Y-parameters.

In offline mode, the following Y-parameters are loaded:

All axis-independent Y-parameters (system)

All kinematic-specific Y-parameters (kinematics)

All axis-dependent Y-parameters

Using the Determine configuration button, the system can be con
figured in offline mode. In the configuration, the number of availa
ble kinematics as well as the number of available axes is to be
determined.
According to the determined configuration, the Y-parameters of
the activated kinematics and axes are displayed when clicking the
Load system parameters button. Also refer to "Determine configu
ration" on page 92.
Determine configuration

Specifies the current system configuration.

The button opens a configuration dialog. In this dialog, the number of availa
ble kinematics, axes and the assignment of the axes to the relevant kinemat
ics are already defined in offline condition.

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When clicking on Load system parameters, only the Y-parame
ters of the activated kinematics and axes are displayed which
have been defined by means of the configuration dialog in offline
mode.
For more information on the configuration dialog, also refer to chapter "Deter
mine the Configuration" on page 94.

Importing a Parameter Backup

The parameter backup import (file with file extension *.hap) in the control pa
rameters is currently not supported in online mode. The following procedure
is recommended:
1. Open the parameter box in offline mode
2. Import a parameter backup (file with file extension *.hap) by clicking on
Importing parameters, page 93
3. Change to online mode (login)
4. The following query is displayed in case of an opened parameter box
and change to online mode:

Fig.5-41:

Importing the parameter values when changing from offline

mode to online mode

5. Confirm the safety prompt with "Yes"

6. The parameters can only be imported in parameterization mode. If the
control is in BB, a query is displayed asking the user if he wants to
switch to parameterization mode.

Fig.5-42:

The parameters can only be imported in parameterization mode.

7. After switching to parameterization mode has been completed, the pa

rameter import is started. If errors occur during the parameter import,
the errors are entered in the parameter import dialog.

Determine the Configuration

The dialog can be called in online and in offline mode via the toolbar. It is
used to determine the number of kinematics and axes so that they are known
upon loading of the control parameters and can be directly displayed in the

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parameter box. Apart from that, changes made here are also directly mapped
to relevant Y-parameters.

The following Y-parameters are written or read by the configuration:

Y-0-0001: Number of kinematics

Y-0-1001: X-axis available

Y-0-1002: Y-axis available

Y-0-1003: Z-axis available

Y-0-1004: A-axis available

Y-0-1005: B-axis available

Y-0-1006: C-axis available

Y-0-1028: Kinematic name

In online mode, when the dialog box is opened, the current configuration like
e.g. the number of kinematics and axes and their assignment is first of all
read out from the Y-parameters and displayed accordingly as initial configu
ration upon start.
After operation of the button, the following dialog is displayed:

Fig.5-43:

Determine configuration

Kinematics

The overview field shows all available and already configured kinematics.
Kinematics are added or removed using the corresponding buttons. The
name of the currently selected kinematics is shown in the text field in the top
right corner and can be directly edited.

Add

Kinematics can be added by clicking on Add. A default name is specified ac

cording to the current number of kinematics. This name can, however, be
changed at any time.

Remove

The selected kinematics can be deleted by using Remove.

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Upon removal, the currently selected kinematics is deleted from
the configuration without warning.
Axis configuration

In this area, axes can be assigned to certain kinematics. When ticking the
checkbox, the relevant axis is added to the currently selected kinematics.

Apply/Reject Configuration

The OK button applies and saves the current settings. The configuration dia
log is closed and the completed changes are mapped to the relevant Y-pa
rameters.
The Cancel button rejects the changes and upon opening, the active settings
are reloaded.

General Operating Instructions

Entering the Parameter Ident Number
General Information
In online mode, a new parameter ident number can be entered in the IDN col
umn or the parameter ident number can be changed in an existing line.

Depending on the system used, simplified entry formats are supported for the
parameter ident numbers:

Entering the parameter ident number - Sequential Motion Control, page

96.

Entering the parameter ident number - IndraMotion for Handling, page

97

Entering the Parameter Ident Number - Sequential Motion Control

The following rules apply when entering the parameter ident number:

To typify the parameter, the letters "Y", "S" or "P" are admissible for type
designation.

If the parameter ident number is entered without type designation (with

out "Y", "S" or "P"), the parameter is interpreted as Y-parameter by de
fault and "Y" is prefixed to the ident number.

In the parameter entry of drive parameters, the short form is supported.

For example of parameter "P-0-4025.0.0", the following entries are rec
ognized:

P-0-4025.0.0

P-0-4025

P-4025.0.0

P-4025

P4025.0.0

P4025
With parameters with leading zeros (e.g. "S-0-0001.0.0"), the leading
zeros can be omitted in the entry.

Y-parameters have to be entered in format "YXXX".

Leading zeros can be omitted when entering the parameter ident
number!

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Entering the Parameter Ident Number - IndraMotion for Handling

When entering the parameter ident number of a Y-parameter, simplified en
tries are possible according to the following rules:

With parameters with leading zeros (e.g. "Y-0-0001"), the leading zeros
can be omitted in the entry.

If the parameter ident number is entered without type designation (with

out leading "Y"), the parameter is interpreted as Y-parameter by default
and "Y" is prefixed to the ident number.
For example of parameter "Y-0-0001", the following entries are recognized:

Y-0-0001

Y-0001

Y0001

Y1

Value Entry
When entering parameter values in the "Value" column, there is after the en
try an automatic conversion to the display format necessary for the parame
ter.
Depending on the parameter display format, the following entries are suppor
ted:
Supported formats in the parameter value entry
Display format

Supported entry formats

BOOL

Bool format

Decimal format without decimal places

UDINT (decimal number without sign and
Hexadecimal format
without decimal places)
Binary format
REAL (decimal number with sign and
with decimal places)

Decimal format with decimal places

STRING

Text

DINT (decimal number with sign and

without decimal places)

Decimal format without decimal places

Hexadecimal format
Binary format
Decimal format without decimal places

BIN (binary format)

Hexadecimal format
Binary format
Decimal format without decimal places

HEX (hexadecimal format)

Hexadecimal format
Binary format

Input (only with SMC)

Input

Output (only with SMC)

Output

Parameter ident number (only with SMC) Parameter ident number format

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Entry formats:

Boolean format:
The following inputs are possible:

"TRUE", "TRU", "TR", "T", "1"

"FALSE", "FALS", "FAL", "FA", "F", "0"

Decimal format without decimal places:

The following characters are permissible:

"+", "-"

Numbers from 0 - 9

Decimal format with decimal places:

The following characters are permissible:

"+" and "-" to determine the sign

Numbers from 0 - 9

"." and "," before entry of the decimal places

Hexadecimal format:
To designate the hexadecimal format, the prefix "0x" has to be used.
Apart from that, the following characters are permissible:

Numbers from 0 - 9

"A", "B", "C", "D", "E", "F"

Binary format:
To designate the binary format, the prefix "0b" has to be used.
Apart from that, the following characters are permissible:

The numbers "0" and "1"

The point "." can be used as separator between 4 bit each.

Input / output: (Only with Sequential Motion Control)

With inputs/outputs, the fully qualified name of the input or output has to
be specified as text.

Parameter ident number (Only with Sequential Motion Control):

See also chapter "Entering the Parameter Ident Number - Sequential
Motion Control" on page 96.

Limit Value Verification

When entering parameter values, the entered values are checked for the pa
rameter limit values, if possible.

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If the entered parameter value is outside the parameter limit values, an error
message is displayed in the SMC-Editor status line indicating the current pa
rameter limit values:

Fig.5-44:

Error message in case of limit value exceedance

The limit value is verified in the following cases:

In online mode, the limit values of all parameters are checked.

In offline mode, only the limit values of the Y-parameters are checked
the limit values of which are fixedly determined. I.e. if the parameter limit
value depends on another parameter or its limit value, there is no limit
value verification (for example parameter Yx04 of the SMC).
With drive parameters (S- and P-parameters), there is no limit value ver
ification in offline mode!
When changing from offline mode to online mode, the parameter
values of the parameters in the parameter box can be imported. If
any parameter value entered offline is outside the parameter limit
values, a corresponding error message is displayed in the import
dialog during the import. The original parameter value of the pa
rameter is retained. See also "Import parameters" on page 87.

List parameters
General Information
List parameters are parameters with a variable number of parameter values
of the same data type. The number of parameter values (elements) of a list
parameter results from the current list length. The individual elements of a list
parameter can be referenced by means of the index.

Fig.5-45:

List parameter P-0-1531.0.0

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Only with Sequential Motion Control:
If list parameters are displayed in the parameter box, this has
negative influence on the refresh velocity of the parameter values.
Reasons: The parameter values in the parameter box are read
sequentially from top to bottom. I.e., the more parameters are
contained in the parameter box, the lower is the refresh rate of a
certain parameter value. If a list parameter is in the parameter
box, all elements of the list parameter are always read even if not
all elements of the list parameter are displayed in the parameter
box.
Inserting a new list parameter
If a new list parameter is inserted into the parameter box in online mode, the
value of element 0 of the list parameter is displayed first. The element index
of the list parameter is displayed in the "#" column.
Changing the element index
With list parameters, the element index can be changed in the "#" column. If
the element index is changed in online mode, a new line is automatically in
serted above the edited line. So two lines will be displayed after the element
index has been changed. The top line shows the element with the newly en
tered index. The lower line still contains the original index. So any number of
elements of a list parameter can be displayed.

Parameter export with list parameters

1. Online mode: If a list parameter is exported in online mode, all elements
of the list parameter are exported to the parameter file even if not all ele
ments of the list parameter are displayed in the parameter box.
Only with Sequential Motion Control:
Depending on the list length, the parameter export of a list param
eter in online mode may possibly take several minutes.
2. Offline mode: In offline mode only those elements of a list parameter are
known that are displayed in the parameter box. In the parameter export
of a list parameter in offline mode, only the elements displayed in the
parameter box can be exported. For the unknown elements, a blank line
is entered in the parameter file.

Parameter import with list parameters

1. Online mode: If a parameter file with a list parameter is imported in on
line mode, all elements of the list parameter in the parameter file will be
written. If the parameter file to be imported was created by a parameter
export in online mode, the parameter file contains all elements of the list
parameter. Upon creation of the parameter file in offline mode, only the
elements in the parameter file at the time of the parameter export in off
line mode are exported.
After a parameter import with list parameters, the list parameters
always show the element 0 in the parameter box. If more ele
ments are to be displayed, they have to be inserted manually by
changing the index column.
2. Offline mode: If a parameter file with a list parameter is imported in off
line mode, only element 0 of the list parameter in the parameter box will
always be displayed. In offline mode, no other elements of the list pa

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rameter will be imported! When subsequently changing to the online
mode with parameter import, only element 0 of the list parameter will
consequently be imported. I.e. to import all elements of the list parame
ters which are in the parameter file, the parameter import has to be re
peated in online mode.

Highlighting Entire Lines

In the parameter box, one or several entire lines can be marked.
To highlight an entire line, left-click on the line header (see area highlighted in
red):

Fig.5-46:

Highlighting an entire line

Several lines can be highlighted as follows:

Highlighting of several lines with the left mouse button:

To highlight several lines above or below each other, the line

heads of the lines to be highlighted are to be highlighted by keep
ing the left mouse button pressed.

Press <Ctrl> and the left mouse button to highlight several lines by
selection of the line heads (using the mouse).

Highlighting any line using the left mouse button and subsequent high
lighting of the line by means of the keyboard: By pressing <Shift> +
<Down arrow> or <Up arrow> at the same time, several lines above or
below the line highlighted first can be highlighted.
By clicking the topmost left cell (line head of the header) in the
parameter box using the left mouse button, all lines available in
the parameter box are highlighted.

Fig.5-47:

Highlighting all lines in the parameter box

Invalid parameters
Parameters with invalid sources (only in online mode)

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If parameters are contained in the parameter box in online mode that do not
exist on the control, the lines of these parameters are write-protected and are
grayed out.

Fig.5-48:

Lines with invalid parameters are write-protected in online mode and

shown in gray

Depending on the system used, the following sections explain exemplary how
this condition can come about.
Sequential Motion Control

Loading the system parameters in offline mode (see also "Load system pa
rameters" on page 90) loads the axis-dependent Y-parameters of all suppor
ted axes (axis 1 to 6) in the parameter box. If, however, the SMC actually op
erates fewer axes, the parameters of axes which are not operated are writeprotected and shown in gray when changing into the online mode. The
graphic above shows the presentation of the parameter if the SMC operates
2 axes. The parameters of the third axis cannot be edited in online mode.

IndraMotion for Handling

In the configuration dialog, the number of kinematics and the assignment of

the axes can be determined. If the system parameters are then loaded, all
relevant Y-parameters are loaded into the parameter box, depending on the
configuration set. If the configuration set offline does not correspond to the
actual configuration on the control, the lines of the parameters which do not
exist are write-protected and shown in gray.
Parameters highlighted in red
In the parameter box, all parameters for which the necessary internal data for
reading/writing this parameter are not available are highlighted in red.
This can e.g. be achieved if a drive parameter (S- or P-parameter) is entered
into the parameter box which does not exist in the drive (only with Sequential
Motion Control):

Fig.5-49:

Parameters highlighted in red

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Error messages
If errors occur while entries are being made in the parameter box, the error
messages are displayed in the status line of the SMC-Editor:

Fig.5-50:

Error message when making entries in the parameter box

Backup / Restoring all Y-Parameters

General Information

The following sections describe the principle for backing up and restoring all
Y-parameters. The procedure is explained, using the example of the "Se
quential Motion Control" system. However, the approach can also be used for
the "IndraMotion for Handling" system.

Backup of all Y-parameters

Backup of all Y-parameters is possible in "online mode" using the parameter

box. For this purpose, all Y-parameters are to be displayed in the parameter
box then be exported to a parameter file. During parameter export, the pa
rameters contained in the parameter box are read and saved to the specified
target directory on the PC under the specified file name. The parameter val
ues are entered into the file sorted by sources ("system", ", Flying Cutoff", ax
es).

We Recommend the Following Procedure for the Backup of all Y-Pa

rameters:
1.

Change to "online mode" via Login.

Fig.5-51:

2.

Show all Y-parameters using Load system parameters. Execution first of

all removes all entries from the parameter box. Subsequently, all Y-pa
rameters are loaded into the parameter box.

Fig.5-52:

3.

Login

Load system parameters

Enable the export via the Y-parameter using Export parameters.

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Fig.5-53:

4.

Export parameters

Enter a file name in the target directory and start the backup via Save:
#

Fig.5-54:

5.

Start backup

Wait until the backup of the Y-parameters is completed. After the Y-pa
rameters have been backed up successfully, the "Export parameters" di
alog box is automatically closed. All Y-parameters are stored under the
specified file name.

Fig.5-55:

Backup active

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Restoration of All Y-Parameters

Restoring all Y-parameters is possible in "online mode" using the parameter

box. For this purpose, the control is to be in parameter mode. During parame
ter import, the parameter values are first of all written into the Y-parameters.
After the import is completed, the Y-parameters in the parameter file are dis
played in the parameter box and the current parameter values are read from
the control.

We Recommend the Following Procedure for the Restoration of all YParameters:

1. Change to "online mode" via Login.

Fig.5-56:

Login

2. Switch SMC-Editor to parameterization mode using PM.

Fig.5-57:

Activating the parameter mode

3. Activate the parameter import using Import parameters.

Fig.5-58:

Import parameters

4. Enter the file name with the Y-parameter backup in the source directory.
Subsequently, start the restoring using the Open button:
#

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Fig.5-59:

Starting the restoration

5. Confirm the parameter import with Yes in the dialog box:

#

Fig.5-60:

Confirming the parameter import

6. Wait until restoring of the Y-parameters is completed. After Y-parame

ters have been restored sucessfully, the "Import..." dialog box is to be
closed.

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Fig.5-61:

Quit restoration

Non-writable Y-parameters are displayed in the "Import..." dialog

box. These Y-parameters are display and diagnostic parameters
which are not relevant for the parameterization.

External Compiler
Apart from the internal compiler, the SMC-Editor also provides an external
compiler. The external compiler is started using the "SMC-Comp.exe" con
sole program. The "SMC-Comp.exe" console program is located in the instal
lation directory of the SMC-Editor.
Use of the external compiler ("SMC-Comp.exe") requires com
plete installation of the SMC-Editor.
After the external compiler has been started, the source text file with the com
plete SMC ("*.SCS") or IM-HA program ("*.HPR") is compiled incl. the com
ments and the binary file with the ending "*.SCB" (Sequential Motion Control)
or "*.HPR" (IndraMotion for Handling) is saved in the same directory as the
source program. The binary file is, however, only created if compilation by the
external compiler was completed without errors. For this purpose, the source
file does not necessarily have to be created using the SMC-Editor.
The created binary file can then be transmitted to the control (SMC or IM-HA)
and loaded as active program.
In case of errors in the compilation, the error messages of the eternal compil
er are directly output in the console. The error output contains the incorrect
set number with line indication as well as a related error message.
The call syntax of the external compiler is:
<Installation path of the SMC-Editor>\smc-comp.exe <File name>
If the external compiler is called without the transfer parameter <File name>,
the current version of the SMC-Editor and a description of the call parameters
are output.
If necessary, the compiler output can also be redirected into a file:
<Installation path of the SMC-Editor>\smc-comp.exe <File name> > <Output
file name>

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Calling the external compiler with
out program file

Fig.5-62:

Calling the external compiler without program file

Fig.5-63:

Calling the external compiler with error-free program file

Fig.5-64:

Calling the external compiler with erroneous program file

Calling the external compiler with

error-free program file

Calling the external compiler with

erroneous program file

Program example:

The following batch file (*.bat) compiling several source files by calling the
batch is used as example of the application of the external compiler. The out
put of the external compiler is redirected to files with the same name as the
source file however with the file extension "*.err". If there is a compilation
error, an error message is output and the batch file can be canceled by
means of <CTRL>+<C>. The call is for example to be effected in the com
mand line with "SMC-Compile *.scs" in order to compile all SMC programs
contained in the directory.

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Example: External Compiler

: 2011-04-05, SMC-Compile.bat
:
: Compiles the SMC and Handling source file(s) at the command line.
: Wildcards are supported.
:
: See *.err files for compile errors.
:
: Adjust compiler path if necessary!
:
FOR %%1 in (%1) DO CALL :DoCompile %%1
@GOTO END
:DoCompile
@ECHO Compiling %1
@C:\Programme\Rexroth\SMC-Editor\SMC-Comp.exe %1>%1.err
@IF Errorlevel 1 GOTO Error
@GOTO END
:Error
@ECHO Error occurred! (To abort compiling press CTRL+C)
@PAUSE
:END

5.1.8

Tips & Tricks

Useful Shortcuts
F6

Toggles the cursor position between the program text and the table editor for
flags and variables at the bottom.

Alt + F6

Toggles between the flag and variable tables (or message window and de
bugger window).

F8

This key can be used to control the Start button when the debugger is activa
ted.

Alt + F10
F11

Opens or closes the window for reading or inputting parameter values.

Compiles the current program file.
If needed, the most recent program changes are automatically saved first.

Alt + F11

Opens or closes a window with the messages of the most recent compiler run
and the program download.

F12

Establishes a connection to the target system and opens the debugger, if

possible.

Shift + F12
Alt + F12
Ctrl + space bar

Exits the debugger and closes the connection to the target system.
Opens or closes the "Variables" window.
Activates the Intellisense input in the program text.
This opens a list containing the commands or command parameters available
at the current position.

5.2

VPC Control

5.2.1

General
The IndraControl VCP 08 is a compact operator terminal for operating and
monitoring the "Sequential Motion Control" (SMC).
The display has a resolution of 320 x 240 pixels. It displays the status of the
system along with diagnostic messages in plain text. The keyboard includes
all keys required for data input (parameters, variables, flags, etc.) and for
controlling the system (switch-over of operation modes, start, stop, etc.). The
LEDs of the different keys indicate the current status and the selected opera
tion mode to the user.

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The SMC screens are supported in German, English and French.

Fig.5-65:

VCP 08 operator terminal (IndraControl VCP 08 operator terminal

main screen)

Password protection
The VCP 08 is provided with a three-level password management system.
The password management system can be used to protect the VCP 08
screens. Refer to "Password screen" on page 161 for details.

5.2.2

Setting up and Commissioning the VCP 08

Overview
Each SMC is delivered with a multimedia card (MMC) that contains the SMC
application and all necessary device, firmware and system parameters.
The VCP application must be transferred to the VCP 08.

This can be performed using any of the following procedures:

USB stick

FTP connection over Ethernet

This chapter deals with the steps required for configuring, initializing and
starting the VCP application.

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Operation

The following hardware and software tools are required before proceeding
with system setup and commissioning:

PC and a multimedia card reader,

a USB stick, or

an Ethernet cable.

Communication between VCP and Master Axis

The VCP 08 exchanges data with the master axis via a serial connection or
via Ethernet. For a list of supported cables, please refer to chapter Ordering
information, page 121.
The required files are provided for both Ethernet and serial communication
between the VCP and the master axis.

These files are contained in the MMC card under the following two directo
ries:

User\SMC_VCP\Ethernet\TSvisRT

User\SMC_VCP\Serial\TSvisRT
The following files are contained in each "TSvisRT" directory:
1. Project file:
SMC_12Vxx_VCP08_12Vxx.cb
2. HMI configuration file (for Ethernet communication only):
HMI.Config.xml
3. INI file
TSvisRT_CE.INI
4. Protocol driver:
spst30xx.xxx.DLL
5. Runtime file:
TSvisRT_CE.exe
The files for serial communication cannot be used for Ethernet
communication and vice versa.
Serial communication files

The files for serial communication can simply be downloaded to the VCP us
ing one of the methods described in this section. Refer to chapter "Download
ing the VCP Application Using a USB Stick" on page 112 or chapter "Down
loading the VCP Application via Ethernet" on page 113 for details.

Ethernet communication files

Unlike the files for serial communication, the directory for Ethernet communi
cation contains an additional file named "HMI.Config.xml".
The "HMI.Config.xml" file contains the IP address of the master axis. Using a
text editor program such as Microsoft Notepad, open the file and modify
the IP address to match the current IP address of the master axis. Save the
file and download it for Ethernet communication using one of the methods de
scribed in this section. Refer to chapter "Downloading the VCP Application
Using a USB Stick" on page 112 or chapter "Downloading the VCP Applica
tion via Ethernet" on page 113 for details.
The default IP address for the master axis at the engineering port
(X25) is 192.168.1.1.

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Operation

VCP Termination Switches

The DIP switches (S1S4) on the rear of the VCP must all be set to the OFF
position to ensure serial communication between the VCP and the SMC. The
position of the ON and OFF switch positions is printed next to the DIP
switches.

Fig.5-66:

VCP termination DIP switches

Downloading the VCP Application Using a USB Stick

Copying the HMI application to a USB stick
The files to be copied to the USB stick are residing in the ".\User\VCP" direc
tory of the MMC.
1. Connect both the media card reader and USB stick to the PC.
2. Open the contents of the MMC using the Windows Explorer.
3. Expand the User and SMC_12Vxx_VCP folders.
4. Copy the TSvisRT folder to the root directory of the USB stick.
Do not rename the TSvisRT folder or its contents.

Transferring the VCP Application to the VCP

Proceed as follows to transfer the SMC screens to the VCP:
1. With power removed from the VCP, insert the USB stick in one of the
USB ports located on the rear of the VCP.
2. Connect the VCP to the external power supply according to its power re
quirements.
3. As soon as the initial screen disappears during booting, press the <En
ter> (

) key once.

The following figure shows the VCP 08 bootup firmware version 1.60. The
options supported in each screen may vary depending on the current version
of the bootup firmware installed in the VCP.
The screens are displayed one after the other.
No additional navigation is required in any of the screens. The <Enter> key is
used to advance from screen to screen.

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Operation
The essential options are already selected by default:

Fig.5-67:

Downloading the VCP application using a USB stick

A USB mouse can be connected to the VCP allowing the selec

tion of options from the screens.
Once the files are completely uploaded, the VCP 08 is automatically powered
up once again. The USB stick can now be removed.

Downloading the VCP Application via Ethernet

General Information
Since the Sequential Motion Control system is accessed through the screens
of the VCP 08 HMI interface, the SMC screens used for configuring the sys
tem must be downloaded to the VCP 08.
The SMC screens are downloaded using an FTP application via an Ethernet
connection. The connection for the Ethernet communication is made either
with an Ethernet cross-link cable or, if an Ethernet switch is available, with a
standard Ethernet cable.
The Bosch Rexroth Ethernet cross-link (RKB0007) or Ethernet
standard (RKB0008) cable can be purchased. Refer to chapter
"Ordering information" on page 121 for order designation.

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Operation

Fig.5-68:

Downloading the application via Ethernet

General notes
The administration and configuration of VCP devices is performed using the
"Launch" software installed in each device. The options that are available are
dependent on the current version installed. This section will describe the op
tions that are available with version V1.60.

The following functions are available via the menu:

Setting IP address, subnet screen and device names

Execution of firmware updates (boot loader, image)

Display of device information like current IP address, MAC address, se

rial number

Storing of settings made in the registry

Follow the steps described below to start the "Launch" software:
1. Turn power on (after having turned if off beforehand, if necessary) to the
VCP according to its power requirements.
2. As soon as the initial screen disappears during booting, press the <En
ter> key
Navigation and operation

once.

Navigating through the different keys of the "Launch" setup main menu can
be performed using the arrow buttons of the VCP 08. The <Enter> key of the
VCP is used to select or accept values within the screens. Numbers and al
phanumerical characters are entered via the keyboard.
A USB keyboard and/or USB mouse can be connected to the de
vice for navigation and operation.

Fig.5-69:

Main menu

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Operation

Instructions for downloading the VCP application

IP configuration of the commissioning PC
The following section of these operating instructions describe the individual
procedures required to transfer the SMC screens to the VCP08. The steps
are to be carried in the order presented.
1. Click Start Run on the commissioning PC.
2. Enter "cmd " in the "Run" window to open a DOS command window.
3. Enter "ipconfig" after the command prompt and press the <Enter> key.
The DOS window then shows the current IP configuration (i.e., the IP ad
dress and the subnet screen):

Fig.5-70:

IP settings for commissioning the PC used (DOS window, IP configu

ration)

Setting the VCP for download

Follow the steps described in this section to select the settings in the VCP.
Switching on the VCP
Opening the Setup Main Menu

Switch on or restart the VCP device to start the initial reboot process.
After the "Launch" dialog appears on the VCP display, press the <Enter> key
to open the "Setup Main Menu" dialog.
The "Launch" dialog is displayed for about 2 seconds only after
switch-on. During this time period, the <Enter> key must be
pressed or the VCP will continue the normal boot-up procedure.

Fig.5-71:
Opening the "Network" dialog

"Launch" dialog

Using the arrow keys, go to the "Network" button in the "Setup Main Menu"
dialog and press the <Enter> key.

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Fig.5-72:
Opening the "Fix Settings" dialog

Using the arrow keys, go to the "Fix Settings" button on the "IP Settings" dia
log and press the <Enter> key.

Fig.5-73:
Opening the IP Address dialog

Main menu

"Network" dialog

Using the arrow keys, go to the "IP Address" button on the "Fix Settings" dia
log and press the <Enter> key.

Fig.5-74:

"Fix settings" dialog

A password dialog window is displayed:

Fig.5-75:

Password dialog

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Operation
Enter "+ - + -" as the password and confirm the dialog with the <Enter> key.
The next window that is displayed is the window for entering the IP address
and the subnet screen.
Assigning the IP address and the
subnet screen

Enter the IP address for the VCP in the IP input field of the "IP/Subnet" dia
log.

Fig.5-76:

"IP address" dialog

If an Ethernet cross-link cable is used, you can enter an IP address

which differs by one from the IP address of the commissioning PC. Re
fer to chapter "IP configuration of the commissioning PC" on page 115
for details.
Example:
IP address of the VCP: 192.168.1.2
IP address of the PC: 192.168.1.3

If a standard Ethernet cable (connection via switch) is used, any availa

ble IP address on the network can be entered for the VCP.

In the "Subnet" input field, enter the subnet screen for the network of the PC.
After entering the IP address and the subnet screen, navigate to the "OK"
button using the arrow keys and close the window with the <Enter> key.
Returning to the "Setup Main
Menu" dialog

Navigate to the "Home" button using the arrow keys and press the <Enter>
key. Repeat this process until the "Setup Main Menu" dialog reappears.

Exiting the "Setup Main Menu" di

alog

Navigate to the "Exit" button using the arrow keys and press the <Enter> key
to exit the dialog.

Fig.5-77:

Exiting setup window

Thereafter, the window for saving the modifications made to the registry ap
pears. Confirm this window with the <Enter> key. The VCP will then be re
started automatically.
The IP configuration entered for the VCP becomes active after
the device is rebooted.

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Operation

Fig.5-78:
Switching the VCP off and on
again

"Save Registry" dialog

Switch the VCP off and on again so that the new IP address and subnet
screen settings take effect.

Copying the application files to the VCP via an FTP connection

The application user interface can only be downloaded after an FTP connec
tion to the VCP has been established. The Windows Explorer or an FTP cli
ent software can be used to establish an FTP connection to the device. If the
Windows Explorer is used, the IP address configured in the VCP (e.g., "ftp://
192.168.1.2") has to be entered in the Address input field.
In order to ensure that an FTP connection can be established via
the Windows Explorer, the option Activate folder view for FTP
sites must be selected in the Internet Options dialog on the "Ex
tended" tab. The "Internet Options" dialog can be accessed via
Start - Settings - Control Panel - Internet Options.

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Operation

Fig.5-79:

Internet options (dialog: Internet options - Advanced)

If the connection was successful, the flash contents of the VCP are displayed
in the Explorer window. The TSvisRT folder contains the relevant files.
The example below shows the contains of the Ethernet communi
cation files. Also refer to chapter "Communication between VCP
and Master Axis" on page 111.

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Operation

Fig.5-80:

FTP connection via Windows Explorer ("ftp" dialog)

Generally, the communication connection between the master axis of the

system solution (IndraDrive) and the VCP can be established via two interfa
ces:

Serial communication (RS232)

Ethernet communication
Depending on the port used, different files have to be copied on the VCP de
vice.
Serial communication
The following four files must be copied to or overwritten in the TSvisRT direc
tory of the VCP device:
1. Project file
SMC_12Vxx_VCP0802_12Vxx.cb
2. INI file
TSvisRT_CE.INI
3. Protocol driver
spst30xx.xxx.DLL
4. Runtime file
TSvisRT_CE.exe
You can use the "Copy & Paste" function. After the files were copied, the
VCP must be restarted. Then, the imported application user interface is ac
tive.
Ethernet communication
The following five files must be copied to or overwritten in the TSvisRT direc
tory of the VCP device:
1. Project file

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Operation
SMC_12Vxx_VCP0802_12Vxx.cb
2. INI file
TSvisRT_CE.INI
3. Protocol driver
spst30xx.xxx.DLL
4. Runtime file
TSvisRT_CE.exe
5. XML file
HMI.Config.xml
The active IP address of the master axis has to be entered in the XML file.
Therefore, the Connection Number entry has to be adapted to a modified IP
address for the drive if necessary. This can be carried out via any editor.

Program:
<?xml version="1.0" encoding="utf-8"?>
<ROOT>
<ConnectionList>
<Connection number="1" IPAddress="192.168.1.1" ControlAddress="0= AxisAddress="1" />
</ConnectionList>
</ROOT>

The files can be copied using Copy & Paste.

After they were copied, the VCP must be restarted.
Subsequently, the imported application user interface with the set IP address
is enabled for the drive.
The TSvisLD.exe must never be deleted on the device.

Ordering information
Ethernet cables
The following table lists the Ethernet cable assemblies that can be ordered
for either standard Ethernet communication over a network or switch or a
cross-link Ethernet direct connection between two devices:
Cable assembly

Material number

Description

RKB0007/002,5..(*******-*******-*******)

R911170147

Ethernet cable, 10-Base-T, CAT.6+, cross-link, UL, readymade on both sides with RJ45 plug, 2.5 m

RKB0007/005,0..(*******-*******-*******)

R911170148

Ethernet cable, 10-Base-T, CAT.6+, cross-link, UL, readymade on both sides with RJ45 plug, 5.0 m

RKB0007/010,0..(*******-*******-*******)

R911170149

Ethernet cable, 10-Base-T, CAT.6+, cross-link, UL, readymade on both sides with RJ45 plug, 10.0 m

RKB0007/025,0..(*******-*******-*******)

R911170150

Ethernet cable, 10-Base-T, CAT.6+, cross-link, UL, readymade on both sides with RJ45 plug, 25.0 m

RKB0008/002,5..(*******-*******-*******)

R911170151

Ethernet cable, 10-Base-T, CAT.6+, UL, ready-made on

both sides with RJ45 plug, 2.5 m

RKB0008/005,0..(*******-*******-*******)

R911170152

Ethernet cable, 10-Base-T, CAT.6+, UL, ready-made on

both sides with RJ45 plug, 5.0 m

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Operation
Cable assembly

Material number

Description

RKB0008/010,0..(*******-*******-*******)

R911170153

Ethernet cable, 10-Base-T, CAT.6+, UL, ready-made on

both sides with RJ45 plug, 10.0 m

RKB0008/025,0..(*******-*******-*******)

R911170154

Ethernet cable, 10-Base-T, CAT.6+, UL, ready-made on

both sides with RJ45 plug, 25.0 m

Fig.5-81:

Order numbers of Ethernet cable assemblies

Serial cables
The following table lists the serial communication cable assemblies that can
be ordered to connect a VCP 08 to an IndraDrive control section:
Cable assembly

Material number

RKB0004/002,0

R911309311

Serial cable, RS-232, UL, ready-made on both sides, 25

pin male D-sub to 8 pin PS/2 mini DIN, 2.0 m

RKB0004/005,0

R911309098

Serial cable, RS-232, UL, ready-made on both sides, 25

pin male D-sub to 8 pin PS/2 mini DIN, 5.0 m

RKB0004/010,0

R911309312

Serial cable, RS-232, UL, ready-made on both sides, 25

pin male D-sub to 8 pin PS/2 mini DIN, 10.0 m

Fig.5-82:

5.2.3

Description

Order numbers of serial cable assemblies

Description of VCP 08 Keys

General Information
The keyboard on the front of the VCP includes all keys required to enter data
and to control the system. The LEDs on the keys indicate the current state of
the system to the machine operator. All key elements are located under an
embossed polyester foil which is resistant to environmental conditions. The
two printed labels under the screen, as well as the printed label to the right of
the screen can be inserted from the left or the top of the device.
For more details, please refer to the "Rexroth IndraControl VCP
08.2 Project Planning Manual", material number R911310379 for
details.
The following two slide-in strips are available are available in the "User\Docu
mentation\SupportDocs" directory of the MMC and can be printed as Micro
soft Word file.

Fig.5-83:

Lower slide-in strip

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Operation

Fig.5-84:

Lateral slide-in strip

Layout of the VCP 08 Display

The layout of the VCP 08 display for the SMC is designed such that any
menu that appears on the screen can be selected by pressing the function
keys <F1> to <F10>.
The topmost line of the VCP always shows the current mode of operation (M
= manual mode, A = automatic mode) and status messages, including errors
and warnings. In addition to this, the current time and date are displayed.

Fig.5-85:

Layout of the VCP 08 display (IndraControl VCP 08, VCP display)

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Menu Display Keys

The following keys are used to toggle between the SMC system screens:
Control keys for the screens
The keys <F1> to <F10> are function keys which can be used to
select menus or functions from the currently active screen.
to

The <Main> key is used to return to the MAIN screen.

The <Page Up> key is used to return to the previous screen

when additional information is available on multiple screens.

The <Page Down> key is used to advance to the next screen

when additional information is available on multiple screens.

The <Cursor home> key is used to return to the previous display

screen.

If the current screen contains data that can be edited and editing
mode is enabled (<Edit> key LED is on), disable editing mode by
pressing the <Edit> key before switching to a different screen.
Refer to chapter "Special Keys" on page 126 for details.

Operating Keys
The keys described in this section are used to change the operation mode of
the SMC and to clear any errors. The keys on the VCP are checked for cable
break.
If the connection between the IndraDrive control section and the
VCP is interrupted, e.g., due to the removal of the cable, an error
is initiated. If the monitoring time (about 2.5 seconds) is excee
ded, a VCP communication error is generated and displayed. The
VCP stops communicating with the PLC and any axis motions are
immediately stopped.

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Operation
The <AUTO/MAN> key switches the system between automatic
and manual modes. The LED turns on when automatic mode is
active. The status line on the VCP displays the current operation
mode. Refer to chapter "Layout of the VCP 08 Display" on page
123 for details.
If the key is pressed again, automatic mode is disabled and the
system switches back into manual mode.
The <CLEAR> key clears all pending error messages.

Data Entry Keys

The <Edit> must be pressed to enable and disable edit mode. Edit mode is
enabled when the status LED is on. Data can only be entered while edit
mode is active.
The alphanumerical keys (0...9), including the decimal key are
used to enter data in the SMC screens while in edit mode. Refer
to chapter "Special Keys" on page 126 for details on the Edit
key.
to

and

The <Plus> key is used to increase data values or toggle through

pre-defined options such as axis numbers.
If the cursor is on a parameter number while parameters are be
ing edited, pressing the <Plus> key increases the parameter
number by 1.
The <Minus> key is used to decrease values.
If the cursor is on a parameter number while parameters are be
ing edited, pressing the <Minus> key decreases the parameter
number by 1.

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Operation

Navigation Keys
In edit mode, the <Cursor-left> key positions the cursor one step
to the left.

In edit mode, the <Cursor-right> key positions the cursor one

step to the right.

In edit mode, the <Cursor-up> key positions the cursor one step
upward in the editing field.

In edit mode, the <Cursor-down> key positions the cursor one

step downward in the editing field.

Special Keys
Pressing the <Help> key provides information about the current
screen. The help information is only displayed as long as the key
is pressed and held. The LED flashes as long as the help key is
pressed and held.
Not applicable.

Pressing the <Enter> key completes the input of data.

Data input is only accepted by pressing this key, which perma
nently stores the data. Switching between screens does not
store data.
Pressing the <Edit> key switches the system to edit mode. The
status LED turns on.
If the key is pressed again, the LED turns off and edit mode is
exited.

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Operation
Pressing the <Delete> key removes the character at the flashing
cursor. The cursor can be moved using the <Cursor-left> and
<Cursor-right> keys.

Not applicable.

5.2.4

SMC System Screens

Overview
The SMC screens provide an interface allowing the user to control and moni
tor the system directly via the VCP.
SMC programs are programmed by means of the SMC-Editor,
page 57,.
All buttons displayed on the various screens are accessed using the function
keys <F1> <F10> on the VCP 08. Any screen containing multiple pages will
have a number (e.g., 1) next to the title indicating that the screen contains
more pages than one.
The <Page Up> and <Page Down> keys are used to scroll between the multi
ple pages. This section will describe the options and functionality that is sup
ported throughout the screens. The navigation and data input for each screen
is controlled by the VCP 08 keyboard. Refer to chapter 5.2.3 "Description of
VCP 08 Keys" on page 122 for details.
A USB keyboard and/or mouse can also be connected to the de
vice for navigation and data input.
VCP connection watchdog

If the Y-parameter "Y046: System control", see chapter "Y046: System Con
trol" on page 521, is set to control via the VCP, the VCP must be connected
to the SMC. If this connection gets lost, an error is set, all tasks are stopped
immediately, and the following error message is displayed:
VCP communication error
To clear the error, connect the VCP to the SMC, wait until the system is re
booted and press the <CLEAR> key. This will restore the system back to its
normal operating state.

Main Screen
The Main Screen is the first screen to be displayed on powering up the sys
tem. It is also displayed whenever the <Main> key is pressed on the VCP 08.

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Operation
The following figure shows the structure of all options and screens that are
accessible from the Main Screen:

Fig.5-86:

Structure of the Main Screen

The main screen displays the states of the following system information:

Current program

Status of the current program

Operating mode currently active

Status of all axes

Operating barrier

Screen path:

Fig.5-87:

Main key

Main screen (dialog: Main screen - current program)

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Operation

This screen contains the following command keys:

Start (<F2> key)

nStop (<F3> key)

The Start command is used to execute the current program. The nStop com
mand can be used to stop the current program through the "nStop" input. The
"nStop" uses inverted logic. It is a fail-safe input (e.g., cable break) which
must be switched on to prevent the stop condition from being active. The stop
condition is not active when the LED on the <F3> key is on.
The "nStop" input must be active in automatic mode to start the
program and active in manual mode to jog an axis.

The following screens can be displayed from the Main Screen:

Jog Axis (<F1> key)

Process (<F4> key)

Functions (<F5> key)

Axis Information (<F6> key)

Parameters (<F7> key)

Diagnostics (<F8> key)

User (<F10> key)

Jog Axis Screen

The Jog Axis screen is displayed by pressing the <F1> key (jog) on the Main
Screen. There are two screens that display read-only data for position, veloci
ty and override values for up to 6 axes. The first screen displays axes 1 to 4.
Pressing the <Page Down> key to the right of the display will show the sec
ond screen containing axes 5 and 6.

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Operation
The following figure shows the structure of all options that are accessible
from the Main Screen:

Fig.5-88:

Structure of the Jog Axis screen

The system must be in manual mode and "nStop" must be active.

The system is placed in manual mode by pressing the <AUTO/
MAN> key. The system is in manual mode when the LED on the
AUTO/MAN key is off and the status line displays "M" (manual
mode).

Screen path:

Fig.5-89:

Main key <F1> (Jog Axis)

Jog axis screen (dialog: Jog mode 1)

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Operation
An axis is jogged (forward/backward) by pressing the respective function
keys below the screen.
Function keys <F1> to <F4> are used to jog axes 1 to 4 in positive direction.
Function keys <F6> to <F9> are used to jog axes 1 to 4 in negative direction.
Axes 5 and 6 are displayed by pressing the <Page Down> key.
Only one axis can be jogged at a time.
The jog velocity of each axis can be edited on the "Functions
Screen" screen. Refer to chapter "Function Screen" on page 147
for details.

Process Screen
Process screen, overview
The Process screen is displayed by pressing the <F4> key (jog) on the Main
Screen.
The following figure shows the structure of all options and screens that are
accessible from the Process screen:

Fig.5-90:

Structure of the Process screen

This screen shows the same read-only information that is displayed on the
Main Screen.

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Operation

Screen path:

Fig.5-91:

Main key <F4> (Process)

Process screen (dialog:) Process)

This screen contains the following command keys:

Start (<F2> key)

nStop (<F3> key)

Abort (<F7> key)

For an explanation of the <Start> and <nStop> keys, please refer to chapter
Main Screen, page 127.
The following screens can be displayed in the Process screen:

Select Program (<F1> key)

Single Step (<F4> key)

Show Program (<F5> key)

Axis Information (<F6> key)

Diagnostics (<F8> key)

Flag/Variable (<F9> key)

Inputs / Outputs (<F10> key)

If the <F7> key (Abort) is pressed while a program is running, a
confirmation window will open. Selecting "Yes" will abort the run
ning program. See also chapter 7.22 "Abort Program" on page
415.

Select Program Screen

The Select Program, screen is displayed by pressing the <F1> key (Select)
on the Process screen. This screen lists all programs available on the MMC
is alphabetical order. You can scroll through these programs using the <Cur
sor Up> and <Cursor Down> or <Page Up> and <Page Down> keys.

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Operation

Screen path:

Fig.5-92:

Main key <F3> (Process) <F1> (Select)

Select Program Screen (dialog: Program)

First select the desired program and then press the <F1> key (Select).

Screen path:

Fig.5-93:

Main key <F4> (Process) <F1> (Select) <F1> (Select)

Confirm selection screen (dialog: Confirm selection)

The "Confirm Select" screen only appears when the system is in

automatic mode and a current program is running.
Pressing the <F2> key (Yes) activates the newly selected program and termi
nates the current running program. The <F4> key (No) allows the user to
cancel this operation.

Single Step screen

The Single Step screen is displayed by pressing the <F4> key (Single) on the
Process screen. This screen is used to switch the current program to single
step mode. It shows the status of the program selected.

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Operation
Single step mode is enabled by switching to edit mode and setting the "Acti
vate Single Step" field to TRUE:

Screen path:

Fig.5-94:

Main key <F4> (Process) <F4> (Single)

Single Step screen (dialog: Single step)

Pressing function keys <F1> <F4> displays the program section for the par
ticular selected automatic task 1 4.
Pressing the <F5> key (ManRout) displays the program section for the man
ual routine task.
Pressing the <F6> key (Man.Cut) displays the program section for the man
ual cut routine task.
Pressing the <F7> key (CycTask) displays the program section for the cyclic
task.
If a non-programmed task is selected, the following error mes
sage is displayed:
"The selected task is not programmed."

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Operation

Screen path:

Fig.5-95:

Main key <F4> (Process) <F4> (Single) <F1> to <F6> (Auto

Task#)

Selected task or routine screen (dialog: Selected dialog - Status: )

The screen shown in the above figure displays the current status for up to 4
automatic tasks, the manual routine, the manual cut routine and the cyclic
task. Pressing the <F10> key (StepIn) executes a single line in the task; the
program stops until the <F10> key is pressed again.
You can switch between the 7 tasks by pressing the <F1> to <F7> keys.
The "Step mode" field in Fig. fig. 5-94 "Single Step screen (dialog:
Single step)" on page 134 must be set to TRUE to initiate single
step mode.
To exit single step mode, return to the Single Step screen and set
the "Step mode" field to FALSE.

Show Program screen

The Show Program screen is displayed by pressing the <F5> key (ShowPrg)
on the Process screen. This screen displays the active program. This screen
is write-protected and displays the SMC program section used in the particu
lar task. You can scroll through the program using the <Cursor Up> and
<Cursor Down> or <Page Up> and <Page Down> keys.
A program must be selected from the Process screen using the
<F1> key (Select) before it can be displayed.

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Operation

Screen path:

Fig.5-96:

Main key <F4> key F5 (ShowPrg)

Show Program screen

Pressing any of the task keys (<F1> <F7>) displays the related program
section, starting with the first line in the task.
If a selected task is not programmed from the screen, a message window will
be displayed.

Axis Information screen

The axis information screen is displayed by pressing the <F6> key (AxInfo)
on the Process screen. This screen displays diagnostic text associated with
each axis.
Pressing the <Page Down> key displays diagnostic information for any addi
tional axes configured in the system.

Screen path:

Fig.5-97:

Main key <F6> (AxInfo) or Main key <F4> (Process) <F6> (Ax
Info)

Axis information screen (dialog: Axis information 1)

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Operation
Axis Status screen

Pressing the <F1> key (AxStat) displays the Axis Status screen. This screen
displays status information for position, velocity, torque and override for the
configured axes of the system.
Pressing the <Page Down> key displays status information for any additional
axes configured in the system.

Screen
path:

Fig.5-98:

Main key <F6> (AxInfo) <F1> (AxStat)

Axis status screen (dialog: Axis status 1)

Diagnostic Screen
Diagnostic screen overview
The Diagnostic screen is displayed by pressing the <F8> key on the Main
Screen or Process screen.
The following figure shows the structure of all options and screens that are
accessible from the Diagnostic screen:

Fig.5-99:

Structure of the diagnostic screen

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Operation
This screen displays diagnostic information about the current task. For exam
ple, such information refers to the current line for each task along with the
current command and the task status (running, stopped, or single step).
Using the <Page Up> and <Page Down> keys, the user can display addition
al tasks in the system.

Screen path:

Fig.5-100:

Main key <F8> (Diag) or Main key <F4> (Process) <F8> (Diag)

Diagnostic screen (dialog: Diagnostic screen 1)

Error Information screen

The Error Information screen is displayed by pressing the <F1> key (Error)
on the Diagnostic screen. This screen displays the current error or diagnostic
number and text currently active in the system.

Screen path:

Fig.5-101:

Main key <F8> (Diag) <F1> (Error)

Error information screen (dialog: Error information)

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Operation

Version SMC screen

The Version SMC screen is displayed by pressing the <F2> key (Version) on
the Diagnostic screen. This screen displays the current firmware version of
the SMC and the VCP 08.

Screen path:

Fig.5-102:

Main key <F8> (Diag) <F2> (Version)

Version SMC screen (dialog: Version SMC)

Press the <F2> key to display the firmware and hardware types for each axis
configured in the system. Axes are selected by pressing the <Edit> key and
using the <Plus> and <Minus> keys to switch between the available axes.

Screen path:
Fig.5-103:

Main key <F8> (Diag) <F2> (Version) <F2> (Drives)

Drive version screen (dialog: Drive version)

PLC Status screen

The PLC Status screen is displayed by pressing the <F3> key (PlcStat) on
the Diagnostic screen. This screen displays the actual and maximum load
from the motion and PLC tasks. It also displays the memory usage for the

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Operation
system. Press the <F1> key (Res.Max.) to reset the display of the maximum
load for the motion and PLC tasks.

Screen path:

Fig.5-104:

Main key <F8> (Diag) <F3> (PlcStat)

PLC status screen (dialog: PLC status)

System I/O Signals Screen screen

The System Input Signals screen is displayed by pressing the <F4> key (Sig
nals) on the Diagnostic screen. This screen displays the status of the system
input signals, such as Automatic, Start, nStop, Single Step, along with their
hardware addresses. The system output signals are displayed by pressing
the <F9> key (OutSig).
Axis-dependent I/O signals are displayed using the <F1> to <F6> keys. Use
the <Page Up> and <Page Down> keys to scroll to additional screens.

Screen path:

Fig.5-105:

Main key <F8> (Diag) <F4> (Signals)

System input signals screen (dialog: System input signals 1)

Show Program screen

The Show Program screen is displayed by pressing the <F5> key (ShowPrg)
on the Diagnostic screen. This screen is identical with the screen opened

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Operation
from the Process screen. Refer to chapter "Show Program screen" on page
135 for details.

Axis Information screen

The Axis Information screen is displayed by pressing the <F6> key (AxInfo)
on the Diagnostic screen. This screen is identical with the screen opened
from the Main Screen. Refer to chapter "Axis Information screen" on page
136 for details.

Parameter screen
The Parameter screen is displayed by pressing the <F7> key (Param) on the
Diagnostic or Process screen. This screen is identical with the screen opened
from the Main Screen. Refer to chapter "Parameter" on page 158 for details.

Flag/Variable screen
The Flag/Variable screen is displayed by pressing the <F9> key (M / V) on
the Diagnostic screen. These screens are identical with the screen opened
from the Process screen. Refer to chapter "Flag screen" on page 141 and
chapter "Variable screen" on page 143 for details.

I/O screen
The I/O screens are displayed by pressing the <F10> key (I / O 's) on the Di
agnostic screen. These screens are identical with the screen opened from
the Process screen. Refer to chapter "I/O screen" on page 145 for details.

Flag screen
The Flag screen is displayed by pressing the F9 key (M / V) on the Diagnos
tic or Process screen. This screen displays 10 flags at a time. Flags are bit
flags which can be used as a switching condition in the SMC program.
The following three flag screens are supported:
Flag

Description

System / axis flags

System flags range from MS000 to MS099. System flags are read-only and are predefined
for the system to indicate a certain condition or state that has been achieved by the system.
Axis flags range from MSx00 to MSx99. Here, x is the logical axis number from the range
from 1 to 6. Each axis in the system has 100 predefined flags which are each assigned to
the axis. For example, MS120 is flag 20 for axis 1.

Programmable flags
Programmable
flags

Programmable flags range from MF000 to MF999. The user can program these markers as
flags within the SMC-Editor as desired. These flags are available to the system.

non-volatile Programmable non-volatile flags range from MFR000 to MFR199 and are the same as pro
grammable flags, except that the value of the flag is retained in the event of a power failure.

Fig.5-106:

Supported flag types

The user can switch between the three flag screens using the
<F2> (SysMarks), <F3> (PrgMarks) or <F4> (RetMarks) key on
any of the flag screens.
To edit a flag screen, press the <Edit> key and use the <Cursor
Up> and <Cursor Down> keys to navigate between the 10 flags.
Initially, flags 0 to 9 are displayed. This can be changed by editing
the flag index.
The user can display any combination of flag numbers within one
screen by changing the flag index. Modified index entries are
saved.

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Operation
System / axis flags
Type/Description:

MS System / axis flags

Access:

Read-only

Syntax:

MSxyy
x = logical axis (16) and 0
for system
yy = flag number (0099)

Maximum number of flags:

100 system flags

100 flags per axis

Screen path: Main key <F4> (Process) <F9> (M / V)

Programmable flags
Type/Description:

MF Programmable Flags

Access:

Read/Write

Syntax:

MF000 to MF999

Maximum number of flags:

1000

Screen path: Main key <F4> (Process) <F9> (M / V)

<F3> (PrgMarks)

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Operation
Programmable non-volatile flags
Type/Description:

MFR Programmable nonvolatile flags

Access:

Read/Write

Syntax:

MFR000 to MFR199

Maximum number of flags:

200

Screen path: Main key <F4> (Process) <F9> (M / V)

<F4> (RetMarks)

Variable screen
The Variable screen is displayed by pressing the <F9> key (M / V) on the
Process screen. This screen displays 10 variables at a time. Variables are
used in the SMC program for reading or writing values within the system.
The following three variable screens are supported:
Flag

Description

System / axis variables

System variables range from VS000 to VS099. System variables are read-only and are pre
defined for the system.
Axis variables range from VSx00 to VSx99. Here, x is the logical axis number from the
range from 1 to 6. Each axis in the system has 100 variables which are assigned to the ax
is. For example, VS120 is variable 20 for axis 1.

Programmable variables
Programmable
variables

Programmable variables range from VF000 to VF999. The user can program these varia
bles in the SMC program as desired. These variables are available to the system.

non-volatile Programmable retain variables are the same as programmable variables, except that the
value of the variables is retained in the event of a power failure.

They are in the following range:

VFR000 to

VFR199 up to version 12V06

VFR999 as of version 12V06

Fig.5-107:

Supported variable types

The user can switch between the three variable screens using the
<F7> (SysVars), <F8> (PrgVars) or <F9> (RetVars) key on any of
the Variable screens.
To edit a variable in the screen, press the <Edit> key and use the
<Cursor Up> and <Cursor Down> keys to navigate between the
10 variables. Initially, variables 0 - 9 are displayed. This can be
changed by editing the variable index.
The user can display any combination of variables numbers within
one screen. Modified index entries are saved.

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Operation
System / axis variables
Type/Description:

VS System / axis variables

Access:

Read-only

Syntax:

VSxyy
x = logical axis (16) and 0
for system
yy = variables number (00
99)

Maximum number of varia

bles:

100 system variables

100 variables per axis

Screen path: Main key <F4> (Process) <F9> (M / V)

Programmable variables
Type/Description:

VF programmable variables

Access:

Read/Write

Syntax:

VF000 to VF999

Maximum number of varia

bles:

1000

Screen path: Main key <F4> (Process) <F9> (M / V)

<F8> (PrgVar)

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Operation
Programmable non-volatile variables
Type/Description:

VFR programmable nonvolatile variables

Access:

Read/Write

Syntax:

They are in the following

range:

Maximum number of varia

bles:

VFR000 to

VFR199 up to version
12V06

VFR999 as of version
12V06

200 up to version 12V06

1000 as of version 12V06
Screen path: Main key <F4> (Process) <F9> (M / V)
<F9> (RetVar)

I/O screen
The I/O screen is displayed by pressing the F10 key (I/O 's) on the Diagnostic
or Process screen. This screen displays all inputs configured for all axes in
the system. The inputs are displayed on the basis of their I/O type, that
means X31-32 (<F1> key), field bus (<F2> key), parallel (<F3> key), MD2
(<F4> key), sercos digital (<F6> key), and sercos analog (<F7> key) I/Os.
If an I/O type which is not configured in the system is selected,
the following message is displayed:
"There are no I/Os configured for this category"
By default, the start screen shows the configured inputs of the Onboard I/Os
X31 and X32. For input types containing more than one screen, use the
<Page Up> and <Page Down> keys to display additional inputs.

Screen path:

Fig.5-108:

Main key <F4> (Process) <F10> (I/Os)

Inputs screen (dialog: Inputs)

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Operation
Press the <F10> key (Outputs) to display the screen containing
the outputs of the same I/O types.
Analog sercos III I/O module

Press the <F7> key (Ser.Ana.) to display the Analog sercos Inputs screen.
This screen lists all inputs which are configured for analog sercos III I/O mod
ules.
The following figure shows the configuration of an analog I/O module in
IndraWorks:

Fig.5-109:

Configuration of analog sercos III modules in IndraWorks

This screen shows the analog values of the inputs (corresponding to the val
ues of system variables VS31 to VS34) as well as the configured measure
ment range.

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Operation

Screen
path:

Fig.5-110:

Main key <F4> (Process) <F10> (I / O 's) <F7> (Ser.Ana.)

Analog sercos inputs screen (dialog: sercos analog inputs)

Function Screen
Functions screen, overview
The Functions screen is displayed by pressing the <F5> key on the Main
Screen.
The following figure shows the structure of all options and screens that are
accessible from the Functions screen:

Fig.5-111:

Structure of the Function screen

This screen displays the programmed jog velocity, the programmed override
and the programmed position of the selected axis.

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Operation

Screen path:

Fig.5-112:

Main key <F5> (Functions)

Functions screen (dialog: Functions)

This screen contains the following command key:

Manual Routine (<F5>)

The "ManRout" command appears only if a manual routine has
been programmed in the SMC program.

Editing the axis attributes

The following screens can be displayed from the Functions screen:

System command (<F1> key)

Backup / Restore (<F2> key)

Restart (<F3> key)

Homing (<F6> key)

Setup Mode (<F7> key)

Lift Rolls (<F8> key)

Optional encoder (<F9> key)

Flying Cutoff (<F10> key)

The jog velocity is the only axis attribute that can be edited.

Use the following steps to edit an axis:

1.

Enter edit mode by pressing the <Edit> key.

2.

Using the numeric keypad or the <Cursor Up> and <Cursor Down>
keys, select an axis number from 1 to 6 and press the <Enter> key.
The <Enter> key is used to save the current data and automati
cally moves to the next editable field.

Override function

3.

In the "Jog Velocity" field, enter the desired velocity and press the <En
ter> key.

4.

Once all setting are made, press the Edit key to exit edit mode.

The override option is only active, if it has been configured in the "Yx28:
Override" Y-parameter. Otherwise, the value in the "Override" field is internal
ly set to 100% of the jog velocity, regardless of the value set in the "Override"
field.

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Operation
The override option allows a user to vary the jog velocity of an axis.

System Command screen

The System Command screen is displayed by pressing the <F1> key
(SysCmd) on the Functions screen. This screen is required for the execution
of system commands. To execute system commands, enter the system com
mand number and the related system command parameter. Use the <Cursor
Up> and <Cursor Down> keys to navigate within the screen.
Once a system command is entered, press the <F1> key (Activate) to
execute the system command. The "Active Cmd No." and "Status" fields dis
play the current status of the system command.
Refer to chapter 7.2 "System Commands" on page 324.
If a system command can only be executed in parameter mode, press the
<F6> key (PM). This changes the system to parameter mode before the sys
tem command is executed.
System commands can be reset by pressing the <F3> key (Reset).

Screen path:

Fig.5-113:

Main key <F5> (Functions) <F1> (SysCmd)

System command screen (dialog: System command )

Backup / Restore screen

The Backup / Restore screen is displayed by pressing the <F2> key (MMC)
on the Functions screen. The system commands 11 (Restore drive parame
ters from MMC) and 4 (Load SMC data from MMC) can be executed directly
on this screen by pressing <F9> (Restore). The system commands 12 (Back
up drive parameters from MMC) and 5 (Backup SMC data from MMC) can be
executed directly on this screen by pressing <F7> (Backup). Drive command
C66 "Restore parameters from MMC command" or C65 "Save parameters to
MMC command", respectively, is initiated internally. The MMC of the master
axis restores and files the drive parameters (S/P-parameters) of all axes and
the boot project in the ".\User\Backup".
The specified file number (see also chapter 7.2 "System Commands" on
page 324) is used to define the file on the MMC from which the Y-parame
ters are to be loaded and the file on the MMC on which the Y-parameters are
to be saved.
The backup or restore command can only be carried out in parameter mode.

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Operation
The PLC is stopped as long as the backup or restore command is
executed. That is why there is no updating on the VCP or in the
SMC-Editor. The PLC continues running after the command has
been processed.

Screen path:

Fig.5-114:

Main key <F5> (Functions) <F2> (MMC)

Saving/Restoring screen (dialog: Saving/Restoring)

Restart Screen
The Restart screen is displayed by pressing <F3> (Restart) on the Functions
screen. In this screen, the Restart can be triggered by pressing <F2> (Re
start). The restart can only be triggered if the system output "Restart possi
ble" is set.
More information can be found under chapter 7.23 "Restart" on page 416.

Screen path:

Fig.5-115:

Main key <F5> (Functions) <F3> (Restart)

Restart Screen

Homing screen
The Homing screen is displayed by pressing the <F6> key (Homing) on the
Functions screen. This screen displays for each axis in the system (irrespec
tive of whether it is a real or a virtual axis) whether or not it is homed. Axis
type is configured in Y-parameter "Yx01: Axis type".

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Operation
A real axis is displayed as "A_n" and a virtual axis is displayed as "V_n".
Where n is the logical axis number 1-6.
To home an axis, press the related function key <F1> to <F6>. Once an axis
is homed, the LED corresponding to the axis will turn on and the status for
the axis will switch to TRUE.
Axes can only be homed if manual mode is active and the nStop input is set.
Homing an axis that is not configured in the system will display a
message indicating that the axis is not active.

Screen path:

Fig.5-116:

Set Reference screen

Main key <F5> (Functions) <F6> (Homing)

Homing screen (dialog: Homing)

The Set Reference screen is displayed by pressing the <F10> key (Ref. Set
ting) on the Homing screen. This screen is used to set a reference point off
set for the selected axis. A reference point offset is entered by switching the
VCP 08 to edit mode. Using the <Plus> and <Minus> keys on the VCP 08,
select an axis and edit the "Reference Distance" field. Pressing the <F1> key
(Clear Ref.) deletes the dimensional reference.

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Operation

Screen
path:

Fig.5-117:

Main key <F5> (Functions) <F6> (Homing) <F10> (Set.Ref.)

Reference screen settings (dialog: Reference settings)

Setup Mode screen

The Setup Mode screen is displayed by pressing the <F7> key (Setup Mode)
on the Functions screen. This screen is used to switch the SMC to setup
mode. Setup mode is enabled by pressing the <F1> key (SetupON).

The following conditions must be met to enable setup mode:

Automatic mode must be active

The SMC program must contain a PSI command

The SMC program must be running

The PSI command is used to define an axis and distance by
which the axis can be jogged. Refer to the PSI command for de
tails.

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Operation

Screen path:
Fig.5-118:

Main key <F5> (Functions) <F7> (Setup Mode)

Setup Mode screen (dialog: Setup mode)

The "Axis" and "Setup Velocity" fields can be edited by switching the VCP 08
to edit mode. Use the <Plus> and <Minus> keys on the VCP 08 to select an
axis and enter a setup velocity using the numeric keypad.
Jogging in setup mode

When the conditions mentioned above are satisfied and setup mode is active,
the running SMC program stops with the PSI command. Now, an axis can be
jogged using the <F4> (Jog +) and <F5> (Jog ) keys for a distance not
greater than the distance set in the PSI command.
For a detailed description of setup mode, please refer to chapter 7.13 "Setup
Mode" on page 406.

Lift Rolls screen

The Lift Rolls screen is displayed by pressing the <F8> key (Lift Rolls) on the
Functions screen. This screen allows the user to lift the rolls off the material
for all axes configured in the system. Use the <F1> to <F4> keys to lift the
rolls for axes 1 to 4, respectively. Use the <Page Down> key to display axes
5 and 6. The "A# Lift rolls active" field displays the status for each axis. A val
ue of TRUE indicates that the rolls for that specific axis have been lifted.
If you select an axis which is not configured in the system, the fol
lowing message is displayed:
"The selected axis is inactive".
For a detailed description of how to lift the rolls, please refer to chapter 7.15
"Lift Rolls (Electrically)" on page 409.

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Operation

Screen path:

Fig.5-119:

Main key <F5> (Functions) <F8> (Lift Rolls)

Lift rolls screen (dialog: Lift rolls 1)

Optional Encoder screen

The Optional Encoder screen is displayed by pressing the <F9> key
(opt.Enc.) on the Functions screen. . This screen allows the user to enable
(TRUE) or disable (FALSE) the optional encoder (measuring wheel mode) for
any axis configured with an encoder option. Use the <F1> to <F4> keys to
enable/disable the optional encoder (measuring wheel mode) for axes 1 to 4.
Use the <Page Down> key to display axes 5 and 6.
If you select an axis which is not configured in the system, the fol
lowing message is displayed:
"The selected axis is not enabled".
For a detailed description of the optional encoder, please refer to chapter 7.3
"Optional Encoder (Measuring Wheel Mode)" on page 331.

Screen path:

Fig.5-120:

Main key <F5> (Functions) <F9> (opt. encoder)

Optional Encoder screen

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Operation

Flying Cutoff screen

The Flying Cutoff screen is displayed by pressing the <F10> key (Flying Cut
off) on the Functions screen. This screen is used to define the mode of appli
cation of the "Flying Cutoff" functionality. The "Select mode" field is only edit
able while the system is in parameter mode. Press the <F6> key (PM) to
switch the system to parameter mode.
Refer to chapter 7.11 "Flying Cutoff" on page 353 for a complete
description.
The following application types are supported:
Application type

Description

FC_MODE

This application type uses the entire Flying Cutoff function

ality and is controlled by a real master axis.

FC_TESTMODE

This application type allows the Flying Cutoff functionality

to be tested using a virtual master.

Fig.5-121:

Flying Cutoff modes

The motion commands for Flying Cutoff mode are only active for
axis 1 (master axis). For this reason, only Axis 1 can be selected
in the "Select Axis" field. Selection of a different axis initiates an
error message.

Screen path:

Fig.5-122:

Main key <F5> (Functions) <F10> (Flying Cutoff)

Flying Cutoff screen (dialog: Flying Cutoff)

For detailed information about the options and settings in Flying

Cutoff mode, please refer to chapter 7.11 "Flying Cutoff" on page
353.
Test Mode screen

The Flying Cutoff Test Mode screen is displayed by pressing the <F1> key
(TestMod) on the Flying Cutoff screen. This screen is used to set test mode
parameters for velocity and acceleration as well as a material length. The
"Test mode active" field is set to TRUE if the selected application type in the

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Operation
Flying Cutoff screen is set to "FC_TESTMODE". The <F3> key (Run) starts
and stops test mode.

Screen
path:

Fig.5-123:

Operation screen

Main key <F5> (Functions) <F10> (Flying Cutoff) <F1> (Test

Mod)

Flying Cutoff screen - Test mode (dialog: Test mode)

The Flying Cutoff Operation screen is displayed by pressing the <F2> key
(Operation) on the Flying Cutoff screen. This screen is used to set the flying
cutoff parameters and to perform cuts. The various cuts can be performed
using the <F1> to <F3> keys (Crop Cut, Immediate Cut and Inhibit Cut). The
<F4> key (Return Inhibit) and <F5> key (Rapid Stop) are additional Flying
Cutoff functions that can be executed from this screen. The material length
counter and the product length counter can be reset by pressing the <F6>
key and <F7> key, respectively.

Screen
path:

Fig.5-124:

Main key <F5> (Functions) <F10> (Flying Cutoff) <F2> (Opera

tion)

Flying Cutoff screen - Operation (dialog: Operation)

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Operation
Depending on the active mode (manual or automatic mode),
pressing the ImmCut key will activate either an immediate cut or
the manual cut routine.
Setup screen

The Flying Cutoff Setup screen is displayed by pressing the <F3> key (Set
up) on the Flying Cutoff screen. This screen is used to setup all relevant pa
rameters required to effectively run the Flying Cutoff functionality.

Screen
path:

Fig.5-125:

Registration

Main key <F5> (Functions) <F10> (Flying Cutoff) <F3> (Setup)

Flying Cutoff Setup

The Flying Cutoff Registration screen is displayed by pressing the <F4> key
(Regn.) on the Flying Cutoff screen. This screen is used to enable registra
tion, set a registration sensor offset, define the sensor location and whether
the sensor is moving or fixed.

Screen
path:

Fig.5-126:

Main key <F5> (Functions) <F10> (Flying Cutoff) <F4> (Regn.)

Flying Cutoff screen Registration (Registration)

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Operation

Axis Information Screen

The Axis Information screen can be displayed from the Main Screen and
Process screens. Refer to chapter "Axis Information screen" on page 136 for
details.

Parameter
Parameters, overview
The Parameter screen is displayed by pressing the <F7> key (Param) on the
Diagnostic or Process screen.
The following figure shows the structure of all options and screens that are
accessible from the Parameter screen:

Fig.5-127:

Structure of the Parameter screen

This screen is required for editing Y-parameters of the SMC. S and P param
eters can be edited on their own screens and can be displayed by pressing
the <F8> (DrvPar) key. Default Y-parameters can be loaded by pressing the
<F1> key (Default) in parameter mode. The HMI date/time, contrast and
password settings can be edited by pressing the <F10> key (HMI).

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Operation

Screen path:

Fig.5-128:

Main key <F7> (Param) or Main key <F8> (Diagnostics) <F7>

(Param)

Y-Parameter screen (dialog: Y-parameters)

Default screen
The Default screen is displayed by pressing the <F1> key (Default) on the YParameter screen. This screen is used to edit all selected Y-parameters.

Screen path:

Fig.5-129:

Main key <F5> (Param) <F1> (Default)

Default screen (dialog: Confirm default)

Drive Parameters screen

The Drive Parameters screen is displayed by pressing the <F8> key (DrvPar)
on the Y-Parameter screen. Parameters are edited by first switching the VCP
08 to edit mode, then selecting S (sercos) or P (product specific), and finally
entering the number of the particular parameter. Use the <Cursor Up> and
<Cursor Down> keys to navigate within the screen.

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Operation
If a command can only be edited in parameter mode, press the <F6> key
(PM). This changes the system to parameter mode before the parameter is
edited.

Screen path:

Fig.5-130:

Main key F7 (Param) F8 (DrvPar)

S- and P-parameters (dialog: Drive parameters)

Settings (HMI) screen

The Settings screen is displayed by pressing the <F10> key (HMI) on the YParameter screen. This screen is used to display the current IP address of
the VCP 08 and to edit the date, time and contrast settings of the VCP 08.
Password protection of the HMI masks is supported by pressing the <F2>
key (Pwd).
The IP address that is displayed can only be edited via the VCP
08 Launch firmware. Refer to "Assigning the IP address and the
subnet screen" on page 117 for details.

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Operation

Screen path:

Fig.5-131:

Password screen

Main key <F7> (Param) <F10> (HMI)

Settings (HMI) screen

The Change Password screen is displayed by pressing the <F2> (PWD) on

the Settings (HMI) screen.

Screen
path:

Fig.5-132:

Main key <F7> (Param) <F10> (HMI) <F2> (Pwd)

Change password screen (dialog: Change password)

The VCP 08 is provided with a three-level password management system.

The password management system can be used to protect significant VCP
08 screens. Password protection is not active when shipped. - The password
protection is enabled with the <F7> (PWD ON) key.

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Operation
The user management is configured as follows:
Password

Numerical value

Master

571186

Service

1862978

User

1186

Fig.5-133:

Password protection

The access level to the screens depends on the current password. The mas
ter password has the highest level of access and can be used to access the
service and user screens. The service password can also be used to access
the screens available for users. The user password can only be used to ac
cess screens assigned to the user password level. Refer to "Password
screen" on page 161 for details.
A master password is required to initiate any password protection actions
(activate, deactivate and change).

The following conditions have to be considered with regard to password pro

tection:

After downloading the SMC screens for the first time, all passwords are
reset to their initial state (as shipped).

When assigning the same passwords to different user levels, only the
lowest user level is activated.

The password will not be changed if only <Enter> is pressed during the
password assignment.
All passwords can be reset to their initial state (shipped state) us
ing a supervisor password on the password screen. The supervi
sor password is provided by the Bosch Rexroth customer support.
The following table lists the access levels for all screens based on the cur
rently active password:
Screens that do not display a password or access level are readonly and viewable to all.
Screen

Read access

Write access

Axis Information

---

---

Axis Status

---

---

Change Password

MASTER

MASTER

System command

SERVICE

SERVICE

Backup / Restore

SERVICE

SERVICE

Diagnostics

---

---

Error Information

---

---

Flying Cutoff

USER

USER

Functions

USER

USER

Homing

USER

USER

Set Reference

USER

USER

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Operation
Screen

Read access

Write access

Inputs

USER

USER

Input/Output Signals

USER

USER

Jog Axis

USER

USER

Lift Rolls

USER

USER

---

---

SERVICE

SERVICE

Operation

USER

USER

Outputs

USER

USER

MASTER

MASTER

PLC Status

USER

USER

Process

USER

USER

Programmable Flags

SERVICE

SERVICE

Programmable Non-volatile Flags

SERVICE

SERVICE

Programmable Variables

SERVICE

SERVICE

Programmable Non-volatile Variables

SERVICE

SERVICE

Registration

USER

USER

Select Program

USER

USER

settings

SERVICE

SERVICE

Setup

SERVICE

SERVICE

Single Step

USER

USER

Show Program

USER

USER

System/Axis Flags

SERVICE

SERVICE

System/Axis Variables

SERVICE

SERVICE

System Input/Outputs

USER

USER

Test Mode

USER

USER

User Screen

---

---

Version Drives

---

---

Version SMC

---

---

Y-Parameters

SERVICE

SERVICE

Main Screen
Optional Encoder

Drive parameters

Fig.5-134:

Screen access levels

Diagnostic Screen
The Diagnostic screen can be opened from the Main Screen and the Process
screen. Refer to chapter "Diagnostic Screen" on page 137 for details.

User Screen
The User screen is displayed by pressing the <F10> key on the Main Screen.
Any user screens developed using VI-Composer will appear here.

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Operation

5.3

Field Bus

5.3.1

Overview
The SMC supports the following field bus protocols:

Profibus

Profinet

Ethernet/IP

EtherCAT

sercos III
To be able to use field bus interface, either the option tab "Profibus" or
"Multiethernet" has to be available as master communication in the CCD
master control unit.
By default, each field bus is equipped with a master and slave devices. Differ
ent terms are available for the different field buses, listed in the following ta
ble. That is why it is only referred to the different field buses as master and
slave.
Terms
Field bus

Master

Slave

Remarks

Profibus

Master

Slave

---

Profinet

Controller

Device

---

Ethernet/IP

Scanner

Adapter

---

EtherCAT

Master

Slave

---

sercos III

Master

Slave

---

Fig.5-135:

Different field bus terms

By means of the field bus interface, the Sequential Motion Control (SMC) can
be controlled and monitored by a master PLC. In this configuration, the SMC
system is the field bus slave and the external PLC is the field bus master.
By means of this interface, control and status signals are cyclically ex
changed with the field bus master.

In addition to these signals, the field bus interface provides access to the fol
lowing data:

Y-Parameters

System Commands

System flags and system variables (MS, VS)

Programmable flags and variables (MF, MFR, VF, VFR)

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Operation

5.3.2

System Configuration

Fig.5-136:

SMC system configuration with field bus interface

The field bus interface connects the SMC (MLD) system to a master PLC.
The configuration of the field bus interface can be changed in IndraWorks us
ing the "Basic master communication settings" dialog. If the multi Ethernet
card is available as option tab for the master communication, Profinet,
Ethernet/IP, EtherCat and sercos III can be selected.
A description file has to be selected for the SMC when configuring
the field bus master. The required file can be found in the "\User
\PROFIBUS" directory on the MMC.

5.3.3

Communication Types

Cyclic Communication
The field bus interface to the SMC system uses 11 words for the control
channel and 11 words for the status channel.
If Y-parameter Y010 (AutoConfig I/Os) is set to TRUE, the control and status
channels of the field bus are configured automatically, see chapter 6.8.7
"Default Configuration Digital System Inputs and Outputs" on page 227. Au
tomatic configuration takes place during power up.

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Operation

In addition to the cyclic exchange of I/Os, the following data exchange mech
anism allows data communication via the field bus:

Use of a control word (32 bits, P-0-1270) and a data container (32 bits,
P-0-1271) in the control channel.

Use of a status word (32 bits, P-0-1272) and a data container (32 bits,
P-0-1273) in the status channel.
(see chapter "Data Communication" on page 168)
Field bus control channel
Word no.

Drive pa
rameters

Meaning

Address in the SMC

program

P-0-4077

Field bus control word

---

P-0-13942

Input word 1

I.FB.W1.Bit...1

P-0-1395

Input word 2

I.FB.W2.Bit...1

P-0-1396

Input word 3

I.FB.W3.Bit...1

P-0-1397

Input word 4

I.FB.W4.Bit...1

P-0-1398

Input word 5

I.FB.W5.Bit...1

P-0-1399

Input word 6

I.FB.W6.Bit...1

P-0-1270

Control word (high)

---

P-0-1270

Control word (low)

---

10

P-0-1271

Data container (high)

---

11

P-0-1271

Data container (low)

---

1)
2)

Fig.5-137:

SMC10VRS: I.PB.....
S-0-0000 is still added for word no. 2 (i.e., between P-0-4077 and
P-0-1394) for Ethernet/IP to allow for DWORD addressing. All of the
following parameters shift by one word.

Field bus request scheme (control channel)

Field bus status channel

Word no.

Drive pa
rameters

Meaning

Address in the SMC

program

P-0-4078

Field bus status word

---

P-0-14142

Output word 1

Q.FB.W1.Bit...1

P-0-1415

Output word 2

Q.FB.W2.Bit...1

P-0-1416

Output word 3

Q.FB.W3.Bit...1

P-0-1417

Output word 4

Q.FB.W4.Bit...1

P-0-1418

Output word 5

Q.FB.W5.Bit...1

P-0-1419

Output word 6

Q.FB.W6.Bit...1

P-0-1272

Status word (high)

---

P-0-1272

Status word (low)

---

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Operation
Word no.

Drive pa
rameters

Meaning

Address in the SMC

program

10

P-0-1273

Data container (high)

---

11

P-0-1273

Data container (low)

---

SMC10VRS: Q.PB.....
S-0-0000 is still added for word no. 2 (i.e., between P-0-4078 and
P-0-1414) for Ethernet/IP to allow for DWORD addressing. All of the
following parameters shift by one word.

1)
2)

Fig.5-138:

Field bus response scheme (status channel)

Word 1 in the control and status channels is required by IndraDrive but is not
used for the SMC system.

As of SMC12V02, cyclical communication is possible when

the SMC is in parameter and operating mode.

With the SMC10VRS, cyclical communication is only possi

ble in operating mode of the field bus, see also chapter
"Communication via Parameter Channel" on page 167. If
the SMC is in parameterization mode, direct acyclic read or
write access to the drive parameters is required. The current
status of the field bus can be read from the field bus status
word (drive parameter P-0-4078, bit1 and bit0) (10b = opera
tion mode, 00b = parameterization mode).

Writing to the IndraDrive control word during running opera

tion can affect the application and create unwanted machine
motions.

Words 2 to 7 contain the control and status I/O signals of the SMC system.
Words 8 and 9 contain the data request by the field bus master and the sta
tus response by the slave.
Words 10 and 11 contain the data to be written to the system and requested
by the system, respectively.
Words 8, 9, 10 and 11 respectively function as double word DINT units and
allow the transfer of different data types such as BOOL, DINT, DWORD and
REAL.

The field bus is automatically configured by the SMC system

if parameter "Y010, AutoConfig I/Os" is set to "TRUE".
The configuration can be extended by the user. Refer to the
relevant IndraDrive manual for details.

The "\User\Fieldbus\Profibus" directory on the MMC of the

master axis contains the example S7 project
"FB_SMC_V02_2010_12_01" for connection to an S7-300
with CPU 314c-2 DP.

Communication via Parameter Channel

In addition to cyclic communication which is only available in operation mode
of the field bus (i.e., not in parameter mode), communication can also be ach
ieved via the parameter channel. The parameter channel is available in all
phases.

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Operation

As of SMC12V02, cyclical communication is also available

via the Profibus if the SMC is in parameter mode, i.e., com
munication over the parameter channel is no longer neces
sary.

With SMC10VRS, cyclical communication is only available

via the Profibus if the SMC is in operating mode, i.e., in pa
rameter mode communication is only possible via the pa
rameter channel.

The following data can be exchanged via the parameter channel:

Y-Parameters

System Commands

System flags and system variables (MS, VS)

Programmable flags and variables (MF, MFR, VF, VFR)

PLC registers P-0-1283 to P-0-1286 (SMC10VRS: P-0-1274 to P-0-1277) are
available for communication via parameter channel. The communication pro
tocol for the data exchange via cyclical communication and the parameter
channel is identical (see chapter 5.3.4 "Field Bus Interface Structure" on
page 168).
To allow using the parameter channel and the cyclic communication function,
the field bus master has to be configured as follows:

ParamCh 5 words (parameter channel)

F-module not used (unused)

Input 11 words (cyclic communication)

Output 11 words (cyclic communication)

Settings for the field bus slave (i.e., the SMC) are not required for using the
parameter channel.
Drive parameters

*
**

P-0-1283* / P-0-1274**

Control word

P-0-1284* / P-0-1275**

Control channel data container

P-0-1285* / P-0-1276**

Status word

P-0-1286* / P-0-1277**

Status channel data container

Fig.5-139:

5.3.4

Meaning

As of SMC12V02
SMC10VRS

Drive parameters used for the parameter channel

Field Bus Interface Structure

Data Communication
Unlike the control and status signals of the SMC system, which are ex
changed cyclically, the following data has to be requested individually by the
field bus master:

Y-Parameters

System Commands

System flags and system variables (MS, VS)

Programmable flags and variables (MF, MFR, VF, VFR)

The master must send a request contained in words 8 and 9 of the control
channel for this access. Incoming requests are polled by the field bus com

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Operation
munication handler. New incoming requests are processed accordingly by
the SMC system and a response is sent back to the master including a hand
shake. Every request from the field bus master is executed exactly once.

Field Bus Master Request Scheme

In order to read and write data in the SMC system, the field bus master has
to send the following request scheme. contained in word 8 (high word) and
word 9 (low word).
The following table depicts the scheme:
Word

Bits

Description

Bits: 31 - 28

Bit 31: read / write (read = 0)

Bit 30: toggle bit (must be toggled for every new request)

Bits 28 29: Reserved

Bits: 27 24

Data type of the element:

0 0 0 1 = System flag (MS)

Data request

0 0 1 0 = Freely programmable flag (MF)

High word (P-0-1270)

0 0 1 1 = Programmable non-volatile flag (MFR)

0 1 0 0 = System variable (VS)

0 1 0 1 = Programmable variable (VF)

0 1 1 0 = Programmable non-volatile variable (VFR)

0 1 1 1 = Y-parameter

1 0 0 0 = System command (e.g., load SMC parameters)

Data request

Bits: 23 16

Reserved

Bits: 15 0

Index for flags, variables, system command or parameter number (0 65535)

Low word (P-0-1270)

Fig.5-140:

Request high word

Master data request words

With SMC10VRS, cyclic communication is active only if the

device is in sercos phase 4 (manual/automatic mode). That
is why any data (flags, variables, Y-parameters, system
commands, etc.) which can be written in sercos phase 4 can
be written by means of the cyclic channel. Any data that can
only be written in sercos phase 2 (parameter mode) must be
written via the parameter channel of the device (see chapter
"Communication via Parameter Channel" on page 167).

As of SMC12V02, cyclical communication is possible when

the SMC is in parameter and operating mode.

Bit 31 of the high word determines whether the request is a write request (=
1) or a read request (= 0).
For a write request, the relevant data has to be contained in words 10 and
11.

Bits 27 24 specify the type of the requested element:

System flag

System variable

Y-Parameters

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Request low word

etc.

Bits 15 0 determine the index (0...65535) of the requested data element for
accessing the flag, variable or Y-parameter.

Field Bus Slave Request Scheme

The field bus slave responds to every new data request with the scheme
shown below in the status channel words 8 and 9.
Word

Status Response

Bits

Description

Bits: 31 28

Access Type:

Bits: 27 24

High word (P-0-1272)

Status Response

Bit 31: read / write (read = 0)

Bit 30: toggle bit (handshake bit for request)

Bit 29: error bit

Bit 28: Reserved

Data type of the element:

0 0 0 0 = BOOL (1 byte)

0 1 0 0 = UINT or WORD (unsigned, 2 bytes)

0 1 1 0 = INT (signed, 2 bytes)

0 1 1 1 = DINT (signed, 4 bytes)

0 1 0 1 = UDINT or DWORD (unsigned, 4 bytes)

0 0 1 1 = REAL (4 bytes)

Bits: 23 16

Reserved

Bits: 15 0

When bit 29 (Error bit) = 0:

Low word (P-0-1272)

Index of flags, variables or Y-parameters (0 65535)

When bit 29 (Error bit) = 1:

Fig.5-141:
Status response high word

Error code

Field bus slave response scheme

Bit 31 mirrors the write request bit of the master.

Bit 30 saves the toggle bit of the master.
Bit 29 is set in case an error occurs while processing the request. Refer to
chapter "Error Description of a Status Response" on page 178.
Bits 27 24 provide the data type of the information that was accessed or
in the event of an error the type of error that occurred (for error codes, see
chapter "Error Description of a Status Response" on page 178).

Status response low word

The low word of the response mirrors the low word of the request. This pro
vides a handshake to the master that the request has been fully processed
and that the data presented in words 8 and 9 refer to that particular request.
Together with the status response words, the slave provides the correspond
ing information in data words 10 and 11.
In case of a successful write request, the data presented is the data that has
been written to and read back out of system memory.
In the event of an error involving a write request (value is read-only or value
is out-of-range) the information that is currently held in system memory will
be sent back.
All data is sent as a 4-byte binary representation of its data type. REAL val
ues are represented by their IEEE binary format. The interpretation of a Boo
lean value is:

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0000.0000b = false; every other value is interpreted as true.
In a response, a true is always represented as 0000.0001b.

Field Bus Communication Examples:

Overview
The examples in this section describe the bit settings of the field bus master
data request words (P-0-1270) and the field bus slave status words
(P-0-1272) when cyclic communication is used. Each example will also show
the data container words for the request as well as the status response.
The examples given also apply to communication via parameter
channel.

However, the following parameters must be used:

P-0-1283 (P-0-12741) instead of P-0-1270 (control word)

P-0-1284 (P-0-12751) instead of P-0-1271 (control channel

data container)

P-0-1285 (P-0-12761) instead of P-0-1272 (status word)

P-0-1286 (P-0-12771) instead of P-0-1273 (status channel

data container)

= SMC10VRS

The following figures show the structure of the master data and slave status
words:

Fig.5-142:

Field bus master data request

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Fig.5-143:

Field bus slave status response

Example 1: Reading a value from system flag MS109

Read request for MS109

The following example shows the bit structure of the field bus master request
when reading system flag MS109.

The following bits are set in the command word (P-0-1270):

Bits 0 15 contain the number of the flag:
In this example it is 109, which is represented as 0110.1101b.

Bits 2427 contain the type of the requested element.

In this example, it is a system flag and is therefore represented as
0001b.

Bit 30 is the Toggle bit.

It should be toggled between 0 and 1 for every new request.

Bit 31 is the read / write bit.

In this example, it is set to 0 to read the value of MS109.

The data container is not used for a master read request.

Fig.5-144:

Master read request for system flag MS109

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Status word for MS109

The result of the requested element MS109 is available in the status word
(P-0-1272) and the value is stored in data container P-0-1273, in this case
0001b for the Boolean value "TRUE".

The following bits are set in the status word (P-0-1272):

Bits 015 return the index of the flag if no error is detected:

In this example it is 109, which is represented as 0110.1101b. In the
event of an error, bit 29 is set to 1 and bits 0 15 then contain the error
code.

Bits 2427 return the data type of the requested element.

In this example, it is a Boolean value and is therefore represented as
0000b.

Bit 30 returns the current state of the Toggle bit.

The state of the toggle bit depends on whether the request was pro
cessed by the slave, as it was assumed for this example (see chapter
"Handshaking" on page 179).

Bit 31 mirrors the write request bit of the master.

Fig.5-145:

Slave status response from system flag MS109

Example 2: Writing a value to programmable variable VF210

Write request for VF210

The following example shows the bit structure of the field bus master request
when writing to programmable variable VF210.
The values used for variables are IEEE floating point values.

The following bits are set in the command word (P-0-1270):

Bits 015 contain the number of the variable:

In this example it is 210, which is represented as 1101.0010b.

Bits 2427 contain the type of the requested element.

In this example, it is a programmable variable and is therefore represen
ted as 0101b.

Bit 30 is the Toggle bit.

It should be toggled between 0 and 1 for every new request.

Bit 31 is the read / write bit. In this example, it is set to 1 to write a value
to VF210.

The data container (P-0-1271) contains the value to be written.

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Fig.5-146:
Status response for VF210

Master write request example for programmable variable VF210

The result of the write request for the programmable variable VF210 is availa
ble in the status word (P-0-1272) and the value is stored in data container
P-0-1273.

The following bits are set in the status word (P-0-1272):

Bits 015 return the number of the variable if no error is detected:

In this example it is 210, which is represented as 1101.0010b.
In the event of an error, bit 29 is set to 1 and bits 0 15 then contain the
error code.

Bits 2427 return the data type of the requested element.

In this example, it is a floating point and is therefore represented as
0011b.

Bit 30 returns the current state of the Toggle bit.

The state of the toggle bit depends on whether the request was pro
cessed by the slave, as it was assumed for this example (see chapter
"Handshaking" on page 179).

Bit 31 mirrors the write request bit of the master.

The data container (P-0-1273) reflects the value that was written.

Fig.5-147:

Slave status response from programmable variable VF210

Example 3: Writing a value to Y-Parameter Y167

Write request for Y167

The following example shows the bit structure of the field bus master request
when writing a value of 20 (represented as 0001.0100b) to Y-parameter
Y167.

The following bits are set in the command word (P-0-1270):

Bits 015 contain the number of the Y-parameter: In this example it is

167, which is represented as 1010.0111b.

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Bits 2427 contain the type of the requested element. In this example, it
is a Y-parameter and it is represented as 0111b.

Bit 30 is the Toggle bit.

It should be toggled between 0 and 1 for every new request.

Bit 31 is the read / write bit.

In this example, it is set to 1 to write a value of 20 to Y167.

Fig.5-148:
Status response for Y167

Master write request example for Y-parameter Y167

The result of the write request for element Y167 is available in the status
word (P-0-1272) and the value is stored in data container P-0-1273.

The following bits are set in the status word (P-0-1272):

Bits 015 return the index of the Y-parameter if no error is detected:

In this example it is 167, which is represented as 1010.0111b.
In the event of an error, bit 29 is set to 1 and bits 0 15 then contain the
error code.

Bits 2427 return the data type of the requested element.

In this example, it is a DINT and is therefore represented as 0111b.

Bit 30 returns the current state of the Toggle bit.

Bit 31 mirrors the write request bit of the master.

Bits 015 of the data container (P-0-1273) mirrors the value written by
the master request.

Fig.5-149:

Slave status response for Y-parameter Y167

Example 4: Executing system command 1

Write request for system com
mand 1

The following example shows the bit structure of the field bus master request
when executing system command 1.

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The following bits are set in the command word (P-0-1270):

Bits 015 contain the number of the system command:

In this example, system command 1 is executed, which will be represen
ted as 0001b.

Bits 2427 contain the type of the requested element.

In this example, it is a system command which is represented as 1000b.

Bit 30 is the Toggle bit.

It should be toggled between 0 and 1 for every new request.

Bit 31 is the read / write bit.

In this example, it is set to 1 in order to write system command 1.

Data container P-0-1271 stores the parameter for the system command.
In this example it is program number 2 which is represented as 0010b.

Fig.5-150:
Status response for system com
mand 1

Master write request example for system command 1

The result of the write request for system command 1 is available in the sta
tus word (P-0-1272) and the value stored in data container P-0-1273 is the
value of the parameter.

The following bits are set in the status word (P-0-1272):

Bits 015 return the index of the system command if no error is detec
ted:
In this example it is 1, which is represented as 1b.
In the event of an error, bit 29 is set to 1 and bits 0 15 then contain the
error code.

Bits 2427 return the data type of the requested element.

In this example, it is a DWORD and is therefore represented as 0101b.

Bit 30 returns the current state of the Toggle bit.

Bit 31 mirrors the write request bit of the master.

Bits 015 of the data container (P-0-1273) mirrors the value written by
the master request.

Data container P-0-1273 stores the status of the system command (see
chapter 7.2.1 "Overview" on page 324).
In this example it is 2 for "system command successfully completed"
which is represented as 0010b.

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Fig.5-151:

Slave status response for system command 1

Example 5: Reading system command 5

The execution of a system command can take some time to be completed
(e.g., saving the parameters to the MMC). A currently active command re
turns a status of "active". The field bus master polls the slave until a "Done"
or "Error" status is returned.
Read request for system com
mand 5

The following example shows the bit structure of the field bus master request
when reading the status of system command 5.

The following bits are set in the command word (P-0-1270):

Bits 015 contain the number of the system command:

In this example, the status of system command 5 is read, which is repre
sented as 0101b.

Bits 2427 contain the type of the requested element.

In this example, it is a system command which is represented as 1000b.

Bit 30 is the Toggle bit.

It should be toggled between 0 and 1 for every new request.

Bit 31 is the read / write bit.

In this example, it is set to 0 in order to read the status of system com
mand 5.

Fig.5-152:
Status response for system com
mand 5

Master read request example for system command 5

The value filed in data container P-0-1273 corresponds to the status of the
system command.

The following bits are set in the status word (P-0-1272):

Bits 015 return the index of the system command if no error is detec
ted:
In this example it is 5, which is represented as 0101b.

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In the event of an error, bit 29 is set to 1 and bits 0 15 then contain the
error code (see chapter 7.2.1 "Overview" on page 324).

Bits 2427 return the data type of the requested element.

In this example, it is a DWORD and is therefore represented as 0101b.

Bit 30 returns the current state of the Toggle bit.

Bit 31 mirrors the read request bit of the master.

Data container P-0-1273 stores the status of the system command (see
chapter 7.2.1 "Overview" on page 324).
In this example it is 2 for "system command successfully completed"
which is represented as 0010b.

Fig.5-153:

Slave status response for system command 5

Error Description of a Status Response

The following error codes can occur during a request (bits 3 - 0 of the status
response low word):
Code

Error

Description
The request declared that it did not want to read any information or wan
ted to read multiple types of information.

1001b

Ambiguous data type selection

1010b

Data index exceeded

The index submitted in the request has exceeded the available number
of items.

1011b

Access to data type not possible

The Y-parameter cannot be accessed. Cause: The data type (e.g.,

STRING) cannot be represented.

1100b

Value too small

1101b

Value too large

1110b

Value is invalid

1111b

Value is read-only

Bits 27 24 of the high word of the data request were not assigned ac
cording to the table in Field bus master data request scheme, page 169.

On each data write request, the data is checked for meaningful values.
This error means that the value is too small.
On each data write request, the data is checked for meaningful values.
This error means that the value is too high.
On each data write request, the data is checked for meaningful values.
This error means that the value is invalid.
A write attempt has been made for information that is read-only.
The response telegram will contain the original data / value in the SMC
system.

Fig.5-154:

Status Response Error Description

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Data Check
The data value of each write request is checked to ensure that it is within the
valid range and can be edited in the current mode. The allowable range is de
termined by the limits of the Y-parameter.
The range check does not ensure that the value of the Y-parame
ter will be accepted by the SMC system. The value must be within
the validity range and writable in the current mode (see chapter
11 "Parameters" on page 495).

Handshaking
After every field bus master request, the SMC system mirrors the high word
of the master request to the high word of the status response. Also, the write
request bit is mirrored in the high word.
This allows the master to identify when a request has been completed and
that the data received, via the status channel, refers to the original request.
Only one request is executed at a time. Request queues are not
supported.
In the low word, the data written or read is sent back and an error code is as
signed.
Toggle bit connection in control and status word:
Control Word Tog Status Word Toggle
Status
gle Bit
Bit
0

No activity

Request from master

Request to slave (SMC) has been com

pleted

No activity

Request from master

Request to slave (SMC) has been com

pleted

No activity

Fig.5-155:

5.3.5

Handshake order

Configuring an IndraLogic L as Profibus Master

The SMC system supports PROFIBUS communication to a master PLC. To
be established, PROFIBUS communication between the two devices requires
configuration. This section describes the steps required to establish
PROFIBUS communication between a master PLC (IndraLogic L) and the
SMC.

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When configuring the PROFIBUS master, "IndraDrive RX08"

must be selected as GSD file for the SMC. The required
GSD file can be found in the "\User\Fieldbus\Profibus" direc
tory on the MMC.

For Rexroth products such as the IndraLogic L and

IndraDrive, the IndraWorks Engineering software environ
ment is used to configure each device. Each device requires
its own PLC project.

After a master PLC is configured and connected to the device via a

PROFIBUS cable, communication is established once the IndraDrive has
been powered up and no errors are detected. The H30 LED indicator on the
IndraDrive PROFIBUS control section will emit green light once communica
tion is established.
The PROFIBUS interface in the IndraLogic L is configured by adding an
IndraDrive as a PROFIBUS slave to the IndraWorks project and configuring
the 11 input words and 11 output words. These input and output words define
the communication channels used for reading and writing data via cyclic com
munication.
If the parameter channel is used, "ParamCh 5 Words" must be configured
(see chapter "Communication via Parameter Channel" on page 167).

Use the following steps to configure the IndraLogic L as a PROFIBUS

master PLC:
1. Start IndraWorks Suite by selecting
Program Files Rexroth IndraWorks... Engineering.
2. From the main menu, select File New Project.
3. Name the project and select a directory and project language:
#

Fig.5-156:

Creating a new IndraWorks project (dialog: Creating a new proj

ect PROFIBUS)

4. Move an IndraLogic L control from the drive and control library to the
newly created project with Drag&Drop.
#

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Fig.5-157:

Adding an IndraLogic L Control to a Project (dialog: IndraWorks

Engineering - Project Explorer - Library - Drive and Control)

If the Library window is not visible, select View Library from the
main menu.
5. From the IndraLogic L general settings, name the device (no spaces),
insert an optional comment and click on the Next >> button.
6. Assign an IP address for the device, select the desired programming
language and click on the Next >> button.
The IP address entered must match the IP address already set in
the IndraLogic L control.
Once all options are selected, click on the Finish button.
Wait until all required IndraWorks components are created and in
itialized. A progress window will open indicating the different sec
tions being initialized.
7. Expand the folder of the control in the Project Explorer to view additional
options.
8. Select Periphery from the Library window and open Profibus DP and
Drives.
9. Move IndraDrive RX05 from the library to Profibus/M with Drag&Drop.
#

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Fig.5-158:

Inserting an IndraDrive as a PROFIBUS slave (dialog:

IndraWorks Engineering - Project Explorer - Library - Periphery)

This configuration defines the device type that will be accessed

via the PROFIBUS interface. It does not configure the IndraDrive
itself, but the input and output words that will be used to read and
write the SMC data.
10. Expand the IndraDrive_RX05 folder by clicking on the "+" branch.
11. Right-click on "Input_1_Word (Input 1 Word)" and select "Set Device"->
"Input 11 Words":
#

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Fig.5-159:

Adding modules to PROFIBUS slave (dialog: IndraWorks_Indra

LogicL_ProfibusMaster - Set device - Input 11 Words)

12. Repeat step 11 for "Output 11 Words".

13. Double-click on "Input_11_Words (Input 11 Words)" and select the DPModule I/O Mapping tab.
Double-click on an input word to assign a name to that word.
The individual BOOLEAN under each word can be left blank.

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This process is repeated for the Output 11 Words as well.

Fig.5-160:

Naming PROFIBUS master input and output words (dialog:

IndraWorks Engineering - Project Explorer - Input_11_Words (In
put 11 Words))

14. Load the IndraWorks project in IndraLogic L by selecting Proj

ect Switch Device Online...
This will download the PLC configuration to the control.
The configuration of the status data (AT) and the control data
(MDT) for each axis is configured by the SMC system.

5.3.6

Configuring an IndraMotion MLC as Profinet Controller

The SMC system supports Profinet communication to a master PLC. To es
tablish the Profinet communication between both devices, a configuration is
required. This section describes the steps required to establish a Profinet
communication between a master PLC (IndraMotion MLC) and the SMC.

When configuring the Profinet master, "IndraDrive" has to be

selected as GSD file for the SMC. The required GSDML file
can be found in the "\User\Fieldbus\Profinet" directory on the
MMC.

For Rexroth products such as IndraMotion MLC and

IndraDrive, the IndraWorks Engineering software environ
ment is used to configure each device. Each device requires
its own PLC project.

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After a master PLC is configured and connected to the device via an Ethernet
cable, communication is established once the SMC has been started up and
no errors have been detected.
The Profinet interface in IndraMotion MLC is configured by adding an
IndraDrive as a Profinet device to the IndraWorks project and configuring the
11 input words and 11 output words. These input and output words define the
communication channels used for reading and writing data via cyclic commu
nication.
If the parameter channel is used, "ParamCh 5 Words" must be configured
(see chapter "Communication via Parameter Channel" on page 167).
Use the following steps to configure IndraMotion MLC as Profinet controller
PLC:
1. Start IndraWorks Suite by selecting
Program Files Rexroth IndraWorks... Engineering.
2. From the main menu, select File New Project.
3. Name the project and select a directory and project language:
#

Fig.5-161:

Creating a new IndraWorks project (dialog: Creating a new

Profinet project)

4. Move an IndraMotion MLC control from the drive and control library to
the newly created project with Drag&Drop:
#

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Fig.5-162:

Adding an IndraMotion MLC to a project (dialog: IndraWorks En

gineering - Project Explorer - Library - Drive and Control)

If the Library window is not visible, select View Library from the
main menu.
5. In the IndraMotion MLC general settings, please select the name of the
device (no spaces), insert an optional comment and click on Next >>.
6. Assign an IP address for the device, select the desired programming
language and click on the Next >> button.
The option "PROFINET IO Controller" has to be selected in the Interfa
ces dialog for the "Slot1 configuration (X7E3/X7E4)".
The entered IP address has to match the IP address already set
in the IndraMotion MLC control.
Once all options are selected, click on the Finish button.
Wait until all required IndraWorks components are created and in
itialized. A progress window will open indicating the different sec
tions being initialized.
7. Expand the folder of the control in the Project Explorer to view additional
options.
8. Select Periphery from the Library window and open Profinet IO and
Drives.
9. Click on the IndraDrive icon and drag&drop it from the library to
PROFINET_IO_Controller:
#

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Fig.5-163:

Using an IndraDrive as a Profinet device (dialog: IndraWorks

Engineering - Project Explorer - Library - Periphery)

This configuration defines the device type that will be accessed

via the Profinet interface. It does not configure the IndraDrive it
self, but the input and output words that will be used to read and
write the SMC data.
10. Expand the IndraDrive subtree by clicking on "+".
11. Right-click on "Input_1_Word (Input 1 Word)" and select Set De
vice Input 11 Words.
12. Repeat step 11 for "Output 11 Words".
13. Double-click on "Input_11_Words (Input 11 Words)" and select the PNIO
Module I/O Mapping tab.
Double-click on an input word to assign a name to that word.
The individual BOOLEAN under each word can be left blank.

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This process has to be repeated for the Output 11 Words as well:

Fig.5-164:

Naming the Profinet controller input and output words (dialog:

IndraWorks Engineering - Project Explorer - Input_11_Words (In
put 11 Words))

14. Load the IndraWorks project in IndraMotion MLC by selecting Proj

ect Switch Device Online....
This will download the PLC configuration to the control.
15. The IP address of the Profinet device is set in the Find Devices dialog.
Right-click on PROFINET_IO_Controller and select "Find devices..." to
open the device. After clicking on "Find devices", the available devices

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are displayed and can be subsequently identified (Identify), baptize
(Baptizing) and an IP address can be assigned (Auto-IP).

Fig.5-165:

Find available devices

The configuration of the status data (AT) and the control data
(MDT) for each axis is configured by the SMC system.

5.3.7

Configuring an IndraLogic L as Ethernet/IP Scanner

Devices with Ethernet/IP scanner functionality by Bosch Rexroth are currently
not available. Please contact the customer support for more inquiries regard
ing prototype applications.

5.3.8

Configuring an IndraLogic L as EtherCAT Master

Devices with EtherCAT master functionality by Bosch Rexroth are currently
not available.
See also see page 192.

5.3.9

Configuring an IndraMotion MLC as sercos Master

The SMC system supports sercos communication to a master PLC. To estab
lish the sercos communication between both devices, a configuration is re

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quired. This section describes the steps required to establish sercos commu
nication between a master PLC (IndraMotion MLC) and the SMC.

When configuring the sercos master, "IndraDrive" has to be

selected as SDDml file for the SMC. The required SDDml file
can be found in the "\User\Fieldbus\Sercos3" directory on
the MMC.

For Rexroth products such as IndraMotion MLC and

IndraDrive, the IndraWorks Engineering software environ
ment is used to configure each device. Each device requires
its own PLC project.

After a master PLC is configured and connected to the device via an Ethernet
cable, communication is established once the SMC has been started up and
no errors have been detected.
The sercos interface in IndraMotion MLC is configured by adding an
IndraDrive as a sercos device to the IndraWorks project and configuring the
11 input words and 11 output words. These input and output words define the
communication channels used for reading and writing data via cyclic commu
nication.
Use the following steps to configure IndraMotion MLC as the sercos master
controller PLC:
1. Start IndraWorks Suite by selecting
Program Files Rexroth IndraWorks... Engineering.
2. From the main menu, select File New Project.
3. Name the project and select a directory and project language.
4. Move an IndraMotion MLC control from the drive and control library to
the newly created project with Drag&Drop.
If the Library window is not visible, select View Library from the
main menu.
5. In the IndraMotion MLC general settings, please select the name of the
device (no spaces), insert an optional comment and click on Next >>.
6. Assign an IP address for the device, select the desired programming
language and click on the Next >> button.
The entered IP address has to match the IP address already set
in the IndraMotion MLC control.
Once all options are selected, click on the Finish button.
Wait until all required IndraWorks components are created and in
itialized. A progress window will open indicating the different sec
tions being initialized.
7. Expand the folder of the control in the Project Explorer to view additional
options.
8. Select Periphery from the Library window and open sercos III.
9. Click the IndraDrive pictogram and drag it from the library to FWAINDRV*-MPC08V04-D5-1-SNC-MA:
#

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Fig.5-166:

Using an IndraDrive as a sercos device (dialog: IndraWorks En

gineering - Project Explorer - Library - Periphery)

This configuration defines the device type that will be accessed

via the sercos interface. It does not configure the IndraDrive itself,
but the input and output words that will be used to read and write
the SMC data.
10. Right-click the sercos node and open the "Configuration of sercos par
ticipants" dialog to set the sercos address.
11. Double-click "Drive (Drive)" and select the driver inputs and outputs tab.
The configuration must be carried out as displayed in the following im
age. The configured parameters can be named as desired.

Fig.5-167:

Configuring the Cyclic Data

12. Load the IndraWorks project in IndraMotion MLC by selecting Proj

ect Switch Device Online....
This will download the PLC configuration to the control.

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Operation

The following instructions refer to a sercos master and an Ether

CAT master.

The configuration of the status data (AT) and the control da

ta (MDT) for each axis is configured by the master.

If the master communication is switched to P2, the axes of

the SMC must be disabled beforehand (i.e., to "Ab" and/or
"Bb").

When P2 is reached, the master communication automati

cally switches the SMC into parameter mode and the CCD
ring to P2.

When P2 is exited, the master communication automatically

switches the SMC back into manual mode and the CCD ring
to P4.

5.4

Loading a User Program

A new user program (SMC program can be loaded at any time, provided the
current program is not active (exception: cyclic task). In this case, the "Run"
output is not set.
The "Automatic mode" output is cleared while the program is loaded. Any ac
tive cyclic task is aborted. While loading is in progress, it is not possible to
start a program in manual or automatic mode.
The user program can be loaded via

the SMC-Editor,

the VCP,

system command 1 "Load SMC program from MMC".

After the user program has been restarted, the automatic tasks and the man
ual routine or manual cut routine restart their specified starting blocks. If con
figured, the cyclic task also starts with its starting block immediately after hav
ing been loaded.
If a valid user program is available in the internal processing memory of the
SMC, i.e., the loading procedure was completed successfully, then this is ac
knowledged via the "SMC program valid" output.

While phase switching from parameter mode to operation

mode is active, it is not possible to load user programs (pro
cessing of internal program check).

A running program can be exited at any time via the "Abort

program" input.
See also chapter 7.22 Abort Program, page 415.

WARNING

Any active axis movement is stopped imme

diately!

The "Abort program" function should be used only if it will not result in any
hazards to man and machine.
For example, the program should not be aborted, if the tool is in engagement
in the "Flying Cutoff" application type. This might destroy the tool!

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Programming

6.1

General Information
The programming language for the user program (SMC program) consists of
a code similar to the "BASIC" programming language.
The user program can have a scope of a maximum of 3,000 program blocks
and commands. Block counting starts with "0". Each program block always
contains only one command and up to five related command parameters.
The processing time required for one block depends on the selected NC cy
cle time (cf. chapter "Y001: Cycle Time" on page 498).
Subsequently, the block with the block number increased by one is pro
cessed (unless it is a jump command). For commands which involve waiting
for an event to occur, the processing time is always extended by the cycle
time until the event has occurred.
In most commands, both constants and variables ("indirect access") can be
used for command parameters. In chapter 6.11 "Command Description" on
page 234, you can find an "Indirect access" column in the description of
each command.

It has the following meanings:

"not possible" = command parameters can only be realized as constants

"possible" = command parameters can be realized as constant or varia

ble.
The user program has to be entered via the SMC-Editor, page 57, and trans
ferred to the control.

6.2

Multitasking

6.2.1

General Information
The SMC provides a total of 7 tasks for processing an SMC program.
Tasks 14:

Automatic tasks 14

Task 5:

Manual routine

Task 6:

Manual cut routine (only in Flying Cutoff mode)

Task 7:
Cyclic task
All tasks process the same SMC program, however in different areas. One
block or command is processed in each task within the cycle time (cf. chapter
"Y001: Cycle Time" on page 498).
The starting blocks of the individual tasks are defined in the user program in
the SMC-Editor based on the system labels used.
Task name

System label in SMC-Editor (starting block)

Diagnostic parameter
starting block number

Automatic task 1

BEGIN_AUTO_TASK_1

Not available; always "0"

Automatic task 2

BEGIN_AUTO_TASK_2

Y003

Automatic task 3

BEGIN_AUTO_TASK_3

Y004

Automatic task 4

BEGIN_AUTO_TASK_4

Y005

Manual routine

Task no.

Manual cut

Cyclic task

routine1)

BEGIN_MANUAL_ROUTINE

Y006

BEGIN_FC_MANUAL_CUT_ROUTINE

Yx50

BEGIN_CYCLIC_TASK

Y007

for

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Task no.

Task name

Diagnostic parameter
starting block number

System label in SMC-Editor (starting block)

Maximum stroke rou

BEGIN_FC_MAX_STROKE_ROUTINE
tine1), 2)

Yx51

Rapid stop routine1), 2)

BEGIN_FC_RAPID_STOP_ROUTINE

Yx52

Restart routine2)

BEGIN_RESTART_ROUTINE

Y048

1)
2)

for

Only available with "Flying Cutoff" application type

No independent task; is processed within automatic task 1, i.e., if the
event occurs, the current block number of automatic task 1 is changed
and a jump to the routine occurs

Fig.6-1:

Assignment of starting lines to system labels in the SMC-Editor

The SMC provides the respective current block numbers of tasks 17 in sys
tem variables VS000 to VS006 (cf. chapter "Axis-independent System Varia
bles" on page 205) as diagnostics.

VS000: active block number of automatic task 1 (task 1)

VS001: active block number of automatic task 2 (task 2)

VS002: active block number of automatic task 3 (task 3)

VS003: active block number of automatic task 4 (task 4)

VS004: active block number of manual routine (task 5)

VS005: active block number of manual cut routine (task 6)

VS006: active block number of cyclic task (task 7)

The SMC can process the following tasks at the same time, depending on the
mode:

Automatic mode:
Automatic tasks 14 and cyclic task

Manual mode:
Manual routine or manual cut routine (with Flying Cutoff) and cyclic task

Parameter mode:
No tasks are processed.
Task 1

Task 2

Task 3

Task 4

sercos cycle (cycle time)

Fig.6-2:
Task
1

Task 2

Task 3

Task 4

sercos cycle (cycle time)

Task
3

Task
4

Task
7

sercos cycle (cycle time)

Task
1

Task
2

Task
3

Task
4

Task
7

sercos cycle (cycle time)

Task scheduling in automatic mode with cyclic task

Tasks 5/6:

sercos cycle (cycle time)

sercos cycle (cycle time)

Task scheduling in manual mode without cyclic task

Tasks 5/6:

Fig.6-4:

Task scheduling in automatic mode without cyclic task

Task
2

Fig.6-3:

Task 1

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Tasks 5/6:

Task 7

sercos cycle (cycle time)

Fig.6-5:

Tasks 5/6:

Task 7

sercos cycle (cycle time)

Task scheduling in manual mode with cyclic task

While programming tasks 1 to 7, please comply with the following

instructions:

The same subroutine cannot be called up by several tasks at

the same time!

Motions of one axis cannot be initiated by several tasks at

the same time!

Commands resulting in an axis movement are not allowed in

the cyclic task.

Tasks 1 to 7 are equivalent.

In the NC cycle, the task processing order is 1, 2, 3, 4, 7 in
automatic mode and 5/6, 7 in manual mode.
(Example: An output set in automatic task 1 is processed as
set in automatic task 4.)

The number of task cycles within a sercos cycle can be

changed with a STC command, see chapter 6.11.67 "STC
Set Task Cycle Counter" on page 308.

6.2.2

Automatic Tasks
In automatic mode, "automatic tasks 14" can be processed simultaneously.
They "share" an SMC program, i.e., all 4 tasks use the same program, how
ever in different blocks. The tasks have the same priority and are sequentially
processed in each sercos cycle, i.e., exactly one block (command) is pro
cessed in each task within the same cycle time. The tasks are scheduled in
the SMC.
An automatic task is automatically configured as soon as the particular sys
tem label "BEGIN_AUTO_TASK_1", "BEGIN_AUTO_TASK_2", "BEGIN_AU
TO_TASK_3", or "BEGIN_AUTO_TASK_4", is used in the SMC-Editor in the
user program. The particular system label "BEGIN_AUTO_TASK_x" defines
the starting block (cf. chapter "Y003: Starting Block Automatic Task 2" on
page 500, chapter "Y004: Starting Block Automatic Task 3" on page 501
and chapter "Y005: Starting Line Auto Task 4" on page 501) for automatic
tasks. The starting block of automatic tasks cannot be included in program
parts which are already used by other tasks or routines.
Automatic task 1 is always active and always starts with block "0".

Please note the following when using automatic tasks 14:

A running automatic task is signaled via the "Run" output (see also sys
tem diagnostics "A Automatic active").

The defined system labels "BEGIN_AUTO_TASK_1", "BEGIN_AU

TO_TASK_2", "BEGIN_AUTO_TASK_3" and "BEGIN_AUTO_TASK_4"
have to be used for automatic tasks 14 in the SMC-Editor in the user
program. Otherwise, these tasks will not be executed.

Automatic tasks have to be used in ascending order.

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Automatic tasks 1, 2, 3 and 4 are equivalent. Within the cycle time, the
order of processing of these tasks is 1, 2, 3, 4. An output set in task 1 is
processed as set in task 4.

Any change in the task configuration (different system label) is not de

tected before the automatic mode is reactivated.

If an error has occurred, the automatic tasks are canceled.

For the automatic tasks 24, the parameters Y003, Y004 and Y005 are
available to display the current starting block number.

The currently active block number is displayed in the system variables

VS000, VS001, VS002 and VS003.

Fig.6-6:

6.2.3

Example program for using automatic tasks 14 in the SMC-Editor

Manual Routine
The "manual routine" (task 5) can be used to process a user program in man
ual mode.
As is the case with "automatic tasks 14", the command blocks are located in
the same SMC program. The "JSR" and "RTS" commands allow execution of
subroutines. The manual routine has to be completed with an RTS command
if there no subroutine is called anymore (the stack is empty).
If the operating mode is changed from "manual mode" to "parameter mode",
any running manual routine is aborted. While the manual routine is running,
any change of mode to "automatic" is suppressed until the manual routine is
exited. The manual routine is started via a rising edge at the programmed in
put in parameter Y018 (see chapter "Y018: Manual Routine, In-config" on
page 508).
If no input is programmed in Parameter Y018, the manual routine can only be
started by changing the operating mode or by using the VCP.
Any start of the manual routine after a change from "automatic mode" to
"manual mode" must be enabled in parameter Y008 (see chapter "Y008:
Manual Routine after Automatic Mode" on page 503).
The manual routine is automatically configured as soon as the system label
"BEGIN_MANUAL_ROUTINE" is used in the user program. The system label
"BEGIN_MANUAL_ROUTINE" defines the starting block (cf. chapter "Y006:
Starting Block Manual Routine" on page 502) for the manual routine. The

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starting line of the manual routine may not be included in program parts
which are already used by other tasks or routines.
Manual routines are not accepted while jogging or homing is active in "man
ual mode". Jogging or homing is not possible while a manual routine is run
ning.
The "nStop" input can be used to interrupt the manual routine. After having
been stopped, the manual routine must be restarted via the "Start" input. If
the "nStop" is not set, the manual routine cannot be started or continued. If
"nStop" is no longer applied, the manual routine is immediately stopped. Axis
movements are decelerated to standstill with the programmed deceleration. If
there still remains a residual stroke to be traveled, this stroke is stored and
will be the first to be traveled upon restart. There will be no dimensional loss
of reference.
Axis movements, e.g., feed motions, can be programmed in the
manual routine.
However, it must be noted that the jogging and homing functions
are not possible for all axes while the manual routine is pro
cessed.

Please observe the following while using the manual routine:

A running manual routine is signaled via the "Run" output (see also sys
tem diagnostics "M Manual routine active").

In the user program, the system label "BEGIN_MANUAL_ROUTINE"

must be used for the manual routine. Otherwise, this routine cannot be
activated.

Where the manual routine is concerned, parameter Y006 is available for

displaying the current starting block number.

The currently active block number is displayed in system variable

VS004.

While the manual routine is active, the manual cut routine (cf. Flying
Cutoff) cannot be started.

After an error has occurred, the manual routine is aborted.

Within task scheduling, the manual routine is called prior to calling the
cyclic task, i.e., an output set in the manual routine is processed as set
in the cyclic task.

A new SMC program can only be loaded in manual mode if the manual
routine is not active. After loading, processing again starts with the start
ing block.

Fig.6-7:

Example program for using the manual routine in the SMC-Editor

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6.2.4

Manual Cut Routine

The "manual cut routine" (task 6) can be used to process a user program in
manual mode.
However, the manual cut routine can only be called if the "Flying Cutoff" ap
plication type has been configured in parameter Y100 for axis 1.
As is the case with automatic tasks 1-4, the command blocks reside in the
same SMC program. The "JSR" and "RTS" commands allow execution of
subroutines. The manual cut routine must be ended with an RTS command if
there is no open subroutine remaining (the stack is empty).
If the operating mode is changed from "manual mode" to "parameter mode",
any running manual cut routine is aborted. While the manual cut routine is
running, any change of mode to "automatic" is suppressed until the manual
cut routine is exited. The manual cut routine is started via a rising edge at the
programmed input in parameter Yx72 (see chapter "Yx72: Immediate Cut, Inconfig" on page 564).
The manual cut routine is automatically configured as soon as the system la
bel "BEGIN_FC_MANUAL_CUT_ROUTINE" is used in the user program. The
system label "BEGIN_FC_MANUAL_CUT_ROUTINE" defines the starting
block (cf. chapter "Yx50: Starting Block Manual Cut Routine" on page 552)
for the manual cut routine. The starting block of the manual cut routine may
not be included in program parts which are already used by other tasks or
routines.
Manual cut routines are not accepted while jogging or homing is active in
"manual mode". Jogging or homing is not possible while a manual cut routine
is running.
The "nStop" input can be used to interrupt the manual cut routine. After hav
ing been stopped, the manual cut routine must be restarted via the "Start"
input. If the "nStop" is not set, the manual cut routine cannot be started or
continued. If "nStop" is no longer applied, the manual cut routine is immedi
ately stopped. Axis movements are decelerated to standstill with the pro
grammed deceleration. If there still remains a residual stroke to be traveled,
this stroke is stored and will be the first to be traveled upon restart. There will
be no dimensional loss of reference.

However, it must be noted that the jogging and homing func

tions are not possible for all axes while the manual cut rou
tine is processed.

The manual cut routine can only be called if the "Flying Cut
off" application type has been configured in parameter Y100
for axis 1.

Please observe the following while using the manual cut routine:

A running manual cut routine is signaled via the "Run" output (see also
system diagnostics "M Manual cut routine active").

In the user program, the system label "BEGIN_FC_MAN

UAL_CUT_ROUTINE" must be used for the manual cut routine. Other
wise, this routine cannot be activated.

Where the manual cut routine is concerned, parameter Y150 is available

for displaying the current starting block number.

The currently active block number is displayed in system variable

VS005.

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While the manual cut routine is active, the manual routine cannot be
started.

After an error has occurred, the manual cut routine is aborted.

Within task scheduling, the manual cut routine is called prior to calling
the cyclic task, i.e., an output set in the manual cut routine is processed
as set in the cyclic task.

A new SMC program can only be loaded in manual mode if the manual
cut routine is no longer active. After loading, processing again starts
with the starting block.

Fig.6-8:

6.2.5

Example program for using the manual cut routine in the SMC-Editor

Restart Routine
The restart routine is automatically configured as soon as the system label
"BEGIN_RESTART_ROUTINE" is used. The system label "BEGIN_RE
START_ROUTINE" defines the starting block (cf. chapter "Y048: Starting
Block Restart Routine" on page 522) for the restart routine. The starting
block of the restart routine may not be included in program parts, which are
already used by other tasks or routines.
This routine is not an independently running task. Instead, it is a routine
which is controlled in relation to an event and is running in the context of the
automatic task 1.
More information can be found under chapter 7.23 "Restart" on page 416.
This restart routine is available in SMC12V04 and above.

Please observe the following while using the restart routine:

In the user program, the system label "BEGIN_RESTART_ROUTINE"

must be used for the restart routine. Otherwise, this routine cannot be
activated.

Where the restart routine is concerned, parameter Y048 is available for

displaying the current starting block number.

No automatic tasks are processed during the active restart routine.

After an error has occurred, the restart routine is aborted.

Within task scheduling, the restart routine is called prior to calling the cy
clic task, i.e., an output set in the restart routine is processed as set in
the cyclic task.

6.2.6

Cyclic Task
The "cyclic task" (task 7) can be used to run a user program with higher prior
ity in any operating mode (except in parameter mode).

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The "Start" or "nStop" do not have any effect on processing of the program in
the cyclic task.
If the mode is changed to "parameter mode", any cyclic task that might be
running is prematurely terminated.
As is the case with tasks 16, the command block resides in the same SMC
program.
The cyclic task is automatically configured as soon as the system label "BE
GIN_CYCLIC_TASK" is used in the user program. The system label "BE
GIN_CYCLIC_TASK" defines the starting block (cf. chapter "Y007: Starting
Block Cyclic Task" on page 502) for the cyclic task.
The starting block of the cyclic task may not be included in program parts
which are already used by other tasks or routines.
The program run of the cyclic task automatically starts immediately after ope
rating mode has been reached. The cyclic task is switched off in parameter
mode. In the event of an error and in case of an E-stop, the cyclic task contin
ues to be running. That means that closing lockouts can be monitored.
Commands resulting in an axis movement are not allowed in the
cyclic task.

Please observe the following while using the cyclic task:

After switchover from parameterization mode to operation mode, the cy

clic task does not start until operation mode has been reached without
any error message from the SMC.

A running cyclic task does not set the "Run" output.

Activation of the JST command ("immediate stop") stops all tasks with
the exception of the cyclic task. The command counter of the cyclic task
is set to the jump target.

If an error occurs in the cyclic task itself, it is restarted with the current
starting block after there is a positive edge at the "Clear Error" input.

Within task scheduling, the cyclic task is called subsequent to calling the
automatic tasks or manual routine/manual cut routine, i.e., an output set
in the automatic task (or manual routine/manual cut routine) is pro
cessed as set in the cyclic task.

If a new SMC program is loaded (e.g., via the SMC-Editor), the cyclic
task is prematurely terminated and not restarted before the user pro
gram has been successfully loaded. Processing will then start with the
new starting block.

In the user program, the system label "BEGIN_CYCLIC_TASK" must be

used for the cyclic task. Otherwise, this task cannot be activated.

Where the cyclic task is concerned, parameter Y007 is available for dis
playing the current starting block number.

The currently active block number is displayed in system variable

VS006.

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Fig.6-9:

6.2.7

Example program for using the cyclic task in the SMC-Editor

Flying Cutoff Routines

Rapid Stop Routine

The "rapid stop routine" is only effective with the "Flying Cutoff" application
type.
This routine is not an independently running task. Instead, it is a routine
which is controlled in relation to an event and is running in the context of a
higher-order task (e.g., automatic task 1).
For more detailed information about calling the rapid stop routine and a de
scription of its principle of operation, please refer to the chapter 7.11 Flying
Cutoff, page 353.

Maximum Stroke Routine

The "maximum stroke routine" is only effective with the "Flying Cutoff" appli
cation type.
This routine is not an independently running task. Instead, it is a routine
which is controlled in relation to an event and is running in the context of a
higher-order task (e.g., automatic task 1).
For more detailed information about calling the maximum stroke routine and
a description of its principle of operation, please refer to the chapter7.11 Fly
ing Cutoff, page 353.

6.3

Starting the User Program

A user program can only be started in automatic mode. Exceptions to this re
quirement are the "manual routine" and the "manual cut routine".
The program starting block is defined to be "0" for automatic task 1 whenever
the operating mode has been changed or the SMC has been restarted. The
starting lines for automatic tasks 2 to 4 as well as for the manual routine and
the manual cut routine are defined through the appropriate system labels.
In automatic mode, the program is started via the "Start" input (see chapter
6.8 "System Inputs and Outputs" on page 217).
Being of a higher order, the cyclic task runs in any operating mode (however,
not in parameter mode) and is not affected by the "Start" or "nStop" inputs.
The starting block is defined through the appropriate system label.

6.4

Stopping the User Program

The program run can be stopped at any time.

There are three possibilities:

1. Program stop from the outside via "nStop" input

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(see chapter 6.8 "System Inputs and Outputs" on page 217)
2. Program stop via the "JST" user command
(see chapter 6.11.38 "JST Jump and Stop" on page 279)
3. Program abortion from the outside via "Abort program" input, with a
"hard" program abortion; see also chapter 7.22 "Abort Program" on
page 415
This input should only be used of it is not possible to stop the program,
e.g., if an endless loop has been programmed because of a program
ming error.
If the "Flying Cutoff" application type is configured, the removal of
the "nStop" input acts as a cycle stop, i.e., motions that have al
ready been started will be completed before they are stopped.
If the operating mode was not changed after such a stop, the program will be
continued at the point of interruption after a positive edge at the "Start" input.

In addition, there are two further possibilities to interrupt the user program.
Contrary to the program stop function, the program does not have to be star
ted after the cause of interruption has been eliminated, but is immediately
continued at the point of interruption.
1. Program interruption by means of a signal at the "nInterrupt" input
2. Program interruption by means of a signal at the "nFeedControl" input
For a description of the principle of operation of these two inputs, please refer
to chapter 6.8 "System Inputs and Outputs" on page 217.

If the "Flying Cutoff" application type is configured, the "JST"

command may not be programmed. Moreover, the "nInter
rupt" and "nFeedControl" inputs are ineffective (see chapter
7.11 "Flying Cutoff" on page 353).
The "nStop" acts as a cycle stop, i.e., any movements that
have already been started will be completed before they are
stopped.

A running program can be aborted at any time via the "Pro

gram abort" input. Any active axis movement is stopped im
mediately!
After having been restarted, the user program again starts
with the appropriate starting blocks. See also chapter 7.22
"Abort Program" on page 415

Automatic tasks are also stopped in the following cases:

Error message issued by the SMC (also stops the manual routine and
the manual cut routine)

Removal of the "Automatic mode" input

Any running axis movement is stopped immediately! After the error has been
eliminated or automatic mode has been reactivated, the program can only be
continued with the configured starting lines (cf. system labels in the SMC-Edi
tor).
Exception: Refer to chapter 7.23 "Restart" on page 416

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If the "Flying Cutoff" application type is configured, the removal of
the "Automatic mode" input acts as a cycle stop, i.e., motions that
have already been started will be completed before they are stop
ped. The "Restart" function is not supported.

6.5

Variables

6.5.1

General Information
Command parameters (data) are an integral part of a command block. Com
mand parameters may be constants or variables.
Constants cannot be changed in the user program.
Instead of constants, variables can be programmed. That means that com
mand parameters can also be edited at runtime.
The names of variables start with "V.." and the data type of all variables is
REAL. If necessary, the data type can be automatically converted to INT,
e.g., in case of quantities or axis indices.
If a variable is used in a command, its value is checked at runtime. The value
range of variables is equal to that of the constants which are allowed at this
point. If the content of the variables is above or below the permissible range,
an error message is displayed.

The signs of the variables are always taken into account.

The REAL data type is stored as a 4-byte floating-point num

ber with single precision. It represents a 32-bit value with
single precision according to IEEE 754. The REAL data type
can represent positive and negative numbers in a range
from 1.175494351e-38 to 3.402823466e+38 with a precision
of about 7 digits.

Variables can be programmable variables (volatile - "VF" and non-volatile "VFR") as well as system variables ("VS").
The table below shows the names, the permissible data areas and the mem
ory type of the variables:
Variable type

Volatile

Programmable vari
VF000 - VF999
ables
Axis-independent
System variable
VS000 - VS099

1)

Fig.6-10:

Examples:

Non-volatile
VFR000
VFR9991)

Access
-

Read and write

Axis-depend
ent

Variable-specific
(cf.
chapter "Axis-independ
ent System Variables"
on page 205 and chap
"Axis-dependent
VSx00 - VSx99 ter
System Variables" on
page 207)

stands for axis numbers 1 to 6

Increase from VFR199 to VFR999 as of SMC12V06

Programmable variables and system variables

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Programming
The positioning command POI (see chapter 6.11.53 "POI Positioning, In
cremental with Immediate Block Stepping" on page 290) is shown with differ
ent entries:
With constants

Fig.6-11:

Command block with constants

In the example above, the feed length has a value of "123456.123" and the
velocity a value of "12.3%".
With variables

VF600 = 123456.123
VF601 = 100
VF602 = 123.123
VF603 = -100
VF604 = -1234.123
POI 1 VF600 VF601
The value 123456.123 is taken from variable VF600.
The value 100 is taken from variable VF601.
POI 1 VF602 VF603
The value 123.123 is taken from variable VF602.
The value of variable VF603 is negative. An error message is generated.
POI 1 VF604 VF601
The content of variable VF604 is negative, i.e., the resulting feed length is
negative.

6.5.2

Programmable Variables
Programmable variables can be volatile variables or non-volatile variables.

Programmable volatile variables

Programmable volatile variables are labeled VF.

They allow read and write access, are assigned to variable numbers "VF000
to VF999" and can be used to program the user programs.
The content of these variables gets lost in the event of a power failure.

Programmable non-volatile varia

bles

Programmable non-volatile variables are labeled VFR.

They allow read and write access, are assigned to variable numbers
"VFR000 to VFR999" and can be used to program the user programs.
The content of these variables does not get lost in the event of a power fail
ure.

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6.5.3

System Variables

Axis-independent System Variables

In general, axis-independent system variables only allow read and no write
access:
No.

Meaning

Description

Access

VS000

Current block of task 1

Current program block of automatic task 1

Read only

VS001

Current block of task 2

Current program block of automatic task 2

Read only

VS002

Current block of task 3

Current program block of automatic task 3

Read only

VS003

Current block of task 4

Current program block of automatic task 4

Read only

VS004

Current block of task 5

Current program block of manual routine

Read only

VS005

Current block of task 6

Current program block of manual cut routine

Read only

VS006

Current block of task 7

Current program block of cyclic task

Read only

Memory display

Utilization of the commands used in the SMC user program

in % of the maximum value

Read only

VS008

Current utilization of MotionTask

Current load of the MotionTask in %

Read only

VS009

Maximum load of the MotionTask

since Clear Error

Maximum (relative) load of the MotionTask in %. Is reset in

the event of Clear Error.

Read only

VS010

Current load of PlcTask

Current utilization of the PlcTask in %

Read only

VS011

Maximum load of the PlcTask since Maximum (relative) load of the PlcTask in %. Is reset in the
Clear Error
event of Clear Error.

Read only

VS012-

Indexed variables

For implementing user-side product data management

Read and
write

Reserved

--

--

Maximum load of the MotionTask

since power on

Maximum (absolute) load of the MotionTask in %. Is only re Read only

set after power on/off

VS007

VS022
VS023
VS024
VS025

(As of SMC12V02)
VS026

Maximum load of the PlcTask since Maximum (absolute) load of the PlcTask in %. Is only reset
power on
after power on/off

Read only

(As of SMC12V02)
VS027
VS028

Master axis position

Master axis position of the global master axis (cf. parameter

Y028)

Read only

Reserved

--

--

Analog input channel 1

Value at the analog input channel 1 of the analog sercos III

I/O module

Read only

VS030
VS031

Note: Value range that can be configured with IndraWorks

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Programming
No.

Meaning

Description

Access

Analog input channel 2

Value at the analog input channel 2 of the analog sercos III

I/O module

Read only

VS032

Note: Value range that can be configured with IndraWorks

Analog input channel 3

Value at the analog input channel 3 of the analog sercos III

I/O module

VS033

Read only

Note: Value range that can be configured with IndraWorks

Analog input channel 4

Value at the analog input channel 4 of the analog sercos III

I/O module

VS034

Read only

Note: Value range that can be configured with IndraWorks

Analog output channel 1

Value at the analog output channel 1 of the analog sercos III Read and
I/O module
write

VS035

Note: Value range that can be configured with IndraWorks

Analog output channel 2

Value at the analog output channel 2 of the analog sercos III Read and
I/O module
write

VS036

Note: Value range that can be configured with IndraWorks

VS037

Reserved

--

--

Number of task cycles for task 1

Current number of task cycles for each sercos cycle of auto Read only
matic task 1

VS040
VS041

(as of 12V04)

Note: Can be changed with a STC command.

Number of task cycles for task 2

VS042

(as of 12V04)

Note: Can be changed with a STC command.

Number of task cycles for task 3

VS043

(as of 12V04)

(as of 12V04)

(as of 12V04)

(as of 12V04)

(as of 12V04)

Current number of task cycles for each sercos cycle of the

manual cut routine

Read only

Current number of task cycles for each sercos cycle of the

cyclic task

Read only

Note: Can be changed with a STC command.

Fig.6-12:
Indexed variables (VS012 VS022)

Read only

Note: Can be changed with a STC command.

Number of task cycles for task 7

VS047

Current number of task cycles for each sercos cycle of the

manual routine
Note: Can be changed with a STC command.

Number of task cycles for task 6

VS046

Current number of task cycles for each sercos cycle of auto Read only
matic task 4
Note: Can be changed with a STC command.

Number of task cycles for task 5

VS045

Current number of task cycles for each sercos cycle of auto Read only
matic task 3
Note: Can be changed with a STC command.

Number of task cycles for task 4

VS044

Current number of task cycles for each sercos cycle of auto Read only
matic task 2

Axis-independent system variables

There are 11 indexed variables which allow addressing of variables with indi
ces even in program loops. The function within the field of variables is deter

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Programming
mined and allows a variable address to be calculated by means of the formu
la:

[VS01x]

Fig.6-13:

Content of VS012 VS019

Calculation formula for indexed variables

The contents of system variables VS020 and VS021 are multiplied with each
other and added to the content of system variable VS01x. The resulting value
is the calculated variable number (VFxxx or VFRxxx) which is then processed
in the calling function. The memory range to be addressed (volatile - VF, nonvolatile - VFR) is selected by means of system variable VS022.
System variable

Meaning

12

No. of basic variable 1

13

No. of basic variable 2

14

No. of basic variable 3

15

No. of basic variable 4

16

No. of basic variable 5

17

No. of basic variable 6

18

No. of basic variable 7

19

No. of basic variable 8

20

Offset factor

21

Index of variable

22

Memory range selection (0 = VF, 1 = VFR)

Fig.6-14:

Indexed variables

If write-accessed via VCP, OPC, field bus or by the SET command, no index
is written to these variables (direct write access).
For a detailed program example of applying indexed variables,
please refer to the chapter 8.2 Product Data Management, page
421.

Axis-dependent System Variables

In general, axis-dependent system variables only allow read and no write ac
cess. They are available for each axis and have variables VSx00 VSx36 as
signed to them. The "x" in the variable number stands for the number of the
axis.
No.

Meaning

Description

Access

VSx00

Reserved

--

--

Probe - measured value 1

Probe - current measured value 1, positive edge, connector Read only

X31 pin 3 (cf. drive parameter S-0-0130) or X31 pin 4 with
right axis of a double axis device

VSx03
VSx04

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Programming
No.

Meaning

Description

VSx05

Analog input 1

Current value at analog input 1 (cf. drive parameter Read only

P-0-0210)

Connector X32 pins 4/5 ("IndraDrive")

Connector X32 pins 2/3 ("IndraDrive Cs")

Access

Only available with control sections of type

"IndraDrive Advanced+/Advanced"

"IndraDrive double axis"

"IndraDrive Cs"

Value range: 10V

VSx06

Reserved

--

--

VSx07

Actual position of optional en Current position feedback value of the optional encoder (en Read only
coder
coder 2 or measuring wheel, cf. drive parameter S-0-0053)

VSx08

Actual position

Currently active position feedback value (cf. drive parameter Read only
S-0-0386)
Depending on the setting, the active position feedback value
either originates from the motor encoder or from the optional
encoder.

VSx09

Velocity feedback value

Currently active velocity feedback value (cf. drive parameter Read only
S-0-0040)

VSx10

Torque/force feedback value

Currently active torque/force feedback value (cf. drive pa Read only

rameter S-0-0084)
Note: With control sections of type "SAC", this value has no
meaning.

VSx11

Override value

Current override value in %, see also chapter 7.5 "Velocity Read only
Override" on page 333.

VSx12

Remaining feed

Currently remaining feed

Read only

VSx13

Commanded feed length

Currently commanded feed length, e.g., via PSI command

Read only

VSx14

Current feed length - active Current feed length of the active position feedback value.
Read only
position feedback value
Measurement must have been activated with the FUN com
mand.
Note: Measurement of the active position feedback value (cf.
drive parameter S-0-0386), i.e., either motor encoder or op
tional encoder (measuring wheel), depending on the setting.

VSx15

Intermediately stored feed Intermediately stored feed length of the active position feed Read only
length - active position feed back value.
back value
Measurement must have been activated with the FUN com
mand.
Note: Measurement of the active position feedback value (cf.
drive parameter S-0-0386), i.e., either motor encoder or op
tional encoder (measuring wheel), depending on the setting.

VSx16

Current feed length - measur Current feed length of the measuring wheel (optional encod Read only
ing wheel
er, cf. drive parameter S-0-0053)
Measurement must have been activated with the FUN com
mand.

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Programming
No.

Meaning

Description

Access

VSx17

Intermediately stored feed Intermediately stored feed length of the measuring wheel Read only
length - measuring wheel
(optional encoder, cf. drive parameter S-0-0053)
Measurement must have been activated with the FUN com
mand.

VSx18

Reserved

--

--

VSx19

Passed material length

Flying Cutoff:

Read only

Addition of all movements in manual and automatic modes

registered by the measuring wheel. If the length of
"1000000mm" or "1000000in" is exceeded, the material
length is deleted. The number of overflows is counted in the
"VSx24" system variables.
The resulting total length is calculated as follows:
Total length [mm or in] = (VSx24 * 1000000) + VSx19
This value of the total length can be deleted by the input de
fined in parameter Yx76. See also chapter 7.2.11 "System
Command 8: Reset Material Length Counter" on page 329
Note: The system variable is established only if axis 1 is
homed.
VSx20

Passed product length

Flying Cutoff:

Read only

The product length is an estimate of the material having cur

rently run through the machine, in relation to the current tool
position. This length does not correspond to the exact length
of the current cut. See also chapter 7.11.6 "Flying Cutoff
Functions" on page 378.
Note: The system variable is established only if axis 1 is
homed.
VSx21

Material velocity

Flying Cutoff:

Read only

Current value of the material velocity

VSx22

Material velocity for tailout Flying Cutoff:

Read and
machining
write
Current value of the material velocity for tailout machining.
See also chapter "Tailout" on page 393.

VSx23

Available tailout length

Flying Cutoff:

Read only

Currently available tailout length for tailout machining. See

also chapter "Tailout" on page 393.
VSx24

Material length overflows

Number of the overflows of the passed material length

"VSx19" over "1000000mm" (1km) or "1000000in".

VSx25

Reserved

--

VSx26

Selected SI operating status

Display of the selected safety technology operating status Read only

(cf. drive parameter P-0-3215).

VSx27

Active safety technology ope Display of the active safety technology operating status (cf. Read only
rating status
drive parameter P-0-3213 and P-0-0106, respectively).

VSx28

Average torque
(As of SMC12V06)

--

Display of the calculated average torque in [%]. See also Read only
chapter 6.11.68 "TAA Torque Average: Activation" on
page 310.
Note: The average torque is only calculated for the master
axis.

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Programming
No.

Meaning

Description

Access

VSx29

Reserved

--

--

Analog input 3

Current value at analog input 3, connector X8 pins 2/9 of the Read only
CCD master (cf. drive parameter P-0-0228)

VSx30
VSx31

Note: Only existing with operation card MA1. Value range:

10V
VSx32

Analog input 4

Current value at analog input 4, connector X8 pins 4/11 of Read only

the CCD master (cf. drive parameter P-0-0229)
Note: Only existing with operation card MA1. Value range:
10V

VSx33

Analog output 1

Current value at analog input 1, connector X32 pin 1 of the Read and
CCD master (cf. drive parameter P-0-0139)
write
Note: Value range: 0...5 V

VSx34

Analog output 2

Current value at analog input 2, connector X32 pin 2 of the Read and
CCD master (cf. drive parameter P-0-0140)
write
Note: Value range: 0...5 V

VSx35

Analog output 3

Current value at analog input 3, connector X8 pin 2 of the Read and

CCD master (cf. drive parameter P-0-0414)
write
Note: Only existing with operation card MA1. Used for the
velocity command value for SAC and is therefore not at the
user's free disposal. Value range: 10V

VSx36

Analog output 4

Current value at analog input 4, connector X8 pin 2 of the Read and

CCD master (cf. drive parameter P-0-0415)
write
Note: Only existing with operation card MA1. Value range:
10V
x

Fig.6-15:

Axis numbers 1 to 6

Axis-dependent system variables

The meaning of the safety technology operating statuses in system variables

VSx26 and VSx27 is as follows:
0=

Normal operation (NO)

1=

Safe stop 1 (Emergency stop) (SS1 ES)

2=

Special mode safe standstill (safe stop 1 (SS1) / safe stop 2

(SS2))

3=

Special mode safe motion 1 (SMM1)

4=

Special mode safe motion 2 (SMM2)

5=

Special mode safe motion 3 (SMM3)

6=

Special mode safe motion 4 (SMM4)

7=

Safe parking axis

8=
Safe torque off (STO)
See also chapter 7.12 "Drive-integrated Safety Technology" on page 399.

6.6

Flags

6.6.1

General Information
The names of flags start with "M.." and the data type of all flags is BOOL.

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They can be programmed and edited in parameters and commands.
Flags can be programmable flags (volatile - "MF" and non-volatile- "MFR") as
well as system flags ("MS").
The table below shows the names, the permissible data areas and the mem
ory type of the flags:
Flag type

Volatile

Non-volatile

Access

Programmable
flags

MF000 - MF999

MFR000 MFR199

Read and
write

--

Read only

System flag

Fig.6-16:

6.6.2

Axis-independ
ent

Axis-depend
ent

MSx00
MS000 - MS099
MSx99

stands for axis numbers 1 to 6

Programmable flags and system flags

Programmable Flags
Programmable flags can be volatile flags or non-volatile flags.

Programmable volatile flags

Programmable volatile flags are labeled MF.

They allow read and write access, are assigned to flag numbers "MF000 to
MF999" and can be used to program the user programs.
The content of these flags gets lost in the event of a power failure.

Programmable non-volatile flags

Programmable non-volatile flags are labeled MFR.

They allow read and write access, are assigned to flag numbers "MFR000 to
MFR999" and can be used to program the user programs.
The content of these flags does not get lost in the event of a power failure.

6.6.3

System Flags

Axis-independent System Flags

Axis-independent system flags only allow read and no write access.
No.

Meaning

Description

MS000

Reserved

--

MS099

Fig.6-17:

Axis-independent system flags

Axis-dependent System Flags

Axis-dependent system flags only allow read and no write access.
They are available for each axis and have flags MSx00 MSx99 assigned to
them. The "x" in the flag number stands for the number of the axis. They are
processed at the beginning of a task cycle.

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Programming
No.

Meaning

Description

MSx00

Reserved

--

Synchronous axis

Synchronous axis in the synchronization window

-MSx07
MSx08

Phase synchronous axis and cam axis:

Specifies whether the axis is inside the synchronization window (cf. "S-0-0228,
Position synchronization window"), i.e., the amount of the difference between
the position command value and the position feedback value is less than the
synchronization window.
Velocity synchronous axis:
Specifies whether the axis is outside the synchronization window (cf.
"S-0-0183, Velocity synchronization window"), i.e., the amount of the difference
between the velocity command value and the velocity feedback value is less
than the synchronization window.
MSx09

Optional encoder active

Indication of the encoder that is active for control:

0 = motor encoder
1 = optional encoder (encoder 2 or measuring wheel)

MSx10

Synchronization completed

Signals that the adjustment of the position offset is completed for synchronous
axes and for Flying Cutoff after the SPO command has been called as well as
that synchronization is completed by the FOA or CMA command after activa
tion of synchronous axes (cf. drive parameter P-0-0152, bit 0).

MSx11

Tailout machining active

Indicates that tailout machining is active and that the material velocity is no lon
ger set by the measuring wheel but by the axis-dependent system variable
Vsx22. See also chapter "Tailout" on page 393.

MSx12

Tailout done

Indicates that tailout has been done. See also chapter "Tailout" on page 393.

MSx13

Coupled axes synchronous

The system flag is when all coupled axes (cf. "Yx00") of an axis group are syn
chronous with the related master axis.

(As of SMC12V02)

Position coupling (cf. CPA command):

As soon as the differences in position of all slave axes in relation to the master
axis are less than the specified maximum position difference, monitoring of the
maximum position difference of the slave axes in relation to the master axis is
activated and the system flag is set on the master axis of the axis group.
Velocity coupling (cf. CVA command):
If the current difference in velocity of all coupled axes in relation to the particu
lar effective command velocity is less than the maximum difference specified
by the CVA command, the system flag is set on the master axis of the axis
group.

MSx14

Active suppression of short

parts
(As of SMC 12V06)

The system flag is set if the suppression of a short part has been detected (re
fer to "Yx69, bit 11"). It is deleted the next time an EOS command is called due
to an immediate cut or crop cut.
(see also chapter "Short Parts" on page 389)

Fig.6-18:

Axis numbers 1 to 6

Axis-dependent system flags

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Programming

6.7

Digital Inputs and Outputs

6.7.1

General Information
The assignment of the external I/O periphery to the internally used system in
puts and outputs as well as their query require a defined syntax if made in the
SMC-Editor and via the VCP 08. The syntax uses symbolic addresses corre
sponding to the names of the interfaces. As a result, inputs, outputs and flags
are clearly distinguished during programming and parameterization.
The following figure illustrates the syntax required for access to the I/O pe
riphery:

a
b
c
d

Fig.6-19:

I/O type
Hardware address
Word address
Pin or bit number

Structure of the names of inputs and outputs

In the SMC-Editor, symbolic names can be assigned to the used

I/O signals.
These symbolic names can then be used for evaluating the I/O
signals in the user program.
See also chapter 5.1.6 "Input Support" on page 61.
Inputs

Inputs are labeled "I".

They can be programmed and processed in parameters and commands.
They are read within the time interval of the cycle time.

Outputs

Outputs are labeled "Q".

They can be programmed and edited in parameters and commands. They
are set within the time interval of the cycle time.

Example:
Using the I/O syntax in the SMC-Editor
-------------- Inputs -------------AKN I.A1.X31.Pin3 On
AKN I.A2.X32.Pin6 On

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Programming
AKN I.A1.PL.Pin27 On
AKN I.A1.MD.Pin32 On
AKN I.SD1.W1.Bit0 On
AKN I.SD4.W1.Bit0 On
AKN I.FB.W1.Bit0 On
AKN I.FB.W6.Bit15 On
------------- Outputs ------------AEA Q.A1.X32.Pin6 Set
AEA Q.A2.X32.Pin9 Set
AKN Q.A1.PL.Pin17 On
AKN Q.A1.MD.Pin30 On
AEA Q.SD1.W1.Bit0 Set
AEA Q.SD4.W1.Bit0 Set
AEA Q.FB.W1.Bit0 Set
AEA Q.FB.W6.Bit15 Set
The permitted choice of possible I/O signals is described in the following ta
ble:
I/O type

Hardware ad
dress

Word address
X31

Pins 1-8 ("IndraDrive Cs")

Pins 6-9 ("IndraDrive")

X33

Pins 1-6 ("IndraDrive double ax

is")

X34

Pins 1-5 ("IndraDrive double ax

is")

A1

PL

Pins 1-8, 20-27

A2 - A3

MD

Pins 17, 1622, 3132

SD1 - SD4

W1

Bit 0 - 15

FB

W1 - W6

Bit 0 - 15

A1 - A6

X32

Pins 6-9

A1

PL

Pins 1013, 1518, 2829, 31

34, 3637

A2 - A3

MD

Pins 8-15, 23-30

SD1 - SD4

W1

Bit 0 - 15

FB

W1 - W6

Bit 0 - 15

Fig.6-20:

Pins 3-7 ("IndraDrive")

X32
A1 - A6

Pin or bit number

Permissible I/o signals

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Programming

If the field bus master communication is used, it is not possi

ble to use a parallel interface and vice versa.

In general, the onboard I/Os (X31/X32/X33/X34) are provi

ded via the free CCD process data. This also applies to the
master. The inputs of the master are thus processed with the
same CCD clock as the onboard inputs of the slaves.

The digital sercos III I/O modules 1-4 (SD1-4) are addressed
according to the detected line topology (wiring), i.e., "sercos
III I/O module 1" corresponds to the sercos III I/O module
that is "the first" to be connected to the CCD master (see
IndraWorks dialog "CCD Basic Settings").
Example: If there is an analog sercos III I/O module which is
wired to the CCD master and a digital sercos III I/O module
which is wired to the analog sercos III I/O module, then the
digital sercos III I/O module is addressed with "SD2", be
cause it is found as second I/O (note: Corresponding param
eters Y039 and Y043. The analog sercos III I/O is always
addressed with VS031 to VS036 (note: Corresponding pa
rameters Y038 and Y042).
There are 16 inputs and 16 outputs available for each digital
module. Mixed operations are not supported.

6.7.2

Process Input Image

At the beginning of each task cycle, the switching states at the inputs are
read and stored in the "Process input image" (PII) before the internal program
code is called. This information is then passed to the system solution where it
is processed.
The following configuration is predefined for the process input image (but can
be edited in the partially open project, see chapter 10 "User-defined Exten
sions" on page 459) and is used by the system solution:

Axis

Axis 1

Axis type

Master

Input assignment

PLC register

Max. number of inputs

sercos Digital E1

P-0-1390

16

sercos Digital E2

P-0-1391

16

sercos Digital E3

P-0-1392

16

sercos Digital E4

P-0-1393

16

S-0-0145

16

Field bus I1

P-0-1394

16

Field bus I2

P-0-1395

16

Field bus I3

P-0-1396

16

Field bus I4

P-0-1397

16

Field bus I5

P-0-1398

16

Field bus I6

P-0-1399

16

Master communication:

Axis 1

Master

Parallel interface Q1

Axis 2

Slave 1

Optional card MD2

P-0-1400

16

Axis 3

Slave 2

Optional card MD2

P-0-1401

16

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Axis

Axis type

Input assignment

PLC register

Max. number of inputs

sercos analog E1, channel 1

P-0-1402

Analog value

sercos analog E1, channel 2

P-0-1403

Analog value

sercos analog E1, channel 3

P-0-1404

Analog value

sercos analog E1, channel 4

P-0-1405

Analog value

Not used

P-0-1406

Not used

P-0-1407

Not used

P-0-1408

Not used

P-0-1409

Axis 1

Master

Onboard X31/X32

P-0-1440

5/6

Axis 2

Slave 1

Onboard X31/X32/X33/X34

P-0-1441

5/6/6/5

Axis 3

Slave 2

Onboard X31/X32/X33/X34

P-0-1442

5/6/6/5

Axis 4

Slave 3

Onboard X31/X32/X33/X34

P-0-1443

5/6/6/5

Axis 5

Slave 4

Onboard X31/X32/X33/X34

P-0-1444

5/6/6/5

Axis 6

Slave 5

Onboard X31/X32/X33/X34

P-0-1445

5/6/6/5

Not used

P-0-1446

Not used

P-0-1447

Fig.6-21:

Process input image

All registers have a defined preconfiguration by default.

6.7.3

Process Output Image

The states of the "Process output image" (POI) are transferred to the physical
outputs at the end of each task cycle after the completion of the program
code.
The following configuration is defined for the process output image (but can
be edited in the partially open project, see chapter 10 "User-defined Exten
sions" on page 459) and is used by the system solution:

Axis

Axis 1

Axis type

Master

Output assignment

PLC register

Max. number of out

puts

sercos Digital Q1

P-0-1410

16

sercos Digital Q2

P-0-1411

16

sercos Digital Q3

P-0-1412

16

sercos Digital Q4

P-0-1413

16

P-0-1414

16

Field bus Q2

P-0-1415

16

Field bus Q3

P-0-1416

16

Field bus Q4

P-0-1417

16

Master communication:

Parallel interface Q1

Field bus Q1

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Axis

Axis type

Output assignment

PLC register

Max. number of out

puts

Field bus Q5

P-0-1418

16

Field bus Q6

P-0-1419

16

Axis 2

Slave 1

Optional card MD2

P-0-1420

16

Axis 3

Slave 2

Optional card MD2

P-0-1421

16

Axis 1

Master

Onboard X32

P-0-1422

Axis 2

Slave 1

Onboard X32 ("IndraDrive")

P-0-1423

P-0-1424

P-0-1425

P-0-1426

P-0-1427

sercos analog A1, channel 1

P-0-1428

Analog value

sercos analog A1, channel 2

P-0-1429

Analog value

Onboard X31 ("IndraDrive Cs")

Axis 3

Slave 2

Onboard X32 ("IndraDrive")

Onboard X31 ("IndraDrive Cs")

Axis 4

Slave 3

Onboard X32 ("IndraDrive")

Onboard X31 ("IndraDrive Cs")

Axis 5

Slave 4

Onboard X32 ("IndraDrive")

Onboard X31 ("IndraDrive Cs")

Axis 6

Slave 5

Onboard X32 ("IndraDrive")

Onboard X31 ("IndraDrive Cs")

Fig.6-22:

Process output image

All registers have a defined preconfiguration by default.

6.8

System Inputs and Outputs

6.8.1

General Information
The SMC system solution features axis-independent and axis-dependent
system inputs and outputs. The assignment of the internal system inputs and
outputs to the external I/O periphery (I/O assignment) can be configured.
On delivery, the master communication (parallel interface - PL, field bus - FB)
and the onboard connectors (X31, X32, X33, X34) have a default assignment
(cf. chapter 6.8.7 "Default Configuration Digital System Inputs and Outputs"
on page 227). This default assignment can be restored at any time via pa
rameter Y010 (see chapter "Y010: AutoConfig I/Os" on page 504).
Within the SMC, the individual system inputs and outputs are cyclically pro
cessed in the PlcTask (10ms) or MotionTask (Y001).
Digital inputs are read-only and do not allow write access.
Digital outputs allow read and write access.

6.8.2

Configuring System Inputs and Outputs

All system inputs and outputs can be configured as desired, i.e., they can be
assigned to any hardware address of the I/O periphery via a Y-parameter.
Each signal is provided with its own Y-parameter for configuration of the sys
tem inputs and outputs. The desired hardware address must be entered in

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Programming
this Y-parameter to define the assignment of the hardware signal to the sys
tem input or output.
It is therefore possible to link each signal separately with a specific hardware
input or output.
For a detailed description of the corresponding parameters, please refer to
chapter 11 "Parameters" on page 495.

6.8.3

Axis-independent System Inputs

The following are the axis-independent system inputs featuring their descri
bed functionality:

Input

Function

Processing clock

Parameter Remark

Automatic mode

Automatic
on/off

PlcTask

Y011

Clear Error

Clear Error

PlcTask

Y012

Single Step

Single step for user program

PlcTask

Y013

Parameter mode

Parameter mode

PlcTask

Y014

nE-Stop

E-Stop

MotionTask

Y015

Start

Starts automatic mode

PlcTask

Y016

nStop

Stops the user program

MotionTask

Y017

Manual routine

Starts the manual routine in

PlcTask
manual mode

Y018

Abort Program

Aborts a running SMC program

PlcTask

Y019

Restart

Starts the restart routine

PlcTask

Y049

or

manual

Fig.6-23:
Automatic mode

mode

Always via X32, pin 6 (cf. drive

parameter P-0-0223) of the
master axis

As of SMC12V04

Axis-independent system inputs

The SMC provides three operation modes:

- Parameter mode
- Automatic mode
- Manual mode
The individual operation modes are activated through two system inputs. If
neither the "Parameter mode" input nor the "Automatic mode" input is applied
as operation mode, the SMC is set to manual mode.
If the "Automatic mode" input is applied, the SMC is set to automatic mode.

Clear Error

All existing errors (faults) are cleared with a positive edge at the "Clear Error"
input. Errors can be cleared in parameter mode and in operation mode. How
ever, while phase switching is active, e.g., from parameter mode to operation
mode, it is not possible to execute the "Clear Error" function.

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Programming

NOTICE

Cyclic activation causes damage to the inter

nal memory (flash or MMC)

Cyclic activation of "Clear Error" without correction of the error cause is not
allowed, because it causes damage to the internal memory (flash or MMC)
on the IndraDrive control section (see "F2100 Incorrect access to command
value memory"). The number of write cycles to the internal device memory is
limited. Generation of an error message results in an entry of detailed error
diagnostics into the drive logbook and therefore to access to the internal de
vice memory.
Single Step

Upon activation of the single step mode, a positive edge at the "Start" input
always triggers only one command (current command) of the task or routine
selected to be processed.
Once the command is completed, the next command of the task or routine
will not be started before the next positive edge at the "Start" input.
Only one task or routine can be processed at a time in single step mode.
This task or routine can be one of the 4 automatic tasks, the cyclic tasks or
the manual routine or manual cut routine. Processing of the other active tasks
or routines is continued in "normal" cycles. Since this has a considerable ef
fect on the timing sequence, it must be ensured that no unintentional actions
or motions are carried out.
The task or routine for single step mode can be selected with the SMC Editor
in online mode on the debugger window.

Parameter mode

This input is used to switch the SMC over to parameter mode. In this opera
tion mode, parameters can be configured. Usually, the parameter mode is
only required for the initial commissioning to enter the machine data. In this
operation mode, the power unit is switched off.
Switching over to parameter mode is possible only if automatic mode is not
active.

nE-Stop

+24 V must be applied to this input in the operating state. If this input is re
moved, the Ready-for-operation contact (bb) of the master axis is opened
and the drives are stopped.

Start

If automatic mode is selected, the program is started after a positive edge at

the "Start" input. Program start is only possible if drive enable (cf. "Yx15:
drive enable, In config") is set for all active axes.

nStop

The user program run is stopped immediately if there is no signal at the

"nStop" input any longer.
If following a straight line, the motion of the axis is immediately decelerated
with the programmed delay until it comes to a rest. If there still remains a re
sidual distance to be traveled, this distance is stored and will be the first to be
traveled upon restart. There will be no dimensional loss of reference.
Without the "nStop" signal, no jogging and homing motions are possible in
manual mode.
Ongoing jogging and homing motions are stopped immediately.
If the "Flying Cutoff" application type is configured, the removal of the "nStop"
input acts as a cycle stop, i.e., motions that have already been started will be
completed before they are stopped.

Manual routine

A positive edge at this input starts the manual routine in manual mode.

Abort Program

A positive edge at the "Abort Program" input immediately stops all running
automatic tasks and the manual routine or manual cut routine. The cyclic task

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Programming
is not interrupted. The "Run" output is reset. Any running axis movement is
stopped. See also chapter 7.22 Abort Program, page 415.
If automatic mode is selected, the restart routine program sequence is started
after a positive edge at the "Restart" input. The restart can only be triggered if
drive enable (see "Yx15: Drive enable, In-config") is set for all active axes.

Restart

6.8.4

Axis-dependent System Inputs

The following are the axis-dependent system inputs featuring their described
functionality:

Input

Function

Processing clock Parameter Remark

Drive enabled

Internal axis enable and activation

of the drive enabled output (with PlcTask
torque)

Yx15

This input is automatically active

if no hardware input has been
assigned via Yx15

nInterrupt

Interruption
movement

MotionTask

Yx16

This input is automatically active

if no hardware input has been
assigned via Yx16

Lift Rolls

Rolls are lifted

MotionTask

Yx17

Rolls Closed

Rolls are closed

MotionTask

Yx18

Optional Encoder

Activates the optional encoder

PlcTask

Yx19

Jog +

Jog forward

PlcTask

Yx20

Jog -

Jog backward

PlcTask

Yx21

Homing

Homing

PlcTask

Yx22

Homing switch

Homing switch

MotionTask

Yx23

Setup mode

Setup mode for PSI command

PlcTask

Yx24

Setup end

Setup end for PSI command

PlcTask

Yx25

nFeedControl

Feed control

MotionTask

Yx26

This input is automatically active

if no hardware input has been
assigned via Yx26

Registration mark

Registration of measured value

MotionTask

Yx27

Defined via X31, pin 3 (cf. drive

parameter S-0-0401) if activated
in Yx27

Cut Inhibit

Inhibition of the carriage synchro

MotionTask
nization process

Yx70

Only in Flying Cutoff mode

Return Inhibit

Inhibition of the carriage return

MotionTask
movement

Yx71

Only in Flying Cutoff mode

Immediate Cut

Execution of an immediate cut in

automatic mode or execution of
MotionTask
the manual cut routine in manual
mode

Yx72

Only in Flying Cutoff mode

Crop Cut

Execution of a crop cut

MotionTask

Yx73

Only in Flying Cutoff mode

Return Optimization

Optimization of the carriage return

MotionTask
behavior

Yx74

Only in Flying Cutoff mode

Rapid Stop

Execution of a rapid stop

Yx75

Only in Flying Cutoff mode

of

the

traversing

MotionTask

Defined via X31, pin 7 (cf. drive

parameter S-0-0400) if activated
in Yx23

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Programming
Input

Function

Processing clock Parameter Remark

Reset material
length counter

Resets the material length counter PlcTask

Yx76

Only in Flying Cutoff mode

Test mode

Activates the test mode

PlcTask

Yx77

Only in Flying Cutoff mode

Reset product length

Resets the product length counter PlcTask
counter

Yx78

Only in Flying Cutoff mode

No material

Yx88

Only in Flying Cutoff mode

Detects the end of material

MotionTask

Fig.6-24:
Drive enabled

Axis-dependent system inputs

The drive enable input serves to enable the controller enable (torque) for
each axis separately. If there is no enable, the drive enable output of the par
ticular axis is switched off. All axis enable signals of the active axes must be
applied on selection of automatic mode. Otherwise, a diagnostic message is
displayed. Drive enable disabling is not possible in manual and automatic
mode. In automatic mode, however, the drive enable can only be switched off
if the automatic program is not active, i.e., the output "Run" on page 225
(see Y025) is not set.
In manual mode, jogging and homing is only possible with enabled axis.
If the "Enable" signal is removed, an axis that was homed with an incremen
tal encoder will remain in its home position in manual mode. The absolute po
sition reference does not get lost. It is delayed with the value from chapter
"Yx06: Maximum Acceleration" on page 530.

nInterrupt

To ensure that the remaining distance is correctly processed

after an incremental positioning step is interrupted (e.g., via
PSI command) with activation and deactivation of the drive
enabled output, the axis must be referenced or remained ref
erenced.

The signal is only effective for the real axis. The signal is al
ways set to "TRUE" for the virtual axis.

If the signal is removed from the specified input , feed motions that have al
ready been initiated will not be executed and running feed motions will be
stopped. The processing of all blocks not containing any feed lengths will be
continued. If the program run encounters a block with feed length, the SMC
stops in this block until a signal is applied to the input. If the other operating
state is maintained, the feed motion is executed or continued as soon as the
signal is set or reset, respectively.
This function is effective both in manual and automatic modes. Active jog
movements are stopped in manual mode.

Lift Rolls

This input is used to activate the electric lift rolls function. The "Lift rolls ac
tive" output is set synchronously with the "Lift Rolls" input. The axis is switch
ed to a torque-free state. The torque at the axis is not reactivated until the
"Rolls closed" signal is applied.

Rolls Closed

This input is used to query whether the rolls are closed. The feed is delayed
until the input is "1".

Optional Encoder

In manual or automatic mode, this input can be used to switch position con
trol from the motor encoder over to the optional encoder (encoder 2 or meas
uring wheel encoder). The optional encoder can also be used as measuring
wheel encoder (friction-fitting on passing material) to compensate for a slip
page between the material and the feed rolls (see also chapter 7.3 "Optional
Encoder (Measuring Wheel Mode)" on page 331).

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Jog +

If a signal is applied to this input, the axis moves forward at the velocity

entered in parameter Yx03 in manual mode

(see chapter "Yx03: Jog Velocity" on page 528)

entered in parameter Yx05 in setup mode

(see chapter "Yx05: Setup Velocity" on page 529)

(positive direction).
The jog movement is started by a positive edge at the input and remains ac
tive as long as the signal is set.
Acceleration and deceleration are carried out

with the value entered in parameter Yx06 in manual mode

(see chapter "Yx06: Maximum Acceleration" on page 530),

with the programmed value in setup mode (cf. ACC command).

There is no movement if the "nStop", "nInterrupt" or "nFeedControl" signal is

missing.
Jog -

If a signal is applied to this input, the axis moves backward at the velocity

entered in parameter Yx03 in manual mode

(see chapter "Yx03: Jog Velocity" on page 528)

entered in parameter Yx05 in setup mode

(see chapter "Yx05: Setup Velocity" on page 529)

(negative direction).
The jog movement is started by a positive edge at the input and remains ac
tive as long as the signal is set.
Acceleration and deceleration are carried out

with the value entered in parameter Yx06 in manual mode

(see chapter "Yx06: Maximum Acceleration" on page 530),

with the programmed value in setup mode (cf. ACC command).

There is no movement if the "nStop", "nInterrupt" or "nFeedControl" signal is

missing.
Homing

Homing of the axis is started by a positive edge at this input signal. The input
is only effective in manual mode while the manual routine and the manual cut
routine are not active. An absolute dimensional reference is generated (see
chapter 7.14 "Homing" on page 407).
If absolute evaluation is possible and active with the encoder (cf. drive pa
rameter S-0-0277, bits 6/7), the dimensional reference is established via the
"P-0-0012, C0300 Set absolute position procedure command" drive com
mand. If absolute evaluation is not possible or active, the dimensional refer
ence is established via the "S-0-0148, C0600 Drive-controlled homing proce
dure command" drive command.
Whether or not homing was successfully completed, can be verified by query
ing the parameterized output in parameter Yx30 (see chapter "Yx30: In Ref
erence, Out-config" on page 541).

Homing switch

This input is used to read the switching state of the homing switch connected
to the axis. Evaluation of the homing switch must be activated in parameter
Yx23 (see chapter "Yx23: Homing Switch, In-config" on page 538).

Setup mode

If a user program is active, this input can be used to activate setup mode.
Once the program calls a PSI command and the "Setup" is set, setup mode
is active and the "Setup active" output is set.

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Programming
In setup mode, the feed length can only be traversed via the two jog inputs.
Setup end

The end of setup mode and therefore block stepping to the next command is
achieved as soon as a positive edge has been detected at this input. Any
possible remaining distance is ignored.

nFeedControl

If no signal is applied to this input, there will be no feed movement. The SMC
processes all blocks not containing any feed lengths. If the program run en
counters a block with feed length, the SMC stops in this block until a signal is
applied to the input. If the signal drops during the feed movement, an error
message is displayed.
This function is effective both in manual and automatic modes. Active jog
movements are stopped in manual mode.

Registration mark

This input is a "rapid" signal input (registration in 1 sec). This input is only
used with the "RMI", "SRM", "LMC", "LMK", and "LMR" program commands.

Cut Inhibit

A rising edge at this input triggers the inhibition of a cut, i.e., the carriage
stops at the initial position. Cut inhibition can only be canceled with a rising
edge at the "Immediate cut" or "Crop cut" input.
This input is only evaluated with the "Flying Cutoff" application type.

Return Inhibit

If the carriage decelerates after the end of synchronization and stops, the re
turn movement is usually initiated by a Flying Cutoff motion command. Where
this input is concerned, the return movement to the initial position is inhibited
until the signal is no longer set.
This input is only evaluated with the "Flying Cutoff" application type.

Immediate Cut

A rising edge at this input immediately accelerates the synchronous axis to

material velocity irrespective of the length specified, and the machining pro
gram of the length block is started.
This input is only evaluated with the "Flying Cutoff" application type.

Return Optimization

If this input is set, the SMC calculates the acceleration and the velocity of the
return movement of the carriage. This is intended to prevent damage from
the mechanics and to minimize energy losses.
This input is only evaluated with the "Flying Cutoff" application type.

Crop Cut

A rising edge at this input sets the crop cut length entered in parameter Yx59
(see chapter "Yx59: Crop Cut Length" on page 557).
This input is only evaluated with the "Flying Cutoff" application type.

Rapid Stop

This input serves to rapidly remove the tool from the material and to stop the
carriage.
If the material is just machined during the synchronous run and a signal is ap
plied to the "Rapid stop" input, the machining program is immediately stop
ped and the tool is rapidly moved out of the material. The starting block of the
rapid stop routine is defined in parameter Yx52 (see chapter "Yx52: Starting
Block Rapid Stop Routine" on page 553).
This input is only evaluated with the "Flying Cutoff" application type.

Reset material length counter

If there is a rising edge at this input, the material length counter in system
variable VSx19 and VSx24 is reset (set to zero).
This input is only evaluated with the "Flying Cutoff" application type.

Test mode

This input is used to start the virtual axis in test mode at the velocity config
ured in parameter Yx66 (see chapter "Yx66: Test Mode Velocity" on page
560) and at the acceleration configured in parameter Yx67 (see chapter
"Yx67: Test Mode Acceleration" on page 561).
This input is only evaluated with the "Flying Cutoff test mode" application
type.

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Programming
Reset product length counter

If there is a rising edge at this input, the product length counter in system var
iable VSx20 is reset (set to zero). This creates a new reference for the next
cut (as is the case with a crop cut except that, in this case, there is no cut).
This input is only evaluated with the "Flying Cutoff" application type.
When the product length counter is reset, monitoring for the maxi
mum part length is no longer possible.

No material

If there is a rising edge at this input, the end of the material is detected to ini
tiate tailout machining.
This input is only evaluated with the "Flying Cutoff" application type.

6.8.5

Axis-independent System Outputs

The following are the axis-independent system outputs featuring their descri
bed functionality:

Output

Function

Processing clock

Parameter Remark

nError

Error (failure)

MotionTask

Y020

Automatic mode

Automatic mode active

PlcTask

Y021

Manual mode

Jog mode, system setup active

PlcTask

Y022

Parameter mode

Parameter mode active

PlcTask

Y023

Drive enabled

Torque applied to all active axes

PlcTask

Y024

Run

Automatic task or manual routine/manual

cut routine active

PlcTask

Y025

SMC program valid

Valid user program loaded

PlcTask

Y026

Operating barrier

Operating barrier at at least one of the axes

PlcTask

Y027

Restart possible

The SMC program can be restarted

PlcTask

Y050

Fig.6-25:
nError

As
SMC12V04

of

Axis-independent system outputs

In the event of a failure, this output is immediately switched off.

The error can only be acknowledged
if there is positive edge at the "Clear Error" input,
by pressing the "Clear" key on the VCP 08, or
by clicking the "Clear Error" button on the "Debugger" window of the SMC
Editor.

Automatic mode

If the SMC is in the "Automatic" mode, this output is activated.

If a new user program is loaded (e.g., via the SMC Editor) or if a running pro
gram is prematurely terminated (cf. "Abort program"), this output is cleared
and not set again until successful completion.

Manual mode
Parameter mode
Drive enabled

If the SMC is in "Manual" mode, this output is activated.

This output is activated, if the SMC is in parameter mode.
If there is no error and torque is applied to all enabled axes (cf. "Enable" in
put), this output is set.

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Programming
Run

This output indicates that a user program is currently processed in an auto

matic task or in the manual routine or manual cut routine. It is set if a start
signal has been given and there is no stop signal. If the program was stopped
(e.g., by the "nStop" signal, by the "JST" command or after switchover to
"Manual" mode), this output is cleared.

SMC program valid

This output is set if a valid user program was downloaded to the internal pro
cessing memory of the SMC.
If this output is not set, the user program cannot be started in manual or auto
matic mode.

Operating barrier

Restart is possible

6.8.6

This output is set if a motion command (e.g., PSI) cannot be executed, for ex
ample because the interrupt or feed monitoring signal is set or the drive ena
bled signal is missing in jog mode.
This output is set if the SMC program can be continued using a restart.

Axis-dependent System Outputs

The following are the axis-dependent system outputs featuring their descri
bed functionality:

Output

Function

Processing clock

Parameter Remark

Drive enabled

Torque applied to drive

PlcTask

Yx29

In reference

Axis in reference

PlcTask

Yx30

Lift rolls enabled

Rolls are lifted

MotionTask

Yx31

PlcTask

Yx32

Optional encoder ac Optional encoder (encoder 2 or measuring

tive
wheel) activated (control with external en
coder)
In position

Target position reached, cf. drive parameter MotionTask

"S-0-0338, Status "In target position""

Yx33

Velocity achieved

Command velocity reached

PlcTask

Yx34

Setup active

Setup mode is active

PlcTask

Yx35

Setup start position

Start position reached

PlcTask

Yx36

Setup end position

End position reached

PlcTask

Yx37

Presignal active

Presignal for feed command

MotionTask

Yx38

Scrap cut active

Scrap cut active

PlcTask

Yx79

Only in Flying
Cutoff mode

Cut Inhibit

Cut Inhibit active

PlcTask

Yx80

Only in Flying
Cutoff mode

Return Optimization

Return optimization active

PlcTask

Yx81

Only in Flying
Cutoff mode

Return Inhibit

Return Inhibit active

PlcTask

Yx82

Only in Flying
Cutoff mode

Maximum part length Maximum part length reached

reached

PlcTask

Yx83

Only in Flying
Cutoff mode

Travel Pulse

MotionTask

Yx84

Only in Flying
Cutoff mode

Travel pulse (defined length has passed

through)

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Programming
Output

Function

Processing clock

Parameter Remark

Presync Pulse

Presync pulse (defined length or time prior

to synchronization)

MotionTask

Yx85

Only in Flying
Cutoff mode

Tailout done

Tailout machining has been done

MotionTask

Yx89

Only in Flying
Cutoff mode

Fig.6-26:
Drive enabled

Axis-dependent system outputs

This output is set if the axis is provided with power and torque.

In reference

This output is set if the axis is homed (see also chapter 7.14 "Homing" on
page 407).

Lift rolls enabled

This output is set if the lift rolls enabled function is active, i.e., there is no tor
que applied to the axis (see also chapter 7.15 "Lift Rolls (Electrically)" on
page 409).

Optional encoder active

This output is set if the optional encoder (encoder 2 or measuring wheel) is

activated as control encoder. In this case, the drive controls based on the
measured values of the connected optional encoder or measuring wheel (see
also chapter 7.3 "Optional Encoder (Measuring Wheel Mode)" on page
331).

In position

This output is set if the axis has reached the command position (cf. drive pa
rameter S-0-0338, bit 0).

Velocity achieved

This output indicates whether the axis has reached the command velocity.
The output is set if the difference between the internally generated velocity
command value and the actual velocity of the axis ("S-0-0040, Velocity feed
back value") is less than the parameterized velocity window. The velocity
window is defined via parameter "S-0-0157, Velocity window".
The SMC reads the value of parameter "S-0-0157, Velocity win
dow" once after switchover from parameter mode to operating
mode. In operating mode, the SMC no longer detects changes in
the parameter.

Setup active

This output is set if setup mode is active and the axis can be jogged between
the start and end positions (see also chapter 7.13 "Setup Mode" on page
406).

Setup start position

This output is set if the axis is positioned at the start position of setup mode.

Setup end position

This output is set if the axis is positioned at the end position of setup mode.

Presignal active

This output is applicable for each feed command (POI, PSI, POA, PSA). As
soon as the distance still to be traveled becomes smaller than the program
med presignal distance, this output is activated. The output remains activated
constantly or for the programmed time. Whenever a feed block is re-entered,
the output is deactivated (see also chapter 7.18 "Presignal" on page 411).

Scrap cut active

This output is set if a scrap cut (i.e., the cut length does not correspond to the
programmed length) is active.
This output is only used with the "Flying Cutoff" application type.

Cut Inhibit active

This output is set if the cut inhibition is active. Any active cut inhibition can
only be canceled with a rising edge at the "Immediate cut" or "Crop cut" input.
This output is only used with the "Flying Cutoff" application type.

Return optimization active

This output is set if return optimization is active, i.e., the SMC calculates the
return velocity and the return acceleration.
This output is only used with the "Flying Cutoff" application type.

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Programming
Return Inhibit active

This output is set if return inhibition is active. An active return inhibition can
only be cancelled by removing the "Return inhibit" input.
This output is only used with the "Flying Cutoff" application type.

Maximum part length reached

This output is set if the length configured in parameter Yx60 (see chapter
"Yx60: Maximum Part Length" on page 557) has been reached. In this case,
the error reaction configured in parameter Yx61 (chapter "Yx61: Error Reac
tion Max. Part Length" on page 558) is executed.
This output is only used with the "Flying Cutoff" application type.

Travel Pulse

This output is set if the material length defined in parameter Yx68 (see chap
ter "Yx68: Material Pulse Distance" on page 561) has passed through.
This output is only used with the "Flying Cutoff" application type.

Presync Pulse

This output is set as soon as the carriage is in parameter Yx86 for a defined
time or distance before synchronization (see chapter "Yx86: Presync Value"
on page 570), i.e., as soon as the carriage has synchronized successfully.
Either a distance is given in mm or a time in ms, depending on bit 6 of param
eter Yx69.
If "Time" is selected as unit in Yx69, bit 6, a constant material ve
locity is assumed. Otherwise, signal accuracy cannot be ensured.
This output is only used with the "Flying Cutoff" application type.

Tailout done

This output indicates that tailout machining has been completed.

This output is only used with the "Flying Cutoff" application type.

6.8.7

Default Configuration Digital System Inputs and Outputs

The following tables show the assignment of the digital inputs and outputs to
the hardware addresses on delivery. The default configuration is set whenev
er parameter mode is exited, provided parameter Y010 (see chapter "Y010:
AutoConfig I/Os" on page 504) is set to TRUE.
Axis-independent system inputs and system outputs

I/O

Signal

Function

Parameter

Hardware address

Parameter mode

Parameter mode

Y014

I.Ax.X32.Pin71)

Automatic mode

Manual/automatic mode

Y011

FB: I.FB.W1.Bit0
PL: I.Ax.PL.Pin11)
No master communication:
IN_UNUSED

Start

Starts automatic mode

Y016

FB: I.FB.W1.Bit1
PL: I.Ax.PL.Pin201)
No master communication:
IN_UNUSED

nStop

Stops the user program

Y017

FB: I.FB.W1.Bit2
PL: I.Ax.PL.Pin21)
No master communication:
IN_UNUSED

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Programming
I/O

Signal

Function

Parameter

Hardware address

Clear Error

Clears pending errors

Y012

FB: I.FB.W1.Bit3
PL: I.Ax.PL.Pin211)
No master communication:
IN_UNUSED

Manual mode

Manual mode active

Y022

FB: Q.FB.W1.Bit0
PL: Q.Ax.PL.Pin281)
No master communication:
OUT_UNUSED

Automatic

Automatic mode active

Y021

FB: Q.FB.W1.Bit1
PL: Q.Ax.PL.Pin101)
No master communication:
OUT_UNUSED

SMC program valid

Valid user program in work

ing memory

Y026

FB: Q.FB.W1.Bit2
PL: Q.Ax.PL.Pin291)
No master communication:
OUT_UNUSED

Run

SMC program is being pro

cessed

Y025

FB: Q.FB.W1.Bit3
PL: Q.Ax.PL.Pin111)
No master communication:
OUT_UNUSED

Drive enabled

Torque applied to all active

axes

Y024

FB: Q.FB.W1.Bit4
PL: Q.Ax.PL.Pin121)
No master communication:
OUT_UNUSED

Operating barrier

Operating barrier at at least

one of the axes

Y027

FB: Q.FB.W1.Bit5
PL: Q.Ax.PL.Pin311)
No master communication:
OUT_UNUSED

nError

Error (failure)

Y020

FB: Q.FB.W1.Bit6
PL: Q.Ax.PL.Pin131)
No master communication:
OUT_UNUSED

PL
FB
No master
communica
tion
1)

Fig.6-27:

Parallel interface
Field bus
Master communication is not available or is deactivated
"x" stands for the number of the CCD master axis

Default configuration of axis-independent system inputs and system

outputs

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Programming
Axis-dependent system inputs:
I/O

Signal

Function

Parameter

Hardware address

Jog +

Manual mode

Yx20

I.Ax.X31.Pin41) 2)

Jog -

Manual mode

Yx21

I.Ax.X31.Pin51) 2)

Homing

Homing

Yx22

I.Ax.X31.Pin61) 2)

1)
2)

Fig.6-28:

"x" stands for the number of the axis

No default configuration of the axis-dependent system inputs is availa
ble for the "IndraDrive double axis - axis 2".

Default configuration of axis-dependent system inputs

Axis-dependent system outputs are not configured by default.

6.9

Language Version
The language version specifies the language version which can be interpre
ted by the Sequential Motion Control. An SMC firmware release can interpret
one or several language versions. The latest SMC-Editor version always in
stalls all previous language versions while the SMC-Editor is installed.
The used language versions of the Sequential Motion Control (SMC) are dis
played in the following tables.
Sequential Motion Control (SMC)

Language version

12V06

SMC 12V04

12V04

SMC 12V03

12V02

SMC 12V01

Fig.6-29:

Supported language versions of the SMC firmware release 12VRS

Sequential Motion Control (SMC)

10V12 or higher

SMC 10V04
SMC 10V03
SMC 10V04

10V10

SMC 10V03

10V08

SMC 10V03

10V06

SMC 10V03

10V04

SMC 10V02

Fig.6-30:

6.10

Language version

Supported language versions of the SMC firmware release 10VRS

Overview of User Commands

The following table provides an overview of all commands available in the
SMC program:
Description

Language ver
sion required

ACC (see page 235)

Acceleration change

SMC 10V03

AEA (see page 236)

Set / reset / toggle bit

SMC 10V03

Command

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Programming
Description

Language ver
sion required

AKN (see page 237)

Acknowledge bit

SMC 10V03

AKP (see page 237)

Parallel query with screen

SMC 10V03

APE (see page 239)

Parallel setting with screen

SMC 10V03

BAC (see page 240)

Branch conditional on count

SMC 10V03

BCE (see page 241)

Branch conditional on bit

SMC 10V03

BIC (see page 241)

Branch conditional on bit field value

SMC 10V03

CIO (see page 243)

Copy bit field

SMC 10V03

CMA (see page 243)

Cam axes: activation

SMC 10V03

CMM (see page 246)

Cam axis: motion step

SMC 12V04

CMC (see page 244)

Cam axis: configuration

SMC 10V03

CMP (see page 251)

Cam axis: profile

SMC 10V03

CMS (see page 253)

Cam axis: settings

SMC 12V04

CON (see page 255)

Continuous operation

SMC 10V03

COU (see page 255)

Counter

SMC 10V03

CPA (see page 256)

Position-coupled axes: activation

SMC 12V01

CPJ (see page 258)

Compare and jump

SMC 10V03

CPL (see page 258)

Clear following distance

SMC 10V03

CPS (see page 260)

Compare and set a bit

SMC 10V03

CRL (see page 260)

Set Remaining Length - Cam Axis

SMC 10V03

CST (see page 261)

Clear subroutine stack

SMC 10V03

CTA (see page 263)

Torque-coupled axes: activation

SMC 12V04

CTC (see page 264)

Torque-coupled axes: configuration

SMC 12V04

CVA (see page 266)

Velocity coupled axes: activation

SMC 12V01

CVC (see page 268)

Velocity coupled axes: configuration

SMC 12V01

CVT (see page 268)

Converting variable <-> bit pattern

SMC 10V03

EDG (see page 271)

Edge detection bit

SMC 10V03

EOS (see page 271)

End of synchronization

SMC 10V03

FAK (see page 272)

Multiplication factor for feed

SMC 10V03

FOA (see page 273)

Phase synchronous axes: activation

SMC 10V03

FOC (see page 274)

Phase synchronous axis: configuration

SMC 10V03

FUN (see page 275)

Functions

SMC 10V03

HOM (see page 277)

Homing

SMC 10V03

JMP (see page 278)

Unconditional jump

SMC 10V03

JSR (see page 279)

Jump to subroutine

SMC 10V03

JST (see page 279)

Jump and stop

SMC 10V03

Command

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Programming
Description

Language ver
sion required

JTK (see page 280)

Unconditional jump task

SMC 12V03

LMC (see page 282)

Part length by registration mark counter

SMC 10V03

LMK (see page 283)

Part length or registration

SMC 10V03

LML (see page 283)

Part length

SMC 10V03

LMR (see page 283)

Part length by registration mark

SMC 10V03

MAT (see page 284)

Mathematics

SMC 10V03

MLO (see page 284)

Material length output

SMC 10V03

MOM (see page 285)

Torque limit

SMC 10V03

NOP (see page 286)

No-operation instruction

SMC 10V03

PBK (see page 286)

Stop motion

SMC 10V03

PFA (see page 287)

Positioning, absolute to positive stop

SMC 12V01

PFC (see page 288)

Positioning, incremental to positive stop: configuration

SMC 12V01

PFI (see page 288)

Positioning, incremental to positive stop

SMC 12V01

POA (see page 289)

Positioning, absolute with immediate block stepping

SMC 10V03

POI (see page 290)

Positioning, incremental with immediate block stepping

SMC 10V03

PSA (see page 291)

Positioning, absolute with in-position

SMC 10V03

PSI (see page 292)

Positioning, incremental with in-position

SMC 10V03

REP (see page 293)

Registration position limit

SMC 10V03

RMI (see page 294)

Registration mark interrupt

SMC 10V03

RSV (see page 296)

Restart behavior

SMC 12V03

RTS (see page 297)

Return from subroutine

SMC 10V03

RWY (see page 298)

Read/write Y-parameter

SMC 10V03

SAC (see page 299)

Set absolute counter

SMC 10V03

SET (see page 300)

Set variable value

SMC 10V03

SOA (see page 301)

Velocity synchronous axes: activation

SMC 12V01

SOC (see page 303)

Velocity synchronous axis: configuration

SMC 12V01

SPO (see page 304)

Position offset of synchronous axes

SMC 10V03

SRM (see page 305)

Search for registration mark

SMC 10V03

STC (see page 308)

Set task cycle counter

SMC 12V03

TAA (see page 310)

Torque average: activation

SMC 12V04

TAC (see page 312)

Torque average: configuration

SMC 12V04

VCC (see page 312)

Velocity change

SMC 10V03

VEO (see page 315)

Velocity override

SMC 10V03

VOA (see page 317)

Velocity coupled axis over PLC Global Register

SMC 10V04

WAI (see page 319)

Waiting time

SMC 10V03

Command

Fig.6-31:

Overview of user commands

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Programming

The following table provides an overview of the usability of all commands

available in the SMC program:
Application type (Yx00) <> Flying Cut
off

Application type (Yx00) = Flying Cutoff

Func
tion
pack
age re
quired

Command
allowed
for virtual
axis

Auto
task 1

Auto
tasks 2
-4

Manual
routine

Cyclic
task

Auto
Task 1

Auto
tasks 2
-4

Manual
routine

Manual
cut rou
tine

Cyclic
task

ACC

---

AEA

---

AKN

---

AKP

---

APE

---

BAC

---

BCE

---

BIC

---

CIO

---

CMA

SNC

---

---

---

---

---

---

CMM

SNC

---

---

---

---

---

---

CMC

SNC

---

---

---

---

---

---

CMP

SNC

---

---

---

---

---

---

CMS

SNC

---

---

---

---

---

---

CON

---

---

---

---

---

---

---

COU

---

CPA

---

---

---

---

---

---

---

CPJ

---

CPL

---

---

---

---

---

---

---

CPS

---

CRL

---

---

---

---

---

---

---

---

CST

---

CTA2

---

---

---

---

---

---

---

CTC2

---

---

---

---

---

---

---

CVA 2

---

---

---

---

---

---

---

CVC 2

---

---

---

---

---

---

---

CVT

---

EDG

---

EOS

---

---

---

---

---

---

---

---

---

---

Command

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Programming
Application type (Yx00) <> Flying Cut
off

Application type (Yx00) = Flying Cutoff

Func
tion
pack
age re
quired

Command
allowed
for virtual
axis

Auto
task 1

Auto
tasks 2
-4

Manual
routine

Cyclic
task

Auto
Task 1

Auto
tasks 2
-4

Manual
routine

Manual
cut rou
tine

Cyclic
task

FAK

---

---

---

---

---

---

FOA

SNC

---

---

---

---

---

---

FOC

SNC

---

---

---

---

---

---

FUN

---

---

HOM

---

---

---

---

JMP

---

JSR

---

JST

---

---

---

---

---

---

JTK

---

LMC

SNC

---

---

---

---

---

---

---

---

---

LMK

SNC

---

---

---

---

---

---

---

---

---

LML

SNC

---

---

---

---

---

---

---

---

---

LMR

SNC

---

---

---

---

---

---

---

---

---

MAT

---

MLO

---

---

MOM 2

---

---

NOP

---

Command

PBK

---

---

---

---

---

---

---

---

---

---

---

PFC 2

---

---

---

---

---

---

---

---

PFI 2

---

---

---

---

---

---

---

---

POA

---

---

---

---

POI

---

---

---

---

PSA

---

---

---

---

PSI

---

---

---

---

REP

---

---

---

---

---

---

---

---

RMI

SNC or
SRV 1

---

---

---

---

---

---

---

RSV 3

---

---

---

---

---

---

---

---

---

---

RTS

---

RWY

---

PFA

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DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Programming
Application type (Yx00) <> Flying Cut
off

Application type (Yx00) = Flying Cutoff

Command

Func
tion
pack
age re
quired

Command
allowed
for virtual
axis

Auto
task 1

Auto
tasks 2
-4

Manual
routine

Cyclic
task

Auto
Task 1

Auto
tasks 2
-4

Manual
routine

Manual
cut rou
tine

Cyclic
task

SAC

SNC or
SRV

---

---

---

---

---

---

SET

---

SNC

---

---

---

---

---

---

SOC 2

SNC

---

---

---

---

---

---

SPO

SNC

---

---

---

---

SRM

SNC or
SRV 1

---

---

---

---

---

---

STC

---

TAA

---

---

---

---

---

---

---

TAC

---

---

---

---

---

---

---

VCC

---

---

---

---

---

---

---

VEO

---

VOA

---

---

---

---

---

---

WAI

---

SOA

x
--o
SNC
SRV
1

2
3

Fig.6-32:

Command is allowed
No function package required or command not allowed, respectively
Irrelevant
Synchronization function package (SNC)
Servo function package (SRV)
Function package only required if probe 1 (X31, pin 3) is used as "reg
istration mark" input
Not allowed for IndraDrive control sections with "sercos analog con
verter" (SAC)
Command is only allowed in the restart routine

Overview of the usability of user commands

6.11

Command Description

6.11.1

General Information
A single command block in the user program consists of the following ele
ments:
Element

Com
mand

Parameter
1

Parameter
2

Parameter
3

Parameter
4

Parameter
5

Data
type

UINT

REAL

REAL

REAL

REAL

REAL

Example

POI

VF101

VF102

Fig.6-33:

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
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Programming
A command block consists of one command and up to five command param
eters.
The content of command parameters 1 to 5 is always interpreted in REAL for
mat.
If necessary, the data type is automatically converted to INT, e.g., in case of
quantities or axis indices (e.g., 34.2 34, i.e., potential decimal places will be
rounded).
In most commands, both constants and variables ("indirect access") can be
used for command parameters. The commands which are described in the
sections below each have an "Indirect access" column assigned to them in
the related table.

It has the following meanings:

"not possible" = command parameters only possible as constant

"possible" = command parameters possible as constant or variable

6.11.2

ACC Acceleration Change

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Acceleration in %

Acceleration in % (0.001 to 100) of the value programmed in pa possible

rameter Yx06

Parameter 3

Deceleration in %

Deceleration in % (0.001 to 100) of the value programmed in pa possible

rameter Yx06

Fig.6-34:

Acceleration change

This command allows changing the acceleration and deceleration values of

an axis.

The set acceleration and deceleration values take effect while the axis is jog
ged in manual mode as well as for axis movements which are triggered by
the following commands:

CON - Continuous operation

PFA Positioning, absolute to positive stop

PFI Positioning, incremental to positive stop

POA - Positioning, Absolute with Immediate Block Stepping

POI - Positioning, Incremental with Immediate Block Stepping

PSA - Positioning, Absolute with In-Position

PSI - Positioning, Incremental with In-Position

SRM - Search for registration mark

VOA Velocity coupled axis over PLC Global Register

New acceleration and deceleration values are applied immediately. The new
acceleration and deceleration values remain the same until they are changed
by the next ACC command. If entered, a value of "0" corresponds to 100%.
After switchover to parameter mode or from automatic to manual mode, after
a malfunction and on restart, the acceleration and deceleration programmed
in parameter Yx06 (see chapter "Yx06: Maximum Acceleration" on page
530) is always applicable.

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Programming
Program example:

6.11.3

Continuation to the next block immediately takes place:

Fig.6-35:

Program example of acceleration change

Fig.6-36:

Velocity curve relating to the acceleration change program example

If a positioning procedure is already in the deceleration

ramp, a smaller deceleration value does not take immediate
effect. In this case, higher priority is given to reaching the
target position. If specified during the deceleration ramp, a
greater deceleration value takes immediate effect provided
the residual distance is far enough. In this case, the axis ac
celerates again.

In the "Flying Cutoff" application type, the command does

not affect the synchronization acceleration or the return ac
celeration if the return has been triggered using the motion
command LML, LMR, LMK or LMC (see Yx69, Bit5).

AEA Set / Reset / Toggle Bit

Command
Data

Content

Remark

Indirect Access

Parameter 1

Bit

Q, MF, MFR

Not possible

Parameter 2

Task

Clear (0) = reset bit

possible

Set (1) = set bit

Toggle (2) = toggle bit

Fig.6-37:

Set / reset / toggle bit

This command has an effect on the status of the programmed bit.

Hardware outputs are set at the end of the current task cycle. Commands in
the current block of a task with a higher task number evaluate the change in
this bit directly.
Stepping to the next block takes place after one task cycle.

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Programming

6.11.4

AKN Acknowledge Bit

Command
Data

Content

Remark

Indirect Access

Parameter 1

Bit

I, Q, MS, MF, MFR

Not possible

Parameter 2

Task

Off (0) = wait until the status of the bit is "0"

possible

On (1) = wait until the status of the bit is "1"

Fig.6-38:

Acknowledge bit

The status of the programmed bit is checked. Block stepping takes place as
soon as the bit has the required status.

6.11.5

AKP Parallel Acknowledge with Mask

Command
Data

Content

Remark

Indirect Access

Parameter 1

Starting bit

I, Q, MS, MF, MFR

Not possible

Parameter 2

Task screen

Task for bit field 1..6

possible

Counting is from right to left.

Fig.6-39:

Parallel query with screen

This command is an extension of the AKN command.

Up to 6 states can be checked at the same time using this command:

I - inputs

Q - outputs

MS - system flags

MF - programmable flags

MFR - programmable non-volatile flags

Stepping to the next block takes place if all inputs, outputs and/or flags have
met the conditions. Otherwise, the program waits in this block until all condi
tions have been fulfilled.
There are 3 different tasks (conditions):
0=

the input / output / flag is checked for "0".

1=

the input / output / flag is checked for "1".

2=

the status of the input / output / flag is not checked.

Fig.6-40:

Example:
AKP I.A1.PL.Pin1 021110
In this example, the inputs pins 1 to 6 of the parallel interface are addressed
on axis 1.

The output pin1 is checked for "0".

The output pin2 is checked for "1".

The output pin3 is checked for "1".

The output pin4 is checked for "1".

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Programming

The output pin5 is not checked.

The output pin6 is checked for "0".

Stepping to the next block does not take place before all inputs have reached
the proper status.
If existing I/O hardware is accessed through the AKP command,
the maximum usable pin or bit area is automatically defined by
the I/O hardware addressed.

The permissible areas are

Inputs

X31:

"IndraDrive": Pins 3 7

"IndraDrive Cs": Pins 1 8

X32:

"IndraDrive:" Pins 6 - 9

X33:

"IndraDrive double axis:" Pins 1 - 6

X34:

"IndraDrive double axis:" Pins 1 - 5

sercos I/O 1-4:

Pins 1 16

Parallel interface (PL):

Pins 1 8, 20 27

Option MD2:
Pins 1 7, 16 22, 31 32

Field bus (word 1-6):

Bit 0 - 15

Outputs

X31:

"IndraDrive Cs": Pin 8

X32:

"IndraDrive": Pins 6-9

sercos I/O 1-4:

Pins 1 16

Parallel interface:
Pins 1013, 1518, 2829, 3134, 3637

Option MD2:
Pins 8 15, 23 30

Field bus (word 1-6):

Bit 0 - 15
If this command is used to access non-cohering pin areas of I/O
hardware, the system internally makes an automatic jump to the
next possible pin number.

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Programming

6.11.6

APE Parallel Setting with Mask

Command
Data

Content

Remark

Indirect Access

Parameter 1

Starting bit

Q, MF, MFR

Not possible

Parameter 2

Task screen

Task for bit field 1..6

possible

Counting is from right to left.

Fig.6-41:

Parallel setting with screen

This command is an extension of the AEA command.

Up to 6 states can be changed at the same time using this command:

Q - outputs

MF - programmable flags

MFR - programmable non-volatile flags

Each bit can be affected separately here.
There are 3 different tasks (conditions):
0=

the output / flag is set to "0".

1=

the output / flag is set to "1".

2=

the status of the output / flag remains as it is.

Fig.6-42:

Stepping to the next block takes place after one task cycle.

Example:
APE Q.A1.PL.PIN28 021110
In this example, the outputs pins 28 to 34 of the parallel interface are ad
dressed on axis 1.

The output PIN28 is reset.

The output PIN29 is set.

The output PIN31 is set.

The output PIN32 is set.

The output PIN33 remains as it is.

The output PIN34 is reset.

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Programming
If existing I/O hardware is accessed through the APE command,
the maximum usable pin or bit area (bit number equal to pin num
ber) is automatically defined by the I/O hardware addressed.

The permissible areas for the outputs are:

X31:

"IndraDrive Cs": Pin 8

X32:

"IndraDrive": Pins 6-9

sercos I/O 1-4:

Pins 1 16

Parallel interface:
Pins 1013, 1518, 2829, 3134, 3637

Option MD2:
Pins 8 15, 23 30

Field bus (word 1-6):

Bit 0 - 15
If this command is used to access non-cohering pin areas of I/O
hardware, the system internally makes an automatic jump to the
next possible pin number.

6.11.7

BAC Branch Conditional on Count

Command
Data

Content

Remark

Indirect Access

Parameter 1

Jump target

Jump label

possible

Parameter 2

Actual quantity

VF, VFR

Has to be varia
ble

Parameter 3

Command quantity

possible

Fig.6-43:

Branch conditional on count

As is the case with the COU command, this command also allows counting
machining cycles, quantities and other events.
First the quantity is increased. Then the actual quantity is compared to the re
quired quantity setpoint.
If the programmed command quantity is not reached yet, there will be a jump
to the jump label.
If the command quantity has been reached, then the actual quantity is set to
zero and the program steps to the next block.
Stepping to the next block or to the jump label takes place after one task cy
cle.

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Programming
Program example:

a) Counting after the event

Fig.6-44:

Branch conditional on count, counting after the event

10 feed movements are performed and then the system waits for a new start
signal (see chapter 6.11.38 "JST Jump and Stop" on page 279).
Program example:

b) Counting before the event

Fig.6-45:

Branch conditional on count, counting before the event

9 feed movements are performed and then the system waits for a new start
signal (see chapter 6.11.38 "JST Jump and Stop" on page 279).

6.11.8

BCE Branch Conditional on Bit

Command
Data

Content

Remark

Indirect Access

Parameter 1

Jump target

Jump label

possible

Parameter 2

Bit

I, Q, MS, MF, MFR

possible

Parameter 3

State

Off (0) = jump if status is "0"

possible

On (1) = jump if status is "1"

Fig.6-46:

Branch conditional on bit

The jump to the jump label is carried out if the programmed bit meets the se
lected condition.
If the condition is not met, then the program proceeds with the following block
number.
Stepping to the next block takes place after one task cycle.

6.11.9

BIC Branch Conditional on Bit Mask

Command
Data

Content

Remark

Indirect Access

Parameter 1

Block offset

Jump label

possible

Parameter 2

Jump width

Maximum value = 99

possible

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Programming
Command
Data

Content

Remark

Indirect Access

Parameter 3

Starting bit

I, Q, MS, MF, MFR

Not possible

Parameter 4

Number of bits

1 to 8

Not possible

Fig.6-47:

Branch conditional on bit field value

This command executes a jump to a calculated target block. The target de

pends on the status of the programmed bits. Up to 8 bits are taken into ac
count. If the result is a target block which exceeds the maximum block num
ber used in the program, an error message is generated.
Stepping to the target block takes place after one task cycle.

The evaluated bits can be the following:

I - inputs

Q - outputs

MS - system flags

MF - programmable flags

MFR - programmable non-volatile flags

The target block is calculated as follows:

Fig.6-48:

Calculating the target block

Example:
BIC Label 11 Q.A2.MD2.PIN8 5
In this example, the outputs pins 8 to 12 of the MD2 option are addressed on
axis 2.
Outputs MD2 of axis 2

Pin12

Pin11

Pin10

Pin9

Pin8

Binary significance

24

23

22

21

20

Corresponds to decimal

16

Input status

Fig.6-49:

Example for BIC command

Resulting target block = label + (16 + 4 + 2) * 11

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Programming

6.11.10

CIO Copy Bit Field

Command
Data

Content

Remark

Indirect Access

Parameter 1

Copy source

I, Q, MS, MF, MFR

Not possible

Parameter 2

Copy target

Q, MF, MFR

Not possible

Parameter 3

Number of bits to 0 to 16
be copied

Fig.6-50:

possible

Copy bit field

This command can be used to copy bit statuses. The maximum number of in
put, output or flag statuses that can be copied is 16.
This command has special significance for security programs. Saving at reg
ular intervals can ensure status specific reentry after an error.
Stepping to the next block takes place after one task cycle.

Example:
CIO I.A2.MD2.PIN1 MF900 8
In this example, the 8 inputs of pins 1 to 8 of the MD2 option on axis 2 are
copied to the programmable flag area MF900 MF907.

6.11.11

CMA Cam Axes: Activation

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis configuration

0 0 0 0 0 0 axis numbers 1-6, counting is started from the right.

possible

Meaning:
0 = cam axis off
The axis is stopped. The "Drive Halt (AH)" status is activated. The
axis is brought to a standstill with the deceleration specified in pa
rameter Yx06 (see chapter "Yx06: Maximum Acceleration" on
page 530).
1 = cam axis on
The axis is activated as cam axis ("AU" or "AF"). If automatic mode
is exited, the cam axis is switched off. This option is not permitted
in the cyclic task nor in the manual routine or manual cut routine.
2 = unchanged
3 = cam axis on
The axis is activated as cam axis ("AU" or "AF"). The cam axis re
mains active even after automatic mode has been exited, i.e., in
manual mode. (This option is permitted in the cyclic task and in the
manual routine or manual cut routine.)

Fig.6-51:

Cam axes: activation

This command causes the axis to follow the selected master axis as a cam
axis. The CMA command can be used to activate or deactivate the function
of the cam axis. Axes 1 to 6 can be activated and deactivated at the same
time. The CMC and CMP commands can be used to configure the cam axis.

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Programming
After the operating mode is changed from manual to automatic or vice versa,
the status of the previous parameterization can be preserved with the CMC
or CMP command.
Any position offset defined via the SPO command has an additive effect to
the synchronous position command value of the cam axis. The velocity para
meterized in the SPO command adds up to the current synchronous velocity
of the cam axis.
If the amount of the difference between the position command value and the
position feedback value is less than the value in parameter "S-0-0228, Posi
tion synchronization window", system flag "MSx08" is set.
The nInterrupt input does not have any effect on the cam axis.
Stepping to the next block takes place after one task cycle.
Behavior in case of "Stop"

If a measuring encoder is used as master axis, "Stop" serves to stop the axis
with the value defined in parameter "Yx06: Maximum acceleration". If the axis
was activated with option "1" (cf. parameter 1), the cam axis will not become
active again until the SMC program has been restarted (cf. input "Start"). If
the axis was activated with option "3" (cf. parameter 1), the cam axis will be
come active again as early as "Stop" is removed, i.e., absolute synchronous
axes will perhaps carry out a synchronization motion.
If no measuring encoder is used as master axis, the cam axis remains active.
The axis is brought to standstill "indirectly" by stopping the master axis.

Interaction with positioning com

mands

The POI and PSI commands can be used to deactivate the cam axis, in
crease and reduce the current position command value by the distance pro
grammed in the POI and PSI commands and move to the command position
at the velocity specified.
The POA and PSA commands can be used to deactivate the cam axis and
move it to the absolute position specified in the POA and PSA commands at
the velocity specified.

6.11.12

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The cam axis can only be used if the "SNC" (synchroniza

tion) function package is activated on the particular axis.

See also chapter 7.9.4 "Cam Axis" on page 343.

CMC Cam Axis: Configuration

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Master axis

GlobalMaster (0) = global master axis

possible

The axis follows the global master axis specified in parameter

Y028 (see chapter "Y028: Master Axis Selection of the System" on
page 512).
LocalEncoder (1) = local measuring encoder
The axis follows its locally connected measuring encoder.

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Programming
Command
Data

Content

Remark

Indirect Access

Parameter 3

Synchronization di ShortestWay (0) = shortest distance

rection
CatchUp (1) = positive direction

Not possible

SlowDown (2) = negative direction

Parameter 4

Synchronization
type

Absolute (0) = absolute synchronization; synchronization once on

activation of the operating mode

Not possible

Relative (1) = relative synchronization; synchronization once on

activation of the operating mode
AbsoluteAlwaysSyncUp (2) = absolute synchronization; synchroni
zation on activation of the operating mode and after changes in
configuration
RelativeAlwaysSyncUp (3) = relative synchronization; synchroniza
tion on activation of the operating mode and after changes in con
figuration

Fig.6-52:

Cam axis: configuration

This command can be used to configure the cam axis and select the associ
ated master axis.
The available types of synchronization are absolute and relative. If absolute
synchronization is selected, the position and velocity are adjusted; if relative
synchronization is selected, only the velocity is adjusted. If "Absolute (0)" or
"Relative (1)" is set for the synchronization type, the synchronization process
only takes place after the operating mode has been activated. If the configu
ration is changed during the active operating mode, the synchronization proc
ess is not repeated. The synchronization type "AbsoluteAlwaysSyncUp (2)"
or "RelativeAlwaysSyncUp (3)" can be set to repeat the synchronization proc
ess each time the configuration is changed. During the synchronization proc
ess, the "P-0-0143, Synchronization velocity" and "P-0-0142, Synchronization
acceleration" drive parameters have an effect on the real axis.
Synchronization can be achieved by a movement in the positive direction and
in the negative direction, along the shortest distance. This movement is
specified in the synchronization direction parameter.
Stepping to the next block takes place after one task cycle.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The cam axis can only be used if the "SNC" (synchroniza

tion) function package is activated on the axis.

See also chapter 7.9.4 "Cam Axis" on page 343.

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Programming

6.11.13

CMM Cam Axis: Motion Step

Command
Data

Content

Remark

Parameter 1

Axis, set and step Selection of the axis, MotionProfile set and the motion step via a possible
selection
three-digit value "ABC" with the following meaning:

Indirect Access

"A" = Selection of the axis

Axis numbers 1 to 6

"B" = MotionProfile set

"C" = Motion step

MotionProfile set "0" or "1"

Number of the motion step 1-8
Parameter 2

Master axis start Master axis position where the motion step starts (see P-0-0705, possible
position
P-0-712)
0.0000 359.9999: master axis start position in degrees
-999999: Unchanged, i.e., current master axis start position is re
tained
Note:
For the motion step "1" , the degree "0" must always be specified
for the master axis start position. Otherwise, an error is generated.

Parameter 3

Distance

Cam stroke in the motion step (see P-0-0707, P-0-0714)

-999999: Unchanged, i.e., current stroke is retained

possible

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Programming
Command
Data

Content

Remark

Indirect Access

Parameter 4

Cam profile

Mode of the curve profile (see P-0-0706, P-0-0713):

possible

1: CamTable1 - free cam table 1 (P-0-0072)

2: CamTable2 - free cam table 2 (P-0-0092)
3: CamTable3 - free cam table 3 (P-0-0780)
4: CamTable4 - free cam table 4 (P-0-0781)
5: CamTable5 - free cam table 5 (P-0-0782)
6: CamTable6 - free cam table 6 (P-0-0783)
7: CamTable7 - free cam table 7 (P-0-0784)
8: CamTable8 - free cam table 8 (P-0-0785)
9: Poly5 - rest-in-rest with 5th order polynomial
10: sine curve - rest-in-rest with inclined sine curve
11: VelLimit - rest-in-rest with velocity limitation
12: RestInVel - Rest-in-Velocity with polynomial 5th order
13: VelInRest - Velocity-in-Rest with polynomial 5th order
14: ConstVel - Constant velocity
15: VelInVel - Velocity in velocity with polynomial 5th order
-999999: Unchanged, i.e., current cam profile is retained
Parameter 5

Slave axis velocity

Slave axis velocity at the end of the motion step (see P-0-0708, possible
P-0-0715)
-999999: Unchanged, i.e., current slave axis velocity is retained
Note:
The information of the slave axis velocity is required if one of the
standard profiles R-V (rest-in-velocity), V-R (velocity-in-rest) or V-V
(velocity-in-velocity) is selected.

Fig.6-53:

Cam axis: Motion step

With this command, the motion parameters for an individual motion step can
be defined in the "MotionProfile" operating mode.
With parameter 1, the axis, the MotionProfile set and the number of the mo
tion step are selected for which the MotionProfile parameters are to be con
figured. Parameter 2 "Master axis start position" is used to set the master ax
is position from which the motion step (steps "1" to "8") is to start. Parameter
3 "Distance" is used to specify the length that is to be traveled in the motion
step. In Parameter 4 "Cam profile", the cam profile to be used in the motion
step is selected. If one of the standard profiles "RestInVel" (Rest-in-Velocity),
"VelInRest" (Velocity-in-Rest) or "VelInVel" (Velocity-in-Velocity) is selected
in the motion step, the slave axis velocity at the end of the motion step must
be specified using parameter 5 "Slave axis velocity".
Stepping to the next block takes place after 3 task cycles.
Using the command, for example, only the "distance" of a motion step can be
changed. The "MotionProfiles" can also be configured via IWorks (see dialog
MotionProfile configuration).

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Programming

Example:
Pressing transfer
A specific distance is to be traveled forward or backwards within a master ax
is revolution. The traveling range is to extend from 150 to 250 and from
350 to 50. In the first master axis range, the axis is to travel forwards (+10
mm) and in the second backwards (-10 mm). Since the initial master axis po
sitions must increase, the configuration is displaced by 150 (see P-0-0061).
For the "MotionProfile", four motion steps are configured with the required
master axis ranges. For the individual feed angle areas, "Poly5" is set as the
cam profile, i.e., a "rest-in-rest" motion with polynomial 5th order.

Fig.6-54:

SMC program, pressing transfer

Fig.6-55:

MotionProfile configuration, pressing transfer

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Programming

Fig.6-56:

Oscilloscope recording, pressing transfer

Example:
Traveling a circle
With an X- and Y-axis, a circle with a variable diameter (adjustable by the
stroke, 20 mm in the example) is to be milled. The X-axis must travel a sine
cam table and the Y-axis a cosine cam table. To achieve this, a sine curve is
loaded for both axes in cam table "1", however, a 270 offset for the table is
parameterized (see P-0-0061) for the second axis (cosine). For the "Motion
Profile", a motion step from 0 to 360 is configured with cam table "1".

Fig.6-57:

SMC program, traveling a circle

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Programming

Fig.6-58:

MotionProfile configuration, traveling a circle

Fig.6-59:

Oscilloscope recording, traveling a circle

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Programming

6.11.14

The initial master axis positions of the used motion steps

must increase and be less than 360 degrees.

It is determined that motion step "1" always starts with the

initial master axis position "0", i.e., the initial master axis po
sition (parameter 2) "0" must be specified via the command
for motion step "1".

When using free cam tables 1-8, keep in mind that the first
table element of a cam table must be "0" and the last table
value must be at the end angle (360) (see P-0-0086).

The command only changes the parameters of the motion

set (parameters 2, 3 and 4) if the command parameters
change. To do this, the existing command parameters are
installed one time from parameter mode to operating mode
during start-up. Subsequent changes to the S- or P-parame
ters that are not performed via the CMM command (e.g., via
IWorks) are no longer detected.

The "MotionProfile" operating mode can be activated with

the command "CMA Cam Axes: Activation". It is not neces
sary to set the "MotionProfile" parameters using the CMM
commands. Instead, it can also be done via IWorks.

See also chapter 6.11.15 "CMS Cam Axis: Settings" on

page 253.

The command is available in SMC12V06 and above.

CMP Cam Axis: Profile

Command
Data

Content

Remark

Indirect Access

Parameter 1

Slave axis

Axis numbers 1 to 6

possible

Parameter 2

Switch-on angle

Starting angle of the feed range

possible

Parameter 3

Switch-off angle

Stopping angle of the feed range

possible

Parameter 4

Distance

Cam stroke in the feed range (feed length)

possible

Parameter 5

Cam profile

CamTable1 (1) = free cam table 1 (P-0-0072)

possible

CamTable2 (2) = free cam table 2 (P-0-0092)

CamTable3 (3) = free cam table 3 (P-0-0780)
CamTable4 (4) = free cam table 4 (P-0-0781)
CamTable5 (5) = free cam table 5 (P-0-0782)
CamTable6 (6) = free cam table 6 (P-0-0783)
CamTable7 (7) = free cam table 7 (P-0-0784)
CamTable8 (8) = free cam table 8 (P-0-0785)
Poly5 (9) = rest-in-rest with 5th order polynomial
Sinoide (10) = rest-in-rest with inclined sine curve
VelLimit (11) = rest-in-rest with velocity limitation

Fig.6-60:

Cam axis: profile

This command defines the traversing profile of a cam axis. The CMP com
mand can be used to program the feed range of the cam, the stroke (feed
length) and the cam profile.

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Programming
Stepping to the next block takes place after several task cycles (approx. 300
ms in case of the slave axis).
If the cam axis is activated with the CMA command without calling
the CMP command once, the current settings which were, for ex
ample, made in IndraWorks are active for the axis.
Position data processing

Position data for the cam axis can be processed relatively or absolutely. This
setting is not defined via the CMP command but must be parameterized by
the user via the "MotionProfile configuration" IndraWorks dialog (cf. parame
ter "P-0-0088, Control word synchronization modes (bit 10))".
With the "Roll feed" application type, relative processing of the position data
must be available (P-0-0088, bit 10 equal to "1'") to ensure that strokes of
any size desired can be specified.
With absolute processing (P-0-0088, bit 10 equal to "0"), the stroke must be a
multiple of the modulo value if module position scaling is selected; otherwise
drive error "F2004" is generated.

"Rest-in-rest with velocity limita

tion" cam profile

The cam profile VelLimit (11), i.e., "rest-in-rest with velocity limitation" is cal
culated by means of parameter Yx40 (see chapter "Yx40: Max. Number of
Press Strokes" on page 546). The value of the velocity limitation is defined
by parameter Yx04 (see chapter "Yx04: Maximum Velocity" on page 529).
If this profile is selected, the maximum axis velocity is calculated from the val
ues specified for the max. number of press strokes (cf. Yx40), the stroke and
the feed range (switch-on and switch-off angles). If this velocity is lower than
the maximum velocity specified (cf. Yx04), a 5th order polynomial is used. If
the maximum velocity were exceeded, the step is separated into three partial
steps, i.e., "rest-in-velocity", "constant velocity" and "rest-in-velocity". The
central step is the section where the axis moves at maximum velocity (cf.
Yx04).
If it is not possible to separate the step into the 3 partial steps as, for exam
ple, the stroke is too large, the error "F2004" is generated. In this case, the
appropriate error number (81 88; the meaning can be found in the "F2004,
Error in MotionProfile" diagnostics description) is displayed in the motion pro
file block concerned (P-0-0702 - set 0, P-0-0709 - set 1).

Effectiveness of changes in con

figuration via the CMP command

The following remedies can be used:

Reduce the feed length or stroke

Increase the feed range

Increase the maximum velocity of the axis (Yx04)

Reduce the maximum number of press strokes (Yx40)

If the "rest-in-rest" profile is separated into the three steps "rest-in-velocity",
"constant velocity" and "velocity-in-rest", acceleration values occur in the first
and last partial sections, which are considerably higher than if the profile with
the simple 5th order polynomial is used. Acceleration values are not moni
tored!
The function of the cam axis is based on the "Electronic MotionProfile" mode
in the drive. The electronic motion profile provides blocks "0" and "1" for con
figuring the motion profile, with only one block being active at a time. After the
cam axis has been reactivated via the CMA command, block "0" is used by
default. If the CMP command is used to make changes (e.g., stroke) with the
cam axis already having been activated, the new configuration is parameter
ized in the block that is not active at that time. Stepping to the new block with
the different configuration (e.g., new stroke) will not take place before the

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Programming
master axis position exceeds the "master axis switching position" (cf. drive
parameter P-0-0700) thereafter.
The CMP command writes the P-0-0700, master axis switching position drive
parameter to a greater switch-off angle of block "0" or "1".
The CMP command must also be used to make an adjustment in the
P-0-0061, Angle offset begin of table drive parameter in relation to the start
ing and stopping angles. If the CMP command is called, the value required is
immediately written to parameter P-0-0061, Angle offset begin of table.

Generation of P-0-0061, Angle offset begin of table:

Starting angle < stopping angle P-0-0061 = 0

Starting angle > stopping angle P-0-0061 <> 0 (depending on the

starting angle)

6.11.15

The minimum or maximum possible feed area depends on

the value of parameter "Yx40: Max. number of press
strokes" (see also Drive error "F2003 Motion step excee
ded"). If the feed area is invalid, parameter 3 "End angle" is
reported as faulty (too small or large).

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The cam axis can only be used if the "SNC" (synchroniza

tion) function package is activated on the particular axis.

See also chapter 7.9.4 "Cam Axis" on page 343.

CMS Cam Axis: Settings

Command
Data

Content

Remark

Indirect Access

Parameter 1

Slave axis

Axis numbers 1 to 6

possible

Parameter 2

MotionProfile set

Selection of MotionProfile set "0" or "1" (see P-0-0088, bit 9)

possible

0: Set0 - MotionProfile set 0

1: Set1 - MotionProfile set 1
-999999: Unchanged, i.e., current MotionProfile set remains active
Parameter 3

Number of steps

Number of the motion steps for the selected MotionProfile set in possible
parameter 2 (see P-0-0703, P-0-0710)
1: 1Step - 1 motion step
2: 2Steps - 2 motion steps
3: 3Steps - 3 motion steps
4: 4Steps - 4 motion steps
5: 5Steps - 5 motion steps
6: 6Steps - 6 motion steps
7: 7Steps - 7 motion steps
8: 8Steps - 8 motion steps
-999999: Unchanged, i.e., current number of motion steps are re
tained

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Programming
Command
Data

Content

Remark

Indirect Access

Parameter 4

Angle offset

Access to the "MotionProfile" is negatively displaced by this angle possible

compared to the master axis position (see P-0-0061).
0.0000 359.9999: displacement in degrees
-999999: Unchanged, i.e., current angle offset is retained

Parameter 5

Following factor

Gear factor (+/-)

possible

The sign of this factor defines the direction in relation to the master
axis.

Fig.6-61:

Cam axis: settings

In the "MotionProfile" operating mode, 2 motion sequences with up to 8 mo

tions steps per master axis revolution can be used. With the "CMS Cam ax
is: Settings" command, settings can be defined for the"MotionProfile".
Parameter 2 "MotionProfile set" is used to select which of the two motion se
quences (set "0" or "1") is to be used in the operating mode. With parameter
3 "Number of steps", the number of motion steps can be set for each Motion
Profile to values between "1" and "8". Access to the "MotionProfile" can be
negatively displayed compared to the master axis position with parameter 4
"Angle offset". The velocity specification of the master axis can be manipu
lated with a following factor (+/-) using parameter 5 "Following factor".
The gear factor has the following effect:

Fig.6-62:

Stepping to the next block depends on the selected axis and which parame
ter must be changed. If the selected axis is the CCD master axis, stepping to
the next block always takes place after a task cycle. If a CCD slave axis se
lected and the parameter "Number of steps" or "Angle offset" must be
changed, stepping to the next block only takes place after several task cycles
(acyclic write access). Otherwise, stepping to the next block takes place after
a task cycle, also for the CCD slave axis.
Using the command, for example, only the "MotionProfile set" of a motion
step can be changed. The "MotionProfiles" can also be configured via IWorks
(see dialog MotionProfile configuration).

The command only changes the parameters of the motion

set (parameters 2, 3 and 4) if the command parameters
change. To do this, the existing command parameters are
installed one time from parameter mode to operating mode
during start-up. Subsequent changes to the S- or P-parame
ters that are not performed via the CMS command (e.g., via
IWorks) are no longer detected.

The "MotionProfile" operating mode can be activated with

the command "CMA Cam Axes: Activation". It is not neces
sary to set the "MotionProfile" parameters using the CMS
commands. Instead, it can also be done via IWorks.

See also chapter 6.11.13 "CMM Cam Axis: Motion Step"

on page 246.

The command is available in SMC12V06 and above.

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Programming

6.11.16

CON Continuous Operation

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

On/Off

Off (0) = continuous operation off

possible

On (1) = continuous operation on

Parameter 3

Velocity in %

Velocity in % (-100 to 100) of the value programmed in parameter possible

Yx04

Fig.6-63:

Continuous operation

This command activates and deactivates continuous operation of an axis.

The sign of the velocity defines the direction of motion of the axis.
The command can also be used with homed axes. When doing this, howev
er, travel range limits (see chapter "Yx44: Travel Limit, Maximum Value" on
page 548 and chapter "Yx45: Travel Limit, Minimum Value" on page 549)
must be observed if axes with an absolute position data format are used.
Continuous operation can be switched off in the program with this command
or with the "JST - Jump and stop" command. A change in mode (e.g., from
automatic to manual) deactivates continuous operation. The current values
parameterized in the ACC command are always used for acceleration and
deceleration.
Stepping to the next block takes place after one task cycle.

6.11.17

This command may not be called in the cyclic task.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

COU Counter

Command
Data

Content

Remark

Indirect Access

Parameter 1

Actual quantity

VF, VFR

Has to be varia
ble

Parameter 2

"Command quanti Bit (Q, MF, MFR) which is set if the "command quantity has been Not possible
ty reached" bit
reached"

Parameter 3

Command quantity

possible

Fig.6-64:

Counter

As is the case with the BAC command, this command also allows counting
events, machining cycles, and quantities. The quantity is increased each time
the block with this command is processed. Then the actual quantity is com
pared to the required quantity setpoint. Once the command quantity has
been reached, the programmed bit is set and the actual quantity is deleted.
The programmed bit is only set here. If it is necessary to delete this bit, then it
has to be carried out at another point in the application program. Quantity
counters can be set anywhere and as often as needed in the application pro
gram.
Stepping to the next block takes place after one task cycle.

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Programming
The current actual quantity of each quantity counter is preserved
even in case of an error, a change in mode or switch-off provided
a "programmable non-volatile variable - VFR" is used for the ac
tual quantity.

6.11.18

CPA Position-coupled axes: Activation

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis configuration

0 0 0 0 0 0 axis numbers 1-6, counting is started from the right.

possible

Meaning:
0 = position-coupled axis off
The axis is stopped.
The "Drive Halt (AH)" status is activated. The axis is brought to a
standstill with the deceleration specified in parameter Yx06 (see
chapter "Yx06: Maximum Acceleration" on page 530).
1 = position-coupled axis on
The axis is activated as position-coupled axis ("AU" or "AF"). If au
tomatic mode is exited, the position-coupled axis is switched off.
This option is not permitted in the cyclic task nor in the manual rou
tine or manual cut routine.
2 = unchanged
3 = position-coupled axis on
The axis is activated as position-coupled axis ("AU" or "AF"). The
position-coupled axis remains active even after automatic mode
has been exited, i.e., in manual mode. This option is permitted in
the cyclic task and in the manual routine or manual cut routine.
Parameter 2

Master axis

Axis numbers 1 to 6

possible

The master axis must be configured for each position-coupled

slave axis via parameter "Yx00".
Parameter 3

Max. position dif Maximum allowed position difference of the slave axes in relation possible
ference
to the master axis

Fig.6-65:

Position-coupled axes: activation

This command causes the axis to follow the selected master axis as a posi
tion-coupled axis. The position coupling of the coupled axis is achieved inter
nally via a "position-controlled" operation mode. The master axis is defined
via parameter 2. This value must correspond to the specifications in parame
ter "Yx00: Application type".

One of the following parameters must be selected as master axis source sig
nal from "Yx00":

"S-0-0051, Position feedback value 1"

"S-0-0053, Position feedback value 2"

"S-0-0386, Active position feedback value"

"P-0-0434, Position command value of controller"

"P-0-0457, Position command value generator"

The CPA command is used to activate or deactivate the function of the posi
tion-coupled axis. Axes 1 to 6 can be activated and deactivated at the same
time.

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Programming
After the position-coupled axis has been activated, the axis is subjected to a
synchronization process, i.e., based on the synchronization parameters the
axis internally generates a smooth transition of the internal position command
value from the current feedback position to the new command value behavior
specified by the master axis. After completion of the synchronization process,
the axis follows the position command values specified by the master axis.
Drive parameters "P-0-0142, Synchronization acceleration" and "P-0-0143,
Synchronization velocity" are in effect during the synchronization process.
Parameter 3 is used for the position-coupled axes to define a maximum posi
tion difference of the synchronized slave axes in relation to the master axis. If
the current position difference of a synchronized axis exceeds this maximum
difference, the SMC generates an error and the error reaction set for the
master and slave axes is carried out. Monitoring of the maximum position dif
ference is not activated before all slave axes are synchronized with the mas
ter axis. The status of the "MSx13" system flag of the master axis indicates
whether the synchronization phase is completed. This system flag is set as
soon as the current position differences of all slave axes in relation to the
master axis are less than the specified maximum position difference after the
synchronization phase has been completed.
System flag "MSx13" is only set for the master axis of the cou
pling group.
The position-coupled axis is deactivated with a new travel command (e.g.,
PSI, CON, ...). Input "Feed interrupt" (cf. "Yx16") is not effective for the posi
tion-coupled axis.
Stepping to the next block takes place after one task cycle.

This command only allows activating and deactivating the

position-coupled axes that are assigned to the same master
axis (cf. "Yx00").

The command is only permitted if one of the following pa

rameters has been selected as source signal from parame
ter "Yx00: Application type": "S-0-0051, Position feedback
value 1", "S-0-0053, Position feedback value 2", "S-0-0386,
Active position feedback value", "P-0-0434, Position com
mand value of controller" or "P-0-0457, Position command
value generator".

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The command may not be programmed for the virtual axis.

The CPA command is available in SMC12V02 and above.

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Programming

6.11.19

CPJ Compare and Jump

Command
Data

Content

Remark

Indirect Access

Parameter 1

Value 1

possible

Parameter 2

Comparison condi = (1): Value 1 = Value 2 (with tolerance field)

tion
> (2): Value 1 > Value 2

Not possible

< (3): Value 1 < Value 2

>= (4): Value 1 >= Value 2
<= (5): Value 1 <= Value 2
<> (6): Value 1 <> Value 2 (with tolerance field)
Parameter 3

Value 2

possible

Parameter 4

Tolerance field

possible

Parameter 5

Jump target

Jump label

Fig.6-66:

possible

Compare and jump

The jump to the jump label is carried out when the comparison is met. If the
condition is not met, then the program proceeds with the following command
block.
With the comparison conditions "equal to" and "not equal to", the condition is
fulfilled when the difference between the two operands is inside or outside
the tolerance field.
Stepping to the next block takes place after one task cycle.

Example:
CPJ VF600 >= VF601 0000.00 JMP_SET
VF600 = 100,000
VF601 = 90,000
This command branches to the JMP_SET label.
For more examples of how to use the CPJ command, please refer
to "CASE statement" on page 420.

6.11.20

CPL Clear Position Lag

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Fig.6-67:

Clear following distance

The following distance of the axis is set to zero once. This command sets the
position command value of the axis to the current actual position. The current
actual position is determined via the "S-0-0386, Active position feedback val
ue" drive parameter. Depending on whether "optional encoder" is set, this
value is either the motor encoder position ("S-0-0051, Position feedback val
ue 1") or the position of the optional encoder or the measuring wheel position
("S-0-0053, Position feedback value 2").

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Programming
System variables "VSx12, Remaining feed" and "VSx13, command feed
length" are reset to "0" for the axis used.

The "In position" output (cf. Yx33) is set if all of the following conditions are
met:

The "actual position" is inside the "position window" (cf. drive parameter
S-0-0057, Position window).

The "following distance" is less than the "Position window".

The "actual velocity" is inside the "standstill window" (cf. drive parameter
S-0-0124, Standstill window).
Stepping to the next block takes place after two task cycles.
If the feed motion was started via the POI, POA, PSI or PSA command, exe
cution of the CPL command (e.g., via a second task) causes these com
mands to be aborted, the axis movement to be stopped, and the command
block to be stepped to the next block in case of the PSA and PSI commands.
Calling up the CPL command temporarily switches off the operating mode, if
the operating mode was activated for the axis via the following commands:

CMA Cam Axes: activation

FOA Phase Synchronous Axes: activation

VOA Velocity coupled axis over PLC Global Register

The CPL command is executed. Thereafter, the operating mode that was ac
tive beforehand is reactivated. If necessary, absolute position synchronous
axes make a synchronization movement. The CPL command should only be
called at standstill. Otherwise, the axis briefly stops and resynchronizes.

If the "Flying Cutoff" application type is used, this command

may not be programmed.

The command may not be programmed for the virtual axis.

If the CPL command is called (e.g., via a second task) while

one of the following commands is processed, an error mes
sage is generated.

CON

CPA

CTA

CVA

HOM

PFA

PFI

SOA

SRM

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Programming

6.11.21

CPS Compare and Set a Bit

Command
Data

Content

Remark

Indirect Access

Parameter 1

Value 1

possible

Parameter 2

Comparison condi = (1): Value 1 = Value 2 (with tolerance field)

tion
> (2): Value 1 > Value 2

Not possible

< (3): Value 1 < Value 2

>= (4): Value 1 >= Value 2
<= (5): Value 1 <= Value 2
<> (6): Value 1 <> Value 2 (with tolerance field)
Parameter 3

Value 2

possible

Parameter 4

Tolerance field

possible

Parameter 5

Result bit

Result bit: Q, MF, MFR

Fig.6-68:

Not possible

Compare and set a bit

The result bit is set if the comparison condition is fulfilled. Otherwise the re
sult bit is deleted.
With the comparison conditions "equal to (=)" and "not equal to(<>)", the
comparison condition is fulfilled when the difference between the two oper
ands is inside or outside the tolerance field.
Stepping to the next block takes place after one task cycle.

6.11.22

CRL Set Tailout Length - Cam Axis

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Fig.6-69:

Set tailout length - cam axis

This command sets the displayed command feed length (cf. system variable
VSx13) for the active cam axis (cf. CMA command) to the current stroke val
ue of the cam axis (cf. CMP command). At the same time, this also activates
calculation and output of the current remaining feed of the axis (cf. system
variable VSx12).
If active feed motions of a cam axis are interrupted (e.g., through Safe stop 2
"SS2"), the currently displayed remaining feed can be evaluated (e.g., tra
verse rest distance via PSI command). If cam axes are used as feed axes,
this command typically is called shortly before the feed motion is started.
Stepping to the next block takes place after one task cycle.

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Programming

6.11.23

This command does not change the feed length of a cam ax

is but only activates the output of the command feed length
(VSx13) and the current remaining distance (VSx12) in the
axis-specific system variables. The feed length to be trav
ersed with cam axes must be specified via the CMP com
mand (see chapter 6.11.14 "CMP Cam Axis: Profile" on
page 251).

This command may not be called in the cyclic task.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

CST Clear Subroutine Stack

Command
Data

Content

Remark

Indirect Access

Parameter 1

Task or routine

Task or routine number:

Not possible

1 = automatic task 1
2 = automatic task 2
3 = automatic task 3
4 = automatic task 4
5 = manual routine
6 = manual cut routine
7 = cyclic task
Parameter 2

Correction value

0 = clear subroutine stack

Not possible

1 = correct subroutine stack by 1 level

2 = correct subroutine stack by 2 levels

16 = correct subroutine stack by 16 levels

Fig.6-70:

Clear subroutine stack

The subroutine stack can be corrected using this command.

If several subroutines are opened in a single task, then a direct return across
several levels is not possible with the RTS command. If the subroutine stack
was corrected with the CST command, a subsequent RTS command will
cause a direct return across several levels.
Stepping to the next block takes place after one task cycle.
If all subroutine stacks have been cleared, the CST command
(see chapter 6.11.23 "CST Clear Subroutine Stack" on page
261) may not be followed by an RTS command (see chapter
6.11.59 "RTS Return from Subroutine" on page 297); other
wise, an error message will be generated.

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Programming
Example

Fig.6-71:

Example of the Clear subroutine stack command

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Programming

6.11.24

CTA Torque-coupled Axes: Activation

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis configuration

0 0 0 0 0 0 axis numbers 1-6, counting is started from the right.

possible

Meaning:
0 = Torque-coupled axes off
The axis is stopped.
The "Drive Halt (AH)" status is activated. The axis is brought to a
standstill with the deceleration specified in parameter Yx06 (see
chapter Yx06: Maximum Acceleration, page 530).
1 = Torque-coupled axis on
The axis is activated as a torque-coupled axis ("AU" or "AF"). If au
tomatic mode is exited, the torque-coupled axis is switched off.
This option is not permitted in the cyclic task nor in the manual rou
tine or manual cut routine.
2 = unchanged
3 = Torque-coupled axis on
The axis is activated as a torque-coupled axis ("AU" or "AF"). The
torque-coupled axis remains active even after automatic mode has
been exited, i.e., in manual mode. This option is permitted in the
cyclic task and in the manual routine or manual cut routine.
Parameter 2

Master axis

Axis numbers 1 to 6

possible

The master axis must be configured for each coupled axis via pa
rameter "Yx00".

Fig.6-72:

Torque-coupled axes: activation

This command causes the axis to follow the selected master axis as a tor
que-coupled axis. The torque coupling of the axis is achieved internally via a
"torque-controlled" operation mode. In this case, the torque command value
for the coupled axis is specified through the cyclic writing of parameter
"S-0-0081, Additive torque/force command value". The master axis is defined
via parameter 2. This value must correspond to the specifications in parame
ter "Yx00: Application type".

One of the following parameters must be selected as master axis source sig
nal from "Yx00":

"P-0-0049, Effective torque/force command value"

"S-0-0084 Torque/force feedback value"

The CTA command is used to activate or deactivate the function of the tor
que-coupled axis. Axes 1 to 6 can be activated and deactivated at the same
time.
An offset value (+/-) and a multiplication factor (+/-) can be used to manipu
late the effective torque command value. The settings for this are made by
the CTC command. The resulting torque command value of the slave axis is
limited to the maximum of the "Yx07: Maximum torque" in the positive and
negative direction. Changes to the torque command value ("S-0-0081, Addi
tive torque/force command value") are carried out directly.
After the operating mode is changed from manual to automatic or vice versa,
the status of the previous parameterization can be preserved with the CVC
command.

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Programming
The torque-coupled axis is deactivated with a new travel command (e.g., PSI,
FOA, ...).
Input "Feed interrupt" (cf. "Yx16") is not effective for the torque-coupled axis.
Stepping to the next block takes place after one task cycle.
Behavior in case of "Stop"

6.11.25

If the "Stop" is set, the axis remains in the "torque-controlled" operating

mode, i.e., no "Drive Halt" (AH) is commanded. Instead, it is "indirectly" stop
ped by halting the master axis. Any existing torque offset (see CTC com
mand) is internally deleted for this. If the axis was activated with option "1"
(see Parameter 1), the torque offset is first reset after the CTC command is
called. If the axis was activated with option "3" (see parameter 1), the torque
offset will become active again as early as "Stop" is removed, i.e., any exist
ing torque offset takes immediate effect.

This command only allows simultaneously activating the

coupled axes that are assigned to the same master axis (cf.
"Yx00").

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The command may not be programmed for the virtual axis.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

The command is only permitted if one of the following pa

rameters has been selected as source signal from parame
ter "Yx00: Application type" parameter "P-0-0049, Active tor
que/force command value" or "S-0-0084, Actual torque/force
value".

Torque coupling does not allow dead time compensation.

The torque command value in the slave axis is delayed by 2
(master axis is CCD master) or 3 cycle times (master axis is
CCD slave) as compared with the command value in the
master axis.

The command is not permitted if the torque average is al

ready activated for the torque-coupled axis (see TAA com
mand).

In order not to falsify the error reaction, the "S-0-0081, Addi

tive torque/force command value" is always internally written
with "0" in case of a drive-internal error reaction by the drive
firmware.

The CTA command is available in SMC12V06 and above.

CTC Torque-coupled Axes: Configuration

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Offset

Torque offset (+/-) in [%]

possible

Default value: 0%
Parameter 3

Factor

Multiplication factor (+/-) for specified torque of master axis

Default value: 1

Fig.6-73:

Velocity coupled axes: configuration

possible

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Programming
This command can be used to set a torque offset and a multiplication factor
for a torque-coupled axis. After the torque-coupled axis is activated via the
CTA command, the effective command torque is generated taking into con
sideration the current torque offset (parameter 2) and the multiplication factor
(parameter 3). The resulting torque command value of the axis is calculated
according to the following formula:

Fig.6-74:

In addition, the command value is limited to the maximum of the Yx07: Maxi
mum torque" in the positive and negative direction. The effective torque com
mand value is specified directly, i.e., without a ramp or filter.

WARNING

Excessive torque impacts can damage ma

chinery and materials.

To avoid excessive torque impacts through changes to the offset or factor,

necessary value changes with relatively small deviations must be carried out.
Under certain circumstances, it may be necessary to implement a "ramp gen
erator" by calling up the CTC command several times for this.
Stepping to the next block takes place after one task cycle.

It is only necessary to call up the CTC command if values

other than the default values must be set for the offset or the
factor.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The command may not be programmed for the virtual axis.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

The CTC command is available in SMC12V06 and above.

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Programming

6.11.26

CVA Velocity-coupled Axes: Activation

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis configuration

0 0 0 0 0 0 axis numbers 1-6, counting is started from the right.

possible

Meaning:
0 = velocity coupled axis off
The axis is stopped.
The "Drive Halt (AH)" status is activated. The axis is brought to a
standstill with the deceleration specified in parameter Yx06 (see
chapter "Yx06: Maximum Acceleration" on page 530).
1 = velocity coupled axis on
The axis is activated as velocity coupled axis ("AU" or "AF"). If au
tomatic mode is exited, the velocity coupled axis is switched off.
This option is not permitted in the cyclic task nor in the manual rou
tine or manual cut routine.
2 = unchanged
3 = velocity coupled axis on
The axis is activated as velocity coupled axis ("AU" or "AF"). The
velocity-coupled axis remains active even after automatic mode
has been exited, i.e., in manual mode. This option is permitted in
the cyclic task and in the manual routine or manual cut routine.
Parameter 2

Master axis

Axis numbers 1 to 6

possible

The master axis must be configured for each coupled axis via pa
rameter "Yx00".
Parameter 3

Max. velocity differ Maximum velocity difference of the axes

ence

Fig.6-75:

possible

Velocity coupled axes: activation

This command causes the axis to follow the selected master axis as a veloci
ty coupled axis. The velocity coupling of the axis is achieved internally via a
"velocity-controlled" operation mode. The master axis is defined via parame
ter 2. This value must correspond to the specifications in parameter "Yx00:
Application type".

One of the following parameters must be selected as master axis source sig
nal from "Yx00":

"S-0-0040, Velocity feedback value"

"S-0-0156, Velocity feedback value 2"

"P-0-0048, Effective velocity command value"

The CVA command is used to activate or deactivate the function of the veloc
ity coupled axis. Axes 1 to 6 can be activated and deactivated at the same
time. The CVC command is used to configure the velocity coupled axis. The
offset value and the multiplication factor must be specified via the CVC com
mand.
The axis follows the effective command velocity with maximum acceleration.
Parameter 3 is used for the coupled axes to define a maximum velocity differ
ence of the synchronized slave axes in relation to the master axis. If the cur
rent velocity difference of all coupled axis, in relation to the particular effective
command velocity, is less than this maximum difference, system flag

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Programming
"MSx13" is set on the master axis. Otherwise, system flag "MSx13" is not set.
In this case, the SMC will not carry out any error reaction.
System flag "MSx13" is only set for the master axis of the cou
pling group.
After the operating mode is changed from manual to automatic or vice versa,
the status of the previous parameterization can be preserved with the CVC
command.
The velocity-coupled axis is deactivated with a new travel command (e.g.,
PSI, FOA, ...).
Input "Feed interrupt" (cf. "Yx16") is not effective for the velocity coupled axis.
Stepping to the next block takes place after one task cycle.
Behavior in case of "Stop"

If the "Stop" is set, the axis remains in the "velocity-controlled" operating

mode, i.e., no "Drive Halt" (AH) is commanded. Instead, it is "indirectly" stop
ped by halting the master axis. Any existing velocity offset (see CVC com
mand) is internally deleted for this. If the axis was activated with option "1"
(see Parameter 1), the velocity offset is first reset after the CVC command is
called. If the axis was activated with option "3" (see parameter 1), the velocity
offset will become active again as early as "Stop" is removed, i.e., any exist
ing velocity offset takes immediate effect.

This command only allows simultaneously activating the

coupled axes that are assigned to the same master axis (cf.
"Yx00").

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The command may not be programmed for the virtual axis.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

The command is only permitted if one of the following pa

rameters has been selected as source signal from parame
ter "Yx00: Application type": "S-0-0040, Velocity feedback
value", "S-0-0156, Velocity feedback value 2" or "P-0-0048,
Effective velocity command value".

The command is only permitted, if Yx47, bit0 is configured to

"FALSE", see also chapter "Yx47: Configuration Cyclic CCD
Process Data" on page 549.

Velocity coupling does not allow dead time compensation.

The velocity command value in the slave axis is delayed by
2 (master axis is CCD master) or 3 cycle times (master axis
is CCD slave) as compared with the command value in the
master axis.

The CVA command is available in SMC12V02 and above.

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Programming

6.11.27

CVC Velocity-coupled Axes: Configuration

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Offset

Velocity offset (+/-)

possible

Parameter 3

Factor

Multiplication factor (+/-) for specified velocity of master axis

possible

Fig.6-76:

Velocity coupled axes: configuration

This command can be used to set a velocity offset and a multiplication factor
for a velocity coupled axis. After the velocity-coupled axis has been activated
via the CVA command, the effective command velocity is established with the
current velocity offset and the multiplication factor being taken into account.
An offset value (+/-) and a multiplication factor (+/-) can be used to manipu
late the master axis velocity specification. The resulting velocity command
value of the axis is calculated according to the following formula:

Fig.6-77:

Stepping to the next block takes place after one task cycle.

6.11.28

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The command may not be programmed for the virtual axis.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

The CVC command is available in SMC12V02 and above.

CVT Converting Variable <-> Bit Pattern

Command
Data

Content

Remark

Indirect Access

Parameter 1

Variables

Target or source (VF, VFR)

Always variable

Parameter 2

Starting bit

Start bit for target or source

Not possible

Task VarToBit
Only one flag (MF, MFR) is allowed as start bit for the target.
After this flag, use is always made of the 64 subsequent
flags.

Task BitToVar
Only one flag (MS, MF, MFR) is allowed as start bit for the
source. After this flag, use is always made of the 64 subse
quent flags.

Task IntToBit
One output or one flag (Q, MF, MFR) is allowed as start bit
for the target.

Task BitToInt
One input, one output or one flag (I, Q, MS, MF, MFR) is al
lowed as start bit for the source.

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Programming
Command
Data

Content

Remark

Indirect Access

Parameter 3

Task

VarToBit (0) = convert from a real value (variable) to a bit pattern

Not possible

BitToVar (1) = convert from a bit pattern to a real value (variable)

IntToBit (2) = convert from an integer value (variable) to a bit pat
tern
BitToInt (3) = convert from a bit pattern to an integer value (varia
ble)
Note: IntToBit and BitToInt are available in SMC12V02 and above.
Parameter 4

Number of bits

Number of bits (max. 8)

possible

This parameter is only effective for tasks IntToBit and BitToInt (pa
rameter 3).
Note: The parameter is available in SMC12V02 and above.

Fig.6-78:

Converting variable <-> flag

This command converts a binary bit pattern into an integer or real value (vari
able) or an integer or real value (variable) into a binary bit pattern.
Stepping to the next block takes place after one task cycle.
Tasks "VarToBit" and "BitToVar"

Binary format:

1 x sign bit (1 = negative, 0 = positive)

Most significant bit in the most significant integer byte

4 x integer bytes

4 x decimal bytes ( scaled to 2^32)

Example:
VF600 = 9876.3333

Decimal bytes: 0.3333 * 2^32 = 1431512599dec = 55 53 26 17hex

Byte 3 = 01010101bin

Byte 2 = 01010011bin

Byte 1 = 00100110 bin

Byte 0 = 00010111bin

Integer bytes: 9876dec = 00 00 26 94hex

Byte 7 = 00000000bin

Byte 6 = 00000000bin

Byte 5 = 00100110 bin

Byte 4 = 10010100bin

Example:
VF600 = -123,000
When negative values are converted, the two's complement is calculated,
i.e., the bit pattern of the positive numerical value (123dec = 01111011bin) is
negated and incremented by one. This results in:

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Programming

Decimal bytes: 0.000 * 2^32 = 0dec = 0hex

Byte 3 = 00000000bin

Byte 2 = 00000000bin

Byte 1 = 00000000bin

Byte 0 = 00000000bin

Integer bytes: 4294967173dec = FF FF FF 85hex

Byte 7 = 11111111bin

Byte 6 = 11111111bin

Byte 5 = 11111111bin

Byte 4 = 10000101bin
The conversion precision is defined by the data type of the varia
ble (REAL with 32 bits, IEEE floating-point number).

Tasks "IntToBit" and "BitToInt"

Using tasks "BitToInt" and "IntToBit", This command converts a binary bit
pattern into an integer value (variable) or an integer value (variable) into a bi
nary bit pattern. The width of the bit pattern is defined via parameter 4. No
more than 8 bits are taken into account. If values are greater than 8, an error
message is generated.
If inputs and outputs are used, the system checks whether the number of bits
indicated here is really available. If not, an error message is generated.
Using the variable, the integer value is input and output as a real number
without evaluating the decimal places, i.e., decimal places are cut off with
"IntToBit" so that there will be no rounding!
"IntToBit" does not allow any negative integer values. In such a case, an
error message is displayed.
Conversion with "IntToBit" does not cause any error message in the event of
an overflow. Conversion only involves the number of lowest-order bits de
fined via parameter 4 (see example 2).

Example:
1.

CVT VF600 MF01 BitToInt 8 (with MF01 = 1110.1101bin, 8 bits):

output variable "VF600 = 237,0000"

2.

CVT VF600 MF01 IntToBit 4 (with VF600 = 157,9678, only 4 bits):

evaluated integer value "10011101bin" (157dec) output bit pattern
"1101bin" (13dec)

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Programming
If existing I/O hardware is accessed through the CVT command
with tasks "BitToInt" and "IntToBit", the maximum usable pin or bit
area (bit number equal to pin number) is automatically defined by
the I/O hardware addressed.

The areas allowed for inputs and outputs are:

X31:

"IndraDrive": Pins 3 7

"IndraDrive Cs": Pins 1 8

X32:

"IndraDrive": Pins 6-9

X33

"IndraDrive double axis": Pins 1- 6

X34

"IndraDrive double axis": Pins 1- 5

sercos I/O 1-4: Pins 1- 16

Parallel interface (PL): Pins 10 13, 15 18, 28 29, 31

34, 36 37

Option MD2: Pins 8 - 15, 23 - 30

Field bus (word 1-6): Bit 0 - 15

Bit 0 - 15
If this command is used to access non-cohering pin areas of I/O
hardware, the system internally makes an automatic jump to the
next possible pin number.

6.11.29

EDG Edge Detection Bit

Command
Data

Content

Remark

Indirect Access

Parameter 1

Bit

I, Q, MS, MF, MFR

Not possible

Parameter 2

Mode

Rising (0) = rising edge

possible

Falling (1) = falling edge

Fig.6-79:

Edge detection bit

Stepping to the next block takes place once the preselected edge type has
been detected at the bit.

6.11.30

EOS End of Synchronization

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Only axis 1 (master axis) permitted

possible

Fig.6-80:

End of synchronization

A tool program with "Flying Cutoff" must always be completed with this com
mand. The end of the tool program is reported using this command. The sys
tem cannot be switched to manual mode between the synchronous run and
this command.
Stepping to the next block takes place after one task cycle.

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Programming
An EOS command is only applicable to axis 1 and the "Flying
Cutoff" application type. See also chapter "EOS End of Syn
chronization" on page 372.

6.11.31

FAK Multiplication Factor for Feed

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

1 - 6 = axis numbers 1-6

possible

101 = measuring wheel correction for axis 1 with Flying Cutoff

Parameter 2

Multiplication factor Valid range from 0.000 to 1.999999 if parameter 1 is unequal to possible
"101"
Valid range from 0.9 to 1.1 if parameter 1 is equal to "101"

Fig.6-81:

Multiplication factor for feed

The feed travel of the POA, POI, PSI, and PSA commands always results
from the selected length value or the position and a scaling factor.
The following formula applies to incremental feeds:

Fig.6-82:

Calculation of incremental feeds

The following formula applies to absolute feeds:

Fig.6-83:

Calculation of absolute feeds

Each change to the factor is effective for all subsequent feeds. Changing the
factor has no impact on a feed that has already been initiated.
If "101 (measuring wheel correction for axis 1 with Flying Cutoff)" is program
med for axis 1, the scaling factor has an effect on the feed constant of the
measuring wheel of axis 1. The feed constant of the measuring wheel itself
(cf. drive parameter "P-0-0159, Slave drive feed travel") remains as it is.
After each restart and each time the mode is changed, an error is acknowl
edged and parameter mode is exited, this factor is reset to "1.0".
Stepping to the next block takes place after one task cycle.
The "measuring wheel correction - 101" function (see command
parameter 1) is only applicable to axis 1 and to the "Flying Cutoff"
application type.

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Programming

6.11.32

FOA Phase Synchronous Axes: Activation

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis configuration

0 0 0 0 0 0 axis numbers 1-6, counting is started from the right.

possible

Meaning:
0 = phase synchronous axis off
The axis is stopped.
The "Drive Halt (AH)" status is activated. The axis is brought to a
standstill with the deceleration specified in parameter Yx06 (see
chapter "Yx06: Maximum Acceleration" on page 530).
1 = phase synchronous axis on
The axis is activated as phase synchronous axis ("AU" or "AF"). If
automatic mode is exited, the phase synchronous axis is switched
off. This option is not permitted in the cyclic task nor in the manual
routine or manual cut routine.
2 = unchanged
3 = phase synchronous axis on
The axis is activated as phase synchronous axis ("AU" or "AF").
The phase synchronous axis remains active even after automatic
mode has been exited, i.e., in manual mode. This option is permit
ted in the cyclic task and in the manual routine or manual cut rou
tine.

Fig.6-84:

Phase synchronous axes: activation

This command causes the axis to follow the selected master axis as a phase
synchronous axis. The FOA command can be used to activate or deactivate
the function of the phase synchronous axis. Axes 1 to 6 can be activated and
deactivated at the same time. The FOC command can be used to configure
the phase synchronous axes.
After the operating mode is changed from manual to automatic or vice versa,
the status of the previous parameterization can be preserved with the FOC
command.
Any position offset defined via the SPO command has an additive effect to
the synchronous position command value of the phase synchronous axis.
The velocity parameterized in the SPO command adds up to the current syn
chronous velocity of the phase synchronous axis.
If the amount of the difference between the position command value and the
position feedback value is less than the value in parameter "S-0-0228, Posi
tion synchronization window", system flag "MSx08" is set.
The nInterrupt input does not have any effect on the phase synchronous axis.
Stepping to the next block takes place after one task cycle.
Behavior in case of "Stop"

If a measuring encoder is used as master axis, "Stop" serves to stop the axis
with the value defined in parameter "Yx06: Maximum acceleration". If the axis
was activated with option "1" (cf. parameter 1), the phase synchronous axis
will not become active again until the SMC program has been restarted (cf.
input "Start"). If the axis was activated with option "3" (cf. parameter 1), the
phase synchronous axis will become active again as early as "Stop" is re
moved, i.e., absolute synchronous axes will perhaps carry out a synchroniza
tion motion.

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Programming
If no measuring encoder is used as master axis, the phase synchronous axis
remains active. The axis is brought to standstill "indirectly" by stopping the
master axis.
Interaction with positioning com
mands

The POI and PSI commands can be used to deactivate the phase synchro
nous axis, increase and reduce the current position command value by the
distance programmed in the POI and PSI commands and move to the com
mand position at the velocity specified.
The POA and PSA commands can be used to deactivate the phase synchro
nous axis and move it to the absolute position specified in the POA and PSA
commands at the velocity specified.

6.11.33

The phase synchronous axis can only be used if the "SNC"

(synchronization) function package is activated on the partic
ular axis.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

See also chapter 7.9.2 "Phase Synchronous Axis" on page

340.

FOC Phase Synchronous Axis: Configuration

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Master axis

GlobalMaster (0) = global master axis

possible

The axis follows the global master axis specified in parameter

Y028 (see chapter "Y028: Master Axis Selection of the System" on
page 512).
LocalEncoder (1) = local measuring encoder
The axis follows its locally connected measuring encoder.
Parameter 3

Synchronization di ShortestWay (0) = shortest distance

rection
CatchUp (1) = positive direction

Not possible

SlowDown (2) = negative direction

Parameter 4

Synchronization
type

Absolute (0) = absolute synchronization;

Not possible

synchronization once on activation of the operating mode

Relative (1) = relative synchronization;
synchronization once on activation of the operating mode
AbsoluteAlwaysSyncUp (2) = absolute synchronization;
synchronization on activation of the operating mode and after
changes in configuration
RelativeAlwaysSyncUp (3) = relative synchronization;
synchronization on activation of the operating mode and after
changes in configuration

Parameter 5

Following factor

Gear factor

possible

The sign of this factor defines the direction in relation to the master
axis.

Fig.6-85:

Phase synchronous axis: configuration

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Programming
This command can be used to configure the phase synchronous axis and se
lect the associated master axis.
The available types of synchronization are absolute and relative. If absolute
synchronization is selected, the position and velocity are adjusted; if relative
synchronization is selected, only the velocity is adjusted. If "Absolute (0)" or
"Relative (1)" is set for the synchronization type, the synchronization process
only takes place after the operating mode has been activated. If the configu
ration is changed during the active operating mode, the synchronization proc
ess is not repeated. The synchronization type "AbsoluteAlwaysSyncUp (2)"
or "RelativeAlwaysSyncUp (3)" can be set to repeat the synchronization proc
ess each time the configuration is changed. During the synchronization proc
ess, the "P-0-0143, Synchronization velocity" and "P-0-0142, Synchronization
acceleration" have an effect on the real axis.
Synchronization can be achieved by a movement in the positive direction and
in the negative direction, along the shortest distance. This movement is
specified in the synchronization direction parameter.
The gear factor has the following effect:

Fig.6-86:

Stepping to the next block takes place after one task cycle.

6.11.34

The phase synchronous axis can only be used if the "SNC"

(synchronization) function package is activated on the partic
ular axis.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

See also chapter 7.9.2 "Phase Synchronous Axis" on page

340.

FUN Functions

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Task

length Measurement based on the active position feedback value

measurement, ac (motor encoder / optional encoder, cf. drive parameter S-0-0386)
tive position feed
back value

Parameter 3

Task

length Measurement based on the position feedback value of the optional Not possible
measurement,
encoder
measuring wheel
(measuring wheel, cf. drive parameter S-0-0053)

Fig.6-87:

Not possible

Functions

The FUN command can be used to measure feed lengths that have been
traversed. The current measured values are available in the axis-specific sys
tem variables VSx14 and VSx16. The intermediately stored measured values
can be read via the axis-specific system variables VSx15 and VSx17.
Stepping to the next block takes place after one task cycle.

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Programming

The possible tasks (parameters 2 and 3) for controlling the measurements

are as follows:

BufferAndRestart (0) = intermediately store measured value, then reset

counter and restart measurement

Restart (1) = reset counter and restart measurement. (the intermediately

stored measured value is preserved)

NoChange (2) = no change

Buffer (3) = intermediately store measured value (leave counter un

changed)

Off (4) = turn off measurement

The intermediately stored measured values can be taken from the following
system variables:

VSx14 = length measurement, active position feedback value current

value
current feed length based on active actual position value (cf. drive pa
rameter S-0-0386)

VSx15 = length measurement, active position feedback value stored

measured value
intermediately stored feed length based on active actual position val
ue (cf. drive parameter S-0-0386)

VSx16 = length measurement based on position feedback value of

measuring wheel (optional encoder) - current value
current feed length based of measuring wheel (cf. drive parameter
S-0-0053)

VSx17 = length measurement based on position feedback value of

measuring wheel (optional encoder) - stored measured value
intermediately stored feed length of measuring wheel (cf. drive param
eter S-0-0053)

To allow measurements of multiple axes at the same time, a

"Look Ahead" mechanism is available for the FUN com
mand, i.e., FUN commands called in the SMC program di
rectly one after the other are executed within the same task
cycle.

The feed length measurement of the active position feed

back value (parameter 2) is based on the evaluation of the
active position feedback value (cf. drive parameter
S-0-0386). Depending on the setting (cf. chapter "Yx19: Op
tional Encoder, In-config" on page 536), the active position
feedback value either originates from the motor encoder or
from the optional encoder.

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Programming

6.11.35

HOM Home Axis

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Encoder

Encoder selection:

possible

MotorEncoder (0) = motor encoder

OptionalEncoder (1) = optional encoder (external encoder)
MeasuringEncoder (2) = measuring encoder
Available only with 12V06 and higher
Parameter 3

Reference distance Actual position value on the reference position

possible

The specification is made in the units:

[mm], [inch] or [degrees] for the motor encoder

(see Yx08 and Yx10)

[mm], [inch] or [degrees] for the optional encoder (external

encoder)
(see Yx08 and Yx10)

[Incr] for the measuring encoder

Available only with 12V06 and higher

Fig.6-88:

Homing

This command sets an absolute reference. Essentially, its sequence corre

sponds to homing in manual mode. This allows generation of the dimensional
reference for relative and absolute encoders.
The command checks whether the selected encoder is possible for an abso
lute evaluation or not.

Depending on this, the following commands are triggered:

with relative encoders, the command "C0600 Drive-controlled homing

procedure command" (see S-0-0148)

with absolute encoders, the command "C0300 Set absolute position

command" (see P-0-0012 or S-0-0447)
Commands which cause a drive movement may not be processed while
homing is active. Whether or not homing was successfully completed for the
motor encoder or optional encoder, can be verified in the program by query
ing the parameterized output in parameter Yx30 (see chapter "Yx30: In Ref
erence, Out-config" on page 541). A velocity override (cf. VEO command) is
not active during homing. After the command has been executed, the axis is
at standstill.
The immediate block stepping lasts several task cycles. It takes place imme
diately after the end of the homing procedure.
In general, the dimensional reference can be generated for the following en
coders:

Motor encoder

Optional encoder (external encoder)

Measurement Encoder
The definition for which encoder the position data reference is established via
the command is carried out in parameter 2 "Encoder".

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Programming
Parameter 3 "Reference value" is used to specify the actual position value of
encoder to the reference position.
The command also allows the referencing of the virtual axis. The encoder se
lection must be set to "MotorEncoder" in parameter 2 "Encoder" for this.

Details for executing the referencing step can be set via IndraWorks:

Motor encoder: "Dimensional reference motor encoder" dialog

Optional Encoder: "Dimensional reference optional encoder" dialog

Measurement encoder: "RmAxis: measurement encoder" dialog

Program example:

Axis 1, motor encoder, position 0.0, configuration of parameter Y130 =

MF0001

Fig.6-89:

Program example for homing

If the HOM command is used to reference the motor encod

er or optional encoder, the command automatically sets the
bit 3 in parameter "S-0-0147, Homing parameter" to the re
quired value.

Bit 3 = 0: Motor encoder

Bit 3 = 1: Optional encoder or external encoder

Please note that that the output "In reference" always dis
plays the position status of the encoder declared via bit 3.

6.11.36

Referencing via "Yx22: Homing, In-Config" configured input

(see chapter "Yx22: Homing, In-config" on page 537) can
be started in manual mode.

This command may not be called in the cyclic task.

See also chapter 7.14 "Homing" on page 407.

JMP Unconditional Jump

Command
Data

Content

Remark

Indirect Access

Parameter 1

Jump target

Jump label

possible

Fig.6-90:

Unconditional jump

Upon reaching this user command, the program branches to the entered
jump label.
This allows the programmer to directly branch to another part of the program.
This can be used to divide the main program into fixed program blocks, which
can be very helpful for program changes or extensions.
An unconditional jump at the end of a program to the beginning of the pro
gram creates an endless loop (see also chapter 8.1.3 "Programming Loops"
on page 421). Such a program runs without interruption.
The jump label has to contain a valid command, otherwise an error message
will be displayed.
Stepping to the jump label takes place after one task cycle.

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Programming

6.11.37

JSR Jump to Subroutine

Command
Data

Content

Remark

Indirect Access

Parameter 1

Jump target

Jump label

possible

Fig.6-91:

Jump to subroutine

Programming can be simplified in programs that contain several identical

functions by entering repetitive functions in a subroutine.
This can be used to make a program shorter and easier to overview.
Returning from a subroutine always automatically jumps to the block number
that is one higher than the one that caused the jump to the subroutine.
Up to 16 subroutine level are possible. An error message is displayed if there
are more than 16 levels.
Stepping to the starting block takes place after one task cycle.
The last block of each subroutine must be the RTS return com
mand. Calling this command without previous jump to a subrou
tine will initiate an error message.

6.11.38

JST Jump and Stop

Command
Data

Content

Remark

Indirect Access

Parameter 1

Jump target

Jump label

possible

Fig.6-92:

Jump and stop

This command causes the program to branch to the jump label specified.
However, the program run will be stopped there. The program does not con
tinue before the signal at the Start input (cf. chapter "Y016: Start, In-config"
on page 507) changes from "0" to "1". The new start signal causes the pro
gram to continue to the jump label.
This command can be used to stop a processing cycle.
If the drive is in motion, it is brought to a standstill with the programmed ac
celeration/deceleration. The remaining stroke is stored and traversed on the
next start. There will be no dimensional loss of reference, provided the ope
rating mode is not changed or an error message does not occur. If started
with the CON command, continuous operation will be stopped.
A JST command does not change the initial states. In "Multitasking" mode, a
JST command causes the program to stop in all running tasks or routines.
The cyclic task is not affected. If the JST command is called in the cyclic task,
all tasks are stopped except for the cyclic task and the command counter of
the cyclic task is set to the jump target.
This corresponds to the "nStop" input (cf. chapter "Y017: nStop, In-config" on
page 507).
If the "Flying Cutoff" application type is used, this command may
not be programmed.

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Programming

6.11.39

JTK Unconditional Jump Task

Command
Data

Content

Remark

Indirect Access

Parameter 1

Jump target

Jump label

possible

Parameter 2

Task or routine

Task or routine number:

Not possible

AutoTask1 (1) = Automatic task 1

AutoTask2 (2) = Automatic task 2
AutoTask3 (3) = Automatic task 3
AutoTask1 (4) = Automatic task 4
ManRoutine (5) = Manual routine
ManCutRoutine (6) = Manual cut routine
CyclicTask (7) = Cyclic task

Fig.6-93:

Unconditional jump task

The program sequence in another task can be influenced using this com
mand. The program sequence in the programmed tasks is immediately inter
rupted and the selected task branches to the specified jump target.
Stepping to the next block takes place after a cycle time.
Program example:

When the "JTK Stop AutoTask2" command is called during the automatic
task 1, the program sequence of automatic task 2 continues with the "Stop"
label:

Fig.6-94:

Program example for the JTK command

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Programming

The "JTK Label 1" command during the automatic task 1 is

equivalent to the "JMP label" command. This applies to all
other tasks or routines accordingly.

The JTK command does not stop active axis movements

(e.g., initiated via PSI). They continue running.

If the JTK command is called when the LMC, LMK, LML or

LMR command is currently active during the automatic task
1, the following applies:

If the synchronization process has not yet started on

the new processing point, the jump to the new jump tar
get is performed immediately.

If the synchronization process has already started on

the new processing point, the jump to the new jump tar
get is performed after the EOS command is called.

The CMP, RWY and SAC commands are not interrupted

when the JTK command is called. In this case, the program
sequence in the programmed tasks is only interrupted after
the commanded has been ended. The block advance of the
JTK command is delayed accordingly and can therefore con
sist of several cycle times.

The command is available in SMC12V04 and above.

The following table displays the special behavior of the individual commands
after an interruption triggered by the JTK command:
Com
mand

Behavior after the "JTK" command is called

AKN

Immediate block advance, i.e., command is interrupted.

AKP

Immediate block advance, i.e., command is interrupted.

CMP

No immediate block advance, i.e., command is not interrupted. The JTK

command is executed after the CMP command ends.

CPL

Immediate block advance, i.e., command is interrupted. The axis movement

continues.

EDG

Immediate block advance, i.e., command is interrupted.

HOM

Immediate block advance, i.e., command is interrupted. The axis movement

continues.

LMC

Immediate block advance, i.e., command is interrupted if the synchroniza

tion is not yet active. If the synchronization is already active, the JTK com
mand is executed after the EOS command is called.

LMK

Immediate block advance, i.e., command is interrupted if the synchroniza

tion is not yet active. If the synchronization is already active, the JTK com
mand is executed after the EOS command is called.

LML

Immediate block advance, i.e., command is interrupted if the synchroniza

tion is not yet active. If the synchronization is already active, the JTK com
mand is executed after the EOS command is called.

LMR

Immediate block advance, i.e., command is interrupted if the synchroniza

tion is not yet active. If the synchronization is already active, the JTK com
mand is executed after the EOS command is called.

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Programming
Com
mand

Behavior after the "JTK" command is called

PFA

Immediate block advance, i.e., command is interrupted. The axis movement

continues.

PFI

Immediate block advance, i.e., command is interrupted. The axis movement

continues.

POA

Immediate block advance, i.e., command is interrupted. The axis movement

continues.

POI

Immediate block advance, i.e., command is interrupted. The axis movement

continues.

PSA

Immediate block advance, i.e., command is interrupted. The axis movement

continues.

PSI

Immediate block advance, i.e., command is interrupted. The axis movement

continues.

RMI

Immediate block advance, i.e., command is interrupted.

RWY

No immediate block advance, i.e., command is not interrupted. The JTK

command is executed after the RWY command ends.

SAC

No immediate block advance, i.e., command is not interrupted. The JTK

command is executed after the SAC command ends.

SRM

Immediate block advance, i.e., command is interrupted. The axis movement

continues.

VCC

Immediate block advance, i.e., command is interrupted.

All oth Irrelevant

er
com
mands

Fig.6-95:

6.11.40

Behavior of the individual commands after an interruption triggered by

the JTK command

LMC Part Length by Registration Mark Counter

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Only axis 1 (master axis) permitted

possible

Parameter 2

Registration
count

mark Number of registration marks until processing start

possible

Parameter 3

Registration
offset

mark Distance between the registration mark and the cut position

possible

Fig.6-96:

Part length by registration mark counter

An LMC command counts a defined number of registration marks and adds a

registration mark offset to the registration mark to produce a part. Refer to
chapter "LMC Part Length by Registration Mark Counter" on page 369 for
a detailed description.
The LMC command is only applicable to automatic task 1, axis 1
and the "Flying Cutoff" application type.

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Programming

6.11.41

LMK Part Length or Registration Mark

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Only axis 1 (master axis) permitted

possible

Parameter 2

Part length

Part length to be cut

possible

Parameter 3

Mask window

Window of the last cut position, in which all registration marks are possible
ignored

Parameter 4

Registration
offset

mark Distance between the registration mark and the cut position

Fig.6-97:

possible

Part length or registration

An LMK command uses either the registration sensor to detect a registration

mark on the material or a part length to produce a part (depending on which
event is the first to occur). Refer to chapter "LMK Part Length or Registra
tion Mark" on page 368 for a detailed description.
The LMK command is only applicable to automatic task 1, axis 1
and the "Flying Cutoff" application type.

6.11.42

LML Part Length

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Only axis 1 (master axis) permitted

possible

Parameter 2

Part length

Part length to be cut

possible

Fig.6-98:

Part length

An LML command is used to produce parts of a specified length. Refer to

chapter "LML Part Length" on page 364 for a detailed description.
The LML command is only applicable to automatic task 1, axis 1
and the "Flying Cutoff" application type.

6.11.43

LMR Part Length by Registration Mark

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Only axis 1 (master axis) permitted

possible

Parameter 2

Mask window

Window of the last cut position, in which all registration marks are possible
ignored

Parameter 3

Registration
offset

mark Distance between the registration mark and the cut position

Fig.6-99:

possible

Part length by registration mark

An LMR command uses a registration sensor to detect a registration mark on

the material to produce a part. Refer to chapter "LMR Part Length by Regis
tration Mark" on page 366 for a detailed description.

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Programming
The LMR command is only applicable to automatic task 1, axis 1
and the "Flying Cutoff" application type.

6.11.44

MAT Mathematics

Command
Data

Content

Remark

Indirect Access

Parameter 1

Result

VF, VFR

Has to be varia
ble

Parameter 2

Value 1

Parameter 3

Calculation rule

possible
+ (1) = add: Value 1 + Value 2

Not possible

- (2) = subtract: Value 1 Value 2

* (3) = multiply: Value 1 x Value 2
/ (4) = divide: Value 1 / Value 2
SQRT (5) = square root: Value 1
Parameter 4

Value 2

possible

Fig.6-100:

Mathematics

This command can be used to execute mathematical operations. The calcu

lation operations are performed in real format (REAL with 32 bits, IEEE float
ing-point number).
Stepping to the next block takes place after one task cycle.

6.11.45

MLO Material Length Output

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Material length

Measurement via measuring wheel

possible

(optional encoder, cf. drive parameter S-0-0053)

Parameter 3

Output

Bit (Q, MF, MFR) that is set or reset

Not possible

Parameter 4

Task

Off (0) = reset bit

possible

On (1) = set bit

Fig.6-101:

Material length output

The MLO command can be used to set or reset a bit in automatic mode, de
pending on the feed material length. The feed material length is determined
by means of the current position of the measuring wheel (optional encoder,
cf. drive parameter S-0-0053).
If this command is called the first time, length measurement is activated. If
the feed material length exceeds the programmed value, the bit is set or re
set. Length measurement restarts from the beginning. If the programmed ma
terial length corresponds to the value "0" or if automatic mode is exited, the
measurement is deactivated.
A set or reset output must be reset again by the user program (e.g., via the
AEA command).
Stepping to the next block takes place after one task cycle.

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Programming
If the already feed material length exceeds the programmed value
when the command is read, the bit is set or reset and length
measurement is restarted (e.g., MLO is already active, MLO is
called with a new length that is smaller than the length already
measured).

6.11.46

MOM Torque Limit

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Torque limit

Range from 0% to maximum value of Yx07: Maximum torque

possible

Parameter 3

Positive stop drive Off (0) = positive stop drive procedure command is completed
procedure
com On (1) = positive stop drive procedure command is activated
mand
Unchanged (2) = no change

possible

Note: The parameter is available in SMC12V02 and above.

Fig.6-102:

Torque limit

This command is used to set the maximum torque in % for the drive. For the
selected axis, axis parameter S-0-0092, Bipolar torque/force limit value is
written to the value specified (parameter 2). The torque limit is applicable until
the next MOM command is set. Each time the automatic program is restar
ted, the limitation is set to the value in system parameter Yx07: Maximum
Torque, page 530 . It is also possible to overwrite the torque restriction dur
ing motion.
In addition, parameter 3 is used to activate and deactivate drive command
"C1300 Positive stop drive procedure command". As long as the command is
active, the drive displays "C13".

The following position and motion monitoring functions of the drive are
switched off while the command is active:

Monitoring for "drive does not follow command value"

"F2028 Excessive control deviation"

Monitoring for velocity command value

"F2037 Excessive position command value difference"

Monitoring for acceleration command value

"F2039 Maximum acceleration exceeded"

Monitoring for velocity loop

"F8078 Speed loop error"
For example, the command can be used for a tool clamping option in Flying
Cutoff mode. To achieve this, the MOM command for setting/clearing the
command in the tool program can be called with corresponding torque reduc
tion/increase.
After an error has occurred, the command is reset according to the setting in
parameter Y009: Clear outputs, page 503.
Stepping to the next block takes place after several task cycles (SMC10VRS)
or after one task cycle (SMC12V02 and above).

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Programming

6.11.47
Command
Data

Drive parameter P-0-0109, Bipolar torque/force peak limit al

so limits all settings made via the MOM command. In gener
al, the lower one of the limit values set in the MOM com
mand and drive parameters P-0-0109, S-0-0092, S-0-0082,
S-0-0083 is effective. With constant torque limit through the
MOM command, 100% correspond to the motor standstill
current.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

NOP No Operation
Content

Remark

Indirect Access

No parameters

Fig.6-103:

No-operation instruction

This command has no function and acts as a blank line. It can be used as a
placeholder. This command is edited like any other command while the pro
gram is processed.
Stepping to the next block takes place after one task cycle.

6.11.48

PBK Stop Motion

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Fig.6-104:

Stop motion

This command can be used to stop ongoing feed motions.

The particular axis is brought to standstill with the current deceleration. The
residual feed distance, if any, will not be traveled after the deceleration. A
processed PBK command can be immediately followed by other positioning
commands.

The following motion commands are aborted by calling the PBK command:

CON Continuous operation

HOM Home axis

PFA Positioning, absolute to positive stop

PFI Positioning, incremental to positive stop

POA Positioning, absolute with immediate block stepping

POI Positioning, incremental with immediate block stepping

PSA Positioning, absolute with in-position

PSI Positioning, incremental with in-position

SRM Search for registration mark

Motion commands other than those mentioned here will not be aborted, e.g.,
CMA, FOA, SOA, LMx.
Stepping to the next block takes place after one task cycle.

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Programming
PSA and PSI commands which are aborted by the PBK command
step to the next block. The PBK command can also be called
from another task. Remaining feeds/tailout lengths of PSA and/or
PSI are not taken into account.

6.11.49

PFA Positioning, Absolute to Positive Stop

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Absolute position

Absolute target position

possible

Parameter 3

Feed velocity in %

Feed velocity in % (0 to 100) of the maximum velocity parameter possible

ized in parameter Yx04

Parameter 4

Standstill
in %

Parameter 5

Jump target

window Standstill window in % (0 to 100) of the maximum velocity parame possible

terized in parameter Yx04
Jump target or block number if positive stop is not reached

Fig.6-105:

possible

Positioning, absolute to positive stop

The behavior of the command corresponds to the behavior of the PFI com
mand. However, position specification is absolute rather than incremental,
i.e., the axis must be homed.
See also chapter 7.16 "Positive Stop Drive Procedure" on page 410.

The command is available in SMC12V02 and above.

Before the PFA command is called, the torque limit values

must be set by calling the PFC command.

The command may not be programmed for the virtual axis.

If the "Flying Cutoff" application type is used, this command

may not be programmed.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

If the axis is configured as position-coupled axis via parame

ter "Yx00" and features a holding brake and activation of the
holding brake is required because of the set error reaction,
the PFA command cannot be programmed for the axis.

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Programming

6.11.50

PFC Positioning to Positive Stop: Configuration

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Max. torque to pos Maximum torque during travel to positive stop in %

itive stop
Range from 0% to maximum value of Yx07: Maximum torque

possible

(only valid for active PFA/PFI command)

Parameter 3

Max. torque at pos Maximum torque at positive stop in %

itive stop
Range from 0% to maximum value of Yx07: Maximum torque

possible

(only valid for active PFA/PFI command)

Fig.6-106:

Positioning to positive stop: configuration

This command is used to define the maximum torques for function "Positive
stop drive procedure". The torque to be applicable until the positive stop is
reached (i.e., while the carriage is moving) after the PFA/PFI command has
been called is defined via parameter 2. If the positive stop is reached within
the distance traveled, the maximum torque specified in parameter 3 is used
to press continuously against the positive stop.
Stepping to the next block takes place after one task cycle.

6.11.51

The command is available in SMC12V02 and above.

Drive parameter P-0-0109, Bipolar torque/force peak limit al

so uses the PFC command to limit all settings made. Gener
ally, the lower one of the torque limit values set in parame
ters P-0-0109, S-0-0092, S-0-0082, and S-0-0083 applies.

The command may not be programmed for the virtual axis.

If the "Flying Cutoff" application type is used, this command

may not be programmed.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

PFI Positioning, Incremental to Positive Stop

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Feed length

Distance

possible

Parameter 3

Feed velocity in %

Feed velocity in % (0 to 100) of the maximum velocity parameter possible

ized in parameter Yx04

Parameter 4

Standstill
in %

Parameter 5

Jump target

window Standstill window in % (0 to 100) of the maximum velocity parame possible

terized in parameter Yx04
Jump target or block number if positive stop is not reached

Fig.6-107:

possible

Positioning, incremental to positive stop

Commands PFA and PFI are used to move to a mechanical positive stop.
The positive stop must be within the position limit values (cf. "Yx44: Travel
limit, maximum value" and "Yx45: Travel limit, minimum value"). The pro
grammed distance to the positive stop must always exceed the exact travel

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Programming
distance to the stop because, otherwise, the positive stop may perhaps not
be reached.
If the positive stop is reached, stepping to the next program block takes
place.
If the positive stop is not reached, i.e., the target position of the command is
reached, the SMC program jumps to the jump target specified in parameter 5.
If the positive stop is not reached, the constant torque limit becomes active
again (cf. MOM command). While the axis moves to the stop and when it is
standing at the stop, the torque limits set in the PFC command are in effect.
See also chapter 7.16 "Positive Stop Drive Procedure" on page 410.

6.11.52

The command is available in SMC12V02 and above.

Before the PFI command is called, the torque limit values

must be set by calling the PFC command.

The command may not be programmed for the virtual axis.

If the "Flying Cutoff" application type is used, this command

may not be programmed.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

If the axis is configured as position-coupled axis via parame

ter "Yx00" and features a holding brake and activation of the
holding brake is required because of the set error reaction,
the PFI command cannot be programmed for the axis.

POA Positioning, Absolute with Immediate Block Stepping

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Absolute position

Absolute target position

possible

Parameter 3

Feed velocity in %

Feed velocity in % (0 to 100) of the maximum velocity parameter possible

ized in parameter Yx04

Fig.6-108:

Positioning, absolute with immediate block stepping

The drive is positioned from the current position to the programmed absolute
position with respect to the zero point. The feed velocity is specified in % and
refers to the value defined in parameter Yx04 (see chapter "Yx04: Maximum
Velocity" on page 529).

Example:
1) Current position = -3.94 in
POA 1,200.0 100.0
Axis 1 is positioned 300 mm in forward direction to position +200 mm.
2) Current position = +400.0 mm
POA 1,200.0 100.0
Axis 1 is positioned 200 mm in backward direction to position +200 mm.

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Programming

Fig.6-109:

Example of absolute feed

This command may only be used if an absolute dimensional reference is set

(cf. chapter "Yx30: In Reference, Out-config" on page 541). This is the case
if the position is determined with a Multiturn absolute encoder or if the posi
tion is determined after a referencing travel. Otherwise, an error message is
displayed.
Stepping to the next block takes place after one task cycle.
Program example:

Positioning, absolute with immediate block stepping:

Fig.6-110:

6.11.53

Program example of positioning, absolute with immediate block step

ping

If modulo axes are used, (cf. parameter Yx08), the target po

sition must be between "0" and the "modulo value" (cf. pa
rameter Yx09). These axes always move to the target posi
tion along the shortest distance, i.e., the traversing direction
depends on the length of the traversing distance.

This command may not be called in the cyclic task.

POI Positioning, Incremental with Immediate Block Stepping

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Feed length

Distance

possible

Parameter 3

Feed velocity in %

Feed velocity in % (0 to 100) of the maximum velocity parameter possible

ized in parameter Yx04

Fig.6-111:

Positioning, incremental with immediate block stepping

The position command value of the axis is increased or reduced by the pro
grammed distance. The distance is offset against a possible remaining dis
tance to be moved. The sign of the distance defines the direction of motion
("+" = forward, "-" = backward). The feed velocity is specified in % and refers

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Programming
to the value defined in parameter Yx04 (see chapter "Yx04: Maximum Veloci
ty" on page 529).
Stepping to the next block takes place after one task cycle.
Program example:

Positioning, incremental with immediate block stepping:

Fig.6-112:

Program example of positioning, incremental with immediate block

stepping

The drive moves the following distance: -100 + 200 = +100

6.11.54

Of course, the highest precision is still achieved, even after

stepping to the next block. The compensation precision is
therefore independent of the size of the position window.

This command may not be called in the cyclic task.

PSA Positioning, Absolute with In-Position

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Absolute position

Absolute target position

possible

Parameter 3

Feed velocity in %

Feed velocity in % (0 to 100) of the maximum velocity parameter possible

ized in parameter Yx04

Fig.6-113:

Positioning, absolute with in-position

This command corresponds to the POA command. However, stepping to the

next block does not take place before the programmed absolute position has
been reached.
The feed velocity is specified in % and refers to the value defined in parame
ter Yx04 (see chapter "Yx04: Maximum Velocity" on page 529).

The position is considered to be reached if all of the following requirements

are met:

The "actual position" is inside the "position window" (cf. drive parameter
S-0-0057, Position window).

The "following distance" is less than the "Position window".

The "actual velocity" is inside the "standstill window" (cf. drive parameter
S-0-0124, Standstill window).
The command parameters for the axis, the position and the velocity are read
in once when the command is called for the first time. After a restart with pre
vious stop, the command parameters for the position and the velocity are
again read out once.
Example:
PSA 1 200.0 100
+100.00 = current position
0.20 = position window (cf. drive parameter S-0-0057)

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Programming
Continuation to the next block takes place when the drive reaches the posi
tion +199.80 to +200.20.

6.11.55

If modulo axes are used (cf. parameter Yx08, see chapter

"Yx08: Scaling Type" on page 531), the target position must
be between "0" and the "modulo value" (cf. drive parameter
Yx09). These axes always move to the target position along
the shortest distance, i.e., the traversing direction depends
on the length of the traversing distance.

Of course, the highest precision is still achieved, even after

stepping to the next block. The compensation precision is
therefore independent of the size of the position window.

This command may not be called in the cyclic task.

PSI Positioning, Incremental with In-Position

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Feed length

Distance

possible

Parameter 3

Feed velocity in %

Feed velocity in % (0 to 100) of the maximum velocity parameter possible

ized in parameter Yx04

Fig.6-114:

Positioning, incremental with in-position

This command corresponds to the POI command. However, stepping to the

next block does not take place before the positioning procedure is completed
("In target position"). The sign of the distance defines the direction of motion
("+" = forward, "-" = backward).
The feed velocity is specified in % and refers to the value defined in parame
ter Yx04 (see chapter "Yx04: Maximum Velocity" on page 529).

Program example:

The position is considered to be reached if all of the following requirements

are met:

The "actual position" is inside the "position window" (cf. drive parameter
S-0-0057, Position window).

The "following distance" is less than the "Position window".

The "actual velocity" is inside the "standstill window" (cf. drive parameter
S-0-0124, Standstill window).
The command parameters for the axis, the distance and the velocity are read
in once when the command is called for the first time. After a restart with pre
vious stop, the command parameters for the distance and the velocity are
again read out once.
Positioning, incremental with in-position

Fig.6-115:

Program example of positioning, incremental with in-position

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Programming
Axis 1 is started first. The programmable flag "MF120" is not set before the
final position has been reached and an additional waiting time of 500 ms has
elapsed.

6.11.56

Of course, the highest precision is still achieved, even after

stepping to the next block. The compensation precision is
therefore independent of the size of the position window.

This command may not be called in the cyclic task.

REP Registration Position Limit

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Jump target

Jump label if the position limit has been exceeded.

possible

Parameter 3

Search distance

Max. search distance for SRM command

possible

(The registration position limit is deactivated if "0" is specified.)

Fig.6-116:

Registration position limit

This command supplements the SRM command (see chapter 6.11.66 "SRM
Search for Registration Mark" on page 305). It permits limits to be placed
on the search distance needed to find a reference marker.
If the maximum search distance entered here is exceeded without finding a
reference mark, there will be a jump to the entered target block. At the same
time, the drive is decelerated to a standstill.
This command must precede the SRM command in the sequential program.
A search distance defined by an REP command remains preserved until the
next REP command is called.
The registration position limit function is deactivated after a change in mode,
after an error or on restart.
Stepping to the next block takes place after one task cycle.

The following command combinations are permissible:

1. Moving to reference point without registration position limitation.
SRM 1 0 10 I.A1.X31.Pin3 0
2. Programming of a position limit to max. 500 mm or inches.
REP 1 SUBROUTINE 500
SRM 1 0 10 I.A1.X31.Pin3 0

This command may not be called in the cyclic task.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis, except in
the manual routine.

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Programming

6.11.57

RMI Registration Mark Interrupt

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Mode

0 = wait for pulse at "Registration bit" input

Not possible

1 = complete registration processing, continue feed program

2 = start function without polling the input
Parameter 3

Registration bit

I / Q / MS / MF / MFR

Fig.6-117:

Not possible

Registration mark interrupt

This command allows additional processing irrespective of the feed program

of the selected axis.
Additional registration processing can be initiated with the next command af
ter an input pulse has been detected and a potential offset distance of the ax
is has been traveled. The switch-on edge of the pulse is evaluated. The feed
command in the feed program (POI/PSI command) is interrupted for this reg
istration machining and is then continued, i.e., the feed motion is interrupted
in the feed program.
An offset distance must be programmed in the form of an incremental feed
(PSI command). The PSI command must immediately follow the "RMI x 0/2
x" command, otherwise an error message will be generated. If changed by
the offset feed, the velocity is reset to its original value when the feed pro
gram is continued. If the velocity is specified to be 0% in the offset feed, then
the previous command velocity remains in effect. The offset distance always
relates to the actual position detected at the time of activation of registration
machining. An offset distance of "0" is allowed. In this case, axes in motion
are moved backwards.
After the offset distance has been traveled, the "In position" (cf. Yx33) is not
set in the additional processing routine.
The system variable for the command feed length (VSx13) is not affected by
the offset distance (PSI command) in the additional processing. Traveling of
the offset distance is considered in the system variable for the remaining feed
(VSx12), with the remaining feed always referring to the command feed mo
tion in the feed program.
The "interrupt", "feed monitoring" and "override" functions are allowed.
Stepping to the next program block depends on the mode selected (see pa
rameter 2):
0 = stepping to the next block takes place after the rising edge at the registra
tion bit has been detected and the offset distance has been traveled.
1 = stepping to the next block takes place after one task cycle.
2 = stepping to the next block takes place after the RMI has been called and
the offset distance has been traveled.
Registration bit input via "Probe 1"

The touch probe 1 is selected as the reference mark input if the following in
put of the respective axis is programmed for input "Registration bit"

"I.Ax.X31.Pin3" ("IndraDrive")

"I.Ax.X31.Pin4" ("IndraDrive double axis - axis 2")

"I.Ax.X31.Pin1" ("IndraDrive Cs")

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Programming
In this case, the offset distance refers to the latched measured value of the
probe function (cf. S-0-0130). Parameter "S-0-0051, Position feedback value
1" (motor encoder) or "S-0-0053, Position feedback value 2" (measuring
wheel or optional encoder) can be used as the source for the measured val
ue. Configuration must be carried out by the user via the IndraWorks dialog
"Probe" (cf. S-0-0426). If the probe input is used, the registration bit can be
detected with much more precision than with any other of the inputs. The
measurement accuracy is dependent on the hardware design of the
IndraDrive control unit (see Section "Probe" in the documentation "Rexroth
IndraDrive Drive Controllers Control Sections").

RMI command example

"Probe 1" is only active if it has been activated in parameter

Yx27 (see chapter "Yx27: Registration Mark, In-config" on
page 540). The Time measurement and Rapid stop check
boxes must be deactivated (cf. P-0-0226, bits 3 and 4).

The touch probe function can only be used if the "SRV" (ser
vo function) or "SNC" (synchronization) function package is
activated on the axis.

Limitations to the "RMI" command:

In additional processing mode ("RMI program"), it is not allowed to pro

gram any other feed than the offset distance.

The feed program must be executed via the POI and PSI commands.
These are the only commands that ensure correct evaluation of the off
set distance.

After the RMI command ("RMI x 0/2 x") has been called, the registration
bit cannot be masked any longer (e.g., hole registration).

It is not possible to detect another registration prior to the "RMI x 1 x"

command, i.e., RMI commands cannot be nested any longer. Nested
RMI commands will cause an error message.

The offset distance must be longer than the braking distance because,
otherwise, axes in motion will be moved backwards.
Perforated sheets are to be separated depending on the holes. Holes are
punched into the flat sheet on the punching table. The material is fed through
the rolling mill. One of the holes serves as a reference signal for registration
detection. Since the length is changed by an unknown factor during profiling,
the sheets cannot be separated with the same feed program because drifting
of the hole pattern to the edge cannot be excluded. That is why the sheets
are separated in relation to the reference hole. The reference hole can be de
tected by means of an optical sensor, an initiator, or the like.

Fig.6-118:
Program example:

RMI command example

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Programming

Fig.6-119:

6.11.58

RMI command example program

RSV Restart Behavior

Command
Data

Content

Remark

Indirect Access

Parameter 1

Status

HoldState (0) = Retain state

Not possible

RestoreState (1) = Restore state prior to the interruption (but not

the state of the outputs)
Parameter 2

Task

HoldOutputs (0) = State of the outputs is not restored

Not possible

RestoreOutputs (1) = Restore the state of the outputs

Fig.6-120:

Restart behavior

The restart routine sequence is influenced with this command. It serves for
the selective restoration of the state of the interrupted program.
More information can be found under chapter 7.23 "Restart" on page 416.
Stepping to the next block takes place after one task cycle.

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Programming

The RSV command may only be called in the restart routine.

If the RSV command is not called in the restart routine with

parameter 1 equal to "RestoreState", the state is restored to
prior to the interruption (but not the state of the outputs) after
the RTS command is called.

The "Restart" function is available in SMC12V04 and above.

Example 1:

Fig.6-121:

Restart routine without restoration of the outputs, but restoration of the

state after the RTS command

Example 2:

Fig.6-122:

Restart routine without restoration of the outputs, but restoration of the

state after the RSV command

Example 3:

Fig.6-123:

6.11.59
Command
Data

Restart routine including restoration of the outputs and state after the
RSV command

RTS Return from Subroutine

Content

Remark

Indirect Access

No parameters

Fig.6-124:

Return from subroutine

As has already been described above with reference to the JSR command, a
subroutine must be completed with the RTS return command. If several sub
routine levels are opened in a single program cycle, then a return from a
higher subroutine level does not immediately return to the main program, but
jumps to the subroutine the next level down.
Stepping to the next block takes place after one task cycle.
Every subroutine has to have a return command as the last block.
Calling this command without previous jump to a subroutine will
initiate an error message.

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Programming
Example:

Fig.6-125:

6.11.60

Example of return from subroutine levels

RWY Read/Write Y-Parameter

Command
Data

Content

Remark

Indirect Access

Parameter 1

Access type

0 = read access

possible

1 = write access
Parameter 2

Parameter number

Number of the read/write Y-parameter

Parameter 3

Value

Parameter value:

Read: Always
To allow read access, the parameter value must be a variable (VF/ variable
VFR) to which the value is written. To allow write access, the value Write: possible
is written to the Y-parameter.

Parameter 4

Status

Access status. Error codes correspond to the field bus access er Always variable
rors

Parameter 5

Jump target in the This label is the one to be jumped to in the event of an error.
event of an error

Fig.6-126:

possible

Jump label

Read/write Y-parameter

This command can be used for read/write access to Y-parameters from the
SMC program.
Stepping to the next block takes place after the read/write operation is com
pleted and can take several cycles if necessary. Writing can take several cy
cles because S/P-parameters are also changed if necessary. Reading the Yparameters is completed within one cycle.

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Programming
Once the read or write task has been processed successfully, the feedback
value in the status is "0" so that stepping to the next command block will take
place.
In the event of an error, the SMC program jumps to the jump label specified
in parameter 5. For error codes which are signaled in status, please refer to
chapter "Error Description of a Status Response" on page 178.

NOTICE

All values are treated in RE

AL format (and are internally
converted to the correct data
type).

The REAL format only has an accuracy of six numerical dig

its, i.e., inaccuracies may occur when reading or writing Yparameters if data is to be processed with a higher accura
cy.

Addresses of hardware, flags and variables cannot be pro

cessed/returned in plaintext but only in coded format.

This command does not allow reading of Y-parameter attrib

utes.

NOTICE

Cyclic writing causes damage to the internal

memory (flash or MMC)

Cyclic writing to Y-parameters which, in turn, write to S- or P-parameters (cf.

chapter 11 "Parameters" on page 495) is not allowed because this causes
damage to the internal memory (flash or MMC) on the IndraDrive control sec
tion (cf. "F2100 Incorrect access to command value memory"). The number
of write cycles to the internal device memory is limited.

6.11.61

SAC Set Absolute Counter

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Mode

Relative (0) = absolute zero offset in relation to the zero position

Not possible

Absolute (1) = set new absolute position

Clear (2) = cancel "homed"
Parameter 3

Absolute
or offset

position

possible

Fig.6-127:

Set absolute counter

This command can be used to offset the existing dimensional reference of

the measuring system (coordinate system) in relation to the axis or to set it to
a specific value. This does not affect the position reference of the axis be
cause the output position feedback values are the only ones that are repre
sented "offset". The original ("non-offset") dimensional reference remains
preserved in the drive. Offsetting or setting is independent of whether or not
the current position feedback value has a dimensional reference to the axis.
The offset of the dimensional reference has an effect on the motor encoder
and, if any is present, the optional external encoder, irrespective of which en
coder is the active position control encoder. If different position feedback val

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Programming
ues are applicable for the encoders (the two encoders may have a dimen
sional reference independent of each other), the position feedback values of
the two measuring systems are offset by the same difference.
If the command is called in repeated succession, the offsets have an additive
effect.
The changes made with the SAC command take temporary effect. After a re
start or switch to parameter mode, the original coordinate system will again
be effective.
Stepping to the next block takes place after several task cycles.

6.11.62

The SAC command can only be used if the "SRV" (servo

function) or "SNC" (synchronization) function package is ac
tivated on the axis.

This command is used to create a new absolute dimensional

reference (zero point). This can only be achieved through
homing (e.g., HOM command).

The internal implementation of the command is based on the

activation of the drive command "Shift coordinate system
procedure" (cf. drive parameter S-0-0199).

If the SAC command is called while an axis movement is ac

tive (e.g., POI, POA, CON), an error is generated "Error
command: Block number xxxx - command not available at
present" (Diagnostic number: 8Ah). The command can be
executed correctly only if the axis is at standstill.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

If the axis is configured as position-coupled axis via parame

ter "Yx00" and features a holding brake and activation of the
holding brake is required because of the set error reaction,
the SAC command cannot be programmed for the axis.

SET Set Variable Value

Command
Data

Content

Remark

Indirect Access

Parameter 1

Variables

VS, VF, VFR

Has to be varia
ble

Parameter 2

Value

possible

Fig.6-128:

Set variable value

This command can be used to set variables from the program or copy them
from other variables.
Stepping to the next block takes place after one task cycle.
Entries permitted for the target variable are:
Variable type

Number

Programmable

VF000 to VF999

Programmable, non-volatile

VFR000 to VFR999

Indexes basis

VS012 to VS019

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Programming
Indexes offset factor

VS020

Indexes index

VS021

Indexes memory area

VS022

Analog output

VS035 to VS036

Material velocity for tailout machining

VSx22

Analog output 1

VSx33

Analog output 2

VSx34

Analog output 3

VSx35

Analog output 4

VSx36

Axis number

Fig.6-129:

SET command: permitted target variables

System variables "VS012" to "VS022" are reserved for indexed

variable access. If these variables are write-accessed from out
side (e.g., field bus) or by the SET command itself, they are writeaccessed without index (directly). See also "Indexed variables
(VS012 - VS022)" on page 206.

6.11.63

SOA Velocity Synchronous Axes: Activation

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis configuration

0 0 0 0 0 0 axis numbers 1-6, counting is started from the right.

possible

Meaning:
0 = velocity synchronous axis off
The axis is stopped.
The "Drive Halt (AH)" status is activated. The axis is brought to a
standstill with the deceleration specified in parameter Yx06 (see
chapter "Yx06: Maximum Acceleration" on page 530).
1 = velocity synchronous axis on
The axis is activated as velocity synchronous axis ("AU" or "AF"). If
automatic mode is exited, the velocity synchronous axis is switch
ed off. This option is not permitted in the cyclic task nor in the man
ual routine or manual cut routine.
2 = unchanged
3 = velocity synchronous axis on
The axis is activated as velocity synchronous axis ("AU" or "AF").
The velocity synchronous axis remains active even after automatic
mode has been exited, i.e., in manual mode. This option is permit
ted in the cyclic task and in the manual routine or manual cut rou
tine.

Fig.6-130:

Velocity synchronous axes: activation

This command causes the axis to follow the selected master axis as a veloci
ty synchronous axis. The SOA command can be used to activate or deacti
vate the function of the velocity synchronous axis. Axes 1 to 6 can be activa
ted and deactivated at the same time. The SOC command is used to config

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Programming
ure the velocity synchronous axis. The offset value and the following factor
must be specified via the SOC command.
When activated, the velocity synchronous axis initially adjusts the velocity.
This means that the drive accelerates or decelerates from the feedback ve
locity that is current at the time of activation to the velocity of the master axis,
with the following factor taken into account. The acceleration or deceleration
corresponds to the values set in parameter "P-0-0142, Synchronization ac
celeration". The drive calculates the velocity of the master axis by differentiat
ing the specified master axis position.
After the synchronization velocity has been reached, a further change of the
master axis velocity and the following factor is processed in relation to
"P-0-0155, Synchronization mode".

Behavior in case of "Stop"

Interaction with positioning com

mands

The following variants are available:

P-0-0155, bit 5 = 0
The velocity is adjusted only once, and all subsequent changes in veloc
ity are made at maximum acceleration

P-0-0155, bit 5 = 1
Any change in velocity is limited by the value of "P-0-0142, Synchroni
zation acceleration"
Changes in velocity offset are always made at maximum acceleration.
After the operating mode is changed from manual to automatic or vice versa,
the status of the previous parameterization is preserved via the SOC com
mand.
If the amount of the difference between the velocity command value and the
velocity feedback value is less than the value in parameter "S-0-0183, Veloci
ty synchronization window", system flag "MSx08" is set.
The "interrupt" input does not have any effect on the velocity synchronous ax
is.
Stepping to the next block takes place after one task cycle.
If "Stop" is set, the axis stops with the value defined in parameter "Yx06:
Maximum acceleration". If the axis was activated with option "1" (cf. parame
ter 1), the velocity synchronous axis will not become active again until the
SMC program has been restarted (cf. input "Start"). If the axis was activated
with option "3" (cf. parameter 1), the velocity synchronous axis will become
active again as early as "Stop" is removed, i.e., any possibly existing velocity
offset takes immediate effect.
The POI and PSI commands can be used to deactivate the velocity synchro
nous axis, increase and reduce the current position command value by the
distance programmed in the POI and PSI commands and move to the com
mand position at the velocity specified.
The POA and PSA commands can be used to deactivate the velocity syn
chronous axis and move it to the absolute position specified in the POA and
PSA commands at the velocity specified.

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Programming

6.11.64

The velocity synchronous axis can only be used if the "SNC"

(synchronization) function package is activated on the partic
ular axis.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

See also chapter 7.9.3

page 341.

The command is available in SMC12V02 and above.

"Velocity Synchronous Axis" on

SOC Velocity Synchronous Axis: Configuration

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Master axis

GlobalMaster (0) = global master axis

possible

The axis follows the global master axis specified in parameter

Y028 (see chapter "Y028: Master Axis Selection of the System" on
page 512).
LocalEncoder (1) = local measuring encoder
The axis follows its locally connected measuring encoder.
Parameter 3

Offset

Velocity offset (+/-)

possible

Parameter 4

Following factor

Gear factor (+/-)

possible

The sign of this factor defines the direction in relation to the master
axis.

Fig.6-131:

Velocity synchronous axis: configuration

This command is used to set a velocity offset and a following factor for the
velocity synchronous axis and to select the associated master axis. After the
velocity synchronous axis has been activated via the SOA command, the ef
fective command velocity is established with the current velocity offset and
the following factor being taken into account (see SOA command). An offset
value (+/-) and a following factor (+/-) can be used to manipulate the master
axis velocity specification.
The resulting velocity command value of the axis is calculated according to
the following formula:

Fig.6-132:

While operating mode is active, changes in velocity offset are always made at
maximum acceleration. Changes in the following factor are processed de
pending on "P-0-0155, Synchronization mode" (see also chapter 6.11.63
"SOA Velocity Synchronous Axes: Activation" on page 301).
Stepping to the next block takes place after one task cycle.

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Programming

6.11.65

The velocity synchronous axis can only be used if the "SNC"

(synchronization) function package is activated on the partic
ular axis.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The command is only permitted, if Yx47, bit0 is configured to

"FALSE", see also chapter "Yx47: Configuration Cyclic CCD
Process Data" on page 549.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

See also chapter 7.9.3

page 341.

The command is available in SMC12V02 and above.

"Velocity Synchronous Axis" on

SPO Position Offset of Synchronous Axes

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis configuration

0 0 0 0 0 0 axis numbers 1-6, counting is started from the right.

possible

Meaning:
0 = position offset off (V=0)
1 = activate position offset
2 = unchanged
Parameter 2

Position offset

No Flying Cutoff:

possible

absolute position offset

Flying Cutoff:
relative position offset
Parameter 3

Velocity in %

Adjusting velocity in % (0.001 to 100) of the maximum velocity par possible

ameterized in parameter Yx04

Parameter 4

Acceleration in %

Adjusting acceleration in % (0.001 to 100) of the maximum accel possible

eration parameterized in parameter Yx06

Fig.6-133:

Position offset of synchronous axes

The SPO command can be used to adjust synchronous axes through a posi
tion offset. The adjustment is only effective in active synchronization mode
(Flying Cutoff application type, phase synchronous axis - FOA, cam - CMA).
The axis moves to the new position offset value with the values of velocity
and acceleration parameterized in the command taken into account. The par
ameterized velocity supersedes the current synchronous velocity of the axis.
The adjusting velocity is specified in % and refers to the value defined in pa
rameter Yx04 (see chapter "Yx04: Maximum Velocity" on page 529). The ad
justing acceleration is specified in % and refers to the value defined in param
eter Yx06 (see chapter "Yx06: Maximum Acceleration" on page 530).
The final the position offset adjustment can be read via the axis-specific sys
tem flag "MSx10" (Synchronization completed).
Stepping to the next block takes place after one task cycle.
No Flying Cutoff - absolute posi
tion offset

The sign of the position offset defines the direction of motion of the axis. De
pending on the synchronization direction selected (to ensure that the travers

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Programming
ing direction is unique), the following additional restrictions are applicable to
modulo axes (cf. parameters Yx08 and Yx09).

Flying Cutoff - relative position off

set

6.11.66

Synchronization direction:

Shortest distance:
The absolute value of the position offset must be equal to or less than
"half the modulo value".

Positive direction:
The position offset must be equal to or greater than "0" and equal to or
less than the "modulo value".

Negative direction:
The position offset must be equal to or less than "0" and equal to or less
than the "modulo value".
The synchronization direction can be defined via the FOC or CMC command.
The command can be used, e.g., in the tool program, to separate the materi
al. The specified position offset is evaluated as relative distance by which the
axis is separated each time the command is called.

The position offset for synchronous axes can only be used if

the "SNC" (synchronization) function package is activated on
the particular axis.

This command may not be called in the cyclic task.

If the "Flying Cutoff" application type is used, this command

may be programmed for the synchronous axis only in auto
matic task 1, manual routine and manual cut routine.

SRM Search for Registration Mark

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Offset

Offset distance

possible

Parameter 3

Feed velocity in %

Homing velocity in % (-100 to 100) of the maximum velocity para possible

meterized in parameter Yx04

Parameter 4

Reference mark in I, Q, MS, MF, MFR

put

Parameter 5

Offset velocity in % Offset velocity in % (0 to 100) of the maximum velocity parameter possible
ized in parameter Yx04

Not possible

Available only with 12V06 and higher

Fig.6-134:

Search for registration mark

This command can be used to search for a reference mark at anytime. The
direction and the speed of the search can be selected as needed. After the
command has been called, a search for the reference mark with the selected
speed starts. The reference mark is detected by a rising edge at the program
med "Reference mark" input.
The homing velocity is specified in % and refers to the value defined in pa
rameter Yx04 (see chapter "Yx04: Maximum Velocity" on page 529). The
search direction is defined by the sign of the velocity.

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Programming
Stepping to the next block takes place as soon as the reference mark has
been detected. The command does not wait until the offset distance has
been traversed. The offset distance is traversed with the offset velocity. If the
value of the offset velocity equals '0', the offset is traversed with the search
velocity.
The "In position" output (siehe chapter Yx33: In Position, Out-Congiv, page
543) can be used to query whether the reference mark has been reached
with an offset, if any.
Reference mark input via "Probe
1"

The touch probe 1 is selected as the reference mark input if the following in
put of the respective axis is programmed for input "Reference mark"

"I.Ax.X31.Pin3" ("IndraDrive")

"I.Ax.X31.Pin4" ("IndraDrive double axis - axis 2")

"I.Ax.X31.Pin1" ("IndraDrive Cs")

In this case, the position of the reference mark is determined via the latched
measured value of the probe function (cf. S-0-0130). Parameter "S-0-0051,
Position feedback value 1" (motor encoder) or "S-0-0053, Position feedback
value 2" (measuring wheel or optional encoder) can be used as the source
for the measured value. Configuration must be carried out by the user via the
IndraWorks dialog "Probe" (cf. S-0-0426). If the probe input is used, the refer
ence mark can be detected with much more precision than with any other of
the inputs. The measurement accuracy is dependent on the hardware design
of the IndraDrive control unit (see Section "Probe" in the documentation
"Rexroth IndraDrive Drive Controllers Control Sections").
"Probe 1" is only active if it has been activated in parameter Yx27
(see chapter "Yx27: Registration Mark, In-config" on page 540).
The Time measurement and Rapid stop checkboxes must be de
activated (cf. P-0-0226, bits 3 and 4).

Reference mark input via any in

put desired

If any input desired (not "Probe 1" of the particular axis) is used as the refer
ence mark, the reference mark is detected within the time pattern of the cycle
time (see Y001: cycle time). In this case, the position of the reference mark is
determined via "S-0-0386, Active position feedback value". Depending on
whether "measuring wheel mode" is set, this value is either the ("S-0-0051,
Position feedback value 1") (motor encoder) or the ("S-0-0053, Position feed
back value 2") (measuring wheel or optional encoder). The search velocity is
to be reduced in cases requiring a high level of reference point accuracy.

Offset distance

Moving an offset distance (based on the reference mark position) takes place
immediately after the reference mark has been found. To ensure very precise
accurate position determination, the search is typically carried out with a rela
tively low velocity. With the offset velocity, it is possible to carry out the sub
sequent process of the offset lengths with a high velocity.
Furthermore, you have the option of limiting or monitoring the po
sition limit until the registration mark has been found (cf. chapter
6.11.56 "REP Registration Position Limit" on page 293).

Example:
Homing procedure without offset programming
SRM 1 0 50 I.A1.X31.Pin3 0

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Programming

Fig.6-135:

Example of a homing procedure without offset programming

Example:
Homing with offset programming
SRM 1 200 50 I.A1.X31.Pin3 0

Fig.6-136:

Example of a homing procedure with offset programming

The touch probe function can only be used if the "SRV" (ser
vo function) or "SNC" (synchronization) function package is
activated on the axis.

This command is used to create a new absolute dimensional

reference (zero point). This can only be achieved through
homing (e.g., HOM command).

This command may not be called in the cyclic task.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis, except in
the manual routine.

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Programming

6.11.67

STC Set Task Cycle Counter

Command
Data

Content

Remark

Indirect Access

Parameter 1

Counter

Number of task cycles for each sercos cycle (1 to 99)

Not possible

Parameter 2

configuration

Cyclic (0) = always applies

Not possible

SingleCycle (1) = only applies to the current cycle

Fig.6-137:

Set task cycle counter

The number of the task cycles to be processed within a sercos cycle can be
set using the STC command. As a result, several commands can be pro
cessed synchronously within a task, e.g., simultaneously starting axes or writ
ing outputs.
The number of commands to be processed is not set, but the number of the
task cycles to be processed for each sercos cycle is. This number is the
same for command sequences with commands that only require one task cy
cle. With commands that require more than one task cycle for processing
(e.g., AKN), the number of the commands to be processed is less than the
configured number of task cycles for each sercos cycle.
The new value for the number of task cycles applies during the next sercos
cycle after the STC is called. In the current sercos cycle, calling the STC
command always stops the processing of other task cycles and commands.

The processing sequence of the tasks within a PLC cycle is:

Task 1, Task 1, Task 2, Task 2, ..., etc.

The current set value is displayed in the system variables VS041 to VS047:

VS041: AutoTask1

VS042: AutoTask2

VS043: AutoTask3

VS044: AutoTask4

VS045: Manual routine

VS046: Manual cut routine

VS047: Cyclic task

The task cycle counter is automatically reset to the default value "1" after the
following events:

after the STC command is called and processed with the "SingleCycle"
option

after switching it off/on

after existing the operating mode (switching from OM PM)

after loading a new SMC program

NOTICE

The increase in the number of task cycles to

be processed for each sercos cycle consider
ably increases the system load and can result
in watchdog errors.

The dependency between the system load and the number of the task cycles
to be processed is difficult to predict, i.e., during commissioning, sufficient
performance must be ensured by monitoring the task load (cf. VS025 and
VS026).

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Programming
Example 1: "Cyclic" configuration
Task cycle

sercos cycle

The following example shows how 6 axes are started synchronously using
the "cyclic" configuration:
Command line

Note

STC 6 Cyclic

Set task cycle counters for synchronous starting

POA 1 100 50

Start axis 1

POA 2 100 50

Start axis 2

POA 3 100 50

Start axis 3

POA 4 100 50

Start axis 4

POA 5 100 50

Start axis 5

POA 6 100 50

Start axis 6

STC 1 Cyclic

Reset task cycle counter

NOP

NOP

Fig.6-138:
Example 2: "SingleCycle" configu
ration

Program example for synchronously starting 6 axes

The following example shows how 12 outputs are written synchronously us

ing the "SingleCycle" configuration:
The following example shows how 6 axes are started synchronously using
the "SingleCycle" configuration:

Task cycle

sercos cycle

Command line

Note

STC 2 SingleCycle

Set task cycle counter one time for synchronous writ

ing

AEA Q.FB.W1.Bit0 111111

Set 6 outputs

AEA Q.FB.W1.Bit6 111111

Set additional 6 outputs

NOP

Task cycle counter is automatically reset to 1

NOP

Fig.6-139:

Program example for synchronously writing 12 outputs

The command is available in SMC12V04 and above.

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Programming

6.11.68

TAA Torque Average: Activation

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis configuration

0 0 0 0 0 0 axis numbers 1-6, counting is started from the right.

possible

Description:
0 = Torque average off
Torque average is disabled.
1 = Torque average on
Torque average is enabled.
If automatic mode is exited, the torque average is switched off.
This option is not permitted in the cyclic task nor in the manual rou
tine.
2 = unchanged
3 = Torque average on
Torque average is enabled. The torque average remains active
even after automatic mode has been exited, i.e., in manual mode.
This option is not permitted in the cyclic task nor in the manual rou
tine.
Parameter 2

Master axis

Axis numbers 1 to 6

Fig.6-140:

possible

Torque average: activation

With this command, the torque average of the axes is switched on or off. The
objective of the torque average is achieving a uniform torque distribution in
the individual axes. The total "actual torque" (see S-0-0084) of the axes par
ticipating are added for this and divided by the number of axes. For each ax
is, the difference to the average value is specified by parameter "S-0-0081,
Additive torque/force command value". The master axis is defined via param
eter 2. Axes 1 to 6 can be activated and deactivated at the same time. The
torque average is configured for the individual axes via the TAC command.
The average torque value is determined in [%] according to the following cal
culation rule:

Fig.6-141:

Average torque

In the "VSx28" system variables of the master axis, the current value is provi
ded for diagnostic purposes.
The additive torque for the individual is calculated based on the average tor
que value and written in parameter "S-0-0081, Additive torque/force com
mand value":

Fig.6-142:

additive torque

The factor in [%] is determined via the TAC command. The calculated correc
tion value for the additive torque value is also limited to the maximum of the
"Yx07: Maximum torque" in the positive and negative direction.
Stepping to the next block takes place after one task cycle.

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Programming
Using the torque average can be beneficial, for example, for ve
locity-coupled axes (see CVA command).

Example:
1) For axis 1, 2 and 3, the torque average is to be activated for the automatic
mode:

Fig.6-143:

TAA command, axis 1 is the master axis, average only in automatic

mode

The resulting average of the actual torque of the three axes is displayed in
the system variable "VS128".
2) For axis 4, 5 and 6, the torque average is to be activated for all operating
modes:

Fig.6-144:

TAA command, axis 5 is the master axis, average only in manual and
automatic mode

The resulting average of the actual torque of the three axes is displayed in
system variable "VS528".

An axis can only be active exactly once in an axis group with

torque average.

In order not to falsify the error reaction, the "S-0-0081, Addi

tive torque/force command value" is always internally written
with "0" in case of a drive-internal error reaction by the drive
firmware.

The actual torque value of an axis is only incorporated into

the calculation of the average torque only as long as the axis
is under torque.

The command is not permitted if a torque average is already

activated for the axis (see CTA command).

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The TAA command is available in SMC12V06 and above.

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Programming

6.11.69

TAC Torque Average: Configuration

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Factor

Factor in % (0 to 500) with which the additive torque differential is possible

activated
Default value: 100%

Parameter 3

Ramp time factor

Ramp time in "ms" (0 to 65535) in which a change to the factor is possible

executed
Default value: 500 ms

Parameter 4

Torque average fil Time constants in "ms" (0 to 10000) for the filter for the average of possible
ter
the additive torque differential
Default value: 10 ms

Fig.6-145:

Torque average: configuration

This command can be used to set a factor for an axis with its torque aver
aged. The axis is used to additively activate the torque differential. When acti
vating or deactivating the axis or changing the factor, the factor is increased
linearly within the ramp time to the target value. The resulting torque differen
tial can also be increased with a PT1 filter.
The value for the ramp time is to be at least 5 ms per factor percentage, i.e.,
with a factor value of 100%, the value is to be a least 500 ms. The factor is
linearly ramped over, i.e., the programmed factor only effective after the ramp
time is expired. Without ramp time, torque impacts occur and can thus dam
age machinery and materials. The ramp time is effective with each change,
i.e., both during an increase and decrease in the factor.
The time for the torque average value filter is to typically be approximately 10
ms. The filter is calculated as a PT1 filter. Times that are too short can result
in torque impacts, while times that are too long can result in constant oscilla
tions in the torque characteristic.
Stepping to the next block takes place after one task cycle.

6.11.70

It is only necessary to call up the TAC command if values

other than the default values must be set for the factor, ramp
time factor or the torque value filter.

The command may not be programmed for IndraDrive con

trol sections with "sercos analog converter" (SAC).

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

The TAC command is available in SMC12V06 and above.

VCC Velocity Change

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Distance or posi Distance traveled or absolute position until switching point

tion

possible

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Programming
Command
Data

Content

Remark

Indirect Access

Parameter 3

New velocity in %

New feed velocity in % (0.001 to 100) of the maximum velocity par possible
ameterized in parameter Yx04

Parameter 4

Switching point

Distance (0) = distance traveled

Not possible

Absolute (1) = absolute switching position (axis must be homed)

Parameter 5

Mode

VelocityStart (0) = start of change in velocity

possible

VelocityReached (1) = velocity reached

Fig.6-146:
Mode 0 (VelocityStart)

Velocity change

Start of the change in velocity at the switching point

a) Switching point = distance traveled (Distance)
Velocity changes always refer to the feed that was the last to be initiated prior
to the VCC command. Block stepping takes place immediately after the dis
tance programmed in the VCC command has been traveled, based on the
start position of the last feed. The velocity can only be changed with feeds
without position acknowledgement (POI, POA). The position content in the
last VCC value must be less than the feed started beforehand, otherwise the
corresponding VCC command will not be executed and stepping to the next
block will take place.
Program example: The actual start position is 0.00 in.

Fig.6-147:

VCC command; the switching point is the distance traveled on start of

the velocity change

Fig.6-148:

VCC command, velocity change (distance traveled)

b) Switching point = absolute position (Absolute)

The switching point refers to the current coordinate system.
The axis must be homed (cf. parameter Yx30). Otherwise an error
message will be displayed.

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Programming
Mode 1 (VelocityReached)

Velocity change reached at switching point

a) Switching point = distance traveled (Distance)
Always refers to the feed that was the last to be initiated prior to the VCC
command.
b) Switching point = absolute position (Absolute)
The new velocity of the running feed is reached at the absolute position
specified.
Block stepping takes place immediately after the drive starts to change its ve
locity. This point depends on the acceleration, the velocity difference and the
following error. If this point is already reached or exceeded on entering the
VCC command, block stepping takes place at once, with the new velocity be
ing applied.
The axis must be homed (cf. parameter Yx30). Otherwise an error
message will be displayed.
Program example: The actual start position is 100 mm.

Fig.6-149:

VCC command, switching point is absolute position with velocity

reached

Fig.6-150:

VCC command, velocity change (absolute position)

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Programming

6.11.71

An extrapolation is performed when the switching points are

internally calculated. This ensures that the adjusted velocity
is reached at the parameterized position at the latest, i.e.,
earlier. The deviation to the parameterized position depends
on the boundary conditions of the traveling dynamics and is,
at the most, the distance travelled at the switchover point
during a cycle time (cf. Y001).

The switching points for mode "1 = velocity reached" are cal
culated without a jerk limitation taken into account.

This command may not be called in the cyclic task.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

VEO Velocity Override

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

Axis numbers 1 to 6

possible

Parameter 2

Mode

Off (0) = override switched off

Not possible

Axis1..Axis6 (1..6) = analog value 0...+10 volts at analog input 1 of

axis 1-6
Parameter (100) = override value from this command
Parameter 3

Cyclical

Cyclic (0) = re-read override value in each task cycle

Not possible

Noncyclic (1) = read override value only once on calling the com
mand
Parameter 4

Override value in The value is of relevance only in mode parameter (100).

%
Permitted range: 0% - 100%

possible

Parameter 5

Function

Not possible

Factor (0) = Override as a factor

Limit (1) = Override as a limiter

Fig.6-151:

Velocity override

This command results in reduction of the velocity of all programmed motion

commands.
If the "Override as a factor" function (Factor) is used, the override value is
multiplied with the programmed velocity from the commands.
If "Override as a limiter" (Limit) is used, the override value is multiplied with
the programmed velocity from parameter Yx04 (see chapter "Yx04: Maximum
Velocity" on page 529) and therefore limits the velocity.
The activation of an override function with the VEO command has priority
over a possible activation in parameter Yx28 (see chapter "Yx28: Override"
on page 540).
Once a VEO command has been called, it applies to all subsequent motion
until it is removed. A change in mode from automatic to manual and vice ver
sa removes the override function through the VEO command.
Stepping to the next block takes place after one task cycle.
Flying Cutoff

The VEO command can be used to reduce the return velocity in "Flying Cut
off" mode. The return velocity results from multiplying the override value with
the maximum velocity from parameter Yx55 (see chapter "Yx55: Return Ve

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Programming
locity" on page 555). If the override value function is deactivated, the return
velocity used is the maximum velocity from parameter Yx55. Any changed
override value will not become active before the next return is started. The
override value has no effect while return optimization is active.
To reduce the return velocity in "Flying Cutoff" mode, only mode
off (0) and mode parameter (100) are allowed for specification of
the override value. The override value and the override value
specification are the only relevant data. The return velocity reduc
tion is only effective in automatic mode. After restart, errors or pa
rameter mode, the return velocity is the maximum velocity from
parameter Yx55.
Program example of VEO - Velocity override

Fig.6-152:

Program example of VEO - Velocity override

The above program example generates the following velocity profiles:

1. Program A - unaffected velocity profile

Fig.6-153:

VEO command, velocity change

2. Program B - velocity limited to 70%

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Programming

Fig.6-154:

VEO command, velocity limited to 70%

3. Program C - multiplication with a factor of 50%

Fig.6-155:

6.11.72

VEO command, multiplication with a factor of 50%

VOA Velocity Coupled Axis via PLC Global Register

Command
Data

Content

Remark

Indirect Access

Parameter 1

Axis

0 0 0 0 0 0 axis numbers 1-6, counting is started from the right.

possible

Parameter 2

On/Off

0 = velocity coupling off

possible

1 = velocity coupling on
The axis is activated as velocity coupled axis (AU or AF). If auto
matic mode is exited, the velocity coupled axis is switched off. Not
allowed in the cyclic task nor in the manual routine or manual cut
routine task.
2 = unchanged
3 = velocity coupling on
The axis becomes active as velocity coupled axis and remains ac
tive even if automatic mode is exited. This option is allowed in the
cyclic task.
Parameter 3

Offset

Velocity offset (+/-)

possible

The offset is not offset against the multiplication factor.

Parameter 4

Factor

Multiplication factor for specified velocity of master axis

Fig.6-156:

possible

Velocity coupled axis

The VOA command allows following any master axis desired in a velocity
coupled manner. The velocity coupling of the axis is achieved internally via a
"position-controlled" operation mode. An offset value and a multiplication fac
tor can be used to manipulate the master axis velocity specification. The ve

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Programming
locity of the slave axis is specified via a "global PLC register" which is evalu
ated in relation to the axis. The "global PLC register" is multiplied with the fol
lowing factor and is charged with the velocity offset.
The effective command velocity is calculated according to the following for
mula:

Fig.6-157:

The axis accelerates to the effective command velocity ("S-0-0259, Position

ing velocity") using the value defined in parameter "Yx06: max. acceleration"
(editable with ACC command).
Stepping to the next block takes place after one task cycle.

Behavior in case of "Stop"

The assignment of the global PLC registers to the slave axes is defined as
follows:

Axis 1 follows the value of P-0-1296

Axis 2 follows the value of P-0-1297

Axis 3 follows the value of P-0-1298

Axis 4 follows the value of P-0-1299

Axis 5 follows the value of P-0-1300

Axis 6 follows the value of P-0-1301

If "Stop" is set, the axis stops with the value defined in parameter "Yx06:
Maximum acceleration". If the axis was activated with option "1" (cf. parame
ter 2), the velocity coupled axis will not become active again until the SMC
program has been restarted (cf. input "Start"). If the axis was activated with
option "3" (cf. parameter 2), the velocity coupled axis will become active
again as early as "Stop" is removed, i.e., any possibly existing velocity offset
takes immediate effect.
The assignment of the master axis to the "global PLC registers" can, for ex
ample, be made using the free process data of the CCD command value
channel (cf. P-0-1623 and P-0-1625).

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Programming

Example:
In the example configuration shown, axis 2 is coupled to the velocity com
mand value of axis 1 (P-0-0048 of the master axis to P-0-1297):

Fig.6-158:

6.11.73

Assigning the velocity command values of the slave axis using the
free process data of the CCD channel

If the velocity is specified by directly writing to the PLC regis

ters, the value must be entered in the register with decimal
places; otherwise, the axis will move with a wrong velocity.
The number of decimal places depends on the scaling; see
also drive parameters S-0-0045 and S-0-0046.

If the "Flying Cutoff" application type is used, this command

may not be programmed for the synchronous axis.

WAI - Waiting Time

Command
Data

Content

Remark

Indirect Access

Parameter 1

Waiting time

Waiting time in [ms] or [sec]

possible

Parameter 2

Unit

ms (0) = ms

possible

s (1) = s

Fig.6-159:

Waiting time

Processing of the next block is delayed until the programmed time has
elapsed. This means that stepping to the next block takes place after the
waiting time has elapsed. The significance can be used to specify the waiting
time in [ms] or [sec].

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Programming
The resolution of the waiting time corresponds to the value in pa
rameter Y001 (see chapter "Y001: Cycle Time" on page 498).

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Functions

Functions

7.1

Operation Modes

7.1.1

General Information
The SMC features the following operation modes:

Manual mode

Automatic mode

Parameter mode
There is an additional mode which cannot be selected:

Error
The following figure shows an overview of the available modes and their most
important functions:

Fig.7-1:

7.1.2

Overview of operation modes

Manual Mode
Axes are set up and jogged in manual mode. In this mode, Y-parameters as
well as S/P-parameters of the drive can be read (Y/S/P-parameters that can
be edited in phase 4 are the only ones that can be edited). The axes are un
der control, i.e., under torque.
In manual mode, the axes can be jogged in positive and negative direction
and homed, and an SMC program can be downloaded from the MMC to the
working memory.
In manual mode, the manual routine and/or the manual cut routine can be
executed (see also chapter 6.2.3 "Manual Routine" on page 196 and chapter
6.2.4 "Manual Cut Routine" on page 198, respectively).
After the SMC has powered up, the control is in manual mode provided the
"Automatic mode" and "Parameter mode" inputs are set to "FALSE" and the
drive power is connected (see also chapter 6.8.5 "Axis-independent System

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Outputs" on page 224). If manual mode is active, the "manual mode" system
output is set to "TRUE".

Relevant Y-parameters are as follows:

"Y018: Manual routine, In-config"

"Y022: Manual mode, Out-config"

"Yx03: Jog velocity"

"Yx04: Maximum velocity"

"Yx20: Jog+, In-config"

"Yx21: Jog, In-config"

"Yx22: Homing, In-config"

"Yx23: Homing switch, In-config"

"Yx29: Drive enabled, Out-config"

(see also chapter 11 "Parameters" on page 495):
Relevant system inputs are as follows

Automatic mode

Enable

Jog +

Jog
Homing

Homing switch

Manual routine
(see also chapter 6.8 "System Inputs and Outputs" on page 217):
Relevant system outputs are as follows:

Manual mode

Drive enabled

7.1.3

Automatic Mode
In automatic mode, the SMC program can be processed in production mode
if there is a rising edge at the "Start" input. Automatic tasks 1-4 are pro
cessed. All functions can be executed with the exception of the "jog" and
"manual cut" or "manual cut routine" functions.
In addition, setup mode can be activated for each axis within the scope of au
tomatic mode chapter 7.13 "Setup Mode" on page 406.
Y-parameters as well as S/P-parameters of the drive can be read (Y/S/P-pa
rameters that can be edited in phase 4 are the only ones that can be edited).
The axes are under control, i.e., under torque.
Automatic mode is activated by "TRUE" at the "Automatic mode" system in
put. If automatic mode is active, the "automatic mode" system output is set to
"TRUE". Automatic mode becomes active only if the power of all axes is con
nected (see also chapter 6.8.5 "Axis-independent System Outputs" on page
224). Processing of the SMC program starts with a rising edge at the "Start"
system input.

Relevant Y-parameters are as follows:

"Y002: Start program"

"Y003: Starting block Auto task 2"

"Y004: Starting block Auto task 3"

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"Y005: Starting block Auto task 4"

"Y011: Automatic mode, In-config"

"Y013: Single step, In-config"

"Y016: Start, In-config"

"Y017: nStop, In-config"

"Y021: Automatic mode, Out-config"

"Y025: Run, Out-config"

"Y026: SMC-Program valid, Out-config"

"Yx02: Enable axis"

"Yx04: Maximum velocity"

"Yx15: Drive enable, In-config"

(see also chapter 11 "Parameters" on page 495):

Relevant system inputs are as follows:

Automatic mode

Single Step

Start

nStop

Enable
(see also chapter 6.8 "System Inputs and Outputs" on page 217):
Relevant system outputs are as follows:

Automatic mode

Drive enabled

Run

Automatic program valid

7.1.4

Parameter Mode
The parameter operation mode serves for parameterization and configuration
of the SMC and the individual axes. The drives are in PM (P2). Y-parameters
and S/P-parameters of the drive can be read. Y-parameters and S/P-parame
ters of the drive, which are not write-protected, can be write-accessed. The
axes are not under control, i.e., not under torque.
It is also possible to download an SMC program to the working memory.
Parameter mode is not intended for processing an SMC program,
not even the cyclic task (see also chapter 6.2 "Multitasking" on
page 193).
Parameter mode is activated by "TRUE" at the "Parameter mode" system in
put. If parameter mode is active, the "parameter mode" system output is set
to "TRUE".

Relevant Y-parameters are as follows:

"Y014: Parameter mode, In-config"

"Y023: Parameter mode, Out-config"

(see also chapter 11 "Parameters" on page 495)
Relevant system inputs are as follows:

Parameter mode

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Relevant system outputs are as follows:

Parameter mode
(see also chapter 6.8 "System Inputs and Outputs" on page 217)

7.2

System Commands

7.2.1

Overview
The following system commands are available for controlling the SMC:

Num
ber

System command

Parameter

Remark

No system command

None

Dummy system command for resetting a re

quest

Load SMC program from MMC

Program num If this system command is executed, the SMC

ber
program is transferred from the MMC to the
working memory of the SMC.
This command cannot be executed if the opera
tion mode is changed from parameter to manual
and while an SMC program is running.

Reserved

Load default values

None

If this system command is executed, the default

values of all Y-parameters are loaded.
Only possible in parameter mode.

Load SMC Data from MMC

Option & file If this system command is executed, the SMC

number
data is loaded from the MMC.
Only possible in parameter mode.

Save SMC Data to MMC

Option & file If this system command is executed, the SMC

number
data is transferred to the MMC.
This command cannot be executed if the opera
tion mode is changed from parameter to man
ual.

Delete programmable variables

Volatile / non- Deletes the programmable variables.

volatile / all

Delete programmable flags

Volatile / non- Deletes the programmable flags.

volatile / all

Reset material length counter

Axis number

Load Single Parameter Set from MMC

File number If this system command is executed, the Y-pa

and axis num rameters of an axis are loaded from the MMC.
ber
Only possible in parameter mode.

10

Save Single Parameter Set to MMC

File number If this system command is executed, the Y-pa

and axis num rameters of an axis are saved to the MMC.
ber
This command cannot be executed if the opera
tion mode is changed from parameter to man
ual.

Resets the material length counter.

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Num
ber

System command

Parameter

Remark

11

Restore drive parameters from MMC

None

The drive parameters of all axes are restored

from the MMC via drive command C66 "Restore
parameters from MMC command".
Only possible in parameter mode.

12

Save drive parameters to MMC

None

The drive parameters of all axes are saved to

the MMC via drive command C65 "Save param
eters on MMC command".
Only possible in parameter mode.

13

Reserved

14

Reserved

Fig.7-2:

Overview of SMC system commands

The following Y-parameters are available for executing the system command:

"Y032: System command"

(number of the system command to be executed)

"Y033: System command parameter"

(parameter for the system command to be executed)

"Y034: Active system command"

(currently active system command number), read-only

"Y035: Active system command status"

(displays the current system command status), read-only

0: System command not active

1: System command active

2: System command successfully executed

>2: System command completed with an error, incl. error code:

0F00hex:
File not found or file could not be created

0F01hex:
Invalid system command

0F02hex:
System command can only be executed in parameter mode

0F03hex:
System command cannot be executed in automatic mode

0F04hex:
Invalid system command parameter

0F05hex:
System command cannot be executed during switchover from
parameter mode to manual mode

0F06hex:
Error on opening/reading/writing to file

0F07hex:
*.SCD file invalid (error in the backup file)

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0F08hex:
File is read-only

0F09hex:
Language version of SMC program is invalid, see error num
ber "90h" in chapter 9.4 "Error Numbers" on page 441.

0F0Ahex:
Internal error when calling up a function block. More detailed
information is available in the diagnostics (see "Y029" and
"Y030").

>C0000hex:
This is a command error that was generated by an drive com
mand called internally, i.e., there is no SMC specific error. In
this case, the cause of the error can be found in the drive doc
umentation.
e.g., "C5501 - SPS program not ready to load the retain data"
At first, the system command parameter must be set in Y033.
Then the system command can be started in parameter Y032.

A new system command will only be activated after a change of the system
command number (Y032). System commands cannot be prematurely termi
nated or interrupted.
For examples of system command execution via field bus, please refer to
chapter 5.3 "Field Bus" on page 164.

7.2.2

File Selection with System Commands

Selection of a filename with system commands requires an assignment file
on the MMC "PROG_ASSIGN.SCA", which assigns the file number to the fil
ename.
If it is not available, the "PROG_ASSIGN.SCA" file is automatical
ly generated as necessary. This is achieved independently of the
programs available on the MMC.
The file can be updated appropriately by means of an editor, e.g. with the
upload function of the SMC-Editor, page 71.
Filenames must be entered without filename extension. The filename exten
sion is automatically added subject to the system command. The assignment
of the file number to the filename applies both to programs and to the Y-pa
rameter backup files.

7.2.3

System Command 0: No System Command

Dummy system command serving to reset a system command. Sets the pa
rameters "Y034: Active system command" and "Y035: Status of active sys
tem command" back to "0".
This system command does not have any system command parameters as
signed to it.

7.2.4

System Command 1: Load SMC Program from MMC

If this system command is executed, the SMC program is transferred from
the MMC to the working memory of the SMC. This command cannot be exe

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cuted if the operation mode is changed from parameter to manual and while
the SMC program is running (output "Run" must be "FALSE").
The command parameter required is the program number to be loaded (see
also chapter 7.2.2 "File Selection with System Commands" on page 326),
which must be written to parameter "Y033: System command parameter" be
fore execution of the system command.

7.2.5

System Command 2: Reserved

This system command is reserved and therefore does not have any function
at the moment.

7.2.6

System Command 3: Load Default Values

If this system command is executed, the default values Y-parameters are loa
ded.
For the default values, please refer to chapter 11 "Parameters" on page
495. The values of all Y-parameters are overwritten, except "Y032: System
command", "Y033: Parameter for system command", "Y034: Active system
command" and "Y035: Active system command status" This system com
mand does not have any system command parameters assigned to it.
The system command can only be carried out in parameter mode.

7.2.7

System Command 4: Load SMC data from MMC

If this system command is executed, the SMC data (Y-parameters and op
tional flags and variables) is loaded from the MMC.
The command parameter required is the program number to be loaded (see
also chapter 7.2.2 "File Selection with System Commands" on page 326),
which must be written to parameter "Y033: System command parameter" be
fore execution of the system command.

The file number indicates the units and tens digit. The data selection indi
cates the hundreds digit:

0: load all Y-parameters (compatible with SMC10VRS)

1: load Y-parameters and retain data (VFR and MFR)

2: load all data (Y, VF, VFR, MF, MFR, VS, MS)
Example:
only load Y-parameters from the file with the file number 4
For example, to load only the Y-parameters from the file with the file number
4, the value "004 " must be entered in parameter "Y:033: System command
parameter".

Example:
Load Y-parameters and retain data from the file with file number 4
For example, to load the Y-parameters and retain data (VFR, MFR) from the
file with file number 4, the value "104 " must be entered in parameter "Y033:
system command parameter".
The system command can only be carried out in parameter mode.

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Y-parameter structure

The backup files contain the following information: a header and the Y-pa
rameters with number, name, unit, minimum value, maximum value, and cur
rent value.

Fig.7-3:

Excerpt from the Y-parameter backup file (*.SCD)

When data is loaded from a backup file, a search for the number of the Yparameter/variable/flag is started and the value standing in the line above the
"|" character is written to the Y-parameter. Any other information (header,
name, unit, etc.) is optional and is not considered during loading.

A value must at least provide the following information:

Number of the value, e.g., Y001, VFR099

Current value, e.g., 4000

"|" character at the end of each value

The data contained in the file selected is loaded. It is therefore al
so possible to select only specific data (i.e., data selectable by the
user).

7.2.8

System Command 5: Save SMC data to MMC

If this system command is executed, the SMC data is transferred to the
MMC.
The system command parameter required is the file number and the option
(see also chapter 7.2.2 "File Selection with System Commands" on page
326) to which the Y-parameters are to be saved. The file number must be
written to parameter "Y033: System command parameter" before execution
of the system command.

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The file number indicates the units and tens digit. The data selection indi
cates the hundreds digit:

0: save all Y-parameters (compatible with SMC10VRS)

1: save Y-parameters and retain data (VFR and MFR)

2: save all data (Y, VF, VFR, MF, MFR, VS, MS)
Example:
only save Y-parameters to the file with the file number 4
For example, to save only the Y-parameters to the file with the file number 4,
the value "004 " must be entered in parameter "Y:033: System command pa
rameter".

Example:
Save Y-parameters and retain data to the file with the file number 4
For example, to save the Y-parameters and retain data (VFR, MFR) to the file
with file number 4, the value "104 " must be entered in parameter "Y033: sys
tem command parameter".
This system command cannot be executed upon switchover from parameter
mode to manual mode.

7.2.9

System Command 6: Delete Programmable Variables

This system command deletes the programmable variables, i.e., these varia
bles are set to "0". Parameter "Y033: System command parameter" can be
used to select the area to be deleted:
0: volatile variables only (VF000-VF999)
1: non-volatile variables only (VFR000-VFR999)
2: all freely programmable variables (VF000-VF999 and VFR000-VFR999)

7.2.10

System Command 7: Delete Programmable Flags

This system command deletes the programmable flags, i.e., these variables
are set to "FALSE". Parameter "Y033: System command parameter" can be
used to select the area to be deleted:
0: volatile flags only (MF000-MF999)
1: non-volatile flags only (MFR000-MFR199)
2: all freely programmable flags (MF000-VF999 and MFR000-VFR199)

7.2.11

System Command 8: Reset Material Length Counter

This system command resets the material length counter with Flying Cutoff
(see system variable VSx19 and VSx24), i.e., the counter is set to "0". Pa
rameter "Y033: System command parameter" can be used to select the axis
for which the material length counter is reset.

7.2.12

System Command 9: Load Single Parameter Set from MMC

This system command can be used to load the Y-parameter set of a single
axis (e.g. to duplicate axes) or to load the system parameters only. This sys
tem command can only be executed in parameter mode.
The command parameter required is the file number to be loaded (see also
chapter 7.2.2 "File Selection with System Commands" on page 326), which
must be written to parameter "Y033: Parameter for system command" before
execution of the system command.

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Example:
Load Y-parameters of axis 2 from the file having file number 4
For example, to load the Y-parameters of axis 2 (Y200 - Y299) from the file
with the file number 4, the value "0402 " must be entered in parameter "Y033:
System command parameter".

Example:
Load Y-parameters of the system from the file having file number 4
For example, to load the Y-parameters of the system (Y000 - Y099) from the
file with the file number 4, the value "0400 " must be entered in parameter
"Y033: System command parameter".
For more information about the structure of the backup files,
please refer to chapter 7.2.7 "System Command 4: Load SMC
data from MMC" on page 327.

7.2.13

System Command 10: Save Single Parameter Set to MMC

This system command can be used to save the Y-parameter set of a single
axis (e.g. to duplicate axes) or to load the system parameters only. This sys
tem command cannot be executed upon switchover from parameter mode to
manual mode.
The command parameter required is the file number to be loaded (see also
chapter 7.2.2 "File Selection with System Commands" on page 326), which
must be written to parameter "Y033: Parameter for system command" before
execution of the system command.

Example:
Save Y-parameters of axis 2 to the file having file number 4
For example, to save the Y-parameters of axis 2 (Y200 - Y299) to the file with
the file number 4, the value "0402 " must be entered in parameter "Y033:
System command parameter".

Example:
Save Y-parameters of the system to the file having file number 4
For example, to save the Y-parameters of the system (Y000 - Y099) to the
file with the file number 4, the value "0400 " must be entered in parameter
"Y033: System command parameter".

7.2.14

System Command 11: Restore Drive Parameters from MMC

This system command can be used to restore all S/P-parameters of all axes.
Drive command C66 "Restore parameters from MMC command" is initiated
internally. The data stored in the ".\User\Backup\.." directory of the MMC of
the master axis are loaded.
This system command does not have any system command parameters as
signed to it. The system command can only be carried out in parameter
mode.

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7.2.15

System Command 12: Save Drive Parameters to MMC

This system command can be used to save all S/P-parameters of all axes to
the MMC of the master axis. Drive command C65 "Save parameters to MMC
command" is initiated internally.
The drive parameters (S/P-parameters) of all axes and the boot project are
filed to the ".\User\Backup" directory of the MMC of the master axis.
The PLC is stopped as long as this system command is executed.
That is why there is no updating on the VCP or in the SMC-Editor.
The PLC continues running after the system command has been
processed.
This system command does not have any system command parameters as
signed to it. The system command can only be carried out in parameter
mode.

7.2.16

System Command 13: Reserved

This system command is reserved for internal purposes only.

7.2.17

System Command 14: Reserved

This system command is reserved for internal purposes only.

7.3

Optional Encoder (Measuring Wheel Mode)

Depending on the mechanical properties of the drive train between the motor
output shaft and the machine axis, it may be required to carry out position
control via an external position encoder (which is not integrated in the motor)
directly at the moving part of the axis,

E.g.: with

a drive train with slippage,

gear backlash or low rigidity of mechanical system, etc.

The optional encoder can also be used as measuring wheel encoder (frictionfitting on passing material).
The optional encoder is parameterized in IndraWorks in the "Optional encod
er" dialog of the particular axis.
The following drive parameters are relevant for configuring the optional en
coder:

S-0-0115, Position feedback 2 type

S-0-0117, Resolution of feedback 2

P-0-0123, Feed constant 2 (optional encoder)

P-0-0124, Gear 2 - load side (optional encoder)

P-0-0125, Gear 2 - encoder side (optional encoder)

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

The optional encoder must be activated via the input defined in parameter
"Yx19: Optional encoder, In-config". Activation of the optional encoder is indi
cated via the output defined in parameter ""Yx32: Optional encoder, Out-Con
fig" and via system flag "MSx09".
Measuring Wheel Mode

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Roll feed drives are used to convey material which will be machined at a later
point (e.g. sheet cutting). If there is slippage between the material and the
feed rolls, the motor encoder is not suitable for measuring the material
lengths. In such cases, use can be made of an optional encoder, the socalled measuring wheel encoder. Ideally, the measuring wheel encoder is in
a non-slippage connection to the material so that partial lengths can be
measured accurately.
In manual or automatic mode, measuring wheel encoder supplies the position
feedback, if selected. If the "Optional encoder" input is defined (see chapter
"Yx19: Optional Encoder, In-config" on page 536), switchover between
measuring wheel encoder and motor encoder is possible at any time. If ac
tive, measuring wheel mode is acknowledged via the "Optional encoder ac
tive" output (see chapter "Yx32: Optional Encoder Active, Out-config" on
page 542).

The position feedback via the measuring wheel may only be activated if the
following three conditions are fulfilled:

There is material in the feed rolls and under the measuring wheel.

The feed rolls are closed.

The measuring wheel encoder is pressed against the material.

Measuring wheel mode can only be activated if bits 0 and 2 are set in param
eter "P-0-0185, Control word of encoder 2" (cf. IndraWorks dialog "Optional
encoder"). The feed constant for the measuring wheel is entered via parame
ter "P-0-0123, Feed constant 2".
To ensure that the reference of the measuring system is pre
served even after activation and deactivation of measuring wheel
mode, bit 5 can be set in drive parameter "P-0-0185, Control word
of encoder 2 (optional encoder)". If the bit is set to "TRUE", the
dimensional reference of the measuring wheel encoder is pre
served after activation/deactivation of measuring wheel mode.
Otherwise, the dimensional reference of the measuring wheel en
coder is deleted.
In order to reduce jerky slip behavior, a filter can dampen the aggregate posi
tion difference. The time constant can be adjusted in drive parameter
P-0-0241, Actual position smoothing time constant for hybrid position control.
With the measuring wheel operation, any slip that might occur between the
material and the drive motor is compensated via the position control. The cur
rent actual slip value is displayed in drive parameter P-0-0242, Current actual
slip value in %. It refers to one measuring wheel rotation.
If the calculated slip exceeds the value given in drive parameter P-0-0244,
Monitoring window of slip in % (value unequal to 0), the slip monitoring func
tion generates the error message F2036, Excessive position feedback differ
ence and the drive reacts with the configured error reaction.
To determine the monitoring window, the maximum slip occurring, e.g. during
a processing cycle, is stored in drive parameter P-0-0243, Maximum occur
red actual slip value in %.
The slip monitoring function is disabled with the value "0" in drive
parameter P-0-0244, Monitoring window of slip in %.
The value in drive parameter S-0-0391, Monitoring window feed
back 2 must be set to "0". Otherwise, the error "F2036, Excessive
actual position value difference" is generated.

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The following parameters are used to parameterize the function:

Yx19, Optional encoder, In-config

Yx32, Optional encoder active, Out-config

P-0-0241, Actual position smoothing time constant for hybrid position

control

P-0-0242, Current actual slip value in %

P-0-0243, Maximum occurred actual slip value in %

P-0-0244, Monitoring window of slip in %

To guarantee satisfying control behavior of the feed axis in the measuring
wheel operation, the position resolution of the measuring wheel encoder
used must be sufficiently accurate. Therefore, TTL encoder types are not
suited. Thus, using a sine encoder (1Vss) is recommended.
The measuring wheel encoder is an optional (external) encoder
that is connected according to the connection plan (see chapter
12.5 "Encoder Connection of Option and External Encoder" on
page 588).
For more detailed information about measuring wheel mod,
please
refer
to
the
Functional
Description
"DOK-INDRV-MP*-**VRS**-FK-EN-P".

7.4

External Encoder
An external encoder (measuring encoder) serves as a master axis for real ax
es. Each axis can follow the external encoder of another axis or its own local
encoder.

The configuration is performed via:

parameter "Y028: Master axis selection of the system" (see chapter

"Y028: Master Axis Selection of the System" on page 512)

the CMC command (see chapter 6.11.12 "CMC Cam Axis: Configura
tion" on page 244)

the FOC command (see chapter 6.11.33 "FOC Phase Synchronous

Axis: Configuration" on page 274)

the SOC command (see chapter 6.11.64 "SOC Velocity Synchronous

Axis: Configuration" on page 303)
External encoders are parameterized in IndraWorks in the "Measuring encod
er" dialog of the particular axis.

7.5

Velocity Override
The override function allows stepless reduction of the currently programmed
traversing velocity in manual and automatic mode (exception: homing and
HOM command).

The programmed velocity is traveled if the function is activated and there is

analog input voltage of +10 V present at the following inputs:

X32/4 and X32/5 ("IndraDrive")

X32/2 and X32/3 ("IndraDrive Cs")

If this analog input voltage is reduced, the traveling velocity is reduced pro
portionally. The traveling velocity "Vo" results from the multiplication of the
programmed traveling velocity "Vp" with the override factor "F" (F = 0-1 corre
sponds to 0V - 10V).

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This function can be activated in parameter Yx28 (see chapter "Yx28: Over
ride" on page 540) or with the VEO command.
The activation of an override function with the VEO command has
priority over a possible activation in parameter Yx28.
The hardware source for the override of the particular axis can be selected
Potential options are the analog inputs at the Advanced control sections of
axes 16, with +10 V corresponding to a value of 100% (i.e., full velocity).

The analog input via the onboard connector X32 is only available
with the following drive controllers:

"IndraDrive Advanced+"

"IndraDrive Advanced"

"IndraDrive double axis"

"IndraDrive Cs"
If the value of the hardware source in Yx28 is equal to "0", the value of the
override is set to 100% by default. The current value of the override is availa
ble in system variable "Vx11", with the unit being [%]. The override can as
sume values from 0% to 100%.

Vo
Vp
F

Fig.7-4:

Active traversing velocity

Programmed traversing velocity
Override factor

Calculating the active traversing velocity with override

The SMC does not support the use of drive parameter "S-0-0108,
Feedrate override". Instead, the VEO command or "Yx28: Over
ride" should be used for a velocity override.

7.6

Parking Axis
If it is intended to temporarily deactivate individual axes in the control system
"Sequential Motion Control" without having to remove them from the axis
group on the hardware and communication sides, function "Parking axis" (cf.
S-0-0139, C1600 Parking axis procedure command) can be activated via pa
rameter "Yx02: Enable axis".
If a drive has been put into the "Parking axis" state, its behavior with respect
to the hardware and master communication is "neutral". Errors possibly de
tected by the drive are suppressed and do not have any effect on the axes
that are in operation. As a result, the motor and the motor encoder can, for
example, be decoupled in the "Parking axis" state without an error being re
ported. An active "Parking axis" state is indicated by "PA" on the display.
The "parked" axis behaves as if it is not present!

Setting parameter "Yx02: Enable axis" to "FALSE" results in:

"PA" is displayed on the control panel and in the diagnostic system.

Axis-specific calculations, checks and initializations are not made.

Encoder monitoring functions of the axis-related encoders are not acti

vated.

Motor temperature monitoring remains off.

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Functions

Reference bits of the axis-related encoders in the "Position feedback

value status" are cleared.

In operation mode, the only commands that can be activated are com
mand that can also be executed in parameterization mode.

Setting parameter "Yx02: Enable axis" to "TRUE" results in:

The monitoring functions of the measuring systems are activated.

Motor temperature monitoring is activated.

The display and the diagnostic system again show the standard diag
nostic messages.

In operation mode, drive enable can be executed again, i.e., the axis
has regained its full functionality.

This function is available in SMC12V02 and above.

The "Parking axis" function is not activated until the mode is

changed from parameterization to operation mode ("PA"
shown on the display of the drive).

The "Parking axis" function is automatically cleared when

the axis changes to parameterization mode, i.e., the display
changes from "PA" to "PM".

Since the reference of relative measuring systems gets lost

when the "Parking axis" function is activated, the dimension
al reference must again be generated (homed) for these
measuring systems after drive enable has been set.

The following parameter is used to parameterize the function:

chapter "Yx02: Enable Axis" on page 528

Writing to parameter "Yx02: Enable axis" is only possible in parameter mode.

7.7

Virtual Axis
The SMC allows using no more than one virtual axis. Writing to parameter
"Yx01: Axis type" (see chapter "Yx01: Axis Type" on page 527) can be used
to parameterize an axis with the value "1" (= virtual axis) as virtual axis.
The virtual axis can be used in the same way as a real axis, i.e., the axis can
be jogged and positioned.
If in Y-Parameter "Yx00: Application type" the application type
"Flying Cutoff" or "Flying Cutoff test mode" is selected, this axis
cannot be used as virtual axis (cf. "Yx01: Axos type").
It is recommended that a virtual axis always be added as axis 6 or as the last
axis. Otherwise, there will be shifts in hardware addressing when the virtual
axis is added/removed because the hardware addresses are always as
signed to the particular axis numbers.
If, for example, axis 1 is configured as virtual axis and axis 2 as real axis, the
hardware at the real axis is addressed with "I.A2...".

Unallowed commands for the vir

tual axis

There is an overview table with all commands that may not be used for the
virtual axis under chapter 6.10 "Overview of User Commands" on page 229.

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Functions

7.8

Overview of Synchronization Modes and Axis Coupling

Synchronization operation modes

Axis coupling

Synchronization modes allow running an axis synchronously with a real or a

virtual master axis.

In general, synchronization modes are subdivided into the following groups:

Velocity synchronization with real/virtual master axis

Phase synchronization with real/virtual master axis

Electronic cam with real/virtual master axis

In synchronization modes, command values are specified depending on the
type of the master axis.
When axes are coupled, the master drive transfers command values to the
slave drives. The command values of the slaves are permanently coupled to
the command value of the master. Synchronous operation is achieved by the
specification of equal command values for the master and slave drives (com
mand value coupling).
In general, axis couplings are subdivided into the following groups:

Position coupling

Velocity coupling

Torque coupling
The synchronous and the coupled axes are synchronized by means of the
following values (both command and actual values are possible):

Position/phase

Velocity

Torque

Special case of cam axis

In addition, the axes can also be synchronized via the VOA command (see
chapter 6.11.72 "VOA Velocity Coupled Axis via PLC Global Register" on
page 317). In this case, the command velocity is specified by means of a
PLC register and transferred to the axis at the same time. However, this does
not represent any "genuine" synchronization mode.

Synchronization mode

Axis coupling

General Information
Principle

Parameterization

Number
groups

of

coupling

Number of master ax
es

The master axis format converter of the

CCD master transfers values to P-0-0053
in the CCD slaves

The transfer always involves only position

values in master axis format

Values of the master axis are transferred

cyclically to the slave axes via CCD
The transfer involves "real" position, ve
locity or torque values

Master axis selection by means of "Y028:

Master axis selection of the system" is on
ly possible in parameter mode

Coupling can be (de)activated at runtime

By means of "Yx00: Application type" is

used, only possible in parameter mode

One group possible

Up to 5 groups possible

The coupling type can be changed at run

time of the SMC program

No more than one master axis possible

(can be set with Y028)

Coupling can be (de)activated at runtime

The coupling type cannot be changed at
runtime of the SMC program

Each group with its own master axis

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Functions
Synchronization mode

Axis coupling

Virtual axis

Detailed Description

chapter 7.9 "Synchronous Axis" on page 339

chapter 7.10 "Axis Coupling" on page 344

Soft mechanical coupling

Low backlash

Only absolute format is possible

Can be used as master axis

Not possible

Position/phase
Application

No mechanical coupling

Axis Scaling

User preference

configuration

Master axis selection by means of "Y028:

Master axis selection of the system"

FOC command

activation

FOA command

CPA command

Factor

possible

Not possible

Offset

SPO command

Not possible

Dead time

None

No dead time if source signal equal to

"P-0-0457", else:

Extrapolation

By means of "Yx00: Application type"

2 cycles (CCD master follows CCD slave)

2 cycles (CCD slave follows CCD master)

3 cycles (CCD slave follows CCD slave)

Adjustable by means of drive parameter

"P-0-1617, CCD: Number of extrapolation
steps" in the CCD master

0 steps (virtual axis)

2 steps (CCD slave follows CCD master)

3 steps (CCD slave follows CCD slave)

Possible, but not recommended for rela

tive synchronization

Error reaction

Each axis executes its own error reaction

Detailed Description

chapter 7.9.2
page 340

Program Example

chapter 8.3 "Phase Synchronous Axis" on page chapter 8.6 "Position Coupling" on page 429
423

Not possible

Axes are stopped synchronously with the

master axis

"Phase Synchronous Axis" on chapter 7.10.5 "Position Coupling (e.g., Gantry

Group)" on page 349

Velocity
Application

No mechanical coupling

Rigid mechanical coupling

High backlash

User preference

Axis Scaling

User preference

configuration

By means of "Yx00: Application type"

Master axis selection by means of "Y028:

Master axis selection of the system"

SOC command

SOA command

CVA command

activation

CVC command

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Functions
Synchronization mode

Axis coupling

Factor

possible

possible

Offset

possible

possible

Dead time

None

2 cycles (CCD slave follows CCD master)

2 cycles (CCD master follows CCD slave)

3 cycles (CCD slave follows CCD slave)

Extrapolation

Possible, but not recommended

Not possible

Error reaction

Each axis executes its own error reaction

Each axis executes its own error reaction

Detailed Description

chapter 7.9.3 "Velocity Synchronous Axis" on chapter 7.10.6 "Velocity Coupling (e.g., Antipage 341
Backlash)" on page 351

Program Example

chapter 8.4
page 425

"Velocity Synchronous Axis" on chapter 8.7 "Velocity Coupling" on page 429

Torque
Application

---

Rigid mechanical coupling

Low backlash

Axis Scaling

---

User preference

configuration

---

By means of "Yx00: Application type"

CTC command

activation

---

CTA command

Factor

---

possible

Offset

---

possible

Dead time

---

2 cycles (CCD slave follows CCD master)

2 cycles (CCD master follows CCD slave)

3 cycles (CCD slave follows CCD slave)

Extrapolation

---

Not possible

Error reaction

---

Each axis executes its own error reaction

Detailed Description

---

chapter 7.10.7 "Torque Coupling (e.g., Master

\Slave)" on page 352

Program Example

---

chapter 8.8 "Torque Coupling" on page 430

Special case of cam

axis
Application

No mechanical coupling

---

Axis Scaling

User preference

---

configuration

Master axis selection by means of "Y028: --Master axis selection of the system"

CMC command

CMP command

CMA command

activation

---

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Functions
Synchronization mode

Axis coupling

Factor

Not possible

---

Offset

SPO command

---

Dead time

None

---

Extrapolation

Adjustable by means of drive parameter --"P-0-1617, CCD: Number of extrapolation

steps" in the CCD master

0 steps (virtual axis)

2 steps (CCD slave follows CCD master)

3 steps (CCD slave follows CCD slave)

Possible, but not recommended for rela

tive synchronization

Error reaction

Each axis executes its own error reaction

Detailed Description

chapter 7.9.4 "Cam Axis" on page 343

---

Program Example

chapter 8.5 "Cam Axis" on page 426

---

Fig.7-5:

7.9

Synchronous Axis

7.9.1

General Information

---

Overview of synchronization operating modes and axis coupling

Synchronous axes always follow the master axis selected in parameter Y028:
Master axis selection of the system (see page 512) Selected master axis). It
is always the position of the global master axis that is transferred to and fur
ther processed by the slave axes. The axis which provides the master axis
position to the synchronous axes for generating the synchronous position
command value is referred to as global master axis.

In addition to the global master axis, each real axis can al

ways follow its local external encoder (measuring encoder).
The master axis is selected using the corresponding configu
ration commands (e.g., FOC command) of the synchroniza
tion type.

The synchronous axis can only be used if the "SNC" (syn

chronization) function package is activated on the particular
axis.

To ensure that the velocity of the synchronous axis and the global master ax
is is the same, the parameter for adjusting the velocity of the synchronous ax
is must correspond to the parameter for converting the master axis position in
master axis format.
Based on the signal source (cf. Y028) and the set scaling type of the syn
chronous axis (cf. Yx08), the following table shows the parameter which is
relevant for velocity adjustment.

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Functions
Signal source

Scaling type (Yx08)

(Y028)

S-0-0051

Rotary

Rotary

Translatory

Translatory

Modulo

Absolute

Modulo

Absolute

Yx09

S-0-0053

(S-0-0103)

S-0-0386
P-0-0052

--- 1
S-0-0103 2

P-0-0434

P-0-0786 3

P-0-0753

P-0-0786
Yx09

P-0-0758

(P-0-0757)

--- 1
--- 1
--- 1
--- 1
P-0-0918

Yx09
(S-0-0103)
--- 1
S-0-0103 2
P-0-0786 3
P-0-0786
Yx09
(P-0-0757)

P-0-0159 4
--- 1
P-0-0159 4
P-0-0159 4
P-0-0918

P-0-1270
...

--- 1

--- 1

--- 1

--- 1

--- 1

--- 1

--- 1

--- 1

P-0-1277
P-0-1771
...
P-0-1777
1
2
3
4

Fig.7-6:

7.9.2

Velocity adjustment not required

For velocity synchronous axis
For phase synchronous axis and cam axis
If application type "Flying Cutoff" or "Flying Cutoff test mode" (cf.
Yx00) is selected, P-0-0159 is specified via parameter Yx57

Parameters for adjusting the velocity of the synchronous axis

Phase Synchronous Axis

General Information
A phase synchronous axis follows a master axis position either absolutely or
relatively in position controlled mode. The phase synchronous operation
mode with master axis coupling is activated and parameterized by calling the
FOA and FOC commands. If configured accordingly, the phase synchronous
axis is active both in automatic mode and manual mode.
The phase synchronous axis can only be used if the "SNC" (syn
chronization) function package is activated on the particular axis.
Motion commands (e.g., CON continuous operation) are also allowed for
the phase synchronous axis. As a result, however, synchronous mode is de
activated for this particular axis.
The "nInterrupt" input does not have any effect on the synchronous axis.

Commands
FOC command

This command serves to parameterize the phase synchronous axis which is

coupled to the master axis.

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Functions

FOA command

The following settings can be made with the FOC command:

Master axis selection

Synchronization direction:
Positive, negative, or shortest distance

Synchronization type:
It is possible to either set an absolute position (absolute synchroniza
tion) in relation to the master axis or only adjust the velocity (relative
synchronization).

Following factor (gear):

Internally via the gear with fine adjustment, with the polarity of the sign
of the multiplication factor being taken into account
See also chapter 6.11.33 "FOC Phase Synchronous Axis: Configuration"
on page 274
This command serves to activate the phase synchronous axis which is cou
pled to the master axis.
The following settings can be made with the FOA command:

Activate or deactivate the function of the synchronous axis

See also chapter 6.11.32 "FOA Phase Synchronous Axes: Activation" on
page 273

Parameterization
The axis must be parameterized via parameter "Yx00: Application type" as
"0: Free user mode" or "1: Roll feed".

Potential signal sources for the master position of the phase synchronous ax
is are:

Global master axis via Y028

Local encoder (measuring encoder) of the particular axis

The master axis is selected via the FOC command.
The SMC system solution provides exactly one global master axis. The glob
al master axis is selected via parameter Y028 (see chapter "Y028: Master
Axis Selection of the System" on page 512).
The values for the synchronization acceleration and the synchronization ve
locity are set in drive parameters P-0-0142 and P-0-0143.
For more examples of using the phase synchronous axis, please
refer to chapter 8.3 "Phase Synchronous Axis" on page 423.

7.9.3

Velocity Synchronous Axis

General Information
A velocity synchronous axis follows a master axis velocity in velocity control
led mode. The velocity synchronous operation mode with master axis cou
pling is activated and parameterized by calling the SOA and SOC com
mands. If configured accordingly, the velocity synchronous axis is active both
in automatic mode and manual mode.

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Functions

The velocity synchronous axis can only be used if the "SNC"

(synchronization) function package is activated on the partic
ular axis.

IndraDrive control sections with "sercos analog converter"

(SAC) cannot be used as a velocity synchronous axis.

The velocity synchronous axis is available in SMC12V02

and above.

Motion commands (e.g., CON continuous operation) are also allowed for
the velocity synchronous axis. As a result, however, synchronous mode is
deactivated for this particular axis.
The "nInterrupt" input does not have any effect on the synchronous axis.

Commands
SOC command

SOA command

This command serves to parameterize the velocity synchronous axis which is

coupled to the master axis.

The following settings can be made with the SOC command:

Master axis selection

Velocity offset

Following factor (gear)

Internally via the gear with fine adjustment, with the polarity of the sign
of the multiplication factor being taken into account
See also chapter 6.11.64 "SOC Velocity Synchronous Axis: Configuration"
on page 303
This command serves to activate the velocity synchronous axis which is cou
pled to the master axis.
The following settings can be made with the SOA command:

Activate or deactivate the function of the synchronous axis

See also chapter 6.11.63 "SOA Velocity Synchronous Axes: Activation" on
page 301
When activated, the velocity synchronous axis initially adjusts the velocity.
This means that the drive accelerates or decelerates from the feedback ve
locity that is current at the time of activation to the velocity of the master axis,
with the following factor taken into account. The acceleration or deceleration
corresponds to the values set in parameter "P-0-0142, Synchronization ac
celeration". The drive calculates the velocity of the master axis by differentiat
ing the specified master axis position.
After the synchronization velocity has been reached, a further change of the
master axis velocity and the following factor is processed in relation to
"P-0-0155, Synchronization mode".
The following variants are available:

P-0-0155, bit 5 = 0
The velocity is adjusted only once, and all subsequent changes in veloc
ity are made at maximum acceleration

P-0-0155, bit 5 = 1
Any change in velocity is limited by the value of "P-0-0142, Synchroni
zation acceleration"

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Functions

Parameterization
The axis must be parameterized via parameter "Yx00: Application type" as
"0: Free user mode" or "1: Roll feed".

Potential signal sources for the master position of the velocity synchronous
axis are:

Global master axis via Y028

Local encoder (measuring encoder) of the particular axis

The master axis is selected via the SOC command.
The SMC system solution provides exactly one global master axis. The glob
al master axis is selected via parameter Y028 (see chapter "Y028: Master
Axis Selection of the System" on page 512).
The value for synchronization acceleration is set in drive parameter
P-0-0142.
For more examples of using the velocity-synchronous axis,
please refer to chapter 8.4 "Velocity Synchronous Axis" on page
425.

7.9.4

Cam Axis

General Information
A cam axis follows a master axis position either absolutely or relatively in po
sition controlled mode, based on the parameterized motion law. The suppor
ted motions are rest-in-rest motions with the stroke, master axis start posi
tion, master axis end position and motion law parameters.

The cam axis can only be used if the "SNC" (synchroniza

tion) function package is activated on the particular axis.

The master axis start position (starting angle) can exceed

the master axis end position (stopping angle). This is essen
tial for roll feed applications.

The cam functionality is based on the "MotionProfile" mode of the drive firm
ware.

The following motion laws are supported:

1-8 = free cam tables 1-8

9 = rest-in-rest with 5th order polynomial

10 = rest-in-rest with inclined sine curve

11 = rest-in-rest with velocity limitation

(calculation via "Yx40: Maximum number of press strokes")
Motion commands (e.g., CON continuous operation) are also allowed for
the cam axis. As a result, however, cam mode is deactivated for this particu
lar axis.
The "nInterrupt" input does not have any effect on the cam axis.

Commands
The following commands are available:

CMP Cam Axis: profile

CMC Cam Axis: configuration

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CMA Cam axes: activation

See also chapter 6.11 "Command Description" on page 234

Parameterization
The axis must be parameterized via parameter "Yx00: Application type" as
"0: Free user mode" or "1: Roll feed".

Potential signal sources for the master position of the cam axis are:

Global master axis via Y028

Local encoder (measuring encoder) of the particular axis

The master axis is selected via the CMC command.
The SMC system solution provides exactly one global master axis. The glob
al master axis is selected via parameter Y028 (see chapter "Y028: Master
Axis Selection of the System" on page 512).
The values for the synchronization acceleration and the synchronization ve
locity are set in drive parameters P-0-0142 and P-0-0143.
For more examples of using the cam axis, please refer to chapter
8.5 "Cam Axis" on page 426.

7.10

Axis Coupling

7.10.1

General Information
When axes are coupled, the master drive transfers command values to the
slave drives. The command values of the slaves are permanently coupled to
the command value of the master. Synchronous operation is achieved by the
specification of equal command values for the master and slave drives (com
mand value coupling).

The following coupling types are available:

1. Position Coupling (e.g., Gantry Group)
2. Velocity Coupling (e.g., Anti Backlash)
3. Torque coupling (e.g., master\slave)
Selection of the coupling type depends on the configuration of the mechani
cal axis system.
Including the SMC, a coupling group can consist of a maximum of 6 drives
(one master and up to 5 slave drives) Altogether, a maximum of up to 5 cou
pling groups can be used. Each slave axis can be separately coupled to and
decoupled from the particular master.
If all slave axes of a position-coupled or velocity-coupled group are in syn
chronous operation, system flag "MSx13" is also set for the master axis of the
coupling group.
If coupling of the slave axes to the master axis is not active, the slave axes
can be commanded like all other axes of the SMC (via the SMC program or
by jogging in manual mode).
An axis can be a master axis exactly once, e.g., it cannot be the master axis
for position coupling and velocity coupling at the same time.
The virtual axis cannot be the master axis nor a slave axis.
All axes of a coupling group must have the same scaling type (see chapter
"Yx08: Scaling Type" on page 531).

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Functions

7.10.2

The shortest possible cycle time is always to be set for the

axis coupling (see "Y001").

The only axes supported in position coupling mode are axes

in absolute format.

The position and velocity coupling is available with

SMC12V02 and higher.

Torque coupling is available in SMC12V06 and above.

Hardware prerequisites
Control unit

It is recommended to use the same "Advanced" control section versions for

axis couplings in master axis and slave axis. This facilitates setting the same
axis performance in all axes.

Power unit

It is recommended to use the same power units for axis couplings in master
axis and slave axis.

Motors and motor encoders

To couple the axes, we recommend that the same motor types be used on
the master and the slave axes.
The requirements for the encoder system vary depending on the different
coupling types. As regards torque coupling and velocity coupling, a single
turn encoder is sufficient at the slave axis; as regards position coupling, how
ever, we recommend an absolute value encoder at the master axis and at the
slave axis to prevent position jumps by homing after each activation.
As regards torque coupling, the motors of the master and slave axes must
comply with the same performance class because the slave axis receives a
percentage-based torque command value from the master axis and the two
axes are to have equal effect on the mechanical group.

Holding brake

7.10.3

Either all or none of the axes of a position coupled group must have a holding
brake. The equality of the holding brake control word is monitored by the
SMC.

Parameterization
The desired axis coupling is defined by the axis-dependent parameter "Yx00:
Application type".

The coupling type is entered as a three-digit value "ABC" with the following
meaning:

"A" = Selection of the master axis for this slave axis

Axes "1" to "6" are allowed as input for the master axis.

"B" = Selection of the source signal and therefore of the coupling type

"0" = S-0-0051, Position feedback value 1

(position coupling)

"1" = S-0-0053, Position feedback value 2

(position coupling)

"2" = S-0-0386, Active position feedback value

(position coupling)

"3" = P-0-0434, Position command value of controller

(position coupling)

"4" = P-0-0457, Position command value generator

(position coupling)

"5" = S-0-0040, Velocity feedback value

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Functions
(velocity coupling)

"6" = S-0-0156, Velocity feedback value 2

(velocity coupling)

"7" = P-0-0048, Effective velocity command value

(velocity coupling)

"8" = P-0-0049, Effective torque/force command value

(Torque coupling)

"9" = S-0-0084 Actual torque/force value

(Torque coupling)

"C" = Selection of error reaction

"0" and "1" may be entered. If "0" is entered, the default error reaction of
the SMC is set. If "1" is entered, the error reaction can be only be adjus
ted to the specific application via the "open PLC part". In this case, be
sure to contact the Bosch Rexroth customer service.
The default error reaction of the SMC is always active for velocity
and torque coupled axes!

Examples:

Y200 = "130":
Axis 2 (slave axis) follows axis 1 (master axis). Axis 2 is position coupled to
axis 1 via parameter "P-0-0434, Position command value of controller". Use
is made of the default error reaction of the SMC.
Y300 = "270":
Axis 3 (slave axis) follows axis 2 (master axis). Axis 3 is velocity coupled to
axis 2 via parameter "P-0-0048, Effective velocity command value". Use is
made of the default error reaction of the SMC.
General parameterization and application instructions

Please observe the following for parameterization in the master axis and
slave axes:

Equal performance settings for the same dynamics (cf. P-0-0556)

Equal control loop settings for the same dynamics (S-0-0100, S-0-0101,
etc.)

The setting of the error reaction must be set to match the particular
available mechanics and parameterized on all axes of the group.

The axes can be homed to a certain degree only because there might
be a mechanical coupling of the motors. There will be different move
ment of the coupled axes during homing.

7.10.4

Description of the Error Reaction

General Information

The error reaction is distinguished with regard to:

the axis error reaction for master axis and slave axis, as well as

the overall error reaction of the axis group.

The settings of the error reaction must be set to match the particular available
axis mechanics and application and parameterized on the master axis and
the slave axes.
At the end of each error reaction, the torque enabling is set for the
drive. Power is switched off depending on the setting in P-0-0118!

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Functions
Velocity and torque coupling
All axes that are affected by an error execute their individually parameterized
error reaction. Axes that are not affected by an error, which are only to travel
when coupled in automatic mode, are stopped via the SMC using the decel
eration parameterized in parameter "Yx06" and switched to "Drive Halt" (AH)
once power is available. If the axes are also to be coupled in manual mode,
the axis remains in the "velocity-controlled" or "torque-controlled" operating
mode, i.e., no "Drive Halt" (AH) is commanded. Instead, it is "indirectly" stop
ped by halting the master axis.

The drive error reaction depends on

the error class of the error occurred, and

the setting of the following parameters:

P-0-0117, Activation of control unit reaction on error

P-0-0118, Power supply, configuration

P-0-0119, Best possible deceleration

Position coupling
The SMC provides a default error reaction to stop the axes of a position cou
pled axis group in the event of an error in the best manner possible (gentle
for the mechanics). In addition, the SMC allows configuring the error reaction
individually for a great variety of error cases. An application-specific error re
action can, however, only be achieved via the "open PLC part". In this case,
be sure to contact the Bosch Rexroth customer service. If the default error re
action is activated, a specific error reaction is preset for each error class. The
default error reaction is activated via parameter "Yx00".
The following table describes the default error reaction for the axis group.
The potential error types are listed in the first column. The second column de
scribes the action internally performed by the SMC in response to the particu
lar error type, as long as the default error reaction is activated. The resulting
overall reaction of the axis group is described in the third column.
Error type

F2 drive error
(non-fatal error)

SMC default error reaction

Resulting overall error reaction of the axis group

Initially, all axes of the axis group (including the axis/

axes affected by the error) remain in control mode.
The master axis is stopped with the deceleration para
Stopping the master axis of the axis
meterized in parameter "Yx06". The slave axes follow
group with the deceleration para
the master axis synchronously. If the master axis is at
meterized in parameter "Yx06"
standstill, the drive enable of the master axis and the
coupled slave axes is reset and the brake, if any, is
applied.

F3 drive error
(non-fatal safety technology Same as F2 drive error
error)

F4 drive error
(interface error)

While under drive control, the axis/axes affected by

the error are stopped with the best possible decelera
tion by means of a velocity command value reset
Best possible deceleration of the
(emergency halt). The error-free axis/axes of the axis
error-free axes of the axis group by
group is/are also stopped with the best possible decel
removing drive enable.
eration by means of a velocity command value reset
(emergency halt) by removing the drive enable and
the brake, if any, is applied.

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F6 drive error
(travel range error)
F7 drive error
(safety technology error)

F8 drive error
(fatal error)

F9 drive error
(fatal system error)

Same as F4 drive error

Same as F4 drive error

Immediate torque enable of the

error-free axes of the axis group. If
the axes of the axis group have
holding brakes, the holding brakes
are immediately applied with the
"C3800, Apply motor holding brake"
command.

Immediate torque enabling of the axis/axes affected

by the error and applying of the holding brakes, if any,
due to the error reaction integrated in the drive. The
error-free axis/axes is/are also torque-enabled under
PLC control and the holding brakes, if any, are ap
plied. As soon as the error-free axis/axes is/are at
standstill, the drive enable and the "C3800, Apply mo
tor holding brake" command of the error-free axis/
axes are reset. The holding brake(s) remain(s) in its/
their applied state.

Same as F8 drive error

All axes of the axis group are separately (asynchro

nously) stopped on the master axis under PLC control
Stopping all axes of the axis group
with the deceleration parameterized in parameter
Invalid operation mode of the with the deceleration on the master
"Yx06". If all coupled axes of the axis group are at
master axis
axis parameterized in parameter
standstill, the drive enable of the master axis and the
"Yx06"
coupled slave axes is reset and the brake, if any, is
applied.
Maximum allowed position
Stopping all axes of the axis group
difference between master
with the deceleration parameterized
and slave axes exceeded (cf.
in parameter "Yx06"
"CPA command")

All axes of the axis group are separately (asynchro

nously) stopped under SMC control with the decelera
tion parameterized in parameter "Yx06". If all coupled
axes of the axis group are at standstill, the drive
enable of the master axis and the coupled slave axes
is reset and the brake, if any, is applied.

Error occurring only on the

See next column
master axis of the axis group

This function is deactivated by default. Depending on

the error type that has occurred, the error reaction will
be as described in the above lines.

Fig.7-7:

Default error reaction with position coupling

If different error types occur at the same time (e.g., an F2 error

and an F6 error occur simultaneously on two different axes of the
axis group), the error reaction depends on the error type having
the highest priority.

The following prioritization is applicable:

Application-specific errors have the same priority

Drive errors have a higher priority than application-specific

errors

The drive error with the highest error number has the highest
priority
To execute the default error reaction, the SMC automatically sets the follow
ing drive parameters after switchover from P2 to P4:

P-0-1600, Bit 8, 7 = 00: Activate the "No reaction" setting for the CCD
error reaction in the CCD master.

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P-0-0117, Bit 0 = 1: External NC reaction for 30 s, then best possible

deceleration

P-0-0118, bit 0 = 0: deactivates option "Reaction to error in module link

setting"

P-0-0118, bit 1 = 0: deactivates the "Triggering of package reaction on

error" option.

P-0-0118, bit 7 = 0: activates the "No signaling to power supply unit" op

tion.

P-0-0119, bit 3-0 = 0: Velocity command value reset (emergency stop)

in the event of F2/F4 errors

P-0-0119, bit 7-4 = 0: Velocity command value reset (emergency stop)

in the event of F6/F7 errors

P-0-0119, Bit 8 = 0: Deactivation of the "Motor phase short circuit, if

possible" checkbox
If the default error reaction is activated, bit 9 (reaction to F7 error)
may not be set in parameter "P-0-3210, Safety technology config
uration", i.e., the drive-controlled error reaction in the event of an
F7 error always is the velocity command value reset (emergency
halt). The torque enable error reaction type may not activated in
the event of F7 errors! The setting of bit 9 of parameter
"P-0-3210, Safety technology configuration" is checked by the
SMC!

7.10.5

Position Coupling (e.g., Gantry Group)

Use

Position command value coupling is to be used if there is no rigid mechanical

coupling of the master axis to the slave axes and there is not play in the axes
or this play is only minor.

Principle

The master axis generates command values. The effective position com
mand (or feedback) value of the master axis is transferred to the slave axes
as command value. Synchronous operation is achieved by the specification
of equal position command (or feedback) values for the master and slave ax
es (position-controlled command value coupling). Any operation mode can be
selected for the master axis (provided the source signal is not equal to "
P-0-0457, Position command value generator". In this case, the slave axes
always are in operation mode "A0160 Position mode drive controlled".

The following parameters are supported as source signal for the effective po
sition command (or feedback) value of the master axis:

S-0-0051, Position feedback value 1

S-0-0053, Position feedback value 2

S-0-0386, Active position feedback value

P-0-0434, Position command value of controller

P-0-0457, Position command value generator

The set source signal of the master axis is transferred to the "S-0-0047, Posi
tion command value" of the slave axes of the group.
If the coupling of the slave axis is switched on, the slave axis first makes a
synchronization motion in relation to the master axis. The acceleration and
velocity values for the synchronization process can be defined via drive pa
rameters "P-0-0142, Synchronization acceleration" and "P-0-0143, Synchro
nization velocity". After completion of the synchronization process, the slave
axis follows the position command value specified by the master axis.

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Parameterization

Observe the following in connection with position coupled axes:

Position coupling is possible both for linear and rotary axes whose posi
tion data is calculated in absolute format. Axes with position data scaled
in modulo format are not supported.

Position coupling can only be activated if all axes of the group are
homed and under torque. We therefore strongly recommend that abso
lute encoders be used for the axes of the group, in order to avoid jumps
in position via homing after each turn-on. Only one signal should be
used for drive enable of all axes of the group.

The position coupling requires that all axes of the group are always in
control mode.

To ensure that equal position command values in the master and slave
axes become effective at the same time, dead time compensation is
necessary because of the time required for transferring the position
command value of the master axis to the slave axis. Dead time compen
sation, however, is only possible if parameter "P-0-0457, Position com
mand value generator" has been selected as source signal. In this case,
the SMC automatically sets the dead time compensation. For all other
source signals, the velocity command value for the slave axis is delayed
by 2 (master axis is CCD master) or 3 cycle times (master axis is CCD
slave) as compared with the master axis.

If "P-0-0457, Position command value generator" is used as source sig

nal, the only operation modes allowed for the master axis are the follow
ing ones:

"A0010 Drive HALT (AH)"

"A0160 Position mode drive controlled" (e.g., via CPA command)

"A0161 Drive-controlled positioning" (e.g., via jogging in manual

mode or POI, PSI, POA, PSA, CON command)

If "P-0-0457, Position command value generator" is set as source sig

nal, the performance of all axes (cf. P-0-0556) and the type of fine inter
polation (cf. P-0-0187) must be the same on all slave axes. If this is not
the case, the SMC generates an error message.

If holding brakes are required inside a group, all axes of this group must
have a holding brake. The equality of the holding brake control word is
monitored by the SMC.

There is no measuring wheel splitting, i.e., the axes do not have syn
chronously after measuring wheel mode has been activated and deacti
vated if "S-0-0051", "S-0-0053", "P-0-0434" or "P-0-0457" has been se
lected as source signal.

Execution of commands "SAC Set absolute counter", "PFI Position

ing, incremental to positive stop" and "PFA Positioning, absolute to
positive stop" is not possible for the master axis and the slave axes of
these axes have a holding brake and the holding brake must be activa
ted due to the set error reaction.
To configure the position coupling of an axis (slave axis) to a master axis,
one of the following source signals must be selected in parameter Yx00:

A0C = "S-0-0051, Position feedback value 1"

A1C = "S-0-0053, Position feedback value 2"

A2C = "S-0-0386, Active position feedback value"

A3C = "P-0-0434, Position command value of controller"

A4C = "P-0-0457, Position command value generator"

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See also chapter "Yx00: Application Type" on page 525
Example: Y200 = "130"
Axis 2 (slave axis) follows axis 1 (master axis). Axis 2 is position coupled to
axis 1 via parameter "P-0-0434, Position command value of controller". Use
is made of the default error reaction of the SMC.
Commands

7.10.6

The following command is provided for activating the position coupled axis:

CPA Position Coupled Axes: Activation, page 256

Velocity Coupling (e.g., Anti-Backlash)

Use

Velocity command value coupling is to be used if there is a rigid mechanical

coupling of the master axis to the slave axes and the play contained in the
axes is considerable.

Principle

The master axis generates command values. The effective velocity command
(or feedback) value of the master axis is transferred to the slave axes as
command value. Synchronous operation is achieved by the specification of
equal velocity command (or feedback) values for the master and slave axes
(velocity-controlled command value coupling). Any operation mode can be
selected for the master axis. In this case, the slave axes always are in opera
tion mode "Velocity control".

The following parameters are supported as source signal for the effective ve
locity command (or feedback) value of the master axis:

P-0-0048, Effective velocity command value

S-0-0040, Velocity feedback value

S-0-0156, Velocity feedback value 2

The set source signal of the master axis is transferred to "S-0-0037, Additive
velocity command value" of the slave axis of the group, with an offset and
factor being taken into account.
The slave axis follows the resulting command velocity without any accelera
tion limitation. The command velocity for the slave axis is specified by the
SMC at cycle time intervals (cf. "Y001").

Parameterization

Velocity coupling does not allow dead time compensation.

The velocity command value in the slave axis is delayed by
2 (master axis is CCD master) or 3 cycle times (master axis
is CCD slave) as compared with the command value in the
master axis.

To achieve uniform torque utilization of the coupled axes, a

torque average can also be activated (see TAA command,
page 310 and TAC command, page 312).

To configure the velocity coupling of an axis (slave axis) to a master axis, one
of the following source signals must be selected in parameter Yx00:

A5C = "S-0-0040, Velocity feedback value"

A6C = "S-0-0156, Velocity actual value 2"

A7C = "P-0-0048, Effective velocity command value"

See also Yx00: Application type, page 525
Example: Y300 = "270"

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Axis 3 (slave axis) follows axis 2 (master axis). Axis 3 is velocity coupled to
axis 2 via parameter "P-0-0048, Effective velocity command value". Use is
made of the default error reaction of the SMC.
Commands

The following commands are available for parameterizing and activating the
velocity coupled axis:

CVC Velocity Coupled Axes: Configuration, page 268

CVA Velocity Coupled Axes: Activation, page 266

For more examples of applying the velocity coupled axis, please
refer to chapter 8.7 Velocity Coupling, page 429.

7.10.7

Torque Coupling (e.g., Master\Slave)

Use

Torque coupling is to be used if there is a rigid mechanical coupling of the

master axis to the slave axes and there is no play between the coupled axes
or this play is only minor.

Principle

The master axis generates command values. The effective torque command
value (or feedback value) of the master axis is transferred to the slave axes
as the torque command value. Synchronous operation is achieved by the
specification of equal torque command (or feedback) values for the master
and slave axes (torque-controlled command value coupling). Any operation
mode can be selected for the master axis. In this case, the slave axes always
are in operation mode "Torque control".

The following parameters are supported as source signal for the effective tor
que command (or feedback) value of the master axis:

P-0-0049, Effective torque/force command value

S-0-0084 Torque/force feedback value

The set source signal of the master axis is transferred to the "S-0-0081, Addi
tive torque/force command value" of the slave axes of the group.
The slave axis directly follows the torque command value, i.e., without a ramp
or filter. The torque command value for the slave axis is specified by the SMC
at cycle time intervals (see "Y001").

Parameterization

Torque coupling does not allow dead time compensation.

The torque command value in the slave axis is delayed by 2
(master axis is CCD master) or 3 cycle times (master axis is
CCD slave) as compared with the command value in the
master axis.

The velocity controller, proportional gain is reduced by half.

To configure the torque coupling of an axis (slave axis) to a master axis, one
of the following source signals must be selected in parameter Yx00:

A8C = "P-0-0049, Effective torque/force command value"

A9C = "S-0-0084 Torque/force feedback value"

See also Yx00: Application type, page 525
Example: Y300 = "290"
Axis 3 (slave axis) follows axis 2 (master axis). Axis 3 is velocity coupled to
axis 2 via parameter "S-0-0084, Torque/force feedback value" momentenge
koppelt zur Achse 2. Use is made of the default error reaction of the SMC.

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Commands

The following commands are available for parameterizing and activating the
torque-coupled axis:

CTC Torque-coupled axes: Configuration, page 264

CTA Torque-coupled axes: Activation, page 263

For more examples of applying the torque-coupled axis, please
refer to chapter 8.8 Torque Coupling, page 430.

7.11

Flying Cutoff

7.11.1

Overview
The Flying Cutoff motion commands (LML, LMR, LMK, and LMC) provide ap
plication specific functionality for Flying Cutoff control. In typical Flying Cutoff
applications, material is fed continuously past a servo driven cutoff carriage.
The carriage contains cutting or punching devices (shear, saw, die, etc)
that are used to machine the material. A measuring encoder travels on the
material and determines its position and velocity. The measuring encoder is
connected to the secondary encoder interface (X8) on the IndraDrive (see al
so chapter 7.11.2 "Configuring the Measuring Encoder" on page 362).
The motion commands for Flying Cutoff mode are only active for axis 1 (mas
ter axis) and in automatic task 1. They are used to synchronize a carriage
with a specific point (defined by a length or registration marks) on the materi
al. After the cut is completed, the carriage returns to the return position and
synchronizes to the next cut.

Flying Cutoff Motion Commands

The following Flying Cutoff motion commands are supported:

LML Part length

LMR Part length by registration

LMK Part length or registration mark

LMC Part length by registration mark counter

EOS End of synchronization

The Flying Cutoff application type is configured using Y-parameter "Yx00:
Application type" and can be configured using the VCP 08. Refer to chapter
"Flying Cutoff screen" on page 155 for details.
The configured application type must either be "Flying Cutoff" or "Flying Cut
off test mode" to ensure that the motion commands can be used for Flying
Cutoff mode.

Application types

Flying Cutoff Application Types

Yx00 configu
ration

VCP 08 configura
tion

Description

FC_MODE

Use Flying Cutoff motion commands in oper

ation mode

FC_TESTMODE

Use Flying Cutoff motion commands in test

mode

Fig.7-8:

Flying Cutoff Application Types

The Flying Cutoff motion commands are only valid in automatic

task 1, with axis 1 (master axis) and in the "Flying Cutoff" or "Fly
ing Cutoff test mode" application type.

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Synchronization processes with
the material velocity

There are two different synchronization processes available for synchronizing

the cutoff carriage and the material. They are selected using bit 0 in parame
ter Yx69: Flying Cutoff configuration, page 562

Bit 0 has the following meaning:

Bit 0 = 0: Synchronization with polynomial 5th order

(with jerk limitation)

Bit 0 = 1: Synchronization with constant acceleration

(without jerk limitation)
In operation mode, bit 0 can be changed in "Yx69" and becomes effective the
next time a LMx command is called.
The synchronization process using polynomial 5th order includes a jerk limi
tation and therefore preserves the mechanics, however, it extends the time
needed to reach the synchronous position compared to synchronization proc
ess with constant acceleration. This is why using the polynomial 5th order on
ly allows a lower part production rate.
During the synchronizing motion, the maximum acceleration of
the cutoff carriage is configured using parameter "Yx56: return
acceleration".

Fig.7-9:

Synchronization with polynomial 5th order

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Fig.7-10:
List of restricted commands for ax
is 1

Output conditions

Synchronization with constant acceleration

For an overview table which contains all commands that may not be used for
axis 1 (Flying Cutoff), please refer to chapter 6.10 Overview of User Com
mands, page 229.

The following list of SMC commands cannot be used for axis 1 while in
synch:

HOM Home Axis

all motion commands that are not assigned to the "Flying Cutoff" appli
cation type (e.g., PSI)
The following list of SMC commands can be used for the carriage return if bit
5 of Y-parameters "Yx69: Flying cutoff configuration" is set. The operator
must end the synchronous run and trigger the carriage return by calling one
of the following motion commands. The user must ensure that the tool has
been fully retracted from the material.

POA - Positioning, Absolute with Immediate Block Stepping

POI - Positioning, Incremental with Immediate Block Stepping

PSA - Positioning, Absolute with In-Position

PSI - Positioning, Incremental with In-Position

In this case, the return acceleration can be changed using the "ACC Accel
eration change" command.
The following conditions are required before the Flying Cutoff motion com
mands are called:

The drive and control parameters that specify the relevant mechanical
aspects of the machine and control are properly configured.

The drive (carriage axis) is activated.

The measuring encoder is applied.

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There are two straightforward example programs for Flying Cutoff with and
without registration sensor described in chapter 8.10 Flying Cutoff, page
433.
Material movements are only allowed in positive direction!
The Flying Cutoff system only expects the movement of material
in a positive direction. The measuring wheel must be setup so
that the measuring wheel counts in the positive direction when the
material moves forward.
Although material movements in a negative counting direction are
generally counted, the Flying Cutoff only functions correctly in au
tomatic mode when the material is counted in a positive direction.
Once the carriage is synchronous, a negative movement can oc
cur. The system will remain synchronized to the material until the
carriage reaches the value configured in Y-parameter "Yx45:
Travel limit, minimum value". At which point, an error will be is
sued.
Y-parameters describing the ma
chine geometry

The following Y-parameters define the geometry of the machine. They must
be configured in order to use the Flying Cutoff motion commands.

Y-Parameters

Name

Description

Yx44

Travel limit, maximum value

The value of the maximum position with respect to the carriage zero po
sition.

Yx45

Travel limit, minimum value

The value of the minimum position with respect to the carriage zero posi
tion (the value to be entered is negative in the configurations shown in
fig. 7-12 "Configuration with stationary registration sensor mounted to the
left" on page 357, fig. 7-13 "Configuration with stationary registration
sensor mounted to the right" on page 358, fig. 7-14 "Configuration with
registration sensor mounted to the left of carriage" on page 359 and fig.
7-15 "Configuration with registration sensor mounted to the right of car
riage" on page 359).

Yx54

Return position

The value of the return position for the carriage with respect to the car
riage zero position (default 0).

Yx58

Maximum stroke position

The value of the maximum stroke position with respect to the carriage
zero position.

Yx62

Distance to register mark If a stationary sensor is used, the registration sensor offset is measured
sensor
with respect to the carriage zero position. A negative value is used for
this parameter for the case in Fig. fig. 7-12 "Configuration with stationary
registration sensor mounted to the left" on page 357 and a positive value
is used for the case in fig. 7-13 "Configuration with stationary registration
sensor mounted to the right" on page 358.
If a sensor is mounted on the carriage, the registration sensor offset is
measured with respect to the edge of the carriage (i.e., the edge of the
carriage that is used to determine the zero position of the carriage). A
negative value is used for this parameter for the case in fig. 7-14 "Config
uration with registration sensor mounted to the left of carriage" on page
359 and a positive value is used for the case in fig. 7-15 "Configuration
with registration sensor mounted to the right of carriage" on page 359.

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Y-Parameters

Name

Description

Yx63

Tool width

Defines the width of a tool (e.g. width of the saw blade). This compen
sates for any material lost to the tool width (always a positive value).

Yx64

Tool offset

The tool offset from the edge of the carriage as shown in fig. 7-12 "Con
figuration with stationary registration sensor mounted to the left" on page
357, fig. 7-13 "Configuration with stationary registration sensor mounted
to the right" on page 358, fig. 7-14 "Configuration with registration sen
sor mounted to the left of carriage" on page 359 and fig. 7-15 "Configu
ration with registration sensor mounted to the right of carriage" on page
359.

Fig.7-11:

Flying Cutoff Y-parameters

The value in "Yx44: Maximum travel limit" must be higher

than the sum total from the value in "Yx54: Return position"
and the tolerance window (5 mm bzw. 0.2 inches).

The value in "Yx44: Maximum travel limit" must be lower

than the difference between the value in "Yx54: Return posi
tion" and the tolerance window (5 mm bzw. 0.2 inches).

The following figure shows a stationary registration sensor mounted to the left
of the carriage. The registration sensor offset is measured with respect to the
carriage zero position and configured in Y-parameter "Yx62: Registration
sensor offset" (a negative value in this example).

Fig.7-12:

Configuration with stationary registration sensor mounted to the left

The following figure shows a stationary registration sensor mounted to the

right of the carriage. The registration sensor offset is measured with respect
to the carriage zero position and configured in Y-parameter "Yx62: Registra
tion sensor offset" (a negative value in this example).

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Fig.7-13:

Configuration with stationary registration sensor mounted to the right

The following figure shows a registration sensor mounted on the carriage to

the left side. The registration sensor is configured as mounted on the carriage
by setting bit 2 of Y-parameter "Yx69: Flying cutoff configuration" to 1 (Mov
ing registration sensor). The registration sensor offset is measured with re
spect to the carriage edge and configured in Y-parameter "Yx62: Registration
sensor offset" (a negative value in this example).
If a moving registration sensor is used, registration marks are only
recorded if the material moves 100 mm/min or 4 inch/min faster
than the carriage and the carriage is not running synchronously.
This prevents individual registration marks from being recorded
twice.

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Functions

Fig.7-14:

Configuration with registration sensor mounted to the left of carriage

The following figure shows a registration sensor mounted on the carriage to

the right side. The registration sensor offset is measured with respect to the
carriage edge and configured in Y-parameter "Yx62: Registration sensor off
set" (a negative value in this example).

Fig.7-15:

Configuration with registration sensor mounted to the right of carriage

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Flying Cutoff Y-parameters

The following table lists the Flying Cutoff Y-parameters that are configured
using the Flying Cutoff Setup mask in the VCP 08:

Y-Parameters

Name

Description

Yx53, page 554

Min. synchronization cycles

Minimum number of PLC cycles for synchronizing the carriage with the
material velocity (for more information, see chapter "Yx53: Min. Synchro
nization Cycles" on page 554).

Yx55, page 555

Return velocity

Velocity for carriage return (for more information, see chapter "Yx55: Re
turn Velocity" on page 555).

Yx56, page 556

Return acceleration

This parameter defines the maximum acceleration of the carriage. This is

applicable both to synchronization and return of the carriage (for more in
formation, see chapter "Yx56: Return Acceleration" on page 556).

Yx57, page 556

Feed constant of measuring This parameter defines the length that the material will travel for one
encoder
complete revolution of the measuring encoder (for more information, see
chapter "Yx57: Measuring Wheel Feed Constant" on page 556).

Yx59, page 557

Crop cut length

Length of crop cut (for more information, see chapter "Crop Cut" on page
384).

Yx60, page 557

Maximum part length

This parameter is used to define the maximum part length (for more in
formation, see chapter "Maximum Part Length" on page 391).

Yx61, page 558

Error reaction
length

Yx65, page 560

Tool cycle time

max.

part This parameter defines the error reaction if the maximum part length is
reached (for more information, see chapter "Maximum Part Length" on
page 391).
Time for tool to complete its cycle in [ms].
The user enters the amount of time it will take for the tool to close and
open given all the mechanical, fluid-related and electrical delays in the
machine. As seen by the tool program this is the total time from the point
where the system changes from the Flying Cutoff motion command to
the next command (synchronization is active) until the EOS command is
processed in the tool program, i.e., the time between LMx and the EOS
command. This value is used to determine if it is possible to make a
complete cut considering the location of the carriage and velocity of the
material. If not, an error will be issued to stop the machine before the cut
is started. See also chapter "Yx65: Tool Cycle Time" on page 560.
Disable tool cycle time by setting this value to 0 ms.

Yx66, page 560

Velocity in test mode

Velocity of the simulated material in test mode (for more information, see
chapter "Test Mode (Simulation)" on page 378)

Yx67, page 561

Acceleration in test mode

Acceleration of the simulated material in test mode (for more information,

see chapter "Test Mode (Simulation)" on page 378)

Yx68, page 561

Distance of travel pulse

Amount of material to run through in order to trigger a travel pulse (for

more information, see chapter "Material Pulse" on page 396).

Yx69, page 562

Flying cutoff configuration

Configuration settings (refer to chapter "Yx69: Flying Cutoff Configura

tion" on page 562 for details)

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Y-Parameters

Name

Description

Yx86, page 570

Distance or time for Presync Defines the distance or time for the Presync pulse which is output before
pulse
the carriage has fully synchronized (for more information, see chapter
"Yx86: Presync Value" on page 570).

Yx87, page 571

Maximum tailout length

Fig.7-16:

Maximum length of usable material after the material end has been de
tected (for more information, see chapter "Yx87: Maximum Tailout
Length " on page 571).

Flying Cutoff Y-parameters

Refer to "Setup screen" on page 157 for details.

Configuring inputs and outputs

The following table lists the internal inputs and outputs of the Flying Cutoff
motion commands that can be mapped to physical inputs via Y-parameters:

Y-Parameters

Name

Description

Yx70, page 563

Cut inhibit, In-config

Configuration of the input triggering a cut inhibition (for more information,

see chapter "Cut Inhibit" on page 387).

Yx71, page 564

Return inhibition, In-config

Configuration of the input triggering a return inhibition (for more informa

tion, see chapter "Return Inhibit" on page 388).

Yx72, page 564

Immediate cut, In-config

Configuration of the input triggering an immediate cut (for more informa

tion, see chapter "Immediate Cut (Automatic Mode)" on page 384).

Yx73, page 564

Crop cut, in-config

Configuration of the input triggering a crop cut (for more information, see
chapter "Crop Cut" on page 384).

Yx74, page 565

Return optimization, in-config Configuration of the input activating the return optimization (for more in
formation, see chapter "Return Optimization" on page 388).

Yx75, page 565

Rapid stop, in-config

Yx76, page 566

Reset material length coun Configuration of the input resetting the material length counter (for more
ter, in-config
information, see chapter "Material Length Counter" on page 391).

Yx77, page 566

Test mode, In-config

Yx78, page 567

Reset product length coun Configuration of the input resetting the product length counter (for more
ter, In-config
information, see chapter "Product Length Counter" on page 391).

Yx79, page 567

Scrap cut active, Out-config

Configuration of the output indicating that a scrap cut is active (for more
information, see chapter "Scrap Cut Output" on page 391).

Yx80, page 568

Cut Inhibit active, Out-config

Configuration of the output indicating that Cut Inhibit is active (for more
information, see chapter "Cut Inhibit" on page 387).

Yx81, page 568

Return optimization active, Configuration of the output indicating that return optimization is active
Out-config
(for more information, see chapter "Return Optimization" on page 388).

Yx82, page 569

Return inhibit active , Out- Configuration of the output indicating that Return Inhibit is active (for
config
more information, see chapter "Return Inhibit" on page 388).

Yx83, page 569

Max. part length reached, Configuration of the output indicating that the maximum part length has
Out-config
been reached (for more information, see chapter "Maximum Part Length"
on page 391).

Yx84, page 569

Travel pulse, Out-config

Configuration of the input triggering a rapid stop (for more information,

see chapter "Rapid Stop Routine" on page 385).

Configuration of the input starting test mode (for more information, see
chapter "Test Mode (Simulation)" on page 378).

Configuration of the output indicating that the amount configured in pa

rameter "Yx68: Travel pulse distance" has run through (for more informa
tion, see chapter "Material Pulse" on page 396).

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Y-Parameters

Name

Description

Yx85, page 570

Presync pulse, Out-config

Configuration of the output indicating that the material is present a spe

cific distance or time before full synchronization of the carriage (for more
information, see chapter "Presync Pulse" on page 397).

Yx88, page 571

No material, In-config

Configuration of the input detecting the end of material and being used to
initiate tailout machining (for more information, see chapter "Tailout" on
page 393).

Yx89, page 572

Tailout done, Out-config

Configuration of the output indicating that tailout machining has been

done (for more information, see chapter "Tailout" on page 393).

Fig.7-17:

7.11.2

Configuring inputs and outputs

Configuring the Measuring Encoder

configuration

The following steps are required for configuring the measuring encoder for
Flying Cutoff mode:
1. With IndraWorks online and the SMC in parameter mode, expand the
"Device" folder and double click on Measuring encoder.
The necessary steps for establishing the connection to the drive
with IndraWorks are described in chapter 4.2.3 "Commissioning
the Drives with IndraWorks" on page 34.
2.

Select the measuring encoder type from the Measuring encoder drop
down list.

3.

Select X8 (Option 2) EN2 for the optional slot.

4.

Enter the specific value of the measuring encoder as resolution.

Encoders with data interface will automatically set the resolution
value.

5.

Set the filter time constant.

20 ms is a general recommended time for the filter time constant
of the measuring encoder. In order to fine tune the application,
the master axis position signal (P-0-0052) generated by the
measuring encoder must be reviewed with the drive oscilloscope.
For these functions, please refer to the IndraWorks documenta
tion (DOK-IWORKS-ENGINEE*Vxx-APxx-xx-P).
Bosch Rexroth GDS encoders are selected as an EnDat2.1 inter
face.

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Fig.7-18:

Setting the measuring encoder in IndraWorks

The measuring encoder is the system main sensor that connects

it to the moving material. Thus, the accuracy of the encoder and
the mechanical transformation of the material motion on to the en
coder wheel largely determines the accuracy of production results
as well as the smoothness of the carriage motion.

Therefore:

Select an encoder with sufficient resolution.

Always ensure a mechanical contact between the measuring

encoder and the material.

Avoid slippage.

Avoid bouncing.

Avoid oscillating motion signals by applying a signal filter

and/or steady the material.
Inverting measuring encoder data

Placing the measuring encoder must be defined on first startup. It must be

mounted such that the positive movement of the material specifies an in
crease in the measuring encoder position.
This can be tested by monitoring the value of P-0-0052 (Actual position value
of measuring encoder) while turning the measuring encoder in material feed
direction. The detected material position in P-0-0052 has to increase.
If the measuring data show decreasing values and the measuring encoder
cannot be repositioned, the system allows negating this data.

Setting the feed constant of the

measuring encoder

With IndraWorks online and the system in parameter mode, expand the
"Device" folder and double click on Measuring encoder.

Check the Rotational direction inverted box in the Encoder type section.

After making your selection, close the dialog and then switch the drive
off and then back on.

The feed constant of the measuring encoder is used to translate the linear
motion of the material into rotary units of the measuring encoder that will be
used to determine positions and velocities.

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Use the following steps to calculate and input the feed constant for the meas
uring encoder:
1. Open the SMC-Editor.
2. Establish the connection to the SMC (button "Login").
3. Switch the SMC over to parameter mode.
4. Select "Yx57: Measuring wheel feed constant" from the parameter box.
5. Set the Measuring wheel feed constant to times the diameter of the
measuring encoder. For example: If the diameter = 100 units, then ( x
100) = 314.1593 units. This defines the circumference of the measuring
encoder.
The diameter of the measuring encoder must be measured as ac
curately as possible. This measurement determines the accuracy
of the part length. In the event that the part length that is cut does
not exactly match the programmed length, the SMC provides the
FAK command for performing a fine adjust.
Fine adjusting the measuring en
coder

If the measuring encoder must be fine adjusted, the FAK command allows
fine adjustment as a percentage of the value set in Yx57.
Fine adjustment by means of the FAK command can be made
while the system is running. This allows for parts to be cut and
checked.

The following is a typical adjustment procedure:

Run off a test part

Measure the actual part for accuracy

Adjust the percentage in the FAK command

Repeat the process until the expected accuracy is obtained

Refer to chapter 6.11.31 "FAK Multiplication Factor for Feed" on page 272
for a complete description.

7.11.3

Flying Cutoff Commands

LML Part Length

An LML command is used to generate parts of a specified length.
The following table lists the command parameters:
Command Data

Content

Remark

Indirect Access

Parameter 1

Axis

Only axis 1 (master axis) permitted

possible

Parameter 2

Part length

Part length to be cut

possible

Fig.7-19:

LML Part length

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The following figure shows the Y-parameters and LML command parameters
which must be configured for an LML command:

Fig.7-20:

LML command example

After an LML command has been called, the programmed value that is set in
the "Part length" parameter is processed. Once this length is reached, the
carriage is accelerated to the material velocity. When the carriage is
synchronized with the material, the user program proceeds to the next com
mand (e.g., JSR Jump to subroutine).

The synchronous run with the material is maintained until one of the following
conditions occur:

the next LMx command is reached,

another motion command is received for the carriage, or

a motion limit is reached.

If return optimization is active, the user program should be set
such that the next LML command is processed directly after the
EOS command. Refer to chapter "Return Optimization" on page
388 for details.
If a variable is assigned to the "Part length" command parameter, this varia
ble can be adjusted while the program is in an LML command. However, this
change in the part length is only applied if it exceeds the current product
length counter (see chapter "Product Length Counter" on page 391) and
synchronization has not been started yet.
The "part length" specified via the command parameter may not exceed the
maximum part length defined in parameter chapter "Yx60: Maximum Part
Length" on page 557 if an error reaction is set in parameter (Yx61 > 1) at the
same time.

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LMR Part Length by Registration Mark

An LMR command uses a registration sensor to detect a registration mark on
the material and to produce a part.
The following table lists the command parameters:
Command Data

Content

Remark

Indirect Access

Parameter 1

Axis

Only axis 1 (master axis) permitted

possible

Parameter 2

Mask window

Window of the last cut position, in which all registra

possible
tion marks are ignored

Parameter 3

Registration mark off Distance between the registration mark and the cut
possible
set
position

Fig.7-21:

LMR Part length by registration

The following figure shows the Y-parameters and LMR command parameters
which must be configured for an LMR command when using a stationary sen
sor:

Fig.7-22:

LMR command example for a stationary sensor

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The following figure shows the Y-parameters and LMR command parameters
which must be configured for an LMR command when using a moving sensor
which is mounted on the carriage:

Fig.7-23:

LMR command example for a moving sensor

Any registration marks detected within the mask window are ignored. The
registration sensor is then activated and the next registration mark detected
outside the mask window is used to determine the next cut position. The val
ue programmed in the "Registration mark offset" command parameter is used
to determine the final cut position.
A positive value in "Registration mark offset", as shown in fig. 7-23 "LMR
command example for a moving sensor" on page 367, results in a cut posi
tion after the registration mark is detected. To cut before the registration
mark, a negative value must be entered in "Registration mark offset".
Once the final cut position is reached, the carriage is accelerated to the mate
rial velocity. When the carriage is synchronized with the material, the pro
gram proceeds to the next user command (e.g., JSR Jump to subroutine).

The synchronous run with the material is maintained until one of the following
conditions occur:

the next LMx command is reached,

another motion command is received for the carriage, or

a motion limit is reached.

If the "Mask window" is greater than zero, this value is used to set
the minimum limits for the search of a valid registration mark. If
the value is zero, the first registration mark after the last cut posi
tion will be used.
The "Mask window" cannot be negative (zero will be used).

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LMK Part Length or Registration Mark

An LMK command uses either the registration sensor to detect a registration
mark on the material or a part length to produce a part (depending on which
event is the first to occur).
The following table lists the command parameters:
Command Data

Content

Remark

Indirect Access

Parameter 1

Axis

Only axis 1 (master axis) permitted

possible

Parameter 2

Part length

Part length to be cut

possible

Parameter 3

Mask window

Window of the last cut position, in which all registra

possible
tion marks are ignored

Parameter 4

Registration mark off Distance between the registration mark and the cut
possible
set
position

Fig.7-24:

LMK Part length or registration mark

An LMK command produces parts using one of the following two cases:
a.) The registration mark is detected before the part length is reached.
Once a registration mark is detected, the part length is ignored until the next cut.
Since the "Registration mark offset" is added to the position of the detected reg
istration mark, the resulting length of the part can be longer than the defined
"Part length".
b.) The part length is reached before a registration mark is detected.
Once the part length is used, the registration marks are ignored until the next
cut.

The following figure shows the Y-parameters and LMK command parameters
which must be configured for an LMK command:

Fig.7-25:

LMK command example

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This command combines two actions. Initially, the value that is programmed
in the Part length command parameter is used as the "preset length"; then
the registration sensor is activated. If a registration mark is detected prior to
the default cut position being reached, it is used to determine the next cut po
sition. If not, the programmed cut length is used. Any registration marks de
tected within the mask window are ignored. The registration sensor is then
activated and the next registration mark detected outside the mask window is
used to determine the next cut position. The value in the "Registration mark
offset" command parameter is used to alter the final cut position only for the
case when a registration mark is detected.
A positive value in "Registration mark offset", as shown in fig. 7-25 "LMK
command example" on page 368, results in a cut position after the registra
tion mark is detected. To cut before the registration mark, a negative value
must be entered in "Registration mark offset".
Once the final cut position is reached, the carriage is accelerated to the mate
rial velocity. When the carriage is synchronized with the material, the pro
gram proceeds to the next command (e.g., JSR Jump to subroutine).

The synchronous run with the material is maintained until one of the following
conditions occur:

the next LMx command is reached,

another motion command is received for the carriage, or

a motion limit is reached.

If a variable is assigned to the "Part length" command parameter, this varia
ble can be adjusted while the program is in an LMK command. However, this
change in the part length is only applied if it exceeds the current product
length counter (see chapter "Product Length Counter" on page 391) and
synchronization has not been started yet.
The "part length" specified via the command parameter may not exceed the
maximum part length defined in parameter chapter 11.4.2 "Detailed Descrip
tion" on page 552 if an error reaction is set in parameter (Yx61 > 1) at the
same time.

LMC Part Length by Registration Mark Counter

An LMC command counts a defined number of registration marks and adds a
registration mark offset to the registration mark to produce a part.
The following table lists the command parameters:
Command Data

Content

Remark

Indirect Access

Parameter 1

Axis

Only axis 1 (master axis) permitted

possible

Parameter 2

Registration
count

Number of registration marks until processing start

possible

Parameter 3

Registration mark off Distance between the registration mark and the cut
possible
set
position

mark

Fig.7-26:

LMC Part length by registration mark counter

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The following figure shows the Y-parameters and LMC command parameters
which must be configured for an LMC command:

Fig.7-27:

LMC command example

When the LMC command is called, the registration mark count and registra
tion mark offset are read into the system.
When the defined number of registration marks in "Registration mark count"
is reached, the position of the final counted registration mark is used to deter
mine the next cut position. The value in "Registration mark offset" is added to
determine the actual cut position.
A positive value in "Registration mark offset", as shown in fig. 7-27 "LMC
command example" on page 370, results in a cut position after the registra
tion mark is detected. To cut before the registration mark, a negative value
must be entered in "Registration mark offset".
The system internally compensates for the tool offset and tool
width when calculating the next cut position.
Once the next cut position is reached, the carriage is accelerated to the ma
terial velocity. When the carriage is synchronized with the material, the pro
gram proceeds to the next command (e.g., JSR Jump to subroutine).

The synchronous run with the material is maintained until one of the following
conditions occur:

the next LMx command is reached,

another motion command is received for the carriage, or

a motion limit is reached.

Since there is no "Mask window" for the LMC command, the user
is not able to mask unwanted registration marks that may appear
earlier than desired on the material.

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Symmetric cut between two regis
tration marks

If parts are cut from perforated material where a specific pattern is repeated,
the tool width must be taken into consideration in order to remove an equal
amount of material between two parts. The system automatically adds the
tool width to the registration mark offset in order to ensure that the length of
the part that is being produced is accurate.

For this reason, the following requirements must be met in order to make a
symmetrical cut between two registration marks:

Tool width must be known.

The registration mark offset must be adjusted.

For example, a cut between the fifth registration mark and the next registra
tion mark in fig. 7-27 "LMC command example" on page 370 must be made
in the middle, as shown in the following figure:

Fig.7-28:

Origin measurements for a symmetric cut

If the registration mark offset is set exactly in the middle between the two reg
istration marks (e.g., 40 mm), then an uneven amount of material is removed
by the tool because the tool width is added to the registration mark offset:

Fig.7-29:

Asymmetric cut between two registration marks

In order to ensure that an even amount of material is removed from each

part, half the tool width must be subtracted from the initial registration mark
offset.

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In the following example, the registration mark offset must be reduced to 35
mm so that 15 mm of material remains on each part after the cut is made:

Fig.7-30:

Symmetric cut between two registration marks

EOS End of Synchronization

An EOS command reports the end of the tool program for the axis defined in
the "Axis" motion command. This command is only allowed for axis 1 (master
axis).
The following table lists the prescribed system parameters:
Command Da
Content
ta

Remark

Indirect Ac
cess

Parameter 1

Only axis 1 (master axis) permitted

possible

Fig.7-31:

Axis

EOS End of synchronization

A tool program with "Flying Cutoff" must always be completed with this com
mand. After the tool has made a complete cut and the tooling is cleared (i.e.,
machining is completed), the EOS command must be called. The system
cannot be switched to manual mode between the synchronous run and this
command. The command does not cancel the synchronous run between the
carriage and material. The next Flying Cutoff motion command (e.g., LML) in
itiates the carriage return and therefore cancels the synchronous run.
If bit 5 of Y-parameter "Yx69: Flying Cutoff configuration" is set, the return
motion is not initiated by the next LMx command. The operator must use an
appropriate motion command to move the carriage to the return position (e.g.
POA command).
The EOS command is also used to instruct the system that the machining cy
cle was successfully completed and that this cut position is the last cut posi
tion used to determine the next cut length.
The operator must ensure that the tooling is clear of the material
before executing this command.

7.11.4

Errors during Flying Cutoff Motion Commands

While Flying Cutoff motion commands are processed, errors may occur for
various reasons. These errors must be considered in the user program and in
the reaction to errors.
For a description of the errors, please refer to chapter 9.4 Error Numbers,
page 441.

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If an error occurs, measures must be taken in the SMC program
to safely stop the system. The rapid stop routine is one possible
solution, see chapter "Rapid Stop Routine" on page 385.

7.11.5

Program Example if Flying Cutoff Is Used

Requirements
The sections below describe the conditions which must be applicable in a
Flying Cutoff program while the axis is moved back to the return position.

Ensure that the tool is no longer engaged and that the minimum stroke
distance is reached before the synchronous run is completed through
the next motion command.

If the next part is a short part (the next cut position will overtake the re
turn position prior to the carriage axis completing the return motion pro
file), then the next Flying Cutoff command should be called as soon as
the return motion starts.
The following are conditions in an SMC-Program while Flying Cutoff com
mands are active:

The programmer must ensure that the drive, control, or PLC program
does not issue another motion or stop command to the carriage axis be
fore the tooling is clear of the material. If the axis is unsynchronized pre
maturely, then the tooling or carriage could be damaged.

The program should monitor the forward progress of the carriage axis to
make certain it does not reach a position limit prior to retracting the tool
ing in a controlled manner.

The tool program monitors that both the cut cycle is finished (clear of
material) and the minimum stroke distance has been reached before is
suing a return move command that causes the carriage to desynchron
ize from the material and start the motion back to the return position.

The program will remain in the LMx command as the material passes
until the next cut position is reached and the carriage synchronizes with
the material. Immediately after the target is synchronized, the program
proceeds to the next SMC-Program command which should jump to the
tool program that will operate the shear/tool to cut the part.

Program Example
The following program example was generated using the SMC-Editor. It
shows how the Flying Cutoff commands (LMC, LMK, LML, and LMR) can be
used for cutting the material.

In this example, the program uses the LML command and is divided up into
following task and routines:

Automatic task 1 (BEGIN_AUTO_TASK_1)

Manual cut routine (BEGIN_FC_MANUAL_CUT_ROUTINE)

Maximum stroke routine (BEGIN_FC_MAX_STROKE_ROUTINE)

Rapid stop routine (BEGIN_FC_RAPID_STOP_ROUTINE)

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Fig.7-32:

Flying Cutoff program example

The Flying Cutoff commands are used within the scope of automatic task 1.
This task runs continuously. The manual cut, maximum stroke, and rapid stop
routines are executed when initiated via the VCP, when the configured input
is set, or when a specific error occurs (e.g., the carriage exceeds the maxi
mum stroke position). Refer to chapter "Maximum Stroke Routine" on page
386 for details.
On delivery, the source file of the "Flying Cutoff" program exam
ple can be found in the "User\Examples" directory of the MMC un
der the filename "FC_Demo.scs".
The program example is explained in the following sections.

Automatic task 1
This task is executed when the start signal is given. Execution of the task
starts with BEGIN_AUTO_TASK_1. This example program uses the LML
command to cut 10 parts of 100 mm each and then 20 parts of 200 mm each
before starting all over.
Product 1 and product 2

The first two labels (Product1 and Product2) contain the LML commands, a
jump to the tool program, and a product counter. Refer to the following figure.

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Fig.7-33:

Tool program

Product1 and Product2 in automatic task 1

The following sequence describes the example program based on the Prod
uct1 label:
1. The LML command sets axis 1 to wait until a length of 100 mm has
passed before synchronizing the carriage to the material.
2. Once the carriage is synchronized with the material, the "JSR Jump to
subroutine" command jumps to the tool program. Refer to "Tool pro
gram" on page 375 for details.
3. As soon as the tool program is completed, execution of the program re
turns to Product1. There, the "BAC Branch conditional on count" com
mand increments the "counter" variable by 1. This process is continued
until "counter" = 10.
Once Product 1 is complete, the program continues to Product 2. The freely
programmable "counter" variable in Product 1 is reset to 0. The process for
Product2 is identical to that for Product1; however, the part length is 200 mm
and the "counter" variable counts to 20. Once all 20 parts in Product2 are
done, the "JMP Unconditional jump" returns to the Product1 label, where
the process is repeated.
The Tool label in automatic task 1 contains the tool program. This tool pro
gram makes all steps required for cutting the part and for clearing the tool.
In addition to the operations that are described in this example
tool program, a part separation using the "SPO Position offset
of synchronous axes" command as shown in fig. 7-34 "Tool pro
gram within automatic task 1" on page 376 can also be included
in the tool program section. Refer to chapter "Part Separation" on
page 393 for details.
The figure below shows a tool program where the cut part is not
separated.

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Refer to the section outlined by a red box in the following figure:

Fig.7-34:

Tool program within automatic task 1

The tool program in this example uses an upper limit switch and a lower limit
switch to limit the travel of the shear.
The onboard I/Os X31 and X32 of axis 1 are used as inputs and outputs for
reading and activating the following signals:
Signal

Assignment

I/O type

Lower limit switch

I.A1.X31.Pin3

Input

Monitors the lower limit switch

Upper limit switch

I.A1.X31.Pin4

Input

Monitors the upper limit switch

Valve

Q.A1.X32.Pin9

Output

Fig.7-35:

Comment

Activates the valve that controls the up and

down movements of the tool

Input and output assignment for the example tool program

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Schematic representation:

Fig.7-36:

Shearing tool example

The following sequence describes the tool program in this example:

1. The "CPJ Compare and jump" command compares the actual position
of the carriage in system variable VS108 and waits until the carriage
reaches the minimum cut position of 400 mm.
2. Once the minimum cut position is reached, the "AEA Set/reset/toggle
bit" command sets output "Q.A1.X32.Pin9", activating the valve. The
shear closes, leaves the upper limit switch (tool open), cuts through the
material, and sets the lower limit switch (tool closed).
3. The "AKN Acknowledge bit" command waits until input "I.A1.X31.Pin3"
is set which indicates that the tool is down.
4. The tool starts its return movement as soon as the AEA command re
sets output "Q.A1.X32.Pin9". This closes the valve and retracts the
shear.
5. The shear reaches its up position when the AKN command acknowledg
es that input "I.A1.X31.Pin4" is set. The carriage continues moving in
the positive direction.
6. The CPJ command compares the actual position of the carriage in sys
tem variable VS108 and waits until the carriage reaches the minimum
stroke position of 1000 mm.
7. The "RTS Return from subroutine" command initiates a return from
this subroutine to product 1 (Product1 label) or product 2 (Product2 la
bel), respectively.

Routines
The manual cut, maximum stroke and rapid stop routines are executed if they
are triggered via the VCP 08, the configured inputs are set or the correspond
ing event occurs.

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Display in the red framed section of the following figure:

Fig.7-37:

Routine examples

Manual cut routine

The system must be in manual mode for the manual cut routine to be execu
ted. Refer to chapter "Manual Cut (Manual Mode)" on page 382 for details.

Maximum Stroke Routine

The maximum stroke routine is executed when the carriage reaches the max
imum stroke position configured in Y-parameter "Yx58: Maximum stroke posi
tion". Refer to chapter "Maximum Stroke Routine" on page 386 for details.
This maximum stroke routine is only available while the system is
in automatic mode and the SMC program is running. An error is
set at the end of the maximum stroke routine.

Rapid stop routine

The rapid stop routine is executed if the input configured in Y-parameter

"Yx75: Rapid stop, In-config" is set or is triggered via the VCP. Refer to chap
ter "Rapid Stop Routine" on page 385 for details.
This rapid stop routine is only available while the system is in au
tomatic mode and the SMC program is running. An error is set at
the end of the rapid stop routine.

7.11.6

Flying Cutoff Functions

Test Mode (Simulation)

In test mode, actual material is not fed through the machine. Instead, the sys
tem uses a virtual master to simulate the feeding of material. In this applica
tion type, the different program parts and tools processed by the carriage can
be tested without requiring any material. All aspects of the system operate
normally; the carriage will synchronize with virtual targets and the tool pro
grams will be processed as usual.
Test mode is activated by setting Y-parameter "Yx00: Application type" to "3",
or via VCP 08. If this is successful, and no errors are present, the virtual mas
ter can be started, simulating the flow of material.
The user program can now process Flying Cutoff motion commands using
the virtual master axis as a reference whose velocity and acceleration are
configured in Y-parameters "Yx66: Test mode velocity" and "Yx67: Test
mode acceleration".

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To stop or start test mode, the value of Y-parameter "Yx66: Test
mode velocity" can be set to zero or to a positive velocity.
After all tests have been completed, the user can return to normal operation
(i.e., based on the measuring encoder) using Y-parameter "Yx00: Application
type".
With normal mode restored, the master axis position is set to the current
measuring encoder position. The product length is set to zero and the materi
al length counter is restored to the last stored value. Normal production can
now resume.

Before running test mode, the user should setup the machine as follows:

Stop and retract the material. Make sure the material is safely out of the
way of the carriage because the carriage can move back and forth dur
ing testing and cause damage.

If the shear, saw or tool cannot be run without material present in the
tool, the user must prevent the tool from activating.

If the downstream handling equipment cannot be operated without ac

tual parts present, the user must prevent such equipment from activat
ing.

NOTICE

Change from normal to test mode and

vice versa

All production must come to a halt and the system must be in parameter
mode before switching between application types.
HMI test mode program example

The following program is intended to be used in test mode with the

IndraLogic visualization, which is part of the IndraWorks project. This pro
gram is not intended to be used by the end user or to produce real parts.
IndraWorks with the appropriate project is required for using the visualization
in IndraLogic. The programmable variables "Part_Length" and "Cut_Time" of
the SMC program can be set from the visualization device. The variable
"Part_Counter" is displayed in the visualization device. Furthermore, the vari
ables "Tool_Output" and "Tool_HMI" are used to illustrate the cutting process
in the visualization device.

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Fig.7-38:

SMC program using the IndraLogic visualization device

On delivery, the source file of the HMI test mode program exam
ple can be found in the "User\Examples" directory of the MMC un
der the filename "FC_HMI_Demo.scs".
Automatic task 1 (BEGIN_AU
TO_TASK_1) in HMI program ex
ample

Tool program for HMI program ex

ample

The example program cuts 10 parts using the length in the programmable
variable "Part_Length" and waits for 2 seconds before starting another batch.

The following sequence describes automatic task 1:

1. The LML command sets axis 1 to wait until the length filed in the
"Part_Length" variable has passed before synchronizing the carriage
with the material.
2. Once the carriage is synchronized with the material, the "JSR Jump to
subroutine" command jumps to the tool program.
3. As soon as the tool program is completed, execution of the program re
turns to the Start label. There, the "BAC Branch conditional on count"
command increments the "Part_Counter" variable by 1. This process is
continued until "Part_Counter" is equal to 10 (then the "Part_Counter"
variable will be reset and the next step executed).
4. After a waiting time of 2 seconds, the program jumps back to the Start
label and another batch is started.
The Tool label contains the tool program that allows simulating and visualiz
ing the process using the visualization in IndraLogic.

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Routines in HMI program example

Using the visualization

The following sequence describes the tool program in this example:

1. The "AEA Set / reset / toggle bit" command sets the "Tool_Output"
variable and simulates the outputs of the tool (required for visualization
in IndraLogic).
2. The "SET Set variable value" command sets the "Tool_HMI" variable
to 20 to visualize that the tool is down.
3. After the wait time set in "Cut_time" has elapsed, the program contin
ues.
4. The "AEA Set / reset / toggle bit" command clears the "Tool_Output"
variable, simulating the outputs of the tool.
5. The "SET Set variable value" command sets the "Tool_HMI" variable
to 0 to visualize that the tool is up.
6. The "RTS Return from subroutine" command returns the program flow
back to the JSR command.
The manual cut, maximum stroke and rapid stop routines are executed if they
are triggered via the VCP 08 or the configured inputs are set. These routines
simulate opening of the tool and use the "Tool_HMI" to visualize that the tool
is down (20) or up (0).
The relevant visualization buttons and data fields that relate to the HMI pro
gram example are summarized as follows:

Name

Type

Description

1. Test mode

Button

Press to start test mode (corresponds to input at "Yx77: Enable test

mode, In-config").

2. Sel Mode

Data field

Maps "Yx00: Application type". The field is for display purposes.

Changes made in this data field will not become effective before the sys
tem has changed from parameter mode to manual mode.

3. TestMode Vel

Data field

Yx66 Test mode velocity

Enter simulated material velocity.

4. TestMode Accel

Data field

Yx67 Test mode acceleration

Enter simulated material acceleration.

5. Cutlength

Data field

Corresponds to the programmable "Part_Length" variable in the SMC

program.

6. CutTime

Data field

Corresponds to the programmable variable in the SMC program.

7. MaxStroke position

Data field

Corresponds to "Yx58: Maximum stroke position"

8. OptRet

Button

Press to enable optimized return behavior (corresponds to input at

"Yx74: Return optimization, In-config").

Fig.7-39:

Relevant visualization buttons and data fields

The Flying Cutoff system is switched to test mode by setting Y-parameter

"Yx00: Application type" to 3. Next click the "Test mode" button to start test
mode. Positive values have to be entered for "CutLength" and "CutTime".

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In the following example, 200 mm is set for the "CutLength" (5.) and 300 ms
for the "CutTime" (6.).

Fig.7-40:

IndraLogic visualization

Manual Cut (Manual Mode)

With the SMC in manual mode, the manual cut is initiated by the input config
ured in Y-parameter "Yx72: Immediate cut, In-config" or via the VCP. Refer to
"Operation screen" on page 156 for details.
Depending on bit 1 of Y-parameter chapter "Yx69: Flying Cutoff Configura
tion" on page 562, the manual cut is initiated regardless of whether or not
the material is moving.
The system triggers a runtime error if the manual cut routine is to
be executed when it is not programmed.
The material is considered to be at standstill if the velocity of the
material is less than 0.1% of the maximum carriage velocity.
The manual cut process that is executed, is defined in the SMC program un
der the "BEGIN_FC_MANUAL_CUT_ROUTINE" system label.

Fig.7-41:

Manual cut routine example

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The following sequence describes the manual cut routine:

1. After the manual cut routine has been started, the "AEA Set / reset /
toggle bit" command sets output "Q.A1.X32.Pin9", thus activating the
valve. The tool moves down, the upper limit switch opens (tool open),
the tool cuts through the material and sets the lower limit switch (tool
closed).
2. The "AKN Acknowledge bit" command waits until input "I.A1.X31.Pin3"
is set, which indicates that the shear has been closed.
3. The AEA command sets output "Q.A1.X32.Pin9" and closes the valve,
thus retracting the shear.
The user can specify additional program logic after step 3 to per
form any operations that are required before the tool is completely
retracted.
4. The shear reaches its upper position when the AKN command acknowl
edges that input "I.A1.X31.Pin4" is set.
5. The "RTS Return from subroutine" exits the manual cut routine. The
system remains in manual mode.
If manual removal of scrap material is required, then the "stationary material"
option may be desired. The manual cut routine is written by the operator. It
must be able to handle the cutting process completely and activate all output
signals for any additional devices that might be required.
Activating the shear may cause the material position/velocity to
momentarily exceed the defined thresholds. Jitter on the measur
ing wheel velocity signal can trigger false errors. Drive parameter
P-0-0329 (Smoothing of actual position value 3 of measuring en
coder) defines the measuring encoder smoothing value which
should be set to 10 to 50 ms to help minimizing disturbance.

The manual cut routine requirements are as follows:

1. The manual cut routine may not move the carriage axis while a cut is
made.
2. The program must check or set all machine preconditions before activat
ing the tool output signal (e.g., close clamps, activate pumps / saws /
heaters / coolants / etc.).
3. After the cut is complete, the manual cut routine program must deacti
vate the tool outputs and any possibly present ancillary devices and
then monitor that the tooling is fully retracted from the material.
4. If the material must be separated, an SPO command can be issued af
ter the cut is complete to create a gap.
5. Verify that all processes are completed and it is safe to move the car
riage or material without damage.
6. The routine must end with an RTS command to ensure that the manual
cut routine is exited.

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NOTICE

Manual cut only allowed at standstill

Manual cuts are only allowed if the material is at standstill (bit 1 of Y-parame
ter Yx69 is 0). If the measuring encoder fails to contact the material during
the manual cut routine, the system cannot determine whether or not the ma
terial is at standstill. This might result in execution of a manual cut while the
material is moving. The operator must ensure that the material is at standstill
before initiating a manual cut. If a manual cut is allowed with the material
moving (bit 1 of Y-parameter Yx69 is 1), the operator must likewise ensure
that the measuring encoder is in engagement in order to determine the mate
rial velocity.

Immediate Cut (Automatic Mode)

The purpose of an immediate cut is to set a reference cut in the material at
the start of production or where required. The cut starts when an active LMx
command receives the request for an immediate cut. The system registers
the absolute material position and adds the lock-on distance to that value.
This becomes the target position for the next cut that is processed in the ac
tive Flying Cutoff motion command.
With the SMC in automatic mode, the immediate cut is initiated by a rising
edge of the input configured in Y-parameter "Yx72: Immediate cut, In-config"
or via the VCP. Refer to "Operation screen" on page 156 for details.
If this signal is given when the required state is not met, then the immediate
cut request is ignored and no indication is given.

The following two conditions have to be taken into account:

If an immediate cut is performed in the middle of a production run, the

user must take care that the immediate cut part can be handled properly
and that the production counter is adjusted accordingly.

If an immediate cut requires a special cut processing or tool program,

the operator must ensure that it is taken into account in the user pro
gram.

Crop Cut
The purpose of the crop cut is to make a reference cut with a minimum pre
defined cut length set in Y-parameter "Yx59: Crop cut length". Typically, the
material that is cut is a scrap part. The process starts when an active LMx
command receives the request for a crop cut. The carriage is not required to
be at the return position.

On activation, the system captures the current part length and determines the
next cut position based on the following calculations:
1. If there is no reference cut in the material, the crop cut length is added
to the initial position.
(resulting length = amount of material in the machine plus the value of
the crop cut length)
2. If the material is homed, the crop cut length is set as the new length.
The quantity of material having already passed through is ignored.
(Result length = quantity already passed through plus the value of the
crop cut length)
The result becomes the target position for the next cut which will be pro
cessed in the active Flying Cutoff command. If the CropCut button is pressed
again prior to reaching the cut position it will recalculate a new target location;
this can be repeated indefinitely.

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With the SMC in automatic mode, the crop cut is initiated by a rising edge of
the input configured in Y-parameter "Yx73: Crop cut, In-config" or via the
VCP. Refer to "Operation screen" on page 156 for details.

The following condition has to be fulfilled:

The Flying Cutoff command is active but the synchronization process

has not started yet, i.e., the carriage is at standstill.
The following two conditions have to be taken into account:

If a crop cut is performed in the middle of a production run, the user

must take care that the crop cut part can be handled properly and that
the production counter is adjusted accordingly.

If a special cut processing or tool program is necessary for a crop cut,

the user must ensure part programs in the user code to guarantee this
takes place.

If the crop cut length is less than the lock-on distance, then the lock-on
distance is used [lock-on distance = material velocity2 / (return accelera
tion x 2)].

Rapid Stop Routine

The "rapid stop routine" serves to rapidly move the tool out of the material
and to stop the carriage.
If the material is just machined during the synchronous run and a signal is ap
plied to the "Rapid stop" input, the machining program is immediately stop
ped and the tool is rapidly moved out of the material using a different pro
gram. The starting block of the rapid stop routine is defined in parameter
Yx52. The rapid stop routine must be completed with the "RTS"command. As
long as this program is processed, the synchronous run is maintained. There
after, the axes are stopped and the "Rapid stop (Flying Cutoff)" error is out
put.
If there is no synchronous run and a signal is applied to the "Rapid stop" in
put, the rapid stop routine will not be executed. The axes are stopped imme
diately and the "Rapid stop (Flying Cutoff)" error is output. This behavior can
be defined by Yx69, bit 8 (see chapter "Yx69: Flying Cutoff Configuration" on
page 562).

In general, the following must be observed with the execution of the rapid
stop routine:
1. Processing of all running automatic tasks or manual cut routine is stop
ped.
2. All axes can be given a new command during the rapid stop routine, re
gardless whether an axis command is active or not. This enables the
triggering of the desired axis movement for each axis during the rapid
stop routine using the available motion commands.
With the SMC in automatic mode, the rapid stop is initiated by setting the in
put configured in Y-parameter "Yx75: Rapid stop, In-config" or via the VCP.
Refer to "Operation screen" on page 156 for details.

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The rapid stop sequence that is executed is defined in the SMC-Program by
means of the rapid stop routine ("BEGIN_FC_RAPID_STOP_ROUTINE" sys
tem label):

Fig.7-42:

Rapid stop routine example

The following sequence describes the rapid stop routine shown in the Rapid
Stop Sequence, page 386 from the program example in chapter Program Ex
ample, page 373.
1. Once a rapid stop routine is executed, the "AEA Set / reset / toggle bit"
command resets output "Q.A1.X32.Pin9", causing the valve to close and
the shear to retract.
The user can specify additional program logic after step 1 to per
form any operations that are required before the tool is completely
retracted.
2. The "AKN Acknowledge bit" command waits until input "I.A1.X31.Pin3"
is set, which indicates that the shear has been retracted.
3. The "RTS Return from subroutine" command ends the rapid stop rou
tine and triggers an error.
The rapid stop routine must retract the tool and end with an RTS command to
complete the sequence. The user can then manually return the carriage to
the return position before starting a new sequence.

NOTICE

Undesirable reaction if no routine is defined

Damage to the material or machine can result
if no rapid stop routine is defined or no rapid
stop routine is defined within the process and
a rapid stop command is executed.

The user must ensure that a program is written for the rapid stop routine that
will safely remove all tooling from the material before the carriage is halted. If
no routine is defined, the carriage stops without safely removing the tooling
from the material.

Maximum Stroke Routine

If the carriage hits the maximum stroke position configured in Y-parameter
Yx58, the maximum stroke routine is executed. The maximum stroke routine
that is executed is defined in the SMC-Program based on the "BE
GIN_FC_MAX_STROKE_ROUTINE" system label.

In general, the following must be observed with the execution of the maxi
mum stroke routine:
1. Processing of all running automatic tasks or manual cut routine is stop
ped.
2. All axes can be given a new command during the maximum stroke rou
tine, regardless whether an axis command is active or not. This enables

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the triggering of the desired axis movement for each axis during the
maximum stroke routine using the available motion commands.
3. The maximum stroke routine is processed and triggers the "Maximum
stroke (Flying Cutoff)" error once processing is completed (RTS com
mand).

Fig.7-43:

Maximum stroke routine example

The following sequence describes the maximum stroke routine shown in fig.
7-43 "Maximum stroke routine example" on page 387 from the program ex
ample chapter 7.11.5 "Program Example if Flying Cutoff Is Used" on page
373.
1. Once the maximum stroke routine is executed, the "AEA Set / reset /
toggle bit" command resets output "Q.A1.X32.Pin9", causing the valve
to close and retract the tool.
The user can specify additional program logic after step 1 to per
form any operations that are required before the tool is completely
retracted.
2. The "AKN Acknowledge bit" command waits until input "I.A1.X31.Pin3"
is set, which indicates that the shear has been retracted.
3. The "RTS Return from subroutine" command ends the maximum
stroke routine and triggers an error.

NOTICE

Undesirable reaction if no routine is defined

Damage to the material or machine can result
if no maximum stroke routine is defined or no
process is defined within the maximum stroke
routine and the maximum stroke position is
exceeded.

The user must ensure that a program is written for the maximum stroke rou
tine that will safely remove all tooling from the material before the carriage is
halted. If no routine is defined, the carriage will halt without safely removing
the tooling from the material.

Cut Inhibit
The purpose of cut inhibit is to provide a means to prevent the carriage from
synchronizing with the next target position to make a cut. If the user notices
that the upcoming material is defective, the user may want to let it pass and
start a new cut only when good material is present.
To activate this feature, the user must set the input configured in Y-parameter
"Yx70: Cut inhibit, In-config" or press and hold the cut inhibit function key on
the VCP08. Refer to "Operation screen" on page 156 for details.
This signal is edge triggered and requires that the SMC is executing a Flying
Cutoff command and waiting for a new cut position to be reached. The Flying
Cutoff command is suspended and will not synchronize with the material if
synchronization has already started. The output configured in Y-parameter

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"Yx80: Cut inhibit, Out-config" indicates whether or not the cut inhibit function
is active. To resume production, the user must make an immediate cut or a
crop cut.

Return Inhibit
The purpose of return inhibit is to provide a means to stop the return move of
the carriage after the cut has been completed.
To activate this feature, the user must set the input configured in Y-parameter
"Yx71: Return optimization, In-config" or press and hold the return inhibit
function key on the VCP 08. Refer to "Operation screen" on page 156 for de
tails.
This input must be reset to start the return cycle and resume production. The
output configured in Y-parameter "Yx82: Return inhibit, Out-config" indicates
whether or not the return inhibit function is active.
Since the material may be moving during a return inhibit, it may not be possi
ble to perform the next cut. In this case, an error is issued.
The return inhibit is only possible if bit 5 is not set in parameter
Yx69: Flying Cutoff Configuration, page 562.

Return Optimization
The purpose of the return optimization is to generate a carriage return profile
with reduced dynamic requirements. This is used to reduce the wear and tear
on the machine mechanics and maximize energy efficiency. For motion com
mands where the next cut position is not known, this feature is automatically
disabled (i.e., deactivated for LMR, LMK, LMC). This feature is only valid for
use with the LML command.
To activate this feature, the user must set the input configured in Y-parameter
"Yx74: Return optimization, In-Config" or activate the return optimization
function in the VCP Flying Cutoff setup mask. Refer to fig. 5-125 "Flying Cut
off Setup" on page 157 for details.
The output configured in Y-parameter "Yx81: Return optimization, In-Config"
indicates whether or not the return optimization is active.
With the next LML command, the return optimization movement is initialized
and the carriage is decelerated to a standstill, using the delay set in Y-param
eter "Yx56: Return acceleration". Return optimization is ignored if the next
command is an LMR, LMK or LMC command or if a reduced acceleration
would result in a short part.

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Fig.7-44:

Velocity profile with optimized return

The calculated return profile is not completely optimized in the event there
are variations in the material velocity. The longest possible cycle time of an
optimized return cycle is 90% of the time until the beginning of the next syn
chronization process (i.e., at least 10% of the actual return cycle time is dwell
time at the return position).
Assuming a material velocity increase of at least 10% during a re
turn cycle, short parts can sporadically be produced.

Short Parts
Short parts are automatically detected and processed in the SMC system. A
short part occurs if the carriage cannot reach the return position before syn
chronizing to the next cut position.
Since the carriage is allowed to synchronize with the material before the re
turn position is reached, the user must be aware of the dynamics and limita
tions of the system to ensure that a cut will be successfully completed in the
allotted time. To aid the user, the Y-parameter "Yx65: Tool cycle time" pro
vides an additional check to determine whether sufficient time is available to
complete the cut cycle. Refer to fig. 7-16 "Flying Cutoff Y-parameters" on
page 360 for an explanation of Y-parameter "Yx65".
Short parts inhibit (as of 12V06)

It is possible to configure a "Short parts inhibit", i.e., the synchronization of

the cutoff carriage to the material is only carried out if the carriage reaches
the return position. Among other things, this function is relevant when using
"diagonal saws". With such applications, the tool is not located on the car
riage. Instead, the carriage itself is the cutting tool. The carriage no longer
travels with angle of "0" degrees in the material, but rather it travels at an an
gle through the material.

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Fig.7-45:

Example of a "diagonal saw"

Note on the parameterization:

If work is performed without a working angle of "0" degrees, all
parameters for the length and velocity must be multiplied by a co
sine value of the angle "".
Example:
=70, cosine = 0.342020143
"Real" feed constant = 30 mm
parameterized value in parameter "Yx57: Feed constant meas
uring encoder" = 10.2606 mm
The short parts inhibit is activated by setting bit 11 in parameter "Yx69". If a
short part has been detected by the system, the synchronization is inhibited
so that the carriage always reaches the return position. The carriage then re
mains in the return position until production is restarted by an immediate or
crop cut. With the detection of the short parts suppression, system flag
"MSx14" is set at the same time. The system flag remains set until the EOS
command is called up as a result of the immediate or crop cut. This allows
the short parts suppression to be used during the application in the tool pro
gram. With the execution of the immediate and crop cut, the "Scrap cut" out
put is also set (see "Yx79"). The output and the system flag can be used to
separate these parts from the regular parts in production.

When the short parts inhibit is activated, an immediate or

crop cut is only possible if the carriage is in the return posi
tion.

If the return inhibit is activated, an existing short part is only

evaluated, if the return inhibit is deactivated again, i.e., only
then is the "MSx14" flag set. If the cut position can no longer
be reached, the SMC does not generate an error.

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Functions

Material Length Counter

The accumulated length of all material processed in automatic and manual
mode is stored in the read-only system variables VSx19 and VSx24. This
system variable can be reset via the input configured in "Yx76: Reset materi
al length counter, In-config" or via the VCP 08 (see "Operation screen" on
page 156). The "Flying Cutoff" application type must be active to make the
material length counter available.

Product Length Counter

The product length counter indicates the distance between the last cut and
the position of the tool (i.e., the actual cut length if the carriage is synchron
ized). The current value of the product length counter is output in the readonly system variable VSx20.
Product length counter value = length of LMx command + "Yx63:
Tool width"
This system variable can be reset via the input configured in "Yx78: Reset
product length counter, In-config" or via the VCP. This creates a new refer
ence for the next cut (as is the case with a crop cut except that, in this case,
there is no cut). The product length counter cannot be reset while synchro
nous run is active. The signal is ignored in this case. The "Flying Cutoff" ap
plication type must be active to make the product length counter available.

NOTICE

When the product length counter is reset,

monitoring for the maximum part length is no
longer possible.

Scrap Cut Output

The output configured Y-parameter "Yx79: Scrap cut active, Out-config" is set
if a cut is made the length of which was not specified beforehand. The output
can be used to separate these parts from the regular parts in production.
This is the case in manual mode if the manual cut routine is called. In auto
matic mode, the output is set if a crop cut or an immediate cut is triggered or
a cut is initiated by monitoring for the maximum part length. The EOS com
mand resets the output.

Maximum Part Length

The purpose of maximum part length is to provide a means to prevent parts
that are too long for the machine to be produced. The maximum part length is
configured in Y-parameter "Yx60: Maximum part length". The desired reac
tion that is performed when the maximum part length is exceeded is config
ured in Y-parameter "Yx61: Error reaction maximum part length". Additional
ly, the output configured in Y-parameter "Yx83: Max. part length reached,
Out-config" indicates whether the maximum part length has been exceeded.
The part length is always measured starting at the current carriage position.

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The following error reactions are supported for Y-parameter "Yx61: Error re
action maximum part length" in automatic mode:
Parameter

Setting

Yx61: Error reaction max. part 0 = off

length
1 = warning

Description
The maximum part length monitoring is switched off.
A system warning is issued when the maximum part length
is exceeded. A corresponding reaction can be programmed
in the SMC program.

2 = error

A system error is issued. The default reaction is to stop the

carriage axis immediately.

3 = force cut

A forced cut will be executed using the length defined in the

maximum part length.

Fig.7-46:

Fehlerreaktion maximale Teilelnge

Monitoring for the maximum part length is also activate in manual mode. If
the "Force cut" error reaction is parameterized, an error is triggered in man
ual once the maximum part length is reached.
The maximum part length functionality is enabled when Y-parameter "Yx61:
Error reaction maximum part length" is set to a value greater than 0 and the
maximum part length is defined. Maximum part length is configured via the
VCP Flying Cutoff masks.
Option "3 = force cut" is not appropriate for an LML command be
cause waste is produced if the "part length" is parameterized im
properly. For this reason, an error is generated if a part length ex
ceeds the maximum part length on calling the LML command.
The same applies to the LMK command.

Fig.7-47:

Maximale Teilelnge

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Functions

Part Separation
Part separation allows the user to execute a small forward move of the car
riage axis after a cut has been made. This is done so that the tooling can be
retracted without binding on the edge of the material when extracted.
Part separation can also be used to create a gap between parts when nee
ded for the part handling system. This movement is performed using an
"SPO Position offset of synchronous axes" command in a tool program cre
ated by the user. The SPO command can only be issued while the carriage is
synchronized with the material and the value is positive. The SMC will auto
matically check for positive values and issue an error if negative. The SMC
will also reset the SPO command back to 0 as soon as the carriage starts the
return motion.
The SPO command in the following program example performs the following
sequence:
Once the shear has cut through the material, the "AKN Acknowledge bit"
command waits until input "I.A1.X31.Pin3" is set before starting part separa
tion.
1. The "SPO Position offset of synchronous axes" command uses axis 1
and initiates a position offset of 10 mm while using 100% of the pro
grammed velocity and acceleration.
2. The "AKN Acknowledge bit" command waits until flag "MS110" is set
which indicates that the position offset adjustment has been completed.
The return movement of the shear is started when the AEA command resets
output "Q.A1.X32.Pin9" causing the valve to close and retracting the shear.

Fig.7-48:

Part separation program example

Refer to chapter 6.11.65 "SPO Position Offset of Synchronous Axes" on

page 304.
If the SPO command is issued before synchronization starts, the
carriage will jerk and may cause the drive to fault or damage the
tooling. This command should only be issued after the part has
been cut and the carriage has sufficient travel remaining.

Tailout
Tailout machining is intended to avoid the waste of material. If the input con
figured in Y-parameter "Yx88: No material, In-config" detects the end of ma
terial, the value stored in the axis-dependent system variable VSx22 is taken
instead of the material velocity of the measuring encoder. This value repre
sents the average material velocity of the last 400 ms.
If tailout machining is active, the axis-dependent system flag MSx11 is set
and the user can write the value of variable VSx22 to specify the material ve

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Functions
locity. This change in velocity takes immediate effect. If it is different from the
actual velocity, there is the risk of damage to the tool or material.

Fig.7-49:

Tailout machining

NOTICE

If the real material velocity changes after tail

out machining has taken effect or if a value
differing from the real material velocity is writ
ten to the axis-dependent system variable
VSx22, there is the risk of damage to the tool
or material.

If a value greater than zero is entered for Y-parameter "Yx87: Maximum tail
out length", the available material tailout length is continuously updated in the
axis-dependent system variable VSx23. The following figure shows how to
determine Y-parameter Yx87. The maximum tailout length is the distance
from the sensor detecting the end of material to that part of the machine that
ensures that the material can still be handled (the feed rolls in this case). A
safety distance (identified by A in the figure) should be taken into account be
cause a machining cycle, if started, will be completed so that more material
can run through the machine than specified in parameter Yx87. When calcu
lating the available tailout length, the return position of the carriage, the tool
offset and the tool width must be taken into account.

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Functions

Fig.7-50:

Tailout machining if a maximum tailout length is entered

If a request cut cannot be executed, because the cut length exceeds the cur
rently available tailout length, or if the maximum tailout length has run
through the machine, the output configured in Y-parameter "Yx89: Tailout
done, Out-config" and the axis-dependent system flag MSx12 are set. The
following figure illustrates various cases where the output is set.
In case a), the output is set as soon as the cut length specified by a Flying
Cutoff motion command exceeds the available tailout length. If, for example,
an LMR command is used to detect a registration mark on the material and a
cut having a cut length which exceeds the available tailout length is not re
quested, the output is set as soon as the maximum tailout length has run
through (see case b).
The behavior for the last machining step is defined by bit 7 and bit 9 of Yparameter Yx69. Bit 7 defines whether Cut Inhibit should be activated after
the last possible cut. This is intended to prevent that the machine is in a Fly
ing Cutoff motion command after tailout machining has been done and is
ready to execute the next cut. If bit 9 is set, a cut at the end of tailout machin
ing can be forced. Thereafter, Cut Inhibit is activated. The last cut is executed
only if at least one crop cut length is available. If both bit 7 and bit 9 are set,
bit 9 is ignored.
If the system is just in machining mode, this machining cycle is completed
and the output is set thereafter. In this case, more material runs through the
machine than entered in Y-parameter "Yx87: Maximum tailout length" (see
case c). If the last machining cycle takes too long, there is the risk of too
much material running through the machine, as is shown in case d).

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a)
b)
c)
d)

Fig.7-51:

Cut length > available tailout length

tailout done = 1
No cut request and maximum tailout length run through
tailout done = 1
Sufficient safety distance A
Insufficient safety distance A

Tailout done

NOTICE

If the system is just in machining mode, this

machining cycle is completed and the output
is set thereafter. In this case, more material
runs through the machine than entered in Yparameter "Yx87: Maximum tailout length"
and there is the risk of material falling into the
machine.

The supply of material must be stopped by the SMC program. The tailout ma
chining functionality just provides the necessary information.

Material Pulse
The SMC system issues a travel pulse when a predefined length of material
has run through the machine. The material length is set in Y-parameter
"Yx68: Material pulse distance". The value can be changed at any time and
takes effect after the next pulse. The material pulse is sent to the output de

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Functions
fined in Y-parameter "Yx84: Material pulse, Out-config" with a pulse width of
250 ms.

Presync Pulse
The SMC system outputs a presync pulse as soon as the distance between
the cutoff carriage and the next theoretical processing point (i.e., when the
carriage has fully synchronized again) is less than the time or distance de
fined in Y-parameter "Yx86: Presync value". Either a distance is given in
"mm" or a time in "ms", depending on bit 6 of Y-parameter Yx69.
The pulse width is defined in Y-parameter "Yx13: Presignal duration". If the
synchronous run is stopped by the "EOS End of synchronization" command
before the time defined in Yx13 has elapsed, the pulse width decreases ac
cordingly.
This signal is typically used to compensate for the dead-time of hydraulic
valves during activation.

7.11.7

If the unit selected in Y-parameter "Yx69: Flying Cutoff con

figuration", bit 6 is "Time", a constant material velocity is as
sumed. Signal accuracy cannot be ensured for a variable
material velocity.

The "Presync pulse" system output is cyclically processed

within the SMC at 10ms intervals (cf. PlcTask).

The correct function of the "Presync pulse" output is only en

sured if the available distance to the next processing point is
sufficiently large enough (e.g., it does not function correctly if
the distance between the registration mark and the cut posi
tion is insufficient).

Sequence Summary
The sections below will give a summary of the behavior of the Flying Cutoff
commands. The system is in automatic mode and both nStop and nE-Stop
are set. The carriage is at any position, i.e., it is not necessarily at the return
position. The program is activated by pressing Start.
If the material is not in its home position while the first Flying Cutoff command
is to be processed, the reference automatically set with regard to the return
position or it is generated by an automatic crop cut. This is defined by bit 3 of
Y-parameter Yx69.
After the material has reached the home position, the system continuously
monitors whether the maximum part length has been reached. Once the
maximum part length has been reached, the error reaction parameterized in
Yx61 is issued. If a Flying Cutoff motion command requests a cut, the system
first checks whether this cut can be executed or whether too much material
has already run through. Depending on bit 4 of Y-parameter Yx69, either a
cut is automatically executed or an error is generated.
If the requested cut can be executed, the movement of the carriage to the re
turn position is initiated (provided bit 5 of Y-parameter Yx69 is not set, thus
triggering the return movement by the "Flying Cutoff" motion command). The
carriage synchronizes with the material. After the cut has been executed, the
end of the tool program is signaled by the EOS command. The next Flying
Cutoff motion command initiates the movement of the carriage to the return
position if the maximum part length has not been exceeded.

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This sequence is illustrated in the flow chart below:

Fig.7-52:

Flying Cutoff flow chart

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Functions

7.12

Drive-integrated Safety Technology

7.12.1

General Information
In connection with the integrated safety technology, the "SMC" system solu
tion supports the "safe operation modes" listed in chapter 7.12.4 Supported
Safe Operation Modes, page 404. Although "safe operation modes" that are
not included in the list can generally be used in the individual axes, they are
not actively supported by the SMC.
The SMC reacts to a "safe operation mode" depending on the specific axis.
The particular behavior depends on the "safe operation mode" and on the op
eration mode that is active in the drive.
The "NC-controlled" safety technology mode transition is the only
one supported.

The SMC allows activating the following drive operation modes which are rel
evant for the safety technology:

Drive-controlled positioning
The operation mode is activated by jogging in manual mode or by call
ing one of the following motion commands:

CON - Continuous operation

PFA Positioning, absolute to positive stop

PFI Positioning , incremental to positive stop

POA - Positioning, Absolute with Immediate Block Stepping

POI - Positioning, Incremental with Immediate Block Stepping

PSA - Positioning, Absolute with In-Position

PSI - Positioning, Incremental with In-Position

SRM - Search for registration mark

VOA Velocity coupled axis over PLC Global Register

Synchronization mode
This operation mode allows velocity synchronous axes, phase synchro
nous axes and cam axes.
The operation modes are activated by calling the following motion com
mands:

CMA Cam axes: activation

FOA Phase synchronous axes: activation

SOA Velocity synchronous axes: activation

Velocity control
This operation mode is activated in the user program by calling com
mand "CVA - Velocity coupled axes: activation".

Position mode drive controlled

This operation mode is activated in the user program by calling com
mand "CPA - Position coupled axes: activation".

Torque Control
This operation mode is activated in the user program by calling com
mand "CTA Torquecoupled axes: activation".

Homing

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Homing in manual mode can be activated by the appropriate input or by
calling the "HOM homing" command in the user program.
For a description of the mode-dependent reaction, please refer to chapter
7.12.4 "Supported Safe Operation Modes" on page 404.
There is no reaction in the SMC if the virtual axis is used in a safe
operation mode. The necessary reactions must be executed in
the user or application program.
System variable

The selected and active safe operation mode is mapped in the axis-specific
system variables "VSx26" (selected safety technology operating status) and
"VSx27" (active safety technology operating status). These system variables
can therefore be used to poll and react to the safe operation mode even in
the user program.
The meaning of the safety technology operating statuses in system variables
"VSx26" and "VSx27" is as follows:
0 = Normal operation (NO)
1 = Safe stop 1 (Emergency stop) (SS1 ES)
2 = Special mode safe standstill (safe stop 1 (SS1) / safe stop 2 (SS2))
3 = Special mode safe motion 1 (SMM1)
4 = Special mode safe motion 2 (SMM2)
5 = Special mode safe motion 3 (SMM3)
6 = Special mode safe motion 4 (SMM4)
7 = Parking axis
8 = Safe torque off (STO)

Parameter

7.12.2

The following Y-parameters are relevant for safety technology:

Yx41: Safety-related reduced velocity, page 546

Yx42: SI Lock-off behavior, page 547

Commissioning
We recommend to proceed as follows when commissioning the driveintegrated safety technology:
1. Start IndraWorks
2. Stop the drive-integrated PLC of the master axis (dialog: MLD Config
uration PLC control "Stop")

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Fig.7-53:

Dialog for stopping the PLC

3. Start the wizard for initial commissioning of the safety technology

The drive-integrated safety technology must be commissioned through
the IndraWorks Safety Technology Wizard. For more detailed informa
tion about the "integrated safety technology" please refer to the docu
mentation "DOK-INDRV*-SI*-**VRS**-FK**-EN-P".

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Fig.7-54:

Commissioning the drive-integrated safety technology

The "NC-controlled" safety technology mode transition is the only

one supported.
4. Start the drive-integrated PLC of the master axis (dialog: MLD Config
uration PLC control "Run")

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Functions

Fig.7-55:

7.12.3

Dialog for starting the PLC

Supported Safety Technology Hardware

L2 - "Safe Torque Off"

This optional card is available for all "IndraDrive" drive family control units.
"P-0-0101, Configuration for starting lockout selector" and "P-0-0103, Time
interval of forced dynamization" can be used for parameterization.
The IndraWorks Safety Technology Wizard should preferably be used for
commissioning.

L3 - "Safe Torque Off"

This optional card is available for all "IndraDrive Cs" drive family control units.
"P-0-0101, Configuration for STO/SBC" and "P-0-0103, Time interval of
forced dynamization" can be used for parameterization.
The IndraWorks Safety Technology Wizard should preferably be used for
commissioning.

L4 - "Safe Torque Off and Safe Brake Control"

This optional card is available for all "IndraDrive Cs" drive family control units.
"P-0-0101, Configuration for STO/SBC" and "P-0-0103, Time interval of
forced dynamization" can be used for parameterization.
The IndraWorks Safety Technology Wizard should preferably be used for
commissioning.

S2 - "Safe Motion"
This option card is only available for control sections of type

"IndraDrive Advanced+"

"IndraDrive Advanced"
The IndraWorks Safety Technology Wizard should preferably be used for
commissioning.

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7.12.4

Supported Safe Operation Modes

Safe Stop 1 ("SS1")

The "Safe stop 1" safely interrupts the energy supply to the motor. The motor
cannot generate any torque/force and can therefore not initiate any danger
ous movements.
To be used, the "Safe stop 1" function requires the optional safety technology
module "S2".
SMC reaction

If the SMC detects "Safe stop 1", torque is immediately removed from the ax
is. Once "Safe stop 1" has been deselected again, the torque of the axis is
automatically applied.

Drive-controlled positioning

This mode supports the logical continuation of a positioning motion after it

has been interrupted. Positioning commands that have already been initiated
are interrupted and continued without any dimensional loss after the safety
technology mode has been exited. If the program run encounters a block with
a positioning command (e.g., "PSI"), the SMC stops in this block until the
safety technology mode is deactivated again. If a positioning command is in
terrupted or not started, the "Operating barrier" output is set.
The remaining distance can only be processed if the axis is or
has remained in its home position. To ensure that the reference of
the measuring system is preserved even after activation and de
activation of measuring wheel mode, bit 5 must be set in drive pa
rameter "P-0-0185, Control word of encoder 2 (optional encod
er)". If the bit is set to "TRUE", the dimensional reference of the
measuring wheel encoder is preserved after activation/deactiva
tion of measuring wheel mode. Otherwise, the dimensional refer
ence of the measuring wheel encoder is deleted.
Jog and continuous run motions are stopped. After the safety technology
mode has been exited, they are resumed. If the program run encounters a
block with a motion command (e.g., "CON"), the SMC stops in this block until
the safety technology mode is deactivated again. If a motion command is in
terrupted or not started, the "Operating barrier" output is set.

Synchronization mode

The torque applied to synchronous and cam axes is removed only if the dis
connection is parameterized in parameter "Yx42, SI Lock-off behavior".

Velocity control

Axis motions are stopped and continued after safety technology operation
mode has been exited.

Position mode drive controlled

"Safe stop 1" is not allowed for the axis in this mode. This is an axis which is
position coupled to a master axis. All axes (master and slave) of a positioncoupled axis group must always be under torque. Otherwise, the axis gener
ates the error "Drive without torque: axis x" or "F7050 time-out stop" (see al
so chapter 7.10.5 "Position Coupling (e.g., Gantry Group)" on page 349).

Torque control

Axis motions are stopped and continued after safety technology operation
mode has been exited.

Homing

Any started homing routine is stopped. If homing was started in manual mode
using the "Homing" input, homing must be reactivated. An interrupted "HOM"
command in the user program is continued after the safety technology mode
has been exited. If the program run encounters a block with the "CON" (hom
ing) command, the SMC stops in this block until the safety technology mode
is deactivated again. If a "HOM" command is interrupted or not started, the
"Operating barrier" output is set.

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Safe Stop 2 ("SS2")

While the "Safe stop 2" safety function is active, the drive is at controlled
standstill, i.e., all control functions between the electronic control and the
drive are preserved. The drive is monitored via two channels to prevent from
making dangerous movement although energy supply is not interrupted.
To be used, the "Safe stop 2" function requires the optional safety technology
module "S2".
SMC reaction

If the SMC detects "Safe stop 2", the axis is stopped immediately. Axis move
ment is enabled as soon as the safety technology mode "Safe stop 2" is de
selected again.

Drive-controlled positioning

This mode supports the logical continuation of a positioning motion after it

has been interrupted. Positioning commands that have already been initiated
are interrupted and continued without any dimensional loss after the safety
technology mode has been exited. If the program run encounters a block with
a positioning command (e.g., "PSI"), the SMC stops in this block until the
safety technology mode is deactivated again. If a positioning command is in
terrupted or not started, the "Operating barrier" output is set.
Jog and continuous run motions are stopped. After the safety technology
mode has been exited, they are resumed. If the program run encounters a
block with a motion command (e.g., "CON"), the SMC stops in this block until
the safety technology mode is deactivated again. If a motion command is in
terrupted or not started, the "Operating barrier" output is set.

Synchronization mode

In the case of synchronous and cam axes, the axis is switched over to the
"Drive Halt" (AH) mode. The synchronization mode is reactivated after the
safety technology mode has been exited. The axis is switched over to "Drive
Halt" (AH) only if the disconnection is parameterized in parameter "Yx42, SI
Lock-off behavior".

Velocity control

Axis motions are stopped and continued after safety technology operation
mode has been exited.

Position mode drive controlled

No SMC reaction.

Torque control

Axis motions are stopped and continued after safety technology operation
mode has been exited.

Homing

Any started homing routine is stopped. If homing was started in manual mode
using the "Homing" input, homing must be reactivated. An interrupted "HOM"
command in the user program is continued after the safety technology mode
has been exited. If the program run encounters a block with the "CON" (hom
ing) command, the SMC stops in this block until the safety technology mode
is deactivated again. If a "HOM" command is interrupted or not started, the
"Operating barrier" output is set.

Safe Stop 1 (Emergency Stop) ("SS1ES")

The safety function "Safe stop 1 (emergency stop)" corresponds to "Safe
stop 1", except that it is not cancelled by actuating an acknowledgement unit.
To be used, the "Safe stop 1 (emergency stop)" function requires the optional
safety technology module "S2".
SMC reaction

The behavior of the SMC with "Safe stop 1 (emergency stop)" corresponds to
its behavior with "Safe stop 1" (see chapter "Safe Stop 1 (SS1)" on page
404).

Safe Motion ("SMM1-4")

The "Safe motion" mode provides the following functions:

"Safety-related reduced velocity"

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"Safe direction"

"Safely limited increment"

"Safely limited absolute position"

The SMC actively supports only the "Safety related reduced velocity" func
tion.
To be used, the "Safe motion" function requires the optional safety technolo
gy module "S2".
SMC reaction

The SMC reacts only in mode "Drive-controlled positioning" (unless activated

via the VOA command, see chapter 7.12.1 "General Information" on page
399). If the SMC registers the "Safe motion", the command velocity is auto
matically limited to the value set in parameter "Yx41: Safety-related reduced
velocity" (see chapter "Yx41: Safety Related Reduced Speed" on page 546).
The original command velocity is set again as soon as the "Safe motion" has
been deselected.
If the value in the "Yx41: Safety-related reduced velocity" is set to
"0", the SMC does not automatically limit the velocity command
values. In this case, the superordinate control itself is responsible
for specifying reduced command velocities in manual or automat
ic mode.

Drive-controlled positioning

In this mode, the specified command velocity is automatically limited to the

value set in parameter "Yx41: Safety-related reduced velocity".

Synchronization mode

No SMC reaction.

Velocity control

No SMC reaction.

Position mode drive controlled

No SMC reaction.

Torque control

No SMC reaction.

Homing

No SMC reaction.

Safe Torque Off ("STO")

The "Safe Torque Off" safety function safely interrupts the energy supply to
the drive. The drive cannot generate any torque/force and can therefore not
initiate any dangerous movements.
To be used, the "Safe Torque Off" function requires the optional safety tech
nology module "L2".
SMC reaction

Before the "Safe Torque Off" safety function is selected, the drive must be
decelerated via command value specification and drive enable must be re
moved. The SMC does not carry out these two steps.
The drive enable signal is configured by means of "Yx15: Drive Enable, InConfig" (see also chapter "Yx15: Drive Enable, In-config" on page 534) and
can be used in manual mode to set and remove drive enable.

7.13

Setup Mode
If the user program is active in manual or automatic mode, the "Setup Mode"
input can be used to activate setup mode. Once the program calls a PSI
command and the "Setup Mode" input is set, setup mode becomes active
and the "Setup active" output is set.
With setup mode being active, the specified feed length is not traversed auto
matically via the PSI command, i.e., the user program is stopped in the PSI
command. In setup mode, the feed length must be traversed using the two
jog inputs ("Jog+" and "Jog").

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The jog velocity is specified via parameter "Yx05: Setup velocity". The axis
can be jogged between the start and end positions as desired. A positive
edge at the "Jog" input starts the motion of the axis towards the start posi
tion. A positive edge at the "Jog+" input starts the motion of the axis towards
the end position. The start and end positions are not exceeded. When the ax
is is in the start position, the "Setup start position" output is set. Once the axis
has reached the specified end position via "Jog+", the "Setup end position" is
set.
The end of setup mode and therefore block stepping to the next command is
achieved as soon as a positive edge has been detected at the "Setup End"
input.

Setup mode can also be ended if the end position has not
been reached. In this case, the tailout length, if any, is ignor
ed.

Setup mode is only in effect while the PSI command is being

processed.

The following Y-parameters are relevant for setup mode:

Yx05: Setup Velocity, page 529

Yx24: Setup mode, In-config, page 538

Yx25: Setup end, In-config, page 539

Yx35: Setup active, Out-config, page 544

Yx36: Setup start position, Out-config, page 544

Yx37: Setup end position, Out-config, page 544

Relevant system inputs are as follows:

Setup mode, page 222

Setup end, page 223

Relevant system outputs are as follows:

Setup active, page 226

Setup start position, page 226

Setup end position, page 226

7.14

Homing
If a drive is commissioned for the first time, the actual position values fed
back by the measuring systems do not have any reference to the machine
axis yet.

Relative measuring systems

Absolute measuring systems

This applies to

relative (incremental) measuring systems and

absolute measuring systems.

The dimensional reference of a relative measuring system to the axis must
be re-established each time the drive has been switched on or after the di
mensional reference has been lost. This requires that the axis move to a spe
cific position and the position feedback value at a defined position be set to
an axis-related value (except for relative encoders with distance-encoded
registration marks where a motion is required across two marks only).
On commissioning, the dimensional reference of an absolute measuring sys
tem to the axis must be established once after the motor or encoder (motor
encoder or external encoder) has been replaced and changes have been

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made to the axis mechanics. The dimensional reference does not get lost
and the position feedback values are axis-related immediately after the drive
has been switched on and are therefore valid.
Displaying the dimensional refer
ence

The "In reference" output displays whether the dimensional reference of a

measuring system evaluated by the controller is established.

The "In reference" output displays the position status of the en

coder declared via bit 3 of "S-0-0147, Homing parameter":

Bit 3 = 0: Motor encoder

Bit 3 = 1: Optional encoder or external encoder

Motor encoder and external en
coder

Establishing dimensional refer

ence

There may be an external (optional) encoder in addition to the motor encod

er.

With any combination of relative and absolute measuring system desired,

both encoders

can have dimensional reference to the axis independently of each other

(both encoders have different position feedback values),

can have dimensional reference to the axis depending on each other

(both encoders have identical position feedback values).
This is configured by means of parameters and implemented using the "Hom
ing" input for establishing the dimensional reference.
The "Homing" input is used to activate the drive-controlled establishing of the
dimensional reference by initiating a drive command.
The sequence depends on the measuring system type:

If it is a relative measuring system without distance-encoded registration

marks, the axis moves to the reference point and then automatically
switches to axis-related position feedback values.

If it is a relative measuring system with distance-encoded registration

marks, the axis moves between two registration marks and then auto
matically switches to axis-related position feedback values.

If the measuring system is absolute, an axis at standstill causes auto

matic switchover to the axis-related position feedback value.
The presettings for establishing the dimensional reference are made via the
allocated parameters.
If absolute evaluation is possible and active with the encoder selected (cf.
drive parameter S-0-0277, bits 6/7), the dimensional reference is internally
established via the drive command

"P-0-0012, C0300 command: Set absolute reference" ("IndraDrive")

"S-0-0447, C0300 command: Set absolute reference" ("IndraDrive Cs")

If absolute evaluation is not possible or active, the dimensional reference is
internally established via the "S-0-0148, C0600 Drive-controlled homing pro
cedure command" drive command. After the drive command has been exe
cuted, the axis is at standstill.
Depending on the setting in drive parameter "S-0-0147, Homing parameter"
(bit 3), the dimensional reference with relative and absolute evaluability is es
tablished for

Bit 3 = 0: Motor encoder

Bit 3 = 1: Optional encoder or external encoder.

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The relevant parameters (e.g., homing velocity) for "Set absolute
position procedure" or "Drive-controlled homing procedure" must
be defined in the IndraWorks dialog "Motor encoder reference" or
"Dimensional reference - optional encoder".
Virtual axis

It is also possible to home the virtual axis. In manual mode, the reference po
sition of the virtual axis is always set to "0". The HOM command is used to
set the reference position of the virtual axis via parameter "Reference value"
to any value.
In manual mode, homing can be activated via the input defined in parameter
"Yx22: Homing, In-config" provided the manual routine and the manual cut
routine are not active. In automatic mode or with running hand routine or
manual cut routine, homing can only be initiated with the HOM command.
In case of a stop or switchover to another operation mode while homing is in
progress, the cycle is stopped and must be called again. In "Automatic" mode
(HOM command), the homing cycle is restarted immediately after a stop and
actuation of the start button. The homing cycle must be re-called after an
error or switchover to another operation mode during the homing cycle.

Relevant Y-parameters are as follows:

Yx22: Homing, In-config, page 537

Yx23: Homing switch, In-config, page 538

Yx30: In reference, Out-config, page 541

Relevant system inputs are as follows:

Homing, page 222

Homing switch, page 222

Relevant system outputs are as follows:

In reference, page 226

7.15

Lift Rolls (Electrically)

While the rolls are lifted, torque is removed from the drive and the rolls are
moved apart as soon as the tool enters the material, in order to prevent the
material from being destroyed by the rolls. The SMC receives the lift rolls sig
nal from outside via the "Lift rolls" input. To lift the feed rolls, the SMC then
sets the "Lift rolls active" output which activates an internal unit (hydraulics or
the like) to open the feed rolls.
As long as the "Lift rolls" input signal is applied, the "Lift rolls active" output
signal is activated. Motor encoder or measuring wheel motions do not gener
ate errors and are not undone when the function is switched off. An active
feed is delayed until the "Rolls closed" input signal is present. While the rolls
are lifted, positioning and block stepping are delayed on entry in a feed block
until the input becomes "0".
In manual mode, the "Lift rolls active" output signal is also set as
long as the "Lift rolls" input signal is present; however, torque is
not removed from the drive.
The "Lift rolls" function is available for axes 1 to 6 independently of each oth
er.

Relevant Y-parameters are as follows:

Yx17: Lift rolls, In-config, page 535

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Yx18: Rolls closed, In-config, page 536

Yx31: Lift rolls active, Out-config, page 542

Relevant system inputs are as follows:

Lift rolls, page 221

Rolls closed, page 221

Relevant system outputs are as follows:

Lift rolls active, page 226

7.16

Positive Stop Drive Procedure

The task is to travel a specific distance, wherein the positive stop is expected
along the programmed distance.
If the positive stop is reached within the distance traveled, the torque defined
in the user program (see PFC command) is used to press continuously
against the positive stop. This torque is maintained until a new motion is initi
ated by another travel command. If it is only intended to relieve the mechani
cal tension, the PBK command can, for example, be called.
The following position and motion monitoring functions of the drive are deacti
vated while traveling to the stop and after having reached the stop. During
this time, the drive displays "C13" (cf. drive command "S-0-0149, C1300 Pos
itive stop drive procedure command").

Monitoring for "drive does not follow command value"

"F2028 Excessive control deviation"

Monitoring for velocity command value

"F2037 Excessive position command value difference"

Monitoring for acceleration command value

"F2039 Maximum acceleration exceeded"

Monitoring for velocity loop

"F8078 Speed loop error"

The torque to be applicable until the positive stop has been reached (i.e.,
while the carriage is moving) is also defined in the user program (see PFC
command).
If the positive stop is not reached during the programmed travel distance, the
only distance traveled is the programmed distance and the constant torque
limit becomes active again (cf. MOM command). In this case, the program
run can be diverted to a user-defined error routine.
Function "Positive stop drive procedure" is triggered via commands "PFA"
and "PFI" and configured via command "PFC".

Remarks:

After command PFA/PFI has been called, the drive displays "C13" until
the positive stop is left again.

Stop detection is not activated until, after command PFA/PFI has been
called, a drive motion exceeding the standstill window has been detec
ted (specified by the PFA/PFI command).

The positive stop is detected, as soon as:

1. The current torque/force feedback value is >= torque/force limit val
ue (specified by the PFC command, parameter 1).
and

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2. A drive motion less than the standstill window defined in the
PFA/PFI command is made. To achieve this, the standstill window
must be considerably less than the velocity during the positive stop
drive procedure (both data in the PFA/PFI commands).
Only one PFA/PFI command can be effective for the particular axis at a time.
While the "positive stop drive procedure" is active, processing of another
PFA/PFI command for this task is prevented in another task until the currently
active "positive stop drive procedure" has been completed.
Functions "Feed interrupt" (cf. "Yx16") and "Feed control" (cf. "Yx26") are in
effect. The presignal (cf. "Yx38") is not in effect.

The "positive stop drive procedure" function is not possible for:

the "virtual axis"

the "Flying Cutoff" application type

IndraDrive control sections with "sercos analog converter"

(SAC)
Example program:

Fig.7-56:

7.17

Example program with PFA command

Clear Outputs
This function allows having an influence on how to clear all digital outputs in
the event of an error.

Y-Parameter "Y009: Clear outputs" provides the following settings:

0: Clear outputs in the event of an error

1: Do not clear outputs in the event of an error.

The outputs will not be cleared before the error is acknowledged.

2: Do not clear outputs if an error occurs or is acknowledged.

7.18

Presignal
The "Presignal" is an axis-dependent output signal. The programmed presig
nal applies to the POI, PSI, POA, and PSA feed commands. As soon as the

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distance still to be traveled becomes smaller than the presignal distance par
ameterized in parameter "Yx14: Presignal, distance", the output configured in
parameter "Yx38: Presignal active, Out-config" is activated.
The output remains activated permanently or for the time parameterized in
parameter "Yx13: Presignal duration". Whenever a feed block is re-entered,
the output is deactivated.

Relevant Y-parameters are as follows:

Yx13: Presignal duration, page 533

Yx14: Presignal, distance, page 534

Yx38: Presignal active, Out-config, page 545

Relevant system outputs are as follows:

Presignal active, page 226

7.19

Watchdog
The "watchdog" on the PLC evaluates the task utilization which is continu
ously measured. The sensitivity of the watchdog on the PLC can be set in Yparameter "Y031: Watchdog sensitivity" (see also chapter "Y031: Watchdog
Sensitivity" on page 514).
Using the watchdog on the PLC is to advantage in that an application-specific
error (F2011) is generated which can be easily reset.

The task utilization can be observed in the following system variables:

VS008: Current utilization of MotionTask in [%]

VS009: Maximum load of MotionTask in [%] since Clear Error

VS010: Current load of PlcTask in [%]

VS011: Maximum load of PlcTask in [%] since Clear Error

VS025: Maximum load of MotionTask since power on in [%] (as of

SMC12V02 and above)

VS026: Maximum load of PlcTask since power on in [%] (as of

SMC12V02 and above)
If the utilization is too high, the cycle time of the MotionTask can
be increased (see chapter "Y001: Cycle Time" on page 498) or
the watchdog sensitivity (Y031) can be reduced.
The internal watchdog is set to a value of 20 ms for the MotionTask and to 50
ms for the PlcTask. This internal watchdog will therefore become active in the
event of serious errors to which the watchdog on the PLC does not react. In
this case, however, the PLC program must be reset completely.

7.20

sercos Analog Converter

7.20.1

Overview
A "sercos analog converter (SAC)" is an IndraDrive controller section having
the function of a link between a sercos control and a drive with an analog 10
V interface. All known Bosch Rexroth drives with analog master communica
tion can be operated with the sercos analog converter, such as DSC, TDM,
Diax, or the current IndraDrive series. The SAC itself consists of the control
ler section and a housing for voltage supply. It may not contain a power sec
tion.

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The SAC functionality is serially implemented in the drive firmware so that
special software is not necessary and a special function package does not
have to be activated.

NOTICE

Speed control loop monitoring switched off!

The SAC does not provide for speed control
loop monitoring.

The SMC only uses position-controlled operation modes (including jog mode
and CON command). Monitoring of the position control loop is always active.

7.20.2

Drive Parameters Involved

The following table lists all parameters which must be configured for commis
sioning the sercos analog converter. With the exception of encoder parame
ters, all parameters are automatically set on powering up of the SMC. An
SAC is detected by means of drive parameter "S-0-0140, Controller type".
If parameter P-0-0860, bit 15 = 1, is not configured, the SAC dis
plays the "F8091: Power section defective" error because there is
no power section. After the bit has been set, the controller section
must be rebooted.

Parameter

Parameter name

Value

Remark

P-0-0860

Converter configura
tion

Bit 15 = 1

Operation as SAC (a change becomes effective only

after rebooting)

P-0-0118

Power supply, configu

Bit 15 = 1
ration

Switches off the module bus communication between

supply and control units.

P-0-0114

Undervoltage thresh
old

Allows powering up until "Ab" even without DC bus

voltage

P-0-0418

Analog output, assign

ment A, signal value at 0
0V

0 with 0 V for channel 3

P-0-0420

Analog output, assign

ment A, signal selec
tion

P-0-0048

Signal assigned to channel 3

P-0-0422

Analog output, assign

ment A, scaling [1/V]

x/V

Evaluation for channel 3. The value corresponds to

"Yx04, Maximum velocity" divided by 8.

P-0-0427

P-0-0427, Control pa
rameter of analog out
put

0b0000.0001.0001.000
Channel 3 active and assignment A: limitation
1

P-0-0556

Config word of axis

controller

Bit 1 = 1:

Speed control loop monitoring is deactivated

P-0-0556

Config word of axis

controller

Bit 4 = 1

Deactivation of warning E8260 (Torque/force com

mand value limit active)

P-0-4004

Magnetizing current

0A

Set magnetizing current to 0 A; else maximum value

violation

P-0-0074

Encoder type 1

Type of encoder at the

motor of the analog
controller

Must be configured manually.

0V

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Parameter

Parameter name

Value

Remark

P-0-0077

Assignment motor en
coder optional slot

Optional slot for en

coder option

Must be configured manually.

S-0-0116

Resolution of feedback Motor encoder resolu

1
tion

Fig.7-57:

Must be configured manually.

Drive parameters involved in sercos analog converter (SAC)

If the analog controller slowly drifts in one direction despite a specified volt
age of 0 V, parameterization of "P-0-0216, Dead zone" provides a remedy.
As a result, however, the position command value might not be reached. This
can be remedied by increasing the "S-0-0057, Position window" in the SAC.
But it must be noted that this reduces the velocity.

7.20.3

Remarks
If an "F8091" error is pending, fully automatic configuration is not possible on
powering up the SMC because phase switchover is prematurely terminated
with C0266. This requires that, beforehand, bit 15 = 1 be set in P-0-0860 and
the encoder be configured and the "P-0-4004, Magnetizing current" be set to
"0" on commissioning.

7.20.4

Functional Description
The SMC delivers the velocity command value S-0-0036 in closed-loop
speed control mode or the position command value S-0-0047 in position con
trol mode as well as the torque limit value S-0-0092. The SAC returns the
corresponding feedback values, which it received through communication
with the following analog drive, i.e., the velocity feedback value S-0-0040, the
position feedback value 1 S-0-0051, and the torque/force feedback value
S-0-0084. All further drive parameters are also available.
If velocity control is activated in the SAC, the SAC converts the command
value S-0-0036 into an analog 10 V output voltage to be transferred to the
analog controller. If position control is activated (e.g., via the POA, PSA, POI,
PSI or CON command as well as jog mode), the effective velocity command
value P-0-0048 is output via the analog channel. Moreover, the torque limit
value S-0-0092 is converted to analog and output.
The effective actual current value is read via an analog channel and copied
to drive parameter S-0-0084. The analog signals are output and read via the
analog I/O extension (MA1). Moreover, the SAC outputs the digital drive ena
bled (RF) and brake signals via the digital I/Os on connector X32.
In addition, the motor position is read via the encoder option card. The en
coder option card to be used depends on the type of feedback signals to be
processed. In velocity control mode, parameter P-0-0048 can also be output
via an analog channel. In this case, the functionality of the velocity command
value processing function of the IndraDrive can be used.

7.21

Multilingualism
The SMC supports the reload of any language files desired. The language
files (file name LANG_FILE_XX.SCL , XX = file number) can be adjusted us
ing any editor, e.g., the SMC-Editor. Texts must be translated by the user.
Languages are selected via parameter "Y000: Language", see chapter
"Y000: Language" on page 497. "German" and "English" are languages that
are permanently integrated in the SMC. "French" is available as a language
file (LANG_FILE_02.SCL) on the MMC. Further languages can be loaded.

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The
MMC
contains
language
files
in
German
(LANG_FILE_DE.SCL), English (LANG_FILE_EN.SCL) and
French (LANG_FILE_FR.SCL) in the ".\User\Documentation
\SupportDocs" folder.

Loading a user-defined language

1. Copy the language file to the ".\User" directory of the MMC.
2. Rename the file (e.g., "LANG_FILE_DE.SCL" "LANG_FILE_03.SCL").
3. Then you can open the file and translate the texts. After having comple
ted the translation, save changed file to the ".\User" directory of the
MMC.
Do not change the number of texts!
4. Set value "3" (=LANG_FILE_03.SCL) in parameter Y000 (see also chap
ter "Y000: Language" on page 497).
On start, the texts are loaded to the SMC from the file
"LANG_FILE_03.SCL". The language of the drives is not changed. It is
automatically changed by the SMC only if German (= "0"), English (=
"1") or French (= "2") is selected in parameter Y000.
Each time the SMC has been restarted, the language file is reloa
ded from the MMC because the texts are saved to the volatile
memory. The language file is loaded automatically. However, this
requires that the particular language file be present. For this rea
son, it may not be deleted as long as the related language is still
selected.
5. The language of the drive can be manually parameterized for each axis
via drive parameter "S-0-0265, Language selection".

7.22

Abort Program
A running program can be aborted at any time via the "Program abort" input.
This input is configured via parameter Y019 (see chapter "Y019: Abort pro
gram, In-config" on page 508). Any active axis movement is stopped imme
diately! After having been restarted, the user program again starts with the
appropriate starting blocks. The "Run" output is reset.
After the user program has been restarted, the automatic tasks and the man
ual routine or manual cut routine restart their starting block. If set, the "Auto
matic mode" output is reset until the internal reset of the tasks or routines is
completed, i.e., it is not possible to start a program in manual or automatic
mode during this time period.

NOTICE

Any active axis movement is stopped imme

diately!

The "Abort program" function may be used only if any hazards to man and
machine are excluded.
For example, the program should not be aborted, if the tool is in engagement
in the "Flying Cutoff" application type. This might destroy the tool!
Contrary to "E-Stop", an error is not generated. Voltage supply is entirely
maintained. Therefore, an SMC program can be aborted, for example in case
of programming errors.

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For example, it may be that an AKN command cannot be completed in the
tool program/manual cut routine because of an error in parameterization/
wiring. In this case, the running program can now be aborted and the error
can be corrected.
Outputs are cleared as configured in parameter Y009 (see chap
ter 7.17 "Clear Outputs" on page 411).

7.23

Restart
The "Restart" function resumes a program that was interrupted by an error
message or by switching from automatic to manual mode.
The "Restart" function is only possible after one of the specified events has
occurred. This requires that a program was running in automatic mode at this
time.
With each of these events, the current state of the automatic tasks 1-4 (feed
velocity, absolute target position, state of the outputs, etc.) is temporarily
saved.
A "Restart" function is triggered by a rising signal edge at the "restart" system
input (see Y049) in automatic operation mode. If a "restart" is not possible at
this time, this input has the same function as the "start" system input. The in
put's function can be identified by the state of the "restart" output (cf. Y050).

Restart is not possible:

after a voltage failure

after errors in manual mode

after calling the manual routine

after homing in manual mode

after switching into parameter mode

after loading a new SMC program

after the following errors of error class F2 that affect the encoder sys
tem:

"F2031 Encoder error 1: incorrect signal amplitude"

"F2042 Encoder 2: incorrect encoder signal"

"F2043 Measuring encoder: incorrect encoder signal"

"F2176 Loss of measuring encoder reference "

after errors of error classes F3, F6, F7, F8 and F9

after a program abortion (see chapter 7.22 "Abort Program" on page

415)

with the "Flying Cutoff" application type

with an interruption of the commands marked in the following table

The "restart possible" system output (Y050) can be used to determine wheth
er a "restart" function can be executed:

"Restart is possible" = FALSE: No restart possible

"Restart is possible" = TRUE: Restart is possible

If a "restart" is desired, a restart routine must always be programmed and it
must be completed with a RTS command. The restart sequence can be con
trolled using the restart routine. It is activated by using the "BEGIN_RE
START_ROUTINE" system label in the SMC-Editor. The starting block of the
restart program is defined using the system label. The restart routine is called

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in automatic mode with a rising edge at the "restart" input. The actual restart
procedure is first triggered with the end of this routine (e.g., call of the RTS
command).
The restart routine sequence can be influenced with the RSV command. It
serves for the selective restoration of the state of the interrupted program.

Relevant Y-parameters are as follows:

Y048: Starting block restart routine

Relevant system inputs are as follows:

Y049: Restart, In-Config

Relevant system outputs are as follows:

Y050: Restart possible, Out-config

The following commands are relevant:

RSV - Restart behavior

The following table provides an overview indicating after which interrupted
commands a "restart" is possible or which specific command behavior oc
curs:
Command

Restart is
possible

Remark

CMA

Yes

If necessary, absolute synchronous axes make a synchronization movement with the

activation of the synchronous operation mode.

CPA

Yes

If necessary, the axes make a synchronization movement with the activation of the
operation mode.

EDG

Yes

The edge evaluation is restarted.

EOS

No

--

FOA

Yes

If necessary, absolute synchronous axes make a synchronization movement with the

activation of the synchronous operation mode.

LMC

No

--

LMK

No

--

LML

No

--

LMR

No

--

MLO

Yes

Material movements are not taken into account in manual mode or if automatic mode
is disabled.

RMI

No

The restart is not possible after an active additional registration processing is inter
rupted.

RWY

Yes

Reading or writing access is restarted.

SAC

No

--

SRM

No

--

VCC

No

--

WAI

Yes

The waiting time is restarted.

All other commands

Yes

--

Fig.7-58:

Behavior of the individual commands with regard to restart

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Programming Examples

Programming Examples

8.1

Simple Program Examples

8.1.1

Simple Minimum Program

The following example shows a very simple program:

Fig.8-1:

Simple program example

The example uses automatic task 1 and the cyclic task.

Automatic task 1:
After a rising edge at the "Start" input, axis 1 is positioned (PSI), then a wait
time of 1 second elapses (WAI), and finally automatic task 1 is stopped (JST)
and the next starting block is set to the automatic task 1 label. The next rising
edge at the "Start" input will restart execution of automatic task 1.
Cyclic task:
The cyclic task is executed continuously (see also chapter 6.2.6 "Cyclic
Task" on page 199) with programmable variable VF100 being incremented.
Therefore, the value of VF100 indicates the number of task runs. At the end
of the cyclic task, a JMP command is called to jump to the label (starting
block) of the cyclic task.
For a detailed description of the task system of the SMC, please
refer to chapter 6.2 "Multitasking" on page 193.
The program resides on the MMC under "\User\Examples\Exam
ple_8_1_1.scs".

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Programming Examples

8.1.2

Programming Conditional Statements

IF statement

The following program example shows how a conditional statement (IF state
ment) can be implemented:

Fig.8-2:

Conditional statement

In the above example, Pin3 is queried at X31 of axis 1 (BCE). If the input is
set to "1" (on), there is a jump to label IF_TRUE, the programmable variable
VF1 is incremented and then there is a jump to label END.
If the input is set to "0" (off), the programmable variable VF2 is incremented.
At the end, automatic task 1 is stopped with the JST command.
The extract from the program resides on the MMC under "\User
\Examples\Example_8_1_2A.scs".
CASE statement

The following program example shows how multiple branching (CASE state
ment) can be implemented:

Fig.8-3:

Multiple branching

The above example shows branching in relation to the value set in the pro
grammable variable VF10.
If VF10 is "1", there is a jump to label CASE_1 and VF1 is incremented. If
VF10 is "2", there is a jump to label CASE_2 and VF2 is incremented. If VF10

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Programming Examples
is "3", there is a jump to label CASE_3 and VF3 is incremented. Otherwise,
VF4 is incremented.
At the end, automatic task 1 is stopped with the JST command.
The extract from the program resides on the MMC under "\User
\Examples\Example_8_1_2B.scs".

8.1.3

Programming Loops
FOR loop

The following program example shows how a counting loop (FOR statement)
can be implemented:

Fig.8-4:

Counting loop

At the beginning, the programmable variable VF20 is initialized with "0". Then
it is checked whether the value of VF20 is equal to "10". Then VF20 is incre
mented.
This is followed by the actual statements.
In the example, a wait time of one second elapses (WAI) and then the axis is
positioned (POI). Then there is a jump to label LOOP.
In the example, this is repeated 10 times. At the end, automatic task 1 is
stopped with the JST command.
For another example, please refer to the description of the BAC
command in the chapter 6.11.7 BAC Branch Conditional on
Count, page 240.
The extract from the program resides on the MMC under "\User
\Examples\Example_8_1_3.scs".

8.2

Product Data Management

Program example of how to use indexed variables
The following product data is successively processed with incremental feed
using the "indexed system variables" (see chapter "Axis-independent System
Variables" on page 205):
Product number

Axis number

Feed length in [mm]

Velocity in [%]

250

100

260

25

270

50

280

75

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Programming Examples
5

100

25

125

45

Fig.8-5:

Product data for indexed variables

Fig.8-6:

Program example of how to use indexed variables

At the beginning, product data is initialized. Axis numbers are assigned to

variables VF000 to VF005; feed lengths are assigned to variables VF100 to
VF105; and velocities are assigned to variables VF200 to VF205.

1. run:
Call the PSI command with axis number 1 (VF000), feed length 250 mm
(VF100) and velocity 100% (VF200).
Then increment VS020 from 0 to 1.

2. run:
Call the PSI command with axis number 2 (VF001), feed length 260 mm
(VF101) and velocity 25% (VF201).
Then increment VS020 from 1 to 2.

3. run:
Call the PSI command with axis number 3 (VF002), feed length 270 mm
(VF102) and velocity 50% (VF202).
Then increment VS020 from 2 to 3.

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4. run:
Call the PSI command with axis number 4 (VF003), feed length 280 mm
(VF103) and velocity 75% (VF203).
Then increment VS020 from 3 to 4.

5. run:
Call the PSI command with axis number 5 (VF004), feed length 100 mm
(VF104) and velocity 25% (VF204).
Then increment VS020 from 4 to 5.

6. run:
Call the PSI command with axis number 6 (VF005), feed length 125 mm
(VF105) and velocity 45% (VF205).
Then increment VS020 from 5 to 6. This stops the program with the JST
command and sets the program block to 0.
The extract from the program resides on the MMC under "\User
\Examples\Example_8_2.scs".

8.3

Phase Synchronous Axis

A phase synchronous axis is configured with the FOC command and activa
ted with the FOA command. The following sections describe typical cases of
application.
Example of potential cases of application:

Example:
Axis 1 and axis 2 move phase-synchronously with the measuring encoder of
axis 1

Relevant parameters:

Y028 = 2 (measuring encoder of the master axis)

Y100 = 1 (feed axis)

Y200 = 1 (feed axis)

Fig.8-7:

Axis 1 and axis 2 move phase-synchronously with the measuring en

coder of axis 1

After configuration with the FOC commands and activation with the FOA
command, axis 1 and axis 2 follow the measuring encoder of axis 1 phasesynchronously (as long as the SMC is in "Automatic" mode).
In the example, each following factor is set to "1", i.e., the synchronous axes
follow the measuring encoder 1:1.

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Programming Examples

Example:
Axis 1 and axis 2 move phase-synchronously with the virtual master axis

Relevant parameters:

Y028 = 1 (virtual master axis)

Y100 = 1 (feed axis)

Y200 = 1 (feed axis)

Y301 = 1 (axis 3 is the virtual axis)

Fig.8-8:

Axis 1 and axis 2 move phase-synchronously with the virtual master

axis

After configuration with the FOC command and activation with the FOA
command, axis 1 and axis 2 follow the virtual master axis phase-synchro
nously (in automatic and manual modes). The virtual master axis can be
commanded in the SMC program (as axis 3) or jogged in manual mode.

Example:
Axis 1 and axis 3 move phase-synchronously with the particular local meas
uring encoder of axes 1 and 3

Relevant parameters:

Y028 = 0 (no global master axis)

Y100 = 1 (feed axis)

Y300 = 1 (feed axis)

Fig.8-9:

Axis 1 and axis 3 move phase-synchronously with the particular local

measuring encoder

After configuration with the FOC commands and activation with the FOA
command, axis 1 and axis 3 each follow their local measuring encoder (as
long as the SMC is in "Automatic" mode).

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Programming Examples

8.4

Velocity Synchronous Axis

A velocity synchronous axis is configured with the SOC command and activa
ted with the SOA command. The following sections describe typical cases of
application.
Example of potential cases of application:

Example:
Axis 1 and axis 2 move velocity-synchronously with the measuring encoder of
axis 1

Relevant parameters:

Y028 = 2 (measuring encoder of the master axis)

Y100 = 1 (feed axis)

Y200 = 1 (feed axis)

Fig.8-10:

Axis 1 and axis 2 move velocity-synchronously with the measuring en

coder of axis 1

After configuration with the SOC commands and activation with the SOA
command, axis 1 and axis 2 follow the measuring encoder of axis 1 velocitysynchronously (as long as the SMC is in "Automatic" mode).
In the example, the following factor is each set to a value of "1.5" and the off
set to a value of "10", i.e., if the measuring encoder moves at 100 mm/min,
the synchronous axes follow at 160 mm/min (= 100*1.5 + 10).

Example:
Axis 1 and axis 2 move velocity-synchronously with the virtual master axis

Relevant parameters:

Y028 = 1 (virtual master axis)

Y100 = 1 (feed axis)

Y200 = 1 (feed axis)

Y301 = 1 (axis 3 is the virtual axis)

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Programming Examples

Fig.8-11:

Axis 1 and axis 2 move velocity-synchronously with the virtual master

axis

After configuration with the SOC command and activation with the SOA
command, axis 1 and axis 2 follow the virtual master axis velocity-synchro
nously (in automatic and manual modes). The virtual master axis can be
commanded in the SMC program (as axis 3) or jogged in manual mode.

Example:
Axis 1 and axis 3 move velocity-synchronously with the particular local meas
uring encoder of axes 1 and 3

Relevant parameters:

Y028 = 0 (no global master axis)

Y100 = 1 (feed axis)

Y300 = 1 (feed axis)

Fig.8-12:

Axis 1 and axis 3 move velocity-synchronously with the particular local

measuring encoder

After configuration with the SOC command and activation with the SOA
command, axis 1 and axis 3 each follow their local measuring encoder (as
long as the SMC is in "Automatic" mode) with an offset of 10 mm/min, i.e.,
axis 1 and axis 3 each move faster than their local measuring encoders by 10
mm/min.

8.5

Cam Axis
The CMC command configures a cam axis, the CMP command configures its
profile, and the CMA command activates the cam axis. The following sections
describe typical cases of application.
Example of potential cases of application:

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Programming Examples

Example:
Axis 2 and axis 4 are cam axes moving synchronously with the position com
mand value of axis 1

Relevant parameters:

Y028 = 3 (real axis 1)

Y200 = 1 (feed axis)

Y400 = 1 (feed axis)

Program code required:

Fig.8-13:

Axis 2 and axis 4 are cam axes moving synchronously with the posi
tion command value of axis 1

In the first step, axis 2 is configured with the CMP command (slave axis = ax
is 2, switch-on angle = 80, switch-off angle = 150, stroke = 100 mm,
curve = rest-in-rest with 5th order polynomial) and the CMC command (slave
axis = axis 2, master axis = global master axis (see Y028), synchronization
direction = shortest distance, synchronization type = absolute synchronization
with synchronization, following factor = 1.00).
In the second step, axis 4 is configured with the CMP command (slave axis =
axis 4, switch-on angle = 80, switch-off angle = 150, stroke = 100 mm,
curve = rest-in-rest with 5th order polynomial) and the CMC command (slave
axis = axis 4, master axis = global master axis (see Y028), synchronization
direction = shortest distance, synchronization type = absolute synchronization
with synchronization, following factor = 1.00).
The CMA command activates axis 2 and axis 4. Then axis 1 is positioned
with the PSI command. Axis 2 and axis 4 follow axis 1 (as long as the SMC is
in "Automatic" mode).

Example:
Axis 2 is a cam axis moving synchronously with the position command value
of the virtual master axis, with the cam being changed at runtime

Relevant parameters:

Y028 = 1 (virtual master axis)

Y200 = 1 (feed axis)

Y301 = 1 (axis 3 is the virtual axis)

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Programming Examples

Fig.8-14:

Axis 2 is a cam axis moving synchronously with the position command

value of the virtual master axis, with the cam being changed at run
time

In the first step, axis 2 is configured with the CMP command (slave axis = ax
is 2, switch-on angle = 80, switch-off angle = 150, stroke = 100 mm,
curve = rest-in-rest with 5th order polynomial) and the CMC command (slave
axis = axis 2, master axis = global master axis (see Y028), synchronization
direction = shortest distance, synchronization type = absolute synchronization
with synchronization, following factor = 1.00).
In the second step, axis 2 is activated as cam axis (CMA command).
The PSI command positions axis 3 (axis = axis 3, feed = 360, velocity
= 50%).
The profile is reconfigured by calling the CMP command again (slave axis =
axis 2, switch-on angle = 60, switch-off angle = 170, stroke = 80 mm,
curve = rest-in-rest with inclined sine curve).
The PSI command positions axis 3 (axis = axis 3, feed = 360, velocity
= 50%).
The curve profile is internally switched from block "0" to "1" and
vice versa. Switchover in the drive is not implemented before the
switching phase of the global axis is exceeded (cf. drive parame
ter P-0-0700). The SMC automatically sets this switching phase
to the greater switch-off angle of block "0" or "1", respectively.

Example:
Axis 2 moves as synchronous cam axis, with the global axis being changed
at runtime

Relevant parameters:

Y028 = 1 (virtual master axis)

Y200 = 1 (feed axis)

Y301 = 1 (axis 3 is the virtual axis)

Fig.8-15:

Axis 2 moves as synchronous cam axis, with the global axis being
changed at runtime

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Programming Examples
In the first step, axis 2 is configured with the CMP command (slave axis = ax
is 2, switch-on angle = 80, switch-off angle = 150, stroke = 100 mm,
curve = rest-in-rest with 5th order polynomial) and the CMC command (slave
axis = axis 2, master axis = global master axis (see Y028), synchronization
direction = shortest distance, synchronization type = absolute synchronization
with synchronization, following factor = 1.00).
In the second step, axis 2 is activated as cam axis (CMA command).
The PSI command positions axis 3 (axis = axis 3, feed = 360, velocity
= 50%).
In the next step, the master axis is exchanged with the CMC command (slave
axis = axis 2, master axis = local measuring encoder, synchronization direc
tion = shortest distance, synchronization type = absolute synchronization with
synchronization, following factor = 1.00).

8.6

Position Coupling
The following example shows how axes are coupled (position coupling) with
the CPA command.

Example:
Axis 2 travels in a position-coupled manner to "P-0-0434, Position command
value of controller" of axis 1

Relevant parameters:

Y100 = 0 (free user mode)

Y200 = 130 (coupling to "P-0-0434" of axis 1)

Y104 = 1,000 mm/min (maximum velocity)

Y204 = 1000 mm/min (maximum velocity)

Y108 = 00b (absolute, translatory scaling type)

Y208 = 00b (absolute, translatory scaling type)

Fig.8-16:

Axis 2 travels to axis 1 in position coupled manner

After configuration of activation with the CPA command, axis 2 follows the
position command value of axis 1 (as long as the SMC is in "Automatic"
mode). Thereafter, axis 1 is positioned with the PSI command. In the exam
ple, axis 1 and axis 2 each travel at 200 mm/in for a feed length of 100 mm.

8.7

Velocity Coupling
The following example shows how axes are coupled (velocity coupling) with
the CPV and CVA commands.

Example:
Axis 2 travels in a velocity-coupled manner to "P-0-0048, Effective velocity
command value" of axis 1

Relevant parameters:

Y100 = 1 (feed axis)

Y200 = 170 (coupling to "P-0-0048" of axis 1)

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Programming Examples

Y104 = 1,000 mm/min (maximum velocity)

Y204 = 1000 mm/min (maximum velocity)

Fig.8-17:

Axis 2 travels to axis 1 in velocity coupled manner

After configuration with the CVC command and activation with the CVA
command, axis 2 follows the velocity command value of axis 1 (as long as
the SMC is in "Automatic" mode) with a following factor of 1.5 and an offset of
50. Thereafter, axis 1 is positioned with the PSI command. In the example,
axis 1 travels at 200 mm/min and axis 2 at 350 mm/min (= 200*1.5 + 50).

8.8

Torque Coupling
The following example shows how axes are coupled (torque coupling) with
the CTC and CTA commands.

Example:
Axis 2 travels in a torque-coupled manner to "S-0-0084, Actual torque/force
value" of axis 1

Relevant parameters:

Y100 = 1 (feed axis)

Y200 = 190 (coupling to "S-0-0084" of axis 1)

Y107 = 80% (Maximum torque)

Y207 = 80% (Maximum torque)

Fig.8-18:

Axis 2 travels to axis 1 in a torque-coupled manner

After configuration with the CTC command and the activation with the CTA
command, axis 2 follows the actual torque/force value of axis 1 (as long as
the SMC is in "Automatic" operating mode) with a multiplication factor of 1.1
and an offset of 0%. Thereafter, axis 1 is positioned with the PSI command.
In the example, axis 1 travels at 200 mm/min and axis 2 follows in a torquecoupled manner.

8.9

Roll Feed

8.9.1

Roll Feed Press before Feed

In the following example, a typical roll feed is programmed for axis 1 in mode
"Press before feed". After the program has been started, the press is activa

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Programming Examples
ted and then the feed function is executed. The feed cycle is continued until
the quantity required has been reached.

Relevant parameters:

Y100 = 1 (feed axis)

Y104 = 1,000 mm/min (maximum velocity)

Y106 = 1,000 mm/s2 (maximum acceleration)

The following figure displays the declaration of variables:

Fig.8-19:

Declaration of variables

The following figure displays the declaration of flags:

Fig.8-20:

Declaration of flags

Fig.8-21:

Roll feed Press before feed

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Programming Examples
In the first step, the following feed data is initialized:

"Quantity":

Command quantity = 10

"Acceleration":

Feed acceleration = 90% of Y106

"Deceleration":

Feed deceleration = 90% of Y106

"FeedRate":

Feed rate = 50% of Y106

"FeedLength":

Feed length = 10 mm

In the next step, the product cycle is executed with activation of the press
("PressSignal") and the feed. Synchronization between press and feed is
achieved via the "FeedAngle" input. The current quantity is stored to the
"Counter" variable. The "StopInCycle" input can be used to activate a cycle
stop.
On delivery, the source file of the "Feed roll - press before feed"
program example can be found in the "User\Examples" directory
of the MMC under the filename "PressBeforeFeed.scs".

8.9.2

Roll Feed Feed before Press

In the following example, a typical roll feed is programmed for axis 1 in mode
"Feed before press". After the program has been started, the feed function is
executed and then the press is activated. The feed cycle is continued until
the quantity required has been reached.

Relevant parameters:

Y100 = 1 (feed axis)

Y104 = 1,000 mm/min (maximum velocity)

Y106 = 1,000 mm/s2 (maximum acceleration)

The following figure displays the declaration of variables:

Fig.8-22:

Declaration of variables

The following figure displays the declaration of flags:

Fig.8-23:

Declaration of flags

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Fig.8-24:

Roll feed Feed before press

In the first step, the following feed data is initialized:

"Quantity":

Command quantity = 10

"Acceleration":

Feed acceleration = 90% of Y106

"Deceleration":

Feed deceleration = 90% of Y106

"FeedRate":

Feed rate = 50% of Y106

"FeedLength":

Feed length = 10 mm

In the next step, the product cycle is executed with the feed and with activa
tion of the press ("PressSignal") and the feed. Synchronization between feed
and press is achieved via the "FeedAngle" input. The current quantity is stor
ed to the "Counter" variable. The "StopInCycle" input can be used to activate
a cycle stop.
On delivery, the source file of the "Feed roll - feed before press"
program example can be found in the "User\Examples" directory
of the MMC under the filename "FeedBeforePress.scs".

8.10

Flying Cutoff

8.10.1

Example without Registration Sensor

In the following simple example, Flying Cutoff without registration sensor is
programmed for axis 1 in the "Flying Cutoff" application type. After the pro
gram has been started, 10 parts each having a length of 100 mm are pro
duced. Then the operation is repeated using the JMP command.

Relevant parameters:

Y100 = 2 (Flying Cutoff) or 3 (Flying Cutoff test mode)

Y104 = 10,000 mm/min (maximum velocity)

Y106 = 10,000 mm/s2 (maximum acceleration)

Y155 = 10,000 mm/min (return velocity)

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Programming Examples
The following figure displays the declaration of variables:

Fig.8-25:

Declaration of variables

The following figure displays the declaration of flags:

Fig.8-26:

Declaration of flags

Fig.8-27:

Flying Cutoff without registration sensor

In the first step, the following variables are initialized:

"Part_Length":

Part length = 100 mm

"Quantity":

Command quantity = 10

"Cut_time":

Cut time = 500 ms

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In the next step, the product cycle is started and the "Quantity" of parts is pro
duced, each with the length set in "Part_Length". The tool program has the
label Tool1 and the tool is activated via variable "Tool_OutPut" with the cut
time set in "Cut_time". The current quantity is stored to the "Counter" varia
ble. The production cycle is continued until the quantity required has been
reached; then it is repeated.
On delivery, the source file of the "Flying Cutoff - example without
registration sensor" program example can be found in the "User
\Examples" directory of the MMC under the filename
"FC_LML_Demo.scs".

8.10.2

Example with Registration Sensor

In the following simple example, Flying Cutoff with registration sensor is pro
grammed for axis 1 in the "Flying Cutoff" application type. After the program
has been started, 10 parts are produced by means of the registration marks.
Then the operation is repeated using the JMP command.

Relevant parameters:

Y100 = 2 (Flying Cutoff) or 3 (Flying Cutoff test mode)

Y104 = 10,000 mm/min (maximum velocity)

Y106 = 10,000 mm/s2 (maximum acceleration)

Y155 = 10,000 mm/min (return velocity)

The following figure displays the declaration of variables:

Fig.8-28:

Declaration of variables

The following figure displays the declaration of flags:

Fig.8-29:

Declaration of flags

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Programming Examples

Fig.8-30:

Flying Cutoff with registration sensor

In the first step, the following variables are initialized:

"Part_Length":

Part length = 100 mm

"Mark_Offset":

Command quantity = 10

"Quantity":

Command quantity = 10

"Cut_time":

Cut time = 500 ms

In the next step, the production cycle is started and the "Quantity" of parts is
produced on the registration marks. The tool program has the label "Tool1"
and the tool is activated via variable "Tool_OutPut" with the cut time set in
"Cut_time". The current quantity is stored to the "Counter" variable. The pro
duction cycle is continued until the quantity required has been reached; then
it is repeated.
On delivery, the source file of the "Flying Cutoff - example with
registration sensor" program example can be found in the "User
\Examples" directory of the MMC under the filename
"FC_LMR_Demo.scs".

8.10.3

Further Examples
For two further Flying Cutoff examples, please refer to chapter 7.11 "Flying
Cutoff" on page 353. The first example illustrates how the manual cut routine,
the maximum stroke routine and the rapid stop routine are used (see chapter
"Program Example" on page 373). The second example requires that the vis
ualization in IndraLogic be used (see chapter "Test Mode (Simulation)" on
page 378). This example shows the program structure required for using the
visualization.

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Diagnostics and Backup

Diagnostics and Backup

9.1

General Information
With parameter "Y030: System diagnostics" (string), the system solution pro
vides the system diagnostics or error diagnostics in plain text as well as a di
agnostics or error number with parameter "Y029: System diagnostics num
ber" (UDINT).
The languages supported on delivery are "German", "English" and "French".
The user can also reload his own languages. Languages are selected via pa
rameter "Y000: Language".
See also chapter 7.21 "Multilingualism" on page 414.
In addition, the system diagnostics (cf. Y030) is also output in
drive parameter "P-0-1387, PLC Global Register AT0" of the mas
ter axis. As a result, the current system diagnostics can be dis
played using the IndraWorks parameter editor.

The following diagnostics are output in jog mode:

"M Stop is present"

"M Manual routine active"

"M Manual mode" etc.

(see chapter 9.3 "Diagnostic Numbers" on page 438)
Diagnostics that are output in manual mode always start with "M ...".
The following diagnostics are output in automatic mode:

"A Stop is present"

"A No cycle start"

"A Automatic mode active" etc.

(see chapter 9.3 "Diagnostic Numbers" on page 438)
Diagnoses that are output in automatic mode always start with "A ...".
If jog mode and automatic mode are not active or if there is a drive or system
error, the drive or system diagnostics is output and the diagnostic number is
provided.
Any error state detected by the SMC is indicated by the "Error" output. The
system diagnostics includes a detailed error description. The error state can
be reset via a positive edge at the "Clear error" input (see chapter "Y012:
Clear Error, In-config" on page 505).

9.2

General Information on Error Detection

Every operating status is associated with a diagnostics.

The two different diagnostics are:

System diagnoses

Error diagnostics
A precise description of the existing diagnostics or error is always displayed
via parameter "Y030, System diagnostics". In addition, a number assigned to
the diagnostics or error is entered in parameter "Y029, System diagnostics

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number". In most display menus of the operating terminal VCP 08, the top
most line is reserved for the system diagnostics. The text messages describe
the system status and the error states.
If a system-specific SMC error occurs, drive error "F2011 PLC - Error no. 1"
is generated on the master axis. In addition (in SMC12V02 and above), the
error text (cf. "Y030: System diagnostics") is shown on the display of the
drive and output in parameter "S-0-0095, Diagnostic message".

The possible system-specific errors can be subdivided into the following error
groups:

Command parameter error

Variable index error

Flag index error

Axis configuration error

Invalid automatic program

Bit access error

The SMC enters the current diagnostics or error number in parameter Y029.

The existing system diagnostics is always provided in the error-free

state.

If there is a system-independent drive error, the value of parameter

"Y029, System diagnostics number" is "64h".

If this value is "3E8h", there is an internal function block error.

If the value is lower than "A0000h", a state diagnostics is displayed.

If the value is greater than or equal to "A0000h", there is a drive error or

warning.
The plain text diagnostics is saved to parameter "Y030, SMC system diag
nostics".
The following descriptions list all error diagnostics and state diagnostics.

9.3

Diagnostic Numbers
The following table shows the possible diagnostics and error numbers along
with their description.

Y029hex

S-0-0390

Meaning

Description (Y030)

00h

--

--

Reserved

01h

User prefer State diagnostics

ence

Wait for parameter mode

User prefer State diagnostics

ence

Exit parameter mode

02h
03h

State diagnostics
A0010

04h

(The SMC exits parameter mode.)

M Stop is present
(Manual mode is reached, but the nStop input is not set. That means
that axis movements cannot be made, such as jogging or homing.)

State diagnostics
A0010

(The SMC switches over to parameter mode.)

M No cycle start
(The manual or manual cut routine was activated but stopped via
"nStop".)

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Y029hex

S-0-0390

05h

User prefer State diagnostics

ence

M Manual routine active

User prefer State diagnostics

ence

M Manual cut routine active

A0010

State diagnostics

M Manual cut routine not possible; no axis reference

State diagnostics

M Manual mode

06h
07h

Meaning

08h
A0010

State diagnostics
A0010
State diagnostics
A0010
A0010
A4002

or State diagnostics

A0010
A4002

or

A No cycle start

A0010
A0012

or

A0010
A0012

or

A Automatic mode active

(The SMC program is running in automatic mode.)

State diagnostics

0Fh

A Stop is present

(Automatic mode has been entered. The SMC program can be star
ted.)

0Ch

0Eh

(The manual cut routine is processed.)

(Automatic mode is reached, but the nStop input is not set. That
means that the SMC program cannot be started.)

0Ah

0Dh

(The manual routine is processed.)

(Manual mode has been entered. Axis movements can be made, such
as jogging or homing.)

09h

0Bh

Description (Y030)

A SMC program stopped

(The SMC program is still running in automatic mode, but it is stopped
by the nStop input. The active movement is still completed before the
SMC program is ultimately stopped.)

State diagnostics

SMC program invalid

A valid SMC program has not been loaded: Compile the SMC program
and load it to the MMC using the SMC-Editor.

State diagnostics

No enable: Axis x
The axis mentioned is not enabled (it has no AH). Enable the axis with
the input configured in parameter "Yx15: Drive enable, In-config".

State diagnostics
A0013

No power: Axis x
The axis mentioned is not enabled (it has no AH). Connect the DC bus
voltage for the axis mentioned.

10h-1Fh

--

--

Reserved

20h

User prefer Drive diagnostics

ence

No system-specific diagnostics available. The drive diagnostics ap

plies.

21h

User prefer Command diagnostics

ence

Load SMC program active

22h

User prefer Command diagnostics

ence

Reserved

23h

User prefer Command diagnostics

ence

Load default values active

24h

User prefer Command diagnostics

ence

Load SMC data from MMC active

25h

User prefer Command diagnostics

ence

Save SMC data to MMC active

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Y029hex

S-0-0390

Meaning

Description (Y030)

26h

User prefer Command diagnostics

ence

Delete programmable variables active

27h

User prefer Command diagnostics

ence

Delete programmable flags active

28h

User prefer Command diagnostics

ence

Reset material length counter active

29h

User prefer Command diagnostics

ence

Load single parameter set from MMC active

2Ah

User prefer Command diagnostics

ence

Save single parameter set to MMC active

2Bh

User prefer Command diagnostics

ence

Restore drive parameters from MMC active

2Ch

User prefer Command diagnostics

ence

Save drive parameters to MMC active

2Dh

User prefer Command diagnostics

ence

Load SMC program successful

2Eh

User prefer Command diagnostics

ence

Reserved

2Fh

User prefer Command diagnostics

ence

Load default values successful

30h

User prefer Command diagnostics

ence

Load SMC data from MMC successful

31h

User prefer Command diagnostics

ence

Save SMC data to MMC successful

32h

User prefer Command diagnostics

ence

Delete programmable variables successful

33h

User prefer Command diagnostics

ence

Delete programmable flags successful

34h

User prefer Command diagnostics

ence

Reset material length counter successful

35h

User prefer Command diagnostics

ence

Load single parameter set from MMC successful

36h

User prefer Command diagnostics

ence

Save single parameter set to MMC successful

37h

User prefer Command diagnostics

ence

Restore drive parameters from MMC successful

38h

User prefer Command diagnostics

ence

Save drive parameters to MMC successful

39h

User prefer Command diagnostics

ence

Backup device data active

3Ah

User prefer Command diagnostics

ence

Save device data active

3Bh

User prefer Command diagnostics

ence

Backup device data successful

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Y029hex

S-0-0390

Meaning

Description (Y030)

3Ch

User prefer Command diagnostics

ence

Save device data successful

3Dh-64h

--

Reserved

03E8h

User prefer Error of an internally

ence
called function block

--

Output of the error table and the ErrorIdent structure Additionals 1 and
2

>xA0000h User prefer Drive error (with "x" be No system-specific error or warning
ence
ing the axis number)
The drive error applies (see Yx46 / S-0-0390)

9.4

Error Numbers
The following table shows the possible system-specific error numbers along
with their description. Each error is accompanied by "F2011" being signaled
in drive parameter S-0-0390 of the master axis. In addition (in SMC12V02
and above), the error text (cf. "Y030: System diagnostics") is shown on the
display of the drive and output in parameter "S-0-0095, Diagnostic message".
The number of the current error is always signaled in Y029. A brief descrip
tion of the error is displayed in Y030. The following table lists all error num
bers and the associated brief descriptions as well as detailed error descrip
tions and error remedy options.

Y029hex Description (Y030)

65h Unsupported drive firmware (>=MPxyyVzz)
The version of the drive firmware of the axis is not supported and must be updated. Information about the mini
mum firmware requirements for the SMC is given in parentheses (x = firmware derivative, yy = version, zz = re
lease). See also chapter 4.9 "Instructions for Firmware Replacement (Release Update)" on page 52.
66h Axis reference is invalid
67h Optional package SNC not activated (master axis)
The optional function package "SNC synchronization" must be activated on the master axis. See also
IndraWorks dialog "Function packages".
68h Function package MA not activated (master axis)
The additive function package "MA" (IndraMotion MLD with technology functions and extended technology func
tion blocks) must be activated on the master axis. See also IndraWorks dialog "Function packages".
69h Error in AxisInterface
Internal error. Contact the Support.
6Ah Variable index error
Area violation while addressing variables. For address areas of variables, please refer to chapter 6.5 "Variables"
on page 203.
6Bh Flag index error
Area violation while addressing flags. For address areas of flags, please refer to chapter 6.6 "Flags" on page
210.
6Ch Feed data error: Block number xxxx - velocity too low
6Dh Feed data error: Block number xxxx - velocity too high
6Eh Feed data error: Block number xxxx - velocity invalid
6Fh Feed data error: Block number xxxx - length too short

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Y029hex Description (Y030)
70h Feed data error: Block number xxxx - length too long
71h Feed data error: Block number xxxx - length invalid
72h Feed data error: Block number xxxx - acceleration too small
73h Feed data error: Block number xxxx - acceleration too large
74h Feed data error: Block number xxxx - acceleration invalid
75h Feed data error: Block number xxxx - deceleration too small
76h Feed data error: Block number xxxx - deceleration too large
77h Feed data error: Block number xxxx - deceleration invalid
78h Command error: Block number xxxx - parameter 1 too small
79h Command error: Block number xxxx - parameter 1 too large
7Ah Command error: Block number xxxx - parameter 1 invalid
7Bh Command error: Block number xxxx - parameter 2 too small
7Ch Command error: Block number xxxx - parameter 2 too large
7Dh Command error: Block number xxxx - parameter 2 invalid
7Eh Command error: Block number xxxx - parameter 3 too small
7Fh Command error: Block number xxxx - parameter 3 too large
80h Command error: Block number xxxx - parameter 3 invalid
81h Command error: Block number xxxx - parameter 4 too small
82h Command error: Block number xxxx - parameter 4 too large
83h Command error: Block number xxxx - parameter 4 invalid
84h Command error: Block number xxxx - parameter 5 too small
85h Command error: Block number xxxx - parameter 5 too large
86h Command error: Block number xxxx - parameter 5 invalid
87h Command error: Block number xxxx - command too small
88h Command error: Block number xxxx - command too large
89h Command error: Block number xxxx - command invalid
8Ah Command error: Block number xxxx - command not available at present
Some commands are not possible if specific conditions are not fulfilled. For details, see description of the faulty
command.
8Bh Axis configuration error: number of axes too low
8Ch Axis configuration error: number of axes too high
The maximum allowed number of axes is 6.
8Dh Axis configuration error: number of axes invalid
8Eh Axis configuration error: axis reference invalid
8Fh Block number xxxx invalid
A command that is unknown to the SMC firmware has been called. Check whether the SMC-Editor and SMC
firmware versions are compatible with each other.

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Y029hex Description (Y030)
90h SMC program invalid (language version<>SMC_xxVyy)
The SMC program selected is not supported by the SMC firmware.
The language version required by the SMC is shown in parentheses (xx = version, yy = release). The language
version of the SMC can be set manually in the SMC-Editor via the menu Extras Options General. Recompile
the SMC program using the SMC-Editor and the properly set language version and load it to the SMC.
Note: the program can be compiled at any time, independently of any change, via the menu Create Compile
Program or by using the function key "F11" in the SMC-Editor. Thereafter, the SMC program must be downloa
ded via the SMC-Editor.
91h Bit access error: Block number xxxx - parameter x
The bit mentioned is invalid. Check the address areas of the flags and/or the existing hardware. For the address
areas of the flags, please refer to chapter 6.6 "Flags" on page 210; for those of the hardware, refer to chapter
6.7 "Digital Inputs and Outputs" on page 213.
92h Task configuration error: Task x is missing
Automatic tasks have to be used in ascending order. A discontinuous task configuration is not allowed. See also
chapter 6.2 "Multitasking" on page 193.
93h Error - Feed monitoring
The axis-dependent "nFeedMonitoring" system input is not set to "TRUE." See also chapter 6.8.4 "Axis-depend
ent System Inputs" on page 220.
94h Invalid hardware address
Check the address areas of the existing hardware. For hardware address areas, please refer to chapter 6.7
"Digital Inputs and Outputs" on page 213.
95h Invalid word number
Check the address areas of the existing hardware. For hardware address areas, please refer to chapter 6.7
"Digital Inputs and Outputs" on page 213.
96h Invalid pin number
Check the address areas of the existing hardware. For hardware address areas, please refer to chapter 6.7
"Digital Inputs and Outputs" on page 213.
97h Invalid address at the sercos I/O
Check the address areas of the existing hardware. For hardware address areas, please refer to chapter 6.7
"Digital Inputs and Outputs" on page 213.
98h Invalid address at field bus
Check the address areas of the existing hardware. For hardware address areas, please refer to chapter 6.7
"Digital Inputs and Outputs" on page 213.
99h Invalid state machine state
Internal error. Contact the Support.
9Ah Invalid PLC register
Internal error. Contact the Support. An attempt has been made to access an invalid PLC register. The process
image of the inputs is in registers P-0-1390...P-0-1409 and P-0-1440...P-0-1447. The process image of the out
puts is in registers P-0-1410...P-0-1429.
9Bh Y-parameter error: Yxxx too small
The value set in the Y-parameter is too small. See also chapter 11 "Parameters" on page 495.
9Ch Y-parameter error: Yxxx too large.
The value set in the Y-parameter is too large. See also chapter 11 "Parameters" on page 495.

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Y029hex Description (Y030)
9Dh Invalid override input (Yx28), axis x
The value selected for configuring the override input is invalid. See also chapter 7.5 "Velocity Override" on page
333.
9Eh No measuring wheel (Yx19), axis x
An input has been configured in Y-parameter Yx19, but a measuring wheel or optional encoder (cf. IndraWorks
dialog "Optional encoder settings") is not connected to the axis.
9Fh Invalid hardware address: block number xxxx
Check the address areas of the existing hardware in the program block specified. For hardware address areas,
please refer to chapter 6.7 "Digital Inputs and Outputs" on page 213.
A0h number of axes too high
A1h Watchdog active
The PLC watchdog is active. See also chapter 7.19 "Watchdog" on page 412.
A2h Error in system command 1: Load SMC program
See also chapter 7.2.4 "System Command 1: Load SMC Program from MMC" on page 326.
A3h Reserved
A4h Error in system command 3: Load default values
See also chapter 7.2.6 "System Command 3: Load Default Values" on page 327.
A5h Error in system command 4: Load SMC data from MMC
See also chapter 7.2.7 "System Command 4: Load SMC data from MMC" on page 327.
A6h Error in system command 5: Save SMC data to MMC
See also chapter 7.2.8 "System Command 5: Save SMC data to MMC" on page 328.
A7h Error in system command 6: Delete programmable variables
See also chapter 7.2.9 "System Command 6: Delete Programmable Variables" on page 329.
A8h Error in system command 7: Delete programmable flags
See also chapter 7.2.10 "System Command 7: Delete Programmable Flags" on page 329.
A9h Error in system command 8: Reset material length counter
See also chapter 7.2.11 "System Command 8: Reset Material Length Counter" on page 329.
AAh Error in system command 9: Load single parameter set from MMC
See also chapter 7.2.12 "System Command 9: Load Single Parameter Set from MMC" on page 329.
ABh Error in system command 10: Save single parameter set to MMC
See also chapter 7.2.13 "System Command 10: Save Single Parameter Set to MMC" on page 330.
ACh Error in system command 11: Restore Drive Parameters from MMC
See also chapter 7.2.14 "System Command 11: Restore Drive Parameters from MMC" on page 330.
ADh Error in system command 12: Save Drive Parameters to MMC
See also chapter 7.2.15 "System Command 12: Save Drive Parameters to MMC" on page 331.
AEh System command invalid
An invalid system command has been selected. See also chapter 7.2.1 "Overview" on page 324.

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Y029hex Description (Y030)
AFh Axis configuration error: Axis x not enabled
The corresponding axis is used in the SMC program and must be enabled via Yx02. See also chapter "Yx02:
Enable Axis" on page 528.
B0h Invalid master axis selected in Y028, block number xxxx
One of the axes is configured both as a slave and a master axis. An axis can only be either a master axis or a
slave axis.
A measuring encoder has been selected as master axis in Y028 (Y028 = 2). A measuring encoder (no "optional
encoder"!) must be configured on the axis selected.
A deactivated axis (Yx02 = FALSE) cannot be selected in Y028 for "A" (axis selection). The axis selected must
be a real activated axis.
The virtual axis cannot be selected in Y028 for "A" (axis selection). The axis selected must be a real axis.
The position feedback value of encoder 2 (optional encoder, S-0-0053) or the position command value of the
measuring encoder (master axis encoder, P-0-0052) has been configured in Y028 for "B" (signal selection). How
ever, there is no optional encoder or measuring encoder on the master axis or has not been configured with
IndraWorks yet.
The virtual master axis (Y028 = 1) was selected in Y028, but the virtual axis is not activated for any axis using
the parameter "Yx01: Axis type".
The optional function package "SNC - synchronization" must be activated on the master axis.
See also chapter "Y028: Master Axis Selection of the System" on page 512.
B1h No master axis selected in Y028
A CMC, FOC or SOC command has been called with selection of the global master axis but a global master axis
is not programmed in Y028.
See also chapter "Y028: Master Axis Selection of the System" on page 512.
B2h No local measuring encoder available
The local measuring encoder has been configured for the master axis in the SMC program (CMC or FOC com
mand). However, there is no local measuring encoder for the axis (cf. IndraWorks dialog "RmAxis: encoder").
B3h Invalid axis type in Yx01
Check the value of parameter Yx01. See also chapter "Yx01: Axis Type" on page 527.
B4h Invalid number of virtual axes
The maximum number of virtual axes allowed to be configured in Yx01 is one.
See also chapter 7.7 "Virtual Axis" on page 335.
B5h Command not allowed for virtual axis
For a summary of available commands and their limitations, please refer to chapter 6.10 "Overview of User
Commands" on page 229.
B6h The SMC program in Y002 not loaded
The SMC program to be automatically loaded on first power-up could not be loaded. An extended error descrip
tion which precisely describes the error cause is attached to the diagnostic message. See also chapter "Y002:
Start Program" on page 500.
B7h Identical address: Yxxx, Yxxx
The addresses of the digital system outputs have been configured twice. The address of one of the system out
puts must be changed.

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Y029hex Description (Y030)
B8h Motion profile error (P-0-0702/P-0-0709)
See diagnostics in drive parameters P-0-0702 and P-0-0709.
If error code "2" is entered in P-0-0702/P-0-0709: Check drive parameter P-0-0088, bit 10. The bit should be set
to "TRUE" (relative processing).
B9h Starting block of task x - no command in SMC program
There is no command applied to the set starting block of the task. The SMC program is invalid. Either the system
label for the unused task must be removed or commands must be programmed. See also chapter 6.2 "Multitask
ing" on page 193. Please also observe Y008 for the manual routine (see chapter "Y008: Manual Routine after
Automatic Mode" on page 503).
BAh Axis configuration error: Wrong application type (Yx00) for axis x, block number xxxx
The SMC program contains Flying Cutoff commands (in the program block number specified), but the application
type of the axis is not "Flying Cutoff" or "Flying Cutoff test mode". See also chapter "Yx00: Application Type" on
page 525. For a summary of available commands and their limitations, please refer to chapter 6.10 "Overview
of User Commands" on page 229.
BBh AxisData not activated, P-0-1367, bit 6
Bit 6 in drive parameter P-0-1367 of the master axis must be set to "TRUE".
BCh Virtual axis not allowed for Flying Cutoff
If the "Flying Cutoff" or "Flying Cutoff test mode" application type is selected, it is not possible to use this axis as
virtual axis at the same time. The virtual axis must be activated via a different axis. See also chapter 7.7 "Virtual
Axis" on page 335.
BDh Maximum stroke (Flying Cutoff)
The maximum stroke was exceeded. For a description, please refer to chapter "Maximum Stroke Routine" on
page 386.
BEh Rapid stop (Flying Cutoff)
Rapid stop was activated. For a description, please refer to chapter "Rapid Stop Routine" on page 385.
BFh Internal error
Internal error. Contact the Support.
C0h X31/X32 used as input and output: Yxxx, Yxxx
X31 or X32 has been configured twice (as input and output). The address of one of the Y-parameters must be
changed.
C1h Lift rolls during feed
Rolls cannot be lifted while a feed function is executed. See also chapter 7.15 "Lift Rolls (Electrically)" on page
409.
C2h Call of function block "MX_MoveAbsolute" (e.g., via POA, PSA) without axis reference (see also drive warning
"E2054")
The axis must be homed before a POA or PSA command is called. See also chapter 7.14 "Homing" on page
407.
C3h Homing not allowed in P2
C4h Axis already homed
C5h Absolute encoder required

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Y029hex Description (Y030)
C6h Command error: Block number xxxx - yyyy missing
The drive parameter yyyy is missing in the cyclic CCD data.
Check the configuration in Yx47, see chapter "Yx47: Configuration Cyclic CCD Process Data" on page 549.
In case of a position coupling with an error reaction "Apply holding brake", the P-0-0542 and P-0-0543 are config
ured instead of S-0-0199 and S-0-0149. In this case, the SAC command is not possible.
C7h Drive command error
C8h Language file not found
The appropriate language file is not available on the MMC. See also chapter 7.21 "Multilingualism" on page 414.
C9h Invalid flag address
For address areas of flags, please refer to chapter 6.6 "Flags" on page 210.
CAh Y-parameter error: Yxxx invalid
The value set in the Y-parameter is invalid. See also chapter 11 "Parameters" on page 495.
CBh Homing with absolute encoder not possible
CCh No LMx command available for Flying Cutoff
If the "Flying Cutoff" or "Flying Cutoff test mode" application type is configured for axis 1, an LMx command is
expected in the SMC program. See also chapter "Yx00: Application Type" on page 525.
CDh No EOS command available for Flying Cutoff
If the "Flying Cutoff" or "Flying Cutoff test mode" application type is configured for axis 1, an EOS command is
expected in the SMC program.
CEh Too many SMC programs on the MMC
A maximum of 100 SMC programs is supported. SMC programs can be deleted from the MMC using the SMCEditor ("Upload" dialog) or using a memory card reader.
CFh Closed loop register control not activated
D0h Deactivated slaves are not supported
Deactivated sercos slaves are not supported. See IndraWorks dialog "CCD Basic settings".
D1h Axis configuration error: Axis x setting Yx69, bit 5, block number xxxx
Bit 5 in parameter Yx69 must be set to activate the user-defined return movement, see also chapter "Yx69: Fly
ing Cutoff Configuration" on page 562.
D2h Optional SNC package not activated, block number xxxx, axis x
The optional "SNC synchronization" function package must be activated for the particular axis to allow execution
of the command block. For a summary of available commands and their limitations, please refer to chapter 6.10
"Overview of User Commands" on page 229. See also IndraWorks dialog "Function packages".
D3h Optional SNC or SRV package not activated, block number xxxx, axis x
The optional "SNC - Synchronization" or "SRV - Servo function" function package must be activated for the par
ticular axis to allow execution of the command block. For a summary of available commands and their limitations,
please refer to chapter 6.10 "Overview of User Commands" on page 229. See also IndraWorks dialog "Function
packages".
D4h Axis configuration error: Axis x setting Yx27, block number xxxx
Activate Yx27 for the axis. For example, this setting is required for the SRM, LMR, LMK, and LMC commands.
D5h VCP communication error
Communication to the VCP has been interrupted. See also chapter "Overview" on page 127.

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Y029hex Description (Y030)
D6h X31/X32, wrong I/O direction: block number xxxx
The configured direction (input or output) is not correct. It can be configured in drive parameter P-0-0302 or
P-0-0316.
D7h Too many optional MD2 cards
A maximum of two optional MD2 cards is supported.
See also chapter 2.4.2 "MD2 Optional Cards" on page 22.
D8h Command error: Block number xxxx, command not allowed in task x
For a summary of available commands and their limitations, please refer to chapter 6.10 "Overview of User
Commands" on page 229.
D9h No measuring wheel available
An external encoder has not been configured for the "Flying Cutoff" application type (Y100 = 2). An external en
coder must be configured as measuring encoder (not as "optional encoder"!), e.g. using IndraWorks.
DAh Starting block of task x invalid
The set starting block of the task is invalid. Therefore, the SMC program is also invalid. Check the Y-parameter
for the starting block of the task. See also chapter 6.2 "Multitasking" on page 193. Please also observe Y008 for
the manual routine (see chapter "Y008: Manual Routine after Automatic Mode" on page 503).
DBh Error while the file is opened
An error occurred while the file was opened. Check the file name for special characters. Special characters (e.g.:
"/", "..", ":", ";", ...) are not allowed in the file name.
DCh The drive is not under torque: Axis x
A motion command was given for the axis. However, the axis not under torque. Check whether power is enabled.
DDh MA1 card missing
There was a write and/or read access to system variable VSx31, VSx32, VSx35, or VSx36. These system varia
bles can only be accessed if an MA1 card is installed.
DEh Invalid access to analog I/O
There was a write and/or read access to system variables VSx31 to VSx36. These system variables can only be
accessed on the CCD master.
DFh Analog sercos III I/O not available
There was a write and/or read access to system variables VSx031 to VSx036. These system variables can only
be accessed if an analog sercos III I/O is available.
E0h Access to analog channel not allowed
There was a write access to system variables VSx33 to VSx36. Write access to these system variables is only
possible if the "direct output of voltage signals" is activated, see drive parameter P-0-0427.
E1h Ext. phase switching: PM -> OM with Clear error
Phase switching was commanded by an external source (e.g. IndraWorks). When this error is acknowledged,
running up is repeated.
E2h No PSI command after RMI
After an RMI command has been activated, the RMI command must be immediately followed by a PSI com
mand. See also chapter 6.11.57 "RMI Registration Mark Interrupt" on page 294.

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Y029hex Description (Y030)
E3h Simultaneous axis commanding in several tasks
The movement of an axis was initiated by more than tasks than one at the same time, e.g., the PSI command
was called for axis 1 in task 1 and, simultaneously, in task 2.
Note:
Depending on the already active motion command, axis commanding in another task can be aborted by calling
the PBK command (e.g., by calling the PBK command in the maximum stroke routine to initiate retraction mo
tions).
See also chapter 6.11.48 "PBK Stop Motion" on page 286
E4h Modulo format of global master axis not possible
The global master axis is activated via parameter Y028 (see chapter "Y028: Master Axis Selection of the Sys
tem" on page 512), however, the set modulo format of the position data (cf. chapter "Yx08: Scaling Type" on
page 531) is not possible. If the "Flying Cutoff" or "Flying Cutoff test mode" is active at the same time, the format
of the position data of the global master axis must be absolute, i.e., correspond to the application type.
(The reason for this is that the value in drive parameter "P-0-0750, Master axis revolutions per master axis cycle"
is simultaneously effective for the "Flying Cutoff" or "Flying Cutoff test mode" application types and for the global
master axis.)
E5h Double assignment: Yxxx
The output mentioned is configured both as Y-parameter and in the drive parameter. The output may only be
configured either in the Y-parameter or in the drive parameter; otherwise, there is a double assignment.
To remove the assignment, "OUT_UNUSED" must be entered in the Y-parameter or S-0-0000 for the particular
output must be entered in the drive parameter (PL: P-0-0300, X32: S-0-0026).
Check the Y-parameter as well as parameter S-0-0026 of the particular axis for the parallel interface and param
eter P-0-0300 of the particular axis for X32.
E6h Double assignment: Block number X - Parameter Y
The output mentioned is configured both in the SMC program and in the drive parameter. The output may only
be configured either in the SMC program or in the drive parameter; otherwise, there is a double assignment.
To remove the assignment, "OUT_UNUSED" must be entered in the Y-parameter or S-0-0000 for the particular
output must be entered in the drive parameter (PL: P-0-0300, X32: S-0-0026).
Check the SMC program as well as parameter S-0-0026 of the particular axis for the parallel interface and pa
rameter P-0-0300 of the particular axis for X32.
E7h SMC program not loaded
It was not possible to load the desired SMC program (e.g., via the SMC-Editor). An extended error description
which precisely describes the error cause is attached to the diagnostic message.
E8h Command not allowed for SAC
For a summary of available commands and their limitations, please refer to chapter 6.10 "Overview of User
Commands" on page 229.
E9h PFA/PFI command call without previous PFC, block number xxxx
A PFA or PFI command was called without having called the PFC command beforehand. The PFC command
must first be executed to configure the settings required (see also chapter 7.16 "Positive Stop Drive Procedure"
on page 410).
EAh Axis coupling: Multiple use of the master axis, axis x
An axis can be a master axis exactly once, e.g., it cannot be the master axis for position coupling and velocity
coupling at the same time (see also chapter "Yx00: Application Type" on page 525).

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Y029hex Description (Y030)
EBh Axis coupling: Axis is master and slave
The axis is configured as master axis and as coupled axis at the same time (see also chapter "Yx00: Application
Type" on page 525).
ECh Axis coupling: Virtual axis not allowed, axis x
The virtual axis can neither be configured as master axis nor as slave axis (see also chapter "Yx00: Application
Type" on page 525).
EDh Axis coupling: Scaling master not the same, axis x
All axes of a coupling group must have the same scaling type (see also chapter "Yx00: Application Type" on
page 525 and chapter "Yx08: Scaling Type" on page 531).
EEh Axis coupling: Slave axis not configured (Yx00), block number xxx
A command for activating or deactivating slave axes with axis coupling (e.g., CPA, CVA) was called in the SMC
program; however, no axis coupling has been configured in "Yx00: Application type" for at least one of the slave
axes.
EFh Axis coupling: Master axis unequal (Yx00), block number xxx
A command for activating or deactivating slave axes with axis coupling (e.g., CPA, CVA) was called in the SMC
program; however, the specified master axis does not comply with the configuration set in "Yx00: Application
type" for all slave axes.
F0h Axis coupling: Source signal unallowed (Yx00), block number xxx
A command for activating or deactivating slave axes with axis coupling (e.g., CPA, CVA) was called in the SMC
program; however, no valid source signal has been configured in "Yx00: Application type" for at least one of the
slave axes.
F1h Position coupling: Axis is not referenced, axis x
The specified axis is not homed. The axis must be homed and stay homed for position coupling. Homing of the
axis may only be started with position coupling not activated (e.g., via the HOM command).
F2h Position coupling: Modulo axis invalid, axis x
Axes in modulo format are not supported for position coupling. Axis scaling must be converted to an absolute
format (cf. Yx08).
F3h Position coupling: Position difference exceeded, axis x
The maximum allowed position difference between the slave axis and the master axis has been exceeded.

There may be the following reasons:

The deviation in position of the axes is caused by a mechanical obstacle.

The maximum allowed position difference (cf. CPA command) has been parameterized to a value that is
too small.

The position command value delay (cf. P-0-0456) is not set properly.

Solution:

Remove the obstacle, if any is present.

Increase the maximum allowed position difference.

Set the position command value delay (cf. P-0-0456) to the correct value.

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Y029hex Description (Y030)
F4h Position coupling: Position command processing invalid, axis x

The position command processing mode is different for the slave axes in the group that are to be synchron
ized. The interpolation type for position command processing on all slave axes to be synchronized must be
the same ("P-0-0187, Position command processing mode").

The set position command processing mode ("P-0-0187, Position command processing mode") is not sup
ported.

The following interpolation types are supported for position command processing:

Linear fine interpolation: P-0-0187 = 0

Cubic approximation: P-0-0187 = 1

Cubic fine interpolation: contour accurate P-0-0187 = 2

F5h Position coupling: Master axis operation mode invalid, axis x

If "P-0-0457, Position command value generator" is set as source signal, the only operation modes allowed to be
activated for the master axis are the following ones:

"A0010 Drive Halt"

"A0160 Position mode drive controlled" (e.g., via CPA command)

"A0101 Drive-controlled positioning" (e.g., via jogging in manual mode or POI, PSI, POA, PSA, CON com
mand)

This means that commands which do not activate the operation modes mentioned may not be called for the mas
ter axis (e.g., FOA command).
F6h Position coupling: Performance setting invalid, axis x
The axes in the group differ in their performance setting (P-0-0556, Bits 2 and 5). The performance settings for
all axes in the group must be equal if the "P-0-0457, Position command value generator" is set as source signal.
F7h Position coupling: Safety technology configuration invalid, axis x
If the default error reaction is activated, bit 9 (reaction to F7 error) may not be set in parameter "P-0-3210, Safety
technology configuration", i.e., the drive-controlled error reaction in the event of an F7 error always is the velocity
command value reset (emergency halt). The torque enable error reaction type may not activated in the event of
F7 errors!
F8h Position coupling: Holding brake control word unequal, axis x
The holding brake control word ("P-0-0525, Holding brake control word") is different on at least two axes of the
group. The holding brake control word must be equal on all axes of the group (master axis and synchronized
slave axes).
F9h Position coupling: Optional encoder not available, axis x
A position coupled slave axis (cf. "Yx00") is to follow the source signal "S-0-0053, Position feedback value" of the
master axis. However, the master axis does not have any optional encoder for generating the source signal.
FAh Position coupling: Slave axis operation mode invalid, axis x
The active operation mode of the axis is not the seventh secondary operation mode. The latter is monitored by
the SMC and must remain constantly activated for position coupling. This is an internal error. Contact the Sup
port.
FBh Position coupling: Number of master axes too high, axis x
The number of master axes parameterized for position coupled slave axes is too high (cf. "Yx00"). The maximum
number of master axes that can be used at the same time is 5.
FCh Error in system command 13:
Error during the execution of the "Backup device data" function of the SMC-Editor.

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Y029hex Description (Y030)
FDh Error in system command 14:
Error during the execution of the "Save device data" function of the SMC-Editor.
FEh Drive-controlled SI operational transfers not possible, axis x
The "Safe Motion" optional safety engineering module (e.g., S2) is available and activated for the axis. Parame
ters are set in a drive-controlled manner for the SI operational transfers (see P-0-3210, bit 4), but only NC-driven
SI operational transfers are permitted with the SMC, see also chapter 7.12 "Drive-integrated Safety Technology"
on page 399.
FFh Error opening/reading/writing to file (file name)
An error occurred with the read or write access to a file in the "\User" directory on the MMC of master axis for
saving or loading Y-parameters, variables or flags. The file name is output at the end of the error message.
0100h-0 Reserved
200h
0201h Cut length invalid
The maximum possible cutting length or product length is overwritten for processing registration marks (e.g., by
the LMR command). The maximum product length is "2000 * measuring wheel feed constant (Yx57)". The prod
uct length is automatically set to zero with the next "Clear error".
0202h Measuring wheel feed constant invalid
0203h Return position invalid
The return position (Yx54) must be between the position limit switches (Yx44, Yx45): Yx45 < Yx54 < Yx44.
0204h Return acceleration invalid
The return acceleration (Yx56) must be above "0".
0205h Return velocity invalid
The return velocity (Yx55) must be above "0".
0206h Invalid slave axis
The only axis allowed as synchronous slave axis for Flying Cutoff is axis 1, see also chapter "Yx00: Application
Type" on page 525.
0207h-0 Reserved
228h
0229h Minimum cut position > max. tool position
022Ah Min. carriage stroke position > max. tool position
022Bh- Reserved
022Fh
0230h Invalid LMx command
An LMx command that is unknown to the SMC firmware has been called. Check whether the SMC-Editor and
SMC firmware versions are compatible with each other.
0231h Invalid LMx command data
The mask window in the LMx command may not be less than zero.
If cutting is done at registration marks with stationary sensor (Yx69, bit 2 = FALSE), the sum from "Yx64: Tool
offset", "Registration mark offset" (from the LMx command) and "Yx54: Return position", subtracted by "Yx62:
Registration sensor offset", must be greater or equal to value "1".
If cutting is done at registration marks with moving sensor (Yx69, bit 2 = TRUE), the sum from "Yx64: Tool offset"
and "Registration mark offset" (from the LMx command), subtracted by "Yx62: Registration sensor offset", must
be greater or equal to value "1".

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Y029hex Description (Y030)
0232h-0 Reserved
246h
0247h Wrong Y144 setting
The value in "Yx44: Maximum travel limit" must be higher than the sum total from the value in "Yx54: Return po
sition" and the tolerance window (5 mm or 0.2 inches).
0248h Wrong Y145 setting
The value in "Yx45: Minimum travel limit" must be lower than the difference between the value in "Yx54: Return
position" and the tolerance window (5 mm or 0.2 inches).
0249h-0 Reserved
261h
0262h No power supplied to drive
0263h Drive not activated
0264h Drive not homed
The axis must be homed to be able to start the Flying Cutoff. See also chapter 7.14 "Homing" on page 407.
0265h-0 Reserved
285h
0286h FSMA not activated
0287h Carriage exceeded max. length
0288h Reserved
0289h Max part length exceeded
If the "Maximum part length" option is enabled and the part being requested is longer than the value configured
in Y-parameter "Yx60: Maximum part length", then the error reaction specified in "Yx61: Error reaction maximum
part length" is initiated and the user must take appropriate actions.
To clear the error, the value of "Y61: Error reaction maximum part length" must be temporarily set to "Off" or
"Warning". Alternatively, the value of "Yx60: Maximum part length" can be temporarily set to a high value. Then
the error can be acknowledged and the manual cut routine can be started.
028Ah Reserved
028Bh Internal error
028Ch Error during immediate cut
Bit 1 in "Yx69: Flying Cutoff configuration" is set to "FALSE". When the immediate cut was made, a material ve
locity of >0.1% of the maximum velocity (Yx04) was detected so that the error was set. The material must be
stopped or bit 1 of Yx69 must be set to "TRUE". See also chapter "Yx69: Flying Cutoff Configuration" on page
562.
Synchronization with the material failed.
028Dh- Reserved
02A0h
02A1h Synchr.: low dynamics
If the material velocity causes the planned carriage profile to exceed the available time to move the carriage with
in the travel limits based on the programmed accelerations and velocities for the carriage, then the error "Lock-on
error low dynamics" is issued (cut profile will exceed available travel, e.g., low accel/decel ramps or excessive
material velocity). The user can either decrease the material velocity, increase the drive dynamics or increase the
carriage travel range.

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Y029hex Description (Y030)
02A2h Synchr.: tool limit
If the calculated time available for the tool program is shorter than the time configured in "Yx65: Tool cycle time",
the error "Lock-on error tool limit" is output. (The time planned for the tool program (Yx65) exceeds the time ac
tually available with the current material velocity.)
The user can either reduce the material velocity or increase the carriage travel range or speed up the cut proc
ess, thereby reducing the time required for the tool program. In addition, the return velocity (Yx55) and the return
acceleration (Yx56) can be increased.
02A3h Synchr.: position exceeded
When synchronizing, the axis will exceed the maximum stroke position.
In this case, the user can either reduce the material velocity or increase the carriage travel range or increase the
synchronization dynamics (Yx53, Yx55, Yx56).
02A4h Reserved
02A5h Synchr.: velocity exceeded
When synchronizing, the axis will exceed the maximum velocity. Increase the maximum velocity (Yx04) of the
synchronous axis or reduce the material velocity.
02A6h Reserved
02A7h Synchr.: cut exceeds travel limits
The requested cut position is outside of travel limits for which reason it cannot be executed. Start the manual cut
routine to generate a new cut position or move the material and therefore the measuring wheel in manual mode
to move the desired cut position inside travel limits.
02A8h- Reserved
02C5h
02C6h Feed command (e.g., PSA) during LMx command
A feed command (POA, POI, PSA, PSI, CON) was given between an LMx and EOS command (i.e., in the tool
program).

9.5

Saving Y-Parameters

Saving the Y-parameters via sys

tem command

All Y-parameters can be saved using the "Save data to MMC" system com
mand, see also chapter System Command 5: Save Y-parameter on MMC,
page 328. In this process, a (readable) ASCII file containing the data required
is saved to the MMC. The file format is similar to the IndraDrive parameter
file. The backup file has the filename extension "*.SCD".

The file has the following format:

Header with filename, version and number of axes

Axis-independent Y-parameters

Axis-dependent Y-parameters of the axes present

The following information is available with respect to each Y-parameter:

Parameter number, e.g., Y123

Parameter name (in the set language)

Unit (in the set language)

Minimum value

Maximum value

Current value

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Saving the Y-parameters via the

SMC-Editor

9.6

For further parameter saving means, please refer to

chapter 7.2.13 "System Command 10: Save Single Parameter Set to

MMC" on page 330

chapter 7.2.15 "System Command 12: Save Drive Parameters to MMC"

on page 331
The Y-parameters can also all be saved via the "parameter box" of the SMCEditor. For a description of the steps required for saving, see the chapter
Backup / Restoring all Y-Parameters, page 103.

Restoring Y-Parameters

Restoring the Y-parameters via

system command

1.

Switch the SMC over to parameter mode.

Parameters can only be restored in parameter mode. The display of the
axes shows PM or P2.

2.

All Y-parameters can be loaded using the "Load SMC data from MMC"
system command, see also chapter 7.2.7 "System Command 4: Load
SMC data from MMC" on page 327. In this process, an ASCII file (file
name extension "SCD") is read from the MMC.
The Y-parameters are read from the file and loaded to the SMC.

Restoring the Y-parameters via

the SMC-Editor

9.7

For further parameter restoring means, please refer to

chapter 7.2.12 "System Command 9: Load Single Parameter Set from

MMC" on page 329

chapter 7.2.14 "System Command 11: Restore Drive Parameters from

MMC" on page 330
The Y-parameters can also all be restored via the "parameter box" of the
SMC-Editor. For a description of the steps required for restoring, see the
chapter Backup / Restoring all Y-Parameters, page 103.

Complete System Backup

As of SMC 12V06

To create a system backup (e.g., for system backup, system duplica

tion), we recommend to proceed as follows:
1.

Switch the SMC over to parameter mode.

2.

Execute the "Save device data" function via the SMC-Editor (see Save
device data menu). This generates a backup file.
After the successful execution of the function, all S/P-parameters of all
axes, the PLC retain data, the PLC boot project (SMC release), the Yparameters of all axes and all flags and variables are saved to the PC in
the backup file.
The Y-parameters and the flags/variables are saved to the "Y_Pa
rameter_bak.scp" and "M_V_Data_bak.scd" files in the ".\User
\Update" directory.

3.

Generate a backup of the MMC.

Also copy the complete MMC, e.g., to the hard disk of your PC. You can
copy the MMC via FTP or by means of a memory card reader. The drive
has to be disconnected before removing the MMC when using a memo

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Diagnostics and Backup

ry card reader. Store the generated MMC image and the backup file
from strep 2 to a secure location.
Up to SMC 12V04

To create a system backup (e.g., for system backup, system duplica

tion), we recommend to proceed as follows:
1.

Switch the SMC over to parameter mode.

2.

Save the S/P-parameters of all axes to the MMC using SMC system
command 12 "Save drive parameters to MMC", see also chapter 7.2.15
"System Command 12: Save Drive Parameters to MMC" on page 331.
Drive command "C65 Save parameters to MMC command" (P-0-0665)
is executed internally.
After the command has been executed successfully, the parameters of
all axes, the boot project and the retain data are available in the ".\User
\Backup\.." directory of the MMC. This data can now be further pro
cessed through FTP or card reader, e.g., saved.

3.

Save the Y-parameters of the system using system command 5 "Save

SMC data to MMC", see also chapter 7.2.8 "System Command 5: Save
SMC data to MMC" on page 328.
Provided in a (readable) text file, all Y-parameters (and the variable val
ues and flags if necessary) are saved to the ".\User\.." directory of the
MMC. This can also be done using the "Backup / Restore" mask (see
chapter "Backup / Restore screen" on page 149) of the VCP.

4.

Generate a backup of the MMC.

Copy the complete MMC, e.g., to the hard disk of your PC. Keep the
MMC image you just created at a safe location. You can copy the MMC
via FTP or by means of a memory card reader. The drive has to be dis
connected before removing the MMC when using a memory card read
er.

9.8

Complete System Restoration

As of SMC 12V06

To restore a system backup (e.g., for system backup, system duplica

tion), we recommend to proceed as follows:
1.

Restore the backup of the MMC.

Completely clear the MMC. Then copy the previously saved MMC im
age back to the MMC. You can copy the MMC via FTP or by means of a
memory card reader. The drive has to be disconnected before removing
the MMC when using a memory card reader.

2.

Switch the drive off and on again.

3.

Based on the "History" of the replacement device, the message "Firm

ware update?" can appear during booting.
Acknowledge this message by pressing <Enter> on the control panel.
The firmware is loaded from the plugged-in MMC into the controller de
vice.

4.

This can be followed by one of the following messages:

"Load new param.?"

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"activate new MMC?"

Acknowledge the appropriate message by pressing <Enter> on the

control panel.
The message "Load new safety?" may also appear.
Acknowledge this message by pressing <Enter> on the control panel.
After the loading process is complete, the next step can be performed.
5.

Switch the SMC over to parameter mode.

6.

Execute the "Backup device data" function via the SMC-Editor (see
Backup device data) menu using the backup file created during the sav
ing step.
After the successful execution of the function, all S/P-parameters of all
axes, the PLC retain data, the PLC boot project (SMC release), the Yparameters of all axes and all flags and variables are restored.

Up to SMC 12V04

To restore a system backup (e.g., for system backup, system duplica

tion), we recommend to proceed as follows:
1.

Restore the backup of the MMC.

Completely clear the MMC. Then copy the previously saved MMC im
age back to the MMC. You can copy the MMC via FTP or by means of a
memory card reader. The drive has to be disconnected before removing
the MMC when using a memory card reader.

2.

Switch the SMC over to parameter mode.

3.

Restore the S/P-parameters of all axes to the MMC using SMC system
command 11 "Restore drive parameters from MMC", see also chapter
7.2.14 "System Command 11: Restore Drive Parameters from MMC"
on page 330.
Drive command "C66 Restore parameters from MMC command"
(P-0-0666) is executed internally.

4.

Restore the SMC data.

The SMC data (i.e., Y-parameters and if necessary, the variables and
flags) from the backup file must now be loaded using system command
4, see chapter 7.2.7 "System Command 4: Load SMC data from MMC"
on page 327. In order to be able to execute system command 4, the
PLC has to be in operation and the drive has to be in parameter mode.
It can be restored using the "Backup / Restore" screen (see chapter
Backup / Restore Screen, page 149) of the VCP.
The release version of the drive firmware is not modified during
complete restoration. The S/P-parameters of all axes, the PLC
boot project (i.e., the SMC firmware option), and the Y-parame
ters of the SMC are restored.

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User-defined Extensions

10

User-defined Extensions

10.1

Overview
This chapter is intended for advanced users who want to extend the PLC
project or implement their own HMI interfaces.

10.2

HMI Extensions
The user screen (see chapter "User Screen" on page 163) serves as an "ini
tial screen" for user-defined extensions in the visualization. Extension of the
VI Composer project requires the appropriate source code which must be re
quested from Sales Industry Sector.

10.3

PLC Extensions

10.3.1

Overview
Extensions of the SMC can be made on the PLC side. Allowed and invalid
changes are described below.
Allowed changes

The user is allowed to make the following changes:

Assigning PLC inputs to internal inputs.

Linking additional PLC inputs to internal inputs.

Additional PLC logic for processing PLC inputs and activating internal
inputs.

Assigning internal outputs to PLC outputs.

Transferring internal outputs to additional PLC outputs.

Additional PLC logic for processing internal outputs for and activating
PLC outputs.

Access (read and write) to flags and variables.

Implementing program code for activating axis motions

(e.g., axis activation via PLCopen Motion function blocks).

Reloading SMC program blocks ("OnlineChange").

The user is not allowed to make the following changes:

Task configuration modifications

(task names with attached program calls and task properties concerning
priority and type).

The name of the following programs may not be changed:

"HandleSMCMotionTaskInputSignals",
"HandleSMCMotionTaskOutputSignals",
"HandleSMCPlcTaskInputSignals" and
"HandleSMCPlcTaskOutputSignals"

Invalid changes

If invalid changes are made by the user, proper functioning of the

SMC can no longer be guaranteed.

10.3.2

Notes
Configuration and operation require the engineering tool "IndraWorks".
"IndraWorks" contains the embedded programming tool "IndraLogic".

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User-defined Extensions
The DOK-INDRV*-MLD-**VRS**-AW02-EN-P documentation de
scribes the specific functionalities of Rexroth IndraMotion MLD, il
lustrates how the PLC is embedded in the drive and explains
technical options and functions.

In order to ensure the complete functionality of the SMC, the following boun
dary conditions have to be fulfilled for the implementation of the user-defined
functionality:

To ensure a correct compilation of the IndraLogic project, the menu

items Clean all and subsequently Rebuild all have to be executed (see
Project menu in the IndraLogic user interface).

Code modifications or supplements made by the user within the tem

plate program affect the runtime behavior of the system solution. It
might be necessary to increase the cycle times (interval time) of the cy
clic task (e.g., PlcTask). This also reduces the response time of the sys
tem solution accordingly.

Before carrying out a cold reset or original reset for the IndraLogic pro
gramming system, you should create a complete backup of the Y-pa
rameters because the reset sets all Y-parameters (PLC variables of re
tain and persistent type) to their default values. The parameterized val
ues can then be reloaded after the reset. The backup can be created
with system command 5 ("Save Y-parameters to MMC".

If using string functions (e.g., INSERT, REPLACE), ensure that these

are not "thread-safe". String functions may only be used in a task. If the
same function is used in different tasks, it may be overwritten.

10.3.3

Provision
The "SMC_12VRS_Template.zip" IndraWorks project archive is provided in
the ".\User\IndraWorks_Projects" directory of the MMC.
This archive contains an IndraLogic template program which incorporates the
required "MX_Sequential_Motion_Control_12VRS.lib" library. This template
program contains the I/O programs accessible to the user in the
".\Sequential_Motion_Control" folder.

10.3.4

Variable I/O Link

In certain applications, users wish to be able to individually adjust the default
assignment of the SMC inputs and outputs. At the same time, it should be
possible that users realize a variable connection of inputs and outputs.
The SMC allows individual adjustment of the default assignment of inputs
and outputs and implementation of user-defined variable input and outputs
links. The generation of the input and output image is swapped out to freely
accessible programs. These programs can be extended and adjusted by the
user by means of the Rexroth IndraLogic programming system.

In its ".\Sequential_Motion_Control" folder, the template program contains the

following four programs

HandleSMCMotionTaskInputSignals
(reading sercos synchronous inputs)

HandleSMCMotionTaskOutputSignals
(writing to sercos synchronous outputs)

HandleSMCPlcTaskInputSignals
(reading PlcTask synchronous inputs)

HandleSMCPlcTaskOutputSignals

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(writing to PlcTask synchronous outputs)
See also fig. 10-1 "I/O programs on delivery ( dialog: Blocks Sequen
tial_Motion_Control)" on page 462.
The user-defined extensions have to be integrated in these programs. They
implement the interface required to connect the SMC to I/O. On delivery, the
SMC features the default links. The programs are written in the function block
diagram (FBD) programming language.

The name of the following programs may not be changed:

"HandleSMCMotionTaskInputSignals",

"HandleSMCMotionTaskOutputSignals",

"HandleSMCPlcTaskInputSignals" and

"HandleSMCPlcTaskOutputSignals"
The ".\Sequential_Motion_Control" folder contains an additional "\Original"
subfolder. This subfolder contains the original programs for the variable I/O
connection in the state of delivery. The ".\Original" folder is a backup directo
ry.

The individual programs provide the default links of the system solution in the
following programming languages and reside in the following subfolders:

Function_Block_Diagram_FBD
(FBD function block diagram)

Ladder_Diagram_LD
(ladder diagram)

Structured_Text_ST
(structured text)

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Fig.10-1:

I/O programs on delivery ( dialog: Blocks Sequential_Motion_Con

trol)

Instructions for use of the variable

I/O link

The sections below describe steps required for using the variable I/O
link with the SMC:
1. Switch off the SMC and remove the MMC card (multimedia card).
2. Copy the "SMC_12VRS_Template.zip" file from the ".\User
\IndraWorks_Projects" folder of the MMC (multimedia card) to the com
missioning PC using the card reader (card reader).
3. Start the "IndraWorks" commissioning tool.
4. Use the "Restore Project... " menu in IndraWorks to restore the
"SMC_12VRS_Template.zip" archive file.
5. In the "Select Restoring Type" dialog, select the option "Restore File
System".
6. From the "Select Archive to be Restored" dialog, select the
"SMC_12VRS_Template.zip" archive that has been copied from the
MMC to the PC.
7. From the "Select Target Directory" menu, select the target directory on
the PC to which you wish to unpack the "SMC_12VRS_Template.zip"
project.

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8. Confirm the selection made in the "Check User Entries" menu by click
ing the "Finish" button.
After the "SMC_12VRS_Template.zip" archive has been restored suc
cessfully, the "Summary" dialog is displayed.
9. In this dialog, activate the option "Open Project upon Exiting Wizard".
10. Click the "Close" button.
The project for the system solution is now opened. After the "Logic"
node is activated and the "Open" menu item is selected, the
"IndraLogic" is opened with the right mouse button.
11. "IndraLogic" can now be used to make the necessary changes and sup
plements
in
the
"HandleSMCMotionTaskInputSignals",
"HandleSMCMotionTaskOutputSignals", "HandleSMCPlcTaskInputSig
nals" and "HandleSMCPlcTaskOutputSignals" programs. Once the nec
essary modifications are executed, the new project can be loaded to the
SMC.
12. After the successful download of the IndraLogic project, it has to be star
ted.
13. If the modified functions of the project were verified and tested success
fully, a boot project must be created.
Thus, the newly implemented functionality of the project also remains if
the drive is switched off and on again.
Selecting the desired program
ming language

Subject to the desired programming language, the respective programs in the

".\Original" subfolder can be used as template.

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If the I/O links are to be programmed, e.g., in the ladder diagram, the pro
grams used (e.g., "HandleSMCPlcTaskInputSignals" and "Handle
SMCPlcTaskOutputSignals") have to be deleted first:

Fig.10-2:

Delete the I/O programs (dialog: Block Delete Object)

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Then
copy
the
"HandleSMCPlcTaskInputSignalsLD"
and
"HandleSMCPlcTaskOutputSignalsLD" program, respectively, to the
"HandleSMCPlcTaskInputSignals" and "HandleSMCPlcTaskOutputSignals"
program, respectively.

Fig.10-3:

10.3.5

Copy the I/O programs (dialog: Block Copy Object)

Task Configuration
In addition to the template program, the task configuration of the system solu
tion is also set in the state of delivery.

The following three tasks are configured with their respective program calls:

MotionTask - TE_Organizer_sercosSync()
(sercos synchronous task, highest priority)

PlcTask - TE_Organizer()
(cyclic task, medium priority)

HmiTask - HMI_PRG()
(freewheeling task, medium priority)

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If the task configuration is modified by the user, the functionality
of the SMC might not be guaranteed anymore. Thus, the task
configuration must only be modified after the Bosch Rexroth cus
tomer service was contacted.

Fig.10-4:

Configuring the MotionTask of the SMC - templates on delivery (dia

log: Task configuration - Task attributes - MotionTask)

Fig.10-5:

Configuring the PLCTask of the SMC - templates on delivery (dialog:

Task configuration - Task attributes - PlcTask)

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Fig.10-6:

10.3.6

Configuring the HMITask of the SMC - templates on delivery (dialog:

Task configuration - Task attributes - HmiTask)

Linking External and Internal Inputs and Outputs

Process image: input and output

Before the program code is called in the task cycle, the switching states at
the inputs are read and stored in the "Process input image" (PII). This infor
mation is used for further operations. The states of the "Process output im
age" (POI) are transferred to the physical outputs at the end of the task after
the completion of the program code.
The SMC can use the process image input and the process image output in
order to access the analog and digital inputs / outputs of the I/O periphery.

External inputs and outputs

External system inputs and out

puts

The external I/O periphery (e.g., X31, X32, MD2) can be accessed via the fol
lowing two functions:

SMC_GetIOM
(read inputs, outputs and flags)

SMC_SetOM
(write to outputs and flags)
These functions allow reading the states of the external inputs and outputs
and setting the states of the external outputs. See also "Access to inputs,
outputs and flags" on page 471.
Example: chapter "Y011: Automatic Mode, In-config" on page 505
The state of the external system inputs and outputs is applied to the following
global variables based on the configuration of the particular Y-parameters:

stExtSystemInputs_gb
(external axis-independent system inputs)

stExtSystemOutputs_gb
(external axis-independent system outputs)

stExtAxisInputs_gb
(external axis-dependent system inputs)

stExtAxisOutputs_gb
(external axis-dependent system outputs)
These variables represent the resulting input and output map for the system
inputs and outputs which the SMC reads from the outside and writes to the

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User-defined Extensions
outside. Please note that the input variables also contain the states of the
VCP and SMC-Editor inputs chapter "Y046: System Control" on page 521).
Internal system inputs and outputs

The variables for the external system inputs and outputs (e.g.,
stExtSystemInputs_gb) are linked to the internally used system inputs and
outputs in the I/O programs.

The following global structure variables are available for internal inputs and
outputs:

stSystemInputs_gb
(internal axis-independent system inputs)

stSystemOutputs_gb
(internal axis-independent system outputs)

stAxisInputs_gb
(internal axis-dependent system inputs)

stAxisOutputs_gb
(internal axis-dependent system outputs)
The internal inputs and outputs of the structure variables (e.g.,
stSystemInputs_gb) are used to activate and deactivate the functionality of
the system solution, e.g., manual or automatic mode. Execution and acknowl
edgement of the system-specific functionalities are under the exclusive con
trol of the internal system inputs and outputs. Only if all internal inputs and
outputs are used, will the full functional scope of the system solution be pres
ent.
Design of the structure variables
"stSystemInputs_gb" and
"stExtSystemInputs_gb":

Fig.10-7:

Design of the structure variables "stSystemInputs_gb" and "stExtSys

temInputs_gb"

Design of the structure variables

"stSystemOutputs_gb" and
"stExtSystemOutputs_gb":

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Fig.10-8:

Design of the structure variables "stSystemOutputs_gb" and "stExt

SystemOutputs_gb"

Design of the structure variables "stAxisInputs_gb" and "stExtAxisInputs_gb":

Fig.10-9:

Design of the structure variables "stAxisInputs_gb" and "stExtAxisIn

puts_gb"

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Design of the structure variables "stAxisOutputs_gb" and
"stExtAxisOutputs_gb":

Fig.10-10:

Design of the structure variables "stAxisOutputs_gb" and "stExtAxi

sOutputs_gb"

Fig.10-11:

Example of linking external and internal inputs in the FBD program

ming language

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Fig.10-12:

10.3.7

Example for linking external and internal outputs in the FBD program
ming language

Access to Inputs, Outputs, Flags and Variables

The "open access" program parts of the SMC templates also provide for im
plementation of access to the existing inputs, outputs, flags and variables of
the SMC.

Access to inputs, outputs and

flags

The existing inputs allow read access. The existing outputs and flags allow
read and write access.

Access is implemented using the following functions:

"SMC_GetIOM"

"SMC_SetOM"
(see chapter 10.3.6 "Linking External and Internal Inputs and Outputs" on
page 467).

NOTICE
The use of flags already set in the SMC program or assigned to a system in
put or output (Y-parameter, In-config, Out-config) may result in undesired be
havior (double assignment).
Description of function "SMC_GetIOM"
The "SMC_GetIOM" library function of the SMC serves to read the current
state of an external input, an external output or a flag. The function returns a
value of type "BOOL".
After the function has been called successfully and "TRUE" is returned, the
selected input, output or flag, respectively, is set. "FALSE" indicates that the
input, output or flag, respectively, has not been set.

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User-defined Extensions
Input variable

Data type

Description

Address

STRING

Specifies the input, output or flag whose

state is to be queried.
The syntax of the string must be consis
tent with the syntax described in chapter
6.7 "Digital Inputs and Outputs" on page
213.

Examples:

Fig.10-13:

"I.A1.PL.Pin26"

"Q.A1.PL.Pin10"

"MF200"

"MFR10"

Input variable of the "SMC_GetIOM" library function of the SMC

Input/output varia
ble

Data type

Description

Error

BOOL

Indicates that an error has occurred in

the function.

ErrorID

ERROR_CODE

Brief indication of the error cause.

ErrorIdent

ERROR_STRUCT

Detailed information regarding the error.

Fig.10-14:

Input/output variable of the "SMC_GetIOM" library function of the SMC

Return value

Data type

Description

SMC_GetIOM

BOOL

TRUE = input, output or flag set

FALSE = input, output or flag not set

Fig.10-15:

Return value of the "SMC_GetIOM" library function of the SMC

Execution of this function takes up to 30 s for each call. If the

function is called too often in a PLC cycle, this may result in
watchdog errors (see chapter 7.19 "Watchdog" on page 412).

Description of function "SMC_SetOM"

The "SMC_SetOM" library function of the SMC serves to set the state of an
external output or a flag. The function returns a value of type "BOOL".
After the function has been called successfully, "TRUE" as return value indi
cates that the desired state has been set. If "FALSE" is returned, an error has
been detected in the function.

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Input variable

Data type

Description

Address

STRING

Specifies the output or flag whose state

is to be set.
The syntax of the string must be consis
tent with the syntax described in chapter
6.7 "Digital Inputs and Outputs" on page
213.

Examples:

Value

BOOL

"Q.A1.PL.Pin10"

"MF200"

"MFR10"

TRUE = output or flag is set

FALSE = output or flag is reset

Fig.10-16:

Input variable of the "SMC_SetOM" library function of the SMC

Input/output
ble

varia Data type

Description

Error

BOOL

Indicates that an error has occurred in

the function.

ErrorID

ERROR_CODE

Brief indication of the error cause.

ErrorIdent

ERROR_STRUCT

Detailed information regarding the error.

Fig.10-17:

Input/output variable of the "SMC_SetOM" library function of the SMC

Return value

Data type

Description

SMC_SetOM

BOOL

TRUE = output or flag set/reset success

fully
FALSE = an error occurred during set
ting/resetting of the output or flag

Fig.10-18:

Return value of the "SMC_SetOM" library function of the SMC

Execution of this function takes up to 30 s for each call. If the

function is called too often in a PLC cycle, this may result in
watchdog errors (see chapter 7.19 "Watchdog" on page 412).
Access to variables

The existing variables allow read and write access.

Access to the variables must be implemented using the following functions:

"SMC_GetVar"
(read variables)

"SMC_SetVar"
(write to variables)
Description of function "SMC_GetVar"
The "SMC_GetVar" library function of the SMC serves to read the current val
ue of a variable. The function returns a value of type "REAL".
After the function has been called successfully, the return value contains the
current value of the variable specified.

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Input variable

Data type

Description

Address

STRING

Specifies the variable whose value is to

be read.
The syntax of the string must be consis
tent with the syntax described in chapter
6.5 "Variables" on page 203.

Examples:

Fig.10-19:

"VS10"

"VF20"

"VFR30"

Input variable of the "SMC_GetVar" library function of the SMC

Input/output
ble

varia Data type

Description

Error

BOOL

Indicates that an error has occurred in

the function.

ErrorID

ERROR_CODE

Brief indication of the error cause.

ErrorIdent

ERROR_STRUCT

Detailed information regarding the error.

Fig.10-20:

Input/output variable of the "SMC_GetVar" library function of the SMC

Return value

Data type

Description

SMC_GetVar

REAL

Current value of the variable

Fig.10-21:

Return value of the "SMC_GetVar" library function of the SMC

Execution of this function takes up to 30 s for each call. If the

function is called too often in a PLC cycle, this may result in
watchdog errors (see chapter 7.19 "Watchdog" on page 412).

Description of function "SMC_SetVar"

The "SMC_SetVar" library function of the SMC serves to write a desired val
ue to a variable. The function returns a value of type "BOOL".
After the function has been called successfully, "TRUE" as return value indi
cates that the value has been successfully written to the variable. If "FALSE"
is returned, an error has been detected in the function.

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Input variable

Data type

Description

Address

STRING

Specifies the variable to which the value

is to be written.
The syntax of the string must be consis
tent with the syntax described in chapter
6.5 "Variables" on page 203.

Examples:

Value

REAL

Fig.10-22:

"VF20"

"VFR30"

Value for the variable.

Input variable of the "SMC_SetVar" library function of the SMC

Input/output varia
ble

Data type

Description

Error

BOOL

Indicates that an error has occurred in

the function.

ErrorID

ERROR_CODE

Brief indication of the error cause.

ErrorIdent

ERROR_STRUCT

Detailed information regarding the error.

Return value

Data type

Description

SMC_SetVar

BOOL

TRUE = value successfully written to the

variable
FALSE = an error occurred during writing
to the variable

Fig.10-23:

Return value of the "SMC_SetVar" library function of the SMC

Execution of this function takes up to 30 s for each call. If the

function is called too often in a PLC cycle, this may result in
watchdog errors (see chapter 7.19 "Watchdog" on page 412).

10.3.8

Commanding the Axes by Means of PLCopen Function Blocks or Axis

Interfaces
An axis or the axis interface can only be commanded in the free PLC part or
if parameter Yx02: Enable axis is set to "FALSE".

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In addition, the "bParkingAxis" entry for the corresponding axis in the User
Adjust variables "arstUserAdjust_gb" must be set to the value "FALSE":

Fig.10-24:

Example for the configuration of the global variables "UserAdjust"

After the SMC has been powered up, the axis remains in state "Ab". The axis
can now be commanded by means of the PLCopen function blocks (e.g.,
MC_Power, MC_MoveVelocity, MC_GearIn, ...) of the axis interface.

The following restrictions apply to an axis which is commanded by

means of PLCopen function blocks or axis interfaces:

The axis may not be commanded in the SMC program. Axisspecific SMC commands that use these axes are not possi
ble.

The Y-parameters belonging to the axis are invalid or inef

fective.

On the following axis-specific system variables are establish

ed:

VSx08: Actual position

VSx09: Velocity feedback value

VSx10: Torque/force feedback value

10.3.9

Loading of SMC Program Blocks ("Online Change")

The "MX_Sequential_Motion_Control_12VRS.lib" library provides function
block "MX_OnlineChangeSMCProgram". This function blocks allows reload
ing of program blocks ("OnlineChange"). Thus, the already active SMC pro
gram can be changed at runtime. In general, new program blocks can always
be reloaded, except when a phase switchover is active (e.g., from parameter
ization to operation mode). It is possible to change both single blocks and
complete program blocks.
The program parts to be reloaded must be available as binary file (*.scb) on
the MMC of the master control section in directory "..\User".

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The binary file (*.scb) can also be generated via the external com
piler of the SMC-Editor (see also chapter "External Compiler" on
page 107).

When using function block "MX_OnlineChangeSMCProgram", the following

must be observed:

The user is responsible for executing the function block at the "correct"
time because the function block does not check whether active program
parts are just being changed (handshake to active program or call con
dition).

The function block may only be called in the "HmiTask". Calls in the
"MotionTask" and "PlcTask" are not allowed because these calls cause
the watchdog to respond (cf. error Y029 = A1h, Y030 = "Watchdog ac
tive").

No program check is carried out for the reloaded program.

The checksum of the active SMC program in the process memory of the
SMC is set to zero, i.e., the SMC-Editor detects a difference between
the source file (*.scs) and the binary file (*.scb) in online state. In this
case, the "Active program" field is displayed on "yellow" background in
the debugger window of the SMC-Editor.

The only program blocks that can be exchanged are those that are al
ready available.

The task configuration may not be changed in the SMC program. If the
part to be reloaded contains other tasks (e.g., uses system label "BE
GIN_AUTO_TASK_2"), these tasks are treated just like normal labels.
They are not added to the task configuration of the active program.

The program change is only made in the process memory of the SMC,
not in the source file (*.scs) nor in the binary file (*.scb), i.e., "online
changes" get lost after power off. The program change will therefore not
be displayed in the SMC-Editor either. However, the active program is
always displayed on the VCP 08 and the IndraLogic visualization.
Interface Description

Fig.10-25:

Function block MX_OnlineChangeSMCProgram

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I/O type

Name

Data type

Description

VAR_INPUT

Execute

BOOL

Processing of function block "MX_OnlineChangeSMCPro

gram" enabled (edge-controlled). The input variables are
registered with a positive edge of "Execute". New input val
ues do not become effective until there is the next positive
edge at Execute.

SrcFileName

STRING

Name of source file. The source file must be available as a

compiled binary file of the SMC program (*.scb, "Sequential
Motion Control Binaryfile") with the content of the new SMC
program on the MMC of the master control section in direc
tory "..\User".
The name of the source file must be specified with suffix
(*.scb).

VAR_OUTPUT

SrcStartSetNbr

UINT

Starting block number after which the new program blocks

are to be applied by the source file (SMC program on the
MMC, see "SrcFileName").

DestStartSetNbr

UINT

Target block number in the active SMC program within the

SMC.

NbrOfSetsTo
Copy

UINT

Number of blocks to be applied by the source file (SMC pro

gram on the MMC, see "SrcFileName") to the active SMC
program.

Done

BOOL

"TRUE" shows that the function block has been processed

without errors, i.e., the new SMC program blocks have been
applied internally.

Active

BOOL

The function block is active.

Error

BOOL

Processing has been completed with an error; the values in

the "ErrorID" and "ErrorIdent" outputs are applicable.

ErrorID

ERROR_CODE

Brief error description

ErrorIdent

ERROR_STRUCT

Detailed error description

rActUsedTimeMs

REAL

Time in [ms] required for the "OnlineChange", i.e., function

block processing time elapsing until the "Done" output was
set.

Fig.10-26:

Interface description of function block MX_OnlineChangeSMCPro

gram

Min./max. and default values and application of the inputs:

Name

Type

Min. value

Max. value

Default value

Effective

Execute

BOOL

FALSE

Continuous

SrcFileName

STRING

Rising edge at the "Execute" input

SrcStartSetNbr

UINT

2999

Rising edge at the "Execute" input

DestStartSetNbr

UINT

2999

Rising edge at the "Execute" input

NbrOfSetsTo
Copy

UINT

3000

Rising edge at the "Execute" input

Fig.10-27:

Min./max. and default values and effective of the inputs

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User-defined Extensions
Error handling

Function block "MX_OnlineChangeSMCProgram" generates the following

error messages in Additional1/Additional2 for table "USER1_TABLE"
(16#1000):

ErrorID

Additional1

Additional2

Description

INPUT_RANGE_ERROR

16#0E2B

16#0100

Cause:

(16#0006)

The source program specified by input variable "SrcFile

Name" could not be opened.
Solution:
Check whether the file is available on the MMC in directory
"..\User".

INPUT_RANGE_ERROR

16#0E2B

16#0101

(16#0006)

Cause:
The value transferred at the "SrcStartSetNbr" input is not
within the valid range.
Solution:
Transfer a valid value at the "SrcStartSetNbr" input, see al
so table fig. 10-26 "Interface description of function block
MX_OnlineChangeSMCProgram" on page 478.

INPUT_RANGE_ERROR

16#0E2B

16#0102

(16#0006)

Cause:
The value transferred at the "DestStartSetNbr" input is not
within the valid range.
Solution:
Transfer a valid value at the "DestStartSetNbr" input, see
also table fig. 10-26 "Interface description of function block
MX_OnlineChangeSMCProgram" on page 478.

INPUT_RANGE_ERROR

16#0E2B

16#0103

(16#0006)

Cause:
The value transferred at the "NbrOfSetsToCopy" input is
not within the valid range.
Solution:
Transfer a valid value at the "NbrOfSetsToCopy" input, see
also table fig. 10-26 "Interface description of function block
MX_OnlineChangeSMCProgram" on page 478.

INPUT_RANGE_ERROR

16#0E2B

16#0104

(16#0006)

Cause:
An attempt was made to change program blocks which are
not available.
Solution:
Program blocks must be already be available to be able to
exchange them.

ACCESS_ERROR

16#0E2B

16#0105

(16#16#0004)

Cause:
An attempt was made to change program blocks during a
phase switchover.
Solution:
Wait until the phase switchover is completed.

Fig.10-28:

Error codes of function block MX_OnlineChangeSMCProgram

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User-defined Extensions

10.3.10

Programming Example
Boundary conditions

The system solution is used with the parallel interface master communication.
The implementation is made in the ST (Structured Text) programming lan
guage.

Task

Automatic mode must only be activated, if

1. material is available and
2. the straightener is operational.
These two conditions must be queried via two inputs and applied to the "Au
tomatic mode" input of the SMC as a common message.
If one of these conditions is not fulfilled, manual mode is preserved.
If both inputs are set, the "Production ready" output is to be set in addition.
If the "Production ready" output is set, the programmable variable "VF100" is
set to the value of the programmable variable "VF101". In addition, the pro
grammable flag "MF100" is set. If the output is not active, variable "VF100" is
set to "0.0" and the programmable flag "MF100" is reset.
The "Material available" input is to be read via the unassigned "I.A1.PL.Pin5"
input (axis 1, parallel interface, pin 5). The "Straightener ready" input is to be
read via the unassigned "I.A1.PL.Pin24" input (axis 1, parallel interface, pin
24). The "Production ready" output is to be read via the unassigned
"Q.A1.PL.Pin32" output (axis 1, parallel interface, pin 32).
The "HandleSMCPlcTaskInputSignals" program is used to implement the
state logic required for the inputs, outputs, variables, and flags. The external
"Material available" (I.A1.PL.Pin5) and "Straightener ready" (I.A1.PL.Pin24)
inputs are additionally subjected to an AND operation with the external
"stExtSystemInputs_gb.bAutomatic" input and assigned to the internal
"stSystemInputs_gb.bAutomatic" input.

Using external inputs and outputs

Implementing the logic

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User-defined Extensions
Supplemented code extract from program "HandleSMCPlcTaskInputSignals"

Fig.10-29:

10.3.11

Program example implementation

Archiving and Restoring Projects

General Information
IndraWorks provides the option of archiving projects both on the local file sys
tem and on an FTP server (device or computer) which is connected through a
network. These archives can be restored on the file system of the local com
puter.

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User-defined Extensions
A wizard supports working with project archives. If the entered values are
correct, you can move between the pages of the wizard with Back and Next.
When a page is opened for the first time, the input boxes contain default val
ues. Otherwise, your last entries will be displayed.
You can exit the wizard at any time with Cancel. Values entered up to that
point will not be saved; the archiving process is stopped.
The required parameters and the MLD program of the SMC appli
cation can also be saved and restored via the backup memory
(MMC) of the CCD master. For a description of the instructions
required to do this, please refer to chapter 9.7 "Complete System
Backup" on page 455 and chapter 9.8 "Complete System Resto
ration" on page 456.

Archive Project
Proceed as follows to archive a project:
1. Start the archiving wizard
To archive a project, select Project Archive... from the main menu or
the following button in the toolbar:

Fig.10-30:

Icon: Archive project

2. Archive Properties
On the first page of the wizard, the name of the archive and a comment
can be defined. Optionally, the archive can be protected by a password.
Enter the password a second time in "Confirm password" to verify your
entry. Confirm with Next>>.

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User-defined Extensions

Fig.10-31:

Dialog: Archive Project (Archive Properties)

3. Archive Target Settings

This page allows defining whether the archive is to be saved to the local
file system and/or an FTP server (device or computer) that is connected
through a network.

Fig.10-32:

Dialog: Archive Project (Archive Target Settings)

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User-defined Extensions
4. Filing on file system
Define the directory of your local file system to which the archive to be
created is to stored in the "Target directory" input field. You can also
click button "..." to select a target directory.
5. Filing on FTP server
Enter the target device for saving the archive in the "Device name, host
name or IP address" input box.

You can do this in four ways:

Enter the IP address (nnn.nnn.nnn.nnn)

Enter the computer name of the target device

Selection via the list box. This list box contains all FTP capable de
vices of the active project as well as the five target devices (device
name, host name or IP address) last used in archiving.

Click button "..." to select the target device from a list containing all
FTP-capable devices of the active project.
Click Next>> to cause the wizard to automatically establish a connection
to the device set. Disturbances in the connection to the target device are
displayed in error messages.
6. Components of Archive
This page allows defining the components of the archive. To achieve
this, select the component for each archivable element or device from
the left navigation area and the scope of the archiving to be done from
the right area. Confirm with Next>>.
To store the current values of the S- and P-parameters of the
drives (master and slave) along with project archiving, option "Up
date offline parameters of the drive and its slaves" must be acti
vated.

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Fig.10-33:

Dialog: Archive Project (Components of Archive)

7. Checking the user entries

This page allows to check your settings. Start restoring the archive us
ing the Finish button.

Fig.10-34:

Dialog: Archive Project (Checking the user inputs)

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User-defined Extensions
8. "Create Archive" progress bar
The archive is generated and stored to the set target file. This process is
displayed in a progress bar.
9. Summary
After archiving the settings and results are displayed.
To avoid inconsistencies during archiving, the active project is
closed before archiving and re-opened afterwards.

Fig.10-35:

Dialog: Archive Project (Summary)

10. Storing the Y-parameters

In addition to creation of the project archive, the current values of the Yparameters of the SMC must also be stored. To store the Y-parameters,
follow the instructions contained in chapter 9.5 "Saving Y-Parameters"
on page 454.

Restoring a Project
To restore a project, select Project Restore... from the main menu or the
following button in the toolbar:

Fig.10-36:

Icon: Restoring a project

Proceed as follows to restore a project from the file system:

1. Selecting the restore type
On the first page of the wizard, you can select whether to restore the
project from an archive of the local file system or from an FTP server

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User-defined Extensions
(device or computer) connected through a network. Select here Restore
from file system.

Fig.10-37:

Dialog: Restore Project / Workspace from Archive (Select restor

ing type)

2. Select the archive

Select the archive on the next page. Click "..." to search for an archive.
A comment will be displayed for the archive selected.

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User-defined Extensions

Fig.10-38:

Dialog: Restore Project / Workspace from Archive (Select Ar

chive to be restored)

If the archive type is unknown, the comment area will display the
message "***ATTENTION! The selected archive is not an
IndraWorks project archive ***". In this case, you can continue the
restore process after having confirmed a safety prompt.
3. Selecting the target directory
On the next page, select the directory to which you wish to restore the
project.

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User-defined Extensions

Fig.10-39:

Dialog: Restore Project / Workspace from Archive (Select Direc

tory in which archive is to be restored)

4. Checking the user entries

Here you can check your settings. Start the restoration of the project
from the archive with Finish.

Fig.10-40:

Dialog: Restore Project / Workspace from Archive (Checking the

user inputs)

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User-defined Extensions
5. Entering a password
If you have protected the archive with a password, you will now be
prompted to enter that password.
6. Progress bar "Restore on Temporary Directory"
First the project is restored from the archive to a temporary directory on
the local drive. This process is displayed in a progress bar. After restore,
the project is copied to the target directory. If a workspace already exists
in the specified target directory, you will be prompted to rename the
workspace.
7. Summary
After restoration, settings and results are displayed.

Fig.10-41:

Dialog: Restore Project / Workspace from Archive (Summary)

8. Restore all Y-parameters

In addition to restoration of the project archive, the stored values of the
Y-parameters of the SMC must also be restored. To restore the Y-pa
rameters, follow the instructions contained in chapter 9.6 "Restoring YParameters" on page 455.

10.4

Cyclic CCD Data

10.4.1

Overview
Cyclic CCD data are used to transfer data between the CCD master and the
CCD slaves in real time. The data required by the SMC is automatically con
figured on running up. The data configured by the SMC vary depending on
the configuration. The data that is still free is available for extensions through
the user. The AxisData structure (e.g., AxisData[1].dwUser...) can be used to
address the first four data items in the PLC.

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User-defined Extensions

10.4.2

Free Process Data

Process data is parameterized in drive parameters P-0-1623, P-0-1624,
P-0-1625, and P-0-1626.
The following data is automatically configured by the SMC on running up.

No.

Source (CCD master)

Target
slave)

dwUserCmdDataA_i

S-0-0275

dwUserCmdDataB_i

dwUserCmdDataD_i

(CCD Bytes

Function

Application

Coordinate offset value

SAC command, only if the

optional "SNC" or "SRV"
package is available

S-0-0092

Torque/force limit value

Torque limit value via MOM,

PFA and PFI commands

S-0-0081

Additive torque/force com Additive torque/force com

mand value
mand value for TAA com
mand
Torque/force command value
for CTA command

dwUserCmdDataC_i

S-0-0037

Additive velocity command Velocity offset for SOA com

value
mand
Velocity command value for
CVA command

P-0-1422 (to P-0-1429) P-0-0304

Onboard outputs (X31/X32) Digital outputs

of axes 16

P-0-1420 (to P-0-1421) P-0-0081

Outputs of option MD2 of ax Digital outputs

es 23

CCD master is master S-0-0047

axis:

Position command value for Axis coupling - position cou

position coupled slave axis
pling only if parameterized
via Yx00

S-0-0051,
S-0-0053,
S-0-0386, P-0-0434 or
P-0-0457
CCD slave is master
axis:
Slave 1: P-0-1278
Slave 2: P-0-1279
Slave 3: P-0-1280
Slave 4: P-0-1281
Slave 5: P-0-1282

Fig.10-42:

Process data - command values (CCD master CCD slave)

No.

Target (CCD master)

Source
slave)

(CCD Bytes

Function

Application

dwUserActualDataA_i

S-0-0130

Measured value 1, positive Touch probe 1

edge

dwUserActualDataB_i

P-0-0210

Analog input 1

Analog input 1, only for con

trol units of type "CSH"

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User-defined Extensions
No.

Target (CCD master)

Source
slave)

dwUserActualDataC_i

P-0-3215
P-0-0106

/ 2

Selected safety technology Safety technology, only with

operating status / STO status SI option "S2" /"L2"

dwUserActualDataD_i

S-0-0053

Position feedback value of Measuring wheel with feed,

optional encoder (encoder 2) only if optional encoder is
available

P-0-1440 (to P-0-1447) P-0-0303

Onboard
inputs Digital inputs
(X31/X32/X33/X34) of axes
16

P-0-1400 (to P-0-1401) P-0-0082

Inputs of option MD2 of axes Digital inputs

23

CCD slave is master CCD slave

axis:
master axis:
Slave 1: P-0-1278
Slave 2: P-0-1279
Slave 3: P-0-1280
Slave 4: P-0-1281

S-0-0051,
S-0-0053,
S-0-0386,
P-0-0434
P-0-0457

(CCD Bytes

is 4

Function

Application

Position command value for Axis coupling - position cou

position coupled slave axis
pling only if parameterized
via Yx00

or

Slave 5: P-0-1282
8

P-0-1277

P-0-0761

Fig.10-43:

10.4.3

Master axis position

CCD slave as global master

axis, only if parameterized
via Y028

Process data - actual values (CCD slave CCD master)

Signal Control Word / Signal Status Word

The signal control word and the signal status word are parameterized in drive
parameters P-0-1612, P-0-1613, P-0-1614, and P-0-1615. The following data
is automatically configured by the SMC on running up.
The following signals automatically configured by the SMC on running up.

No.

Source (CCD master)

Target
slave)

wUserCmdDataBitB_q

S-0-0405

wUserCmdDataBitB_q

S-0-0199
or
P-0-0542

(CCD Bit

Function

Application

Measured value 1 enabled

Touch probe 1

Shift coordinate system pro SAC command, only if the

cedure command
optional "SNC" or "SRV"
package is available
or

Release holding brake com or

mand
Axis coupling - error reaction
in case of position coupling
only if parameterized via
Yx00

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User-defined Extensions
No.

Source (CCD master)

Target
slave)

(CCD Bit

wUserCmdDataBitB_q

S-0-0393

Remaining distance process Remaining distance process

ing for POI/PSI interruption ing with safety technology
by safety technology

dwUserCmdData
BitD_q

S-0-0149

Positive stop drive procedure PFA and/or PFI command

command
or
or
Axis coupling - error reaction

or
P-0-0543

Function

Application

Apply holding brake com in case of position coupling

mand
only if parameterized via
Yx00

Fig.10-44:
No.

Target (CCD master)

Source
slave)

dwUserActualDataBitD_i

Signal control word (CCD master CCD slave)

(CCD Bit

Function

Application

Free

---

Not used

---

dwUserActualDataBitD_i

Free

---

Not used

---

dwUserActualDataBitD_i

Free

---

Not used

---

dwUserActualDataBitD_i

Free

---

Not used

---

Fig.10-45:

Signal status word (CCD slave CCD master)

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Parameters

11

Parameters

11.1

General
The SMC provides axis-independent and axis-dependent Y-parameters. Ax
is-independent Y-parameters allow general parameterization of the SMC. Ax
is-dependent Y-parameters allow parameterization of the individual axes of
the SMC. This chapter provides a detailed description of all Y-parameters.
In addition, each drive has S/P-parameters according to the sercos interface
standard (see chapter 11.6 "S/P-Parameters of IndraDrive" on page 583). In
part, these S/P parameters are affected by the SMC (see chapter 11.5 "Pa
rameters Influenced by the SMC (S/P-Parameters)" on page 572).
All parameters can be edited via the parameter interface (e.g., SMC-Editor,
VCP 08, field bus), see also chapter 5.3 "Field Bus" on page 164 and chap
ter 5.2 "VPC Control" on page 109.
Y-parameters can be addressed by the RWY command (see chapter 6.11.60
"RWY Read/Write Y-Parameter" on page 298) in the SMC program and can
therefore also be read or edited via the SMC program either.
The syntax of the data format to be used for parameters generating a link to
inputs, outputs or flags (e.g., chapter "Y011: Automatic Mode, In-config" on
page 505) is described in chapter 6.7.1 "General Information" on page 213
for the inputs/outputs and in chapter 6.6.1 "General Information" on page
210 for the flags.
Attribute

Value (example)

Identification number

Yx06

Name

Maximum acceleration

Unit

Depending on Yx08 and Yx10

Data format

REAL

Display format

REAL

Editability

P2

Minimum

0,1

Maximum

Maximum of S-0-0138

Default value

1000

Fig.11-1:

Overview of Y-parameter attributes

11.2

Axis-independent Y-Parameters

11.2.1

Overview

No.

Designation

Function

Data
mat

Y000

Language

Language setting

UDINT

P2 + P4

Y001

Cycle time

NC cycle time setting

UDINT

P2

Y002

Start program

Name of the first SMC program to be au STRING

tomatically loaded on first power-up

P2 + P4

Y003

Starting block Auto Task 2

Starting block for automatic task 2

No

DINT

for Editability

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Parameters
No.

Designation

Function

Data
mat

for Editability

Y004

Starting block Auto Task 3

Starting block for automatic task 3

DINT

No

Y005

Starting block Auto Task 4

Starting block for automatic task 4

DINT

No

Y006

Starting block manual routine

Starting block for manual routine

DINT

No

Y007

Starting block Cyclic Task

Starting block for cyclic task

DINT

No

Y008

Manual routine after Automatic mode

Starts the manual routine on switchover BOOL

from automatic mode to manual mode

P2 + P4

Y009

Clear outputs

Configures the clearing of digital outputs UDINT

in the event of an error

P2

Y010

AutoConfig I/Os

Automatically configures the system in BOOL

puts and outputs

P2

Y011

Automatic mode, In-config

Configures the system input

REAL

P2

Y012

Clear error, In-config

Configures the system input

REAL

P2

Y013

Single step, In-config

Configures the system input

REAL

P2

Y014

Parameter, In-config

Configures the system input

REAL

P2

Y015

nE-Stopp, In-config

Configures the system input

BOOL

P2

Y016

Start, In-config

Configures the system input

REAL

P2

Y017

nStopp, In-config

Configures the system input

REAL

P2

Y018

Manual routine, In-config

Configures the system input

REAL

P2

Y019

Abort program, In-config

Configures the system input

REAL

P2

Y020

nError, Out-config

Configures the system output

REAL

P2

Y021

Automatic mode, Out-config

Configures the system output

REAL

P2

Y022

Manual mode, Out-config

Configures the system output

REAL

P2

Y023

Parameter, Out-config

Configures the system output

REAL

P2

Y024

Drive enable, Out-config

Configures the system output

REAL

P2

Y025

Run, Out-config

Configures the system output

REAL

P2

Y026

SMC-Program valid, Out-config

Configures the system output

REAL

P2

Y027

Operating barrier, Out-config

Configures the system output

REAL

P2

Y028

Master axis selection of the system

Assigns the global master axis

REAL

P2

Y029

System diagnosis number

Diagnostic number

UDINT

No

Y030

System diagnostics

Diagnostic text

STRING

No

Y031

Watchdog sensitivity

Sensitivity of the watchdog

REAL

P2

Y032

System command

Number of the system command to be UDINT

executed

P2 + P4

Y033

System command parameter

Parameter of the system command to be UDINT

executed

P2 + P4

Y034

Active system command

Number of the currently active system UDINT

command

No

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Parameters
No.

Designation

Function

Y035

Active system command status

Status of currently active system com UDINT

mand

No

Y036

Number of axes

Number of axes available

UDINT

P2

Y037

Number of sercos I/Os

Number of sercos III I/O modules in the UDINT

sercos ring

P2

Y038

Address, sercos I/O 1

sercos address of the sercos III I/O mod UDINT

ule

No

Y039

Address, sercos I/O 2

sercos address of the sercos III I/O mod UDINT

ule

No

Y040

Address, sercos I/O 3

sercos address of the sercos III I/O mod UDINT

ule

No

Y041

Address, sercos I/O 4

sercos address of the sercos III I/O mod UDINT

ule

No

Y042

Configuration, sercos I/O 1

Type of the sercos III I/O module

UDINT

No

Y043

Configuration, sercos I/O 2

Type of the sercos III I/O module

UDINT

No

Y044

Configuration, sercos I/O 3

Type of the sercos III I/O module

UDINT

No

Y045

Configuration, sercos I/O 4

Type of the sercos III I/O module

UDINT

No

Y046

System control

Configures the system control

UDINT

P2 + P4

Y047

SMC FW-Version

Firmware version of the SMC

STRING

No

Y048

Starting block restart routine

Starting block for the restart routine

DINT

No

Y049

Restart, In-config

Configures the system input

REAL

P2

Y050

Restart possible, Out-config

Configures the system output

REAL

P2

Fig.11-2:

11.2.2

Data
mat

for Editability

List of all axis-independent Y-parameters

Detailed Description

Y000: Language
Y-Parameter "Y000: Language" can be used to change the language setting
of the SMC. The following languages are available:

0: German (permanently integrated in the SMC firmware)

1: English (permanently integrated in the SMC firmware)

2: French (as language file "LANG_FILE_02.SCL")

3 - 99: User-defined
This Y-parameter has an effect on drive parameter "S-0-0265: Language se
lection" of all available axes, with the exception of "3 - 99: User-defined", and
on the language of any connected VCP 08. On activation of a user-defined
language, the user-defined diagnostic texts are downloaded from the MMC
(filename: "LANG_FILE_XX.SCL", XX = language number), see also chapter
7.21 "Multilingualism" on page 414.

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Parameters
Attribute

Value

Identification number

Y000

Name

Language

Unit

None

Data format

UDINT

Display format

UDINT

Editability

P2 + P4

Minimum

Maximum

99

Default value

Fig.11-3:

Attributes of parameter Y000

Y001: Cycle Time

Y-Parameter "Y001: Cycle time" can be used to define the cycle time for pro
cessing the SMC program (see chapter 6.2 "Multitasking" on page 193) and
for sercos communication. This Y-parameter has an effect on drive parame
ter "S-0-0001: NC cycle time (TNcyc)" and "P-0-1610: CCD: Cycle Time".
Attribute

Value

Identification number

Y001

Name

Cycle time

Unit

Data format

UDINT

Display format

UDINT

Editability

P2

Minimum

1000

Maximum

4000
For sercos III as master communication:
value of the S-0-1002 of the CCD master

Default value

Fig.11-4:

4000

Attributes of parameter Y001

Parameter Y001 can only be edited in parameter mode. Possible

settings are 1,000 s, 2,000 s, or 4,000 s.
The following applies to sercos III as the master communication
(MC):

S-0-0001 is not written during startup.

In addition, the maximum of Y001 depends on the master

communication cycle time. The master communication cycle
time must always be greater than or equal to the CCD cycle
time, i.e., if the superordinated control specifies a cycle time
of 2000 s for the master communication, only 1000 s or
2000 s can be configured in Y001, but not 4000 s.

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Parameters
Systems variables VS008 to VS011 (see chapter 6.5.3 "System Variables"
on page 205) and the "Y031: Watchdog sensitivity" (see chapter "Y031:
Watchdog Sensitivity" on page 514) allows setting the cycle time to the opti
mal value.
The cycle time setting depends on the hardware used, the number of active
axes, the application type, the sequence and the commands used in the SMC
program, and on the PLC extensions made by the user.

Typically, the following cycle time settings are possible:

1,000 s: 1 active axis

2,000 s: up to 3 active axes

4,000 s: up to 6 active axes

We recommend that you proceed as follows when setting the cycle

time:
1. Notes
The values of VS008 (current utilization of Motion Task in %) and
VS010 (current utilization of PlcTask in %) should each be below 100%
because, otherwise, the timing behavior in the program run changes (by
an interruption of the tasks)!
It is acceptable if the values of VS009 (maximum load of MotionTask in
% since Clear Error) or VS011 (maximum load of PlcTask in % since
Clear Error) are above 100% sporadically (e.g., on switchover from
manual to automatic mode). In this case, however, the value of "Y031:
Watchdog sensitivity" must be increased. Otherwise, the error "Watch
dog active" (A1h) is set.
2. Setting default values for Y001 and Y031
Set the values of "Y001: Cycle time" to "4000 s" and those of "Y031:
Watchdog sensitivity" to "1" (they are the default settings).
3. Observing the utilization
Load and start the SMC program to be processed. Wait until the SMC
program has been processed. Observe the values of VS008 VS011.
4. Editing Y001 and Y031
Check the values of VS008 VS011. If all values are below 50%, the
value in "Y001: Cycle time" can be divided in halves. Then repeat the
previous step.
If the values of VS008 and VS010 are below 50% and the values of
VS009 and VS011 above 50% while the program is being processed,
the value in "Y001: Cycle time" can be divided in halves under certain
circumstances. In this case, however, the value of "Y031: Watchdog
sensitivity" should be increased. Then repeat the previous step.
If the values of VS008 or VS010 are continuously above 100% or if the
error "Watchdog active" (A1h) occurs during the program run, the value
of "Y001: Cycle time" must be increased.

In SMC12V02 and above, the following system variables are

available for long-term observations of the task load:

VS025: Maximum load of MotionTask in [%] since power on

VS026: Maximum load of PlcTask in [%] since power on

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Parameters

Y002: Start Program

Y-Parameter "Y002: Y002: Start program" can be used to select the SMC
program to be automatically loaded to the working memory on powering up
for the first time. The program name must be entered without suffix.
If the program selected is not available, an error is generated during power
ing up. The user can acknowledge the error and then manually load a pro
gram to the working memory.
Y-Parameter "Y002: Start program" is automatically written after a
SMC program is successfully loaded via the SMC-Editor, the
VCP08 or the field bus with the name of the new SMC program.
The automatic setting of Y002 can be switched off in the free PLC
part. To achieve this, the "bWriteActiveProgToY002" entry in the
UserAdjust variable "arstUserAdjust_gb" is set to the value
"FALSE" (fig. 10-24 "Example for the configuration of the global
variables UserAdjust" on page 476).
Attribute

Value

Identification number

Y002

Name

Start program

Unit

None

Data format

STRING

Display format

STRING

Editability

P2 + P4

Minimum

---

Maximum

---

Default value

Default

Fig.11-5:

Attributes of parameter Y002

Y003: Starting Block Automatic Task 2

Y-Parameter "Y003: Starting block Automatic Task 2" displays the block
number to start processing of automatic task 2 of the SMC program. The val
ue of the Y-parameter is set after a successful download of an SMC program
(see also chapter 6.2.2 "Automatic Tasks" on page 195).
The starting block of automatic task 1 is always "0".
The starting block of automatic task 2 is defined in the SMC-Edi
tor via the "BEGIN_AUTO_TASK_2" system label.
If the value is "-1", the task is not active. Any value in this parameter which is
unequal to "-1" indicates that automatic task 2 is activated.
Attribute

Value

Identification number

Y003

Name

Starting block Automatic Task 2

Unit

None

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Parameters
Attribute

Value

Data format

DINT

Display format

DINT

Editability

No

Minimum

-1

Maximum

2999

Default value

-1

Fig.11-6:

Attributes of parameter Y003

Y004: Starting Block Automatic Task 3

Y-Parameter "Y004: Starting block Automatic Task 3" displays the block
number to start processing of automatic task 3 of the SMC program. The val
ue of the Y-parameter is set after a successful download of an SMC program
(see also chapter 6.2.2 "Automatic Tasks" on page 195).
The starting block of automatic task 3 is defined in the SMC-Edi
tor via the "BEGIN_AUTO_TASK_3" system label.
If the value is "-1", the task is not active. Any value in this parameter which is
unequal to "-1" indicates that automatic task 3 is activated.
Attribute

Value

Identification number

Y004

Name

Starting block Automatic Task 3

Unit

None

Data format

DINT

Display format

DINT

Editability

No

Minimum

-1

Maximum

2999

Default value

-1

Fig.11-7:

Attributes of parameter Y004

Y005: Starting Line Auto Task 4

Y-Parameter "Y005: Starting block Automatic Task 4" displays the block
number to start processing of automatic task 4 of the SMC program. The val
ue of the Y-parameter is set after a successful download of an SMC program
(see also chapter 6.2.2 "Automatic Tasks" on page 195).
The starting block of automatic task 4 is defined in the SMC-Edi
tor via the "BEGIN_AUTO_TASK_4" system label.
If the value is "-1", the task is not active. Any value in this parameter which is
unequal to "-1" indicates that automatic task 4 is activated.

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Parameters
Attribute

Value

Identification number

Y005

Name

Startsatz Automatik Task 4

Unit

None

Data format

DINT

Display format

DINT

Editability

No

Minimum

-1

Maximum

2999

Default value

-1

Fig.11-8:

Attributes of parameter Y005

Y006: Starting Block Manual Routine

Y-Parameter "Y006: Starting block manual routine" displays the starting block
of the manual routine. The value of the Y-parameter is set after a successful
download of an SMC program (see also chapter 6.2.3 "Manual Routine" on
page 196).
The starting block of the manual routine is defined in the SMCEditor via the "BEGIN_MANUAL_ROUTINE" system label.
If the value is "-1", the routine is not active. Any value in this parameter which
is unequal to "-1" indicates that the manual routine is activated.
Attribute

Value

Identification number

Y006

Name

Starting block manual routine

Unit

None

Data format

DINT

Display format

DINT

Editability

No

Minimum

-1

Maximum

2999

Default value

-1

Fig.11-9:

Attributes of parameter Y006

Y007: Starting Block Cyclic Task

Y-Parameter "Y007: Starting block Cyclic Task" displays the starting block of
the SMC program of the cyclic task. The value of the Y-parameter is set after
a successful download of an SMC program (see also chapter 6.2.6 "Cyclic
Task" on page 199).
The starting block of the cyclic task is defined in the SMC-Editor
via the "BEGIN_CYCLIC_TASK" system label.

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Parameters
If the value is "-1", the task is not active. Any value in this parameter which is
unequal to "-1" indicates that the cyclic task is activated.
Attribute

Value

Identification number

Y007

Name

Starting block Cyclic Task

Unit

None

Data format

DINT

Display format

DINT

Editability

No

Minimum

-1

Maximum

2999

Default value

-1

Fig.11-10:

Attributes of parameter Y007

Y008: Manual Routine after Automatic Mode

Y-Parameter "Y008: Manual routine after automatic mode" can be used to
configure whether the manual routine is automatically started on switchover
from automatic mode to manual mode. If the value is "TRUE", the manual
routine is started after the mode has been switched.
Attribute

Value

Identification number

Y008

Name

Manual routine after automatic mode

Unit

None

Data format

BOOL

Display format

BOOL

Editability

P2 + P4

Minimum

---

Maximum

---

Default value

FALSE

Fig.11-11:

Attributes of parameter Y008

Y009: Clear Outputs

Y-Parameter "Y009: Clear outputs" can be used to define whether the digital
outputs are to be cleared in the event of an error. See also chapter 7.17
"Clear Outputs" on page 411.
The following settings can be made:
0:

Clear outputs in the event of an error.

1:

Do not clear outputs in the event of an error. The outputs will

not be cleared before the error is acknowledged.

2:

Do not clear outputs if an error occurs or is acknowledged.

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Parameters
Attribute

Value

Identification number

Y009

Name

Clear outputs

Unit

None

Data format

UDINT

Display format

UDINT

Editability

P2

Minimum

Maximum

Default value

Fig.11-12:

Attributes of parameter Y009

Y010: AutoConfig I/Os

Y-Parameter "Y010: AutoConfig I/Os" can be used to activate automatic con
figuration. The default configuration is described in chapter 6.8.7 "Default
Configuration Digital System Inputs and Outputs" on page 227.

In addition, the direction of all unassigned (i.e., those that are not configured
in Y-parameters) digital I/Os is configured to "output":

X32 (see P-0-0302) all axes of type "IndraDrive"

X31 (see P-0-0316) all axes of type "IndraDrive Cs"

If the value is set to "TRUE", the I/Os are automatically configured whenever
parameter mode is exited. Automatic configuration also involves axis-specific
I/Os.

If the value is set to "FALSE", the values already configured

remain as they are. This setting may be helpful after a suc
cessful first startup, in order to prevent subsequently edited
Y-parameters from being overwritten by the SMC.

Even if the value is set to "FALSE", the direction of the digi

tal I/Os can change at X31 or X32 after the mode has been
switched from parameterization to operation mode, provided
they are configured via Y-parameters. An overview of the Yparameters which use the digital I/Os at X321 or X32 can,
e.g., be displayed via the parameter box of the SMC-Editor
in online mode. This is facilitated if the display in the param
eter box is sorted by the "Value" column.

Attribute

Value

Identification number

Y010

Name

AutoConfig I/Os

Unit

None

Data format

BOOL

Display format

BOOL

Editability

P2

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Parameters
Attribute

Value

Minimum

---

Maximum

---

Default value

TRUE

Fig.11-13:

Attributes of parameter Y010

Y011: Automatic Mode, In-config

Y-Parameter "Y011: Automatic mode, In-config" can be used to configure the
digital input or flag (MS, MF, MFR) emitting the signal activating "Automatic
mode".
Attribute

Value

Identification number

Y011

Name

Automatic mode, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-14:

Attributes of parameter Y011

Y012: Clear Error, In-config

Y-Parameter "Y012: Clear error, In-config" can be used to configure the digi
tal input or flag (MS, MF, MFR) emitting the "Clear Error" signal.
Attribute

Value

Identification number

Y012

Name

Clear error, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-15:

Attributes of parameter Y012

Y013: Single Step, In-config

Y-Parameter "Y013: Single step, In-config" can be used to configure the digi
tal input or flag (MS, MF, MFR) emitting the "Single step" signal ("Single step"
function, page 85).

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Parameters
Attribute

Value

Identification number

Y013

Name

Single step, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-16:

Attributes of parameter Y013

Y014: Parameter Mode, In-config

Y-Parameter "Y014: Parameter mode, In-config" can be used to configure the
digital input or flag (MS, MF, MFR) emitting the signal activating "Parameter
mode".
Attribute

Value

Identification number

Y014

Name

Parameter mode, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-17:

Attributes of parameter Y014

Y015: nE-stop, In-config

Y-Parameter "Y015: nE-Stop, In-config" can be used to configure whether the
"nE-Stop" signal is applied (via X32, pin 6) and activated (via P-0-0008, bit 0)
for the master axis. In case of "FALSE", the configuration of X32, pin6 is not
changed, but the activation is reset in parameter "P-0-0008, Activation EStop function".
The signal is subject to negated processing, i.e., as soon as the signal be
comes "FALSE", the "F4034 Emergency-Stop" error is set.
Attribute

Value

Identification number

Y015

Name

nE-Stop, In-config

Unit

None

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Parameters
Attribute

Value

Data format

BOOL

Display format

BOOL (because of defined address)

Editability

P2

Minimum

---

Maximum

---

Default value

TRUE

Fig.11-18:

Attributes of parameter Y015

Y016: Start, In-config

Y-Parameter "Y016: Start, In-config" can be used to configure the digital input
or flag (MS, MF, MFR) emitting the "Start" signal. The "Start" signal starts the
automatic tasks in automatic mode. In single-step mode, a rising edge starts
the next command block.
Attribute

Value

Identification number

Y016

Name

Start, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-19:

Attributes of parameter Y016

Y017: nStop, In-config

Y-Parameter "Y017: nStop, In-config" can be used to configure the digital in
put or flag (MS, MF, MFR) emitting the "nStop" signal. The signal is subject to
negated processing, i.e., as soon as the signal becomes "FALSE", the auto
matic tasks or manual routine is stopped.
Attribute

Value

Identification number

Y017

Name

nStop, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

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Parameters
Attribute

Value

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-20:

Attributes of parameter Y017

Y018: Manual Routine, In-config

Y-Parameter "Y018: Manual routine, In-config" can be used to configure the
digital input or flag (MS, MF, MFR) emitting the signal for starting the "Manual
routine".
Attribute

Value

Identification number

Y018

Name

Manual routine, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-21:

Attributes of parameter Y018

Y019: Abort program, In-config

Y-Parameter "Y019: Abort program, In-config" can be used to configure the
digital input or flag (MS, MF, MFR) emitting the "Abort program" signal. For a
detailed description, please refer to chapter 7.22 "Abort Program" on page
415.
Attribute

Value

Identification number

Y019

Name

Abort program, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-22:

Attributes of parameter Y019

Y020: nError, Out-config

Y-Parameter "Y020: nError, Out-config" can be used to configure the digital
output or flag (MF, MFR) at which the "nError" signal is output.

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Parameters
This signal is present with any type of error (system error, axis error, program
error). The signal is subject to negated processing, i.e., the output becomes
"FALSE" if the SMC signals an error.
Attribute

Value

Identification number

Y020

Name

nError, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-23:

Attributes of parameter Y020

Y021: Automatic Mode, Out-config

Y-Parameter "Y021: Automatic mode, Out-config" can be used to configure
the digital output or flag (MF, MFR) at which the "Automatic mode" signal is
output. The signal is emitted while the SMC is in "Automatic" mode.
Attribute

Value

Identification number

Y021

Name

Automatic mode, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-24:

Attributes of parameter Y021

Y022: Manual Mode, Out-config

Y-Parameter "Y022: Manual mode, Out-config" can be used to configure the
digital output or flag (MF, MFR) at which the "Manual mode" signal is output.
The signal is emitted while the SMC is in "Manual" mode.
Attribute

Value

Identification number

Y022

Name

Manual mode, Out-config

Unit

None

Data format

REAL

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Parameters
Attribute

Value

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-25:

Attributes of parameter Y022

Y023: Parameter Mode, Out-config

Y-Parameter "Y023: Parameter mode, Out-config" can be used to configure
the digital output or flag (MF, MFR) at which the "Parameter mode" signal is
output. The signal is emitted while the SMC is in "Parameter" mode. The
drives are in "PM" (master axis) and "P2" (slave axes), respectively.
Attribute

Value

Identification number

Y023

Name

Parameter mode, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-26:

Attributes of parameter Y023

Y024: Drive Enable, Out-config

Y-Parameter "Y024: Drive enable, Out-config" can be used to configure the
digital output or flag (MF, MFR) at which the signal for "Drive enable for axes"
is output. The signal is applied if the drives of all activated axes are enabled.
Attribute

Value

Identification number

Y024

Name

Drive enable, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-27:

Attributes of parameter Y024

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Parameters

Y025: Run, Out-config

Y-Parameter "Y025: Run, Out-config" can be used to configure the digital
output or flag (MF, MFR) at which the "Run" signal is output. The signal is
emitted while the automatic tasks or one of the routines are running and the
SMC program is therefore being processed.
The signal is not emitted if the cyclic task is the only one being
processed.
Attribute

Value

Identification number

Y025

Name

Run, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-28:

Attributes of parameter Y025

Y026: SMC-Program Valid, Out-config

Y-Parameter "Y026: SMC-Program valid, Out-config" can be used to config
ure the digital output or flag (MF, MFR) at which the signal for "SMC-Program
valid" is output. The signal is emitted as long as a valid SMC program is re
siding in the working memory.
Attribute

Value

Identification number

Y026

Name

SMC-Program valid, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-29:

Attributes of parameter Y026

Y027: Operating Barrier, Out-config

Y-Parameter "Y027: Operating barrier, Out-config" can be used to configure
the digital output or flag (MF, MFR) at which the "Operating barrier" signal is
output. The signal is emitted as long as there is an operating barrier.

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Parameters
Attribute

Value

Identification number

Y027

Name

Operating barrier, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-30:

Attributes of parameter Y027

Y028: Master Axis Selection of the System

Y-Parameter "Y028: Master axis selection of the system" can be used to se
lect the system-crossing master axis which is available to all axes via drive
parameter P-0-0053 (VmAxisExt).

Free user mode "4"

Options:

0: Deactivated

1: Virtual axis of master axis (P-0-0758)

2: Measuring encoder of master axis (P-0-0052)

3: Position command value of master axis (P-0-0434)

The following additional selections are available in SMC12V02 and above:

4: Free user mode

AB: "A" = axis selection, "B" = signal selection

Potential parameter inputs for the ten's place "A" (axis selection):

1: Axis 1

2: Axis 2

3: Axis 3

4: Axis 4

5: Axis 5

6: Axis 6
Potential parameter inputs for the unit's place "B" (axis selection):

0: Position feedback value 1 (S-0-0051)

1: Position feedback value 2 (S-0-0053)

2: Active position feedback value (S-0-0386)

3: Actual position value of measuring encoder (P-0-0052)

4: Position command value of controller (P-0-0434)

5: Position actual value in actual value cycle (P-0-0753)

If this configuration is selected, the SMC does not configure the master axis
format converter. The user can select the signal and configure the master ax
is format converter as he desires. Therefore, the master axis can be specified
via field bus. In this case, a "PLC Global Register" (e.g., P-0-1277) may be

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Parameters
used as signal source, which is calculated and cyclically transferred by a
higher-order control. Please note that the master axis position must be
formed in master axis format (2P-0-0084 increments per master axis revolution).
Examples of master axis selection

"1": The actual position value of the virtual master axis (P-0-0758) is selected
as global master axis and therefore applied in the master axis format convert
er.
"14": The position command value of the controller (P-0-0434) of axis 1 is se
lected as global master axis.
"22": The active position feedback value (S-0-0386) of axis 2 is selected as
global master axis.
"63": The actual position value of the measuring encoder (P-0-0052) of axis 6
is selected as global master axis.
Attribute

Value

Identification number

Y028

Name

Master axis selection of the system

Unit

None

Data format

UDINT

Display format

UDINT

Editability

P2

Minimum

Maximum

3 (SMC10VRS)
65 (as of SMC12V02)

Default value

Fig.11-31:

Attributes of parameter Y028

Y029: System Diagnostic Number

Y-Parameter "Y029: System diagnostic number" is used to output the cur
rently active system diagnostic number. Refer to chapter 9.3 "Diagnostic
Numbers" on page 438.
Attribute

Value

Identification number

Y029

Name

System diagnostic number

Unit

None

Data format

UDINT

Display format

HEX

Editability

No

Minimum

Maximum

9999999

Default value

Fig.11-32:

Attributes of parameter Y029

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Parameters

Y030: System Diagnostics

Y-Parameter "Y030: System diagnostics" is used to output the currently ac
tive system diagnostics in text format. Refer to chapter 9.3 "Diagnostic Num
bers" on page 438.
In addition, the system diagnostics (cf. Y030) is also output in
drive parameter "P-0-1387, PLC Global Register AT0" of the mas
ter axis. As a result, the current system diagnostics can be dis
played using the IndraWorks parameter editor.
Attribute

Value

Identification number

Y030

Name

System diagnostics

Unit

None

Data format

STRING

Display format

STRING

Editability

No

Minimum

---

Maximum

---

Default value

No diagnostics

Fig.11-33:

Attributes of parameter Y030

Y031: Watchdog Sensitivity

Y-Parameter "Y031: Watchdog sensitivity" can be used to configure a watch
dog on the PLC side, see also chapter 7.19 "Watchdog" on page 412. The
sensitivity corresponds to the utilization of the MotionTask or PlcTask.
The default setting of "1" generates an error if the utilization of the Motion
Task or PlcTask exceeds 100 percent. Accordingly, a setting of "2" corre
sponds to a utilization of 200 percent.
Attribute

Value

Identification number

Y031

Name

Watchdog sensitivity

Unit

None

Data format

REAL

Display format

REAL

Editability

P2

Minimum

0.8

Maximum

Default value

Fig.11-34:

Attributes of parameter Y031

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Parameters

Y032: System Command

Y-Parameter "Y032: System command" can be used to select a system com
mand. For a list of available system commands and their description, please
refer to chapter 7.2 "System Commands" on page 324.
Attribute

Value

Identification number

Y032

Name

System command

Unit

None

Data format

UDINT

Display format

UDINT

Editability

P2 + P4

Minimum

Maximum

14

Default value

Fig.11-35:

Attributes of parameter Y032

Y033: System Command Parameter

Y-Parameter "Y033: System command parameter" can be used to configure
a system command parameter for the system command selected in "Y032:
System command".
Attribute

Value

Identification number

Y033

Name

System command parameter

Unit

None

Data format

UDINT

Display format

UDINT

Editability

P2 + P4

Minimum

Maximum

9999

Default value

Fig.11-36:

Attributes of parameter Y033

Y034: Active System Command

Y-Parameter "Y034: Active system command" is used to display the currently
active system command number. This Y-parameter is read-only.
Attribute

Value

Identification number

Y034

Name

Active system command

Unit

None

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Parameters
Attribute

Value

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

Maximum

14

Default value

Fig.11-37:

Attributes of parameter Y034

Y035: Active System Command Status

Y-Parameter "Y035: Active system command status" is used to display the
status of the currently active system command. This Y-parameter is read-on
ly.
Attribute

Value

Identification number

Y035

Name

Active system command status

Unit

None

Data format

UDINT

Display format

HEX

Editability

No

Minimum

Maximum

FFFFFFFFh

Default value

Fig.11-38:

Attributes of parameter Y035

Y036: Number of Axes

Y-Parameter "Y036: Number of axes" displays the number of available axes
(virtual and real axes). On power up, the Y-parameter is formed from drive
parameter "P-0-1601: CCD: Addresses of projected drives" and from the vir
tual axis possibly configured in parameter "Yx01: Axis type".
Attribute

Value

Identification number

Y036

Name

Number of axes

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

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Parameters
Attribute

Value

Maximum

Default value

Fig.11-39:

Attributes of parameter Y036

Y037: Number of sercos I/Os

Y-Parameter "Y037: Number of sercos I/Os" displays the number of sercos III
I/O modules available in the sercos ring. On power up, the Y-parameter is
formed from drive parameter "P-0-1604: CCD: Addresses of projected I/Os".
Attribute

Value

Identification number

Y037

Name

Number of sercos I/Os

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

Maximum

Default value

Fig.11-40:

Attributes of parameter Y037

Y038: Address, sercos I/O 1

Y-Parameter "Y038: Address, sercos I/O 1" displays the sercos address of
sercos III I/O module 1 in the sercos ring. On power up, the Y-parameter
reads from drive parameter "P-0-1604: CCD: Addresses of projected I/Os".
Attribute

Value

Identification number

Y038

Name

Address, sercos I/O 1

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

Maximum

99

Default value

Fig.11-41:

Attributes of parameter Y038

Y039: Address, sercos I/O 2

Y-Parameter "Y039 Address, sercos I/O 2" displays the sercos address of
sercos III I/O module 2 in the sercos ring. On power up, the Y-parameter
reads from drive parameter "P-0-1604: CCD: Addresses of projected I/Os".

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Parameters
Attribute

Value

Identification number

Y039

Name

Address, sercos I/O 2

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

Maximum

99

Default value

Fig.11-42:

Attributes of parameter Y039

Y040: Address, sercos I/O 3

Y-Parameter "Y040: Address, sercos I/O 3" displays the sercos address of
sercos III I/O module 3 in the sercos ring. On power up, the Y-parameter
reads from drive parameter "P-0-1604: CCD: Addresses of projected I/Os".
Attribute

Value

Identification number

Y040

Name

Address, sercos I/O 3

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

Maximum

99

Default value

Fig.11-43:

Attributes of parameter Y040

Y041: Address, sercos I/O 4

Y-Parameter "Y041: Address, sercos I/O 4" displays the sercos address of
sercos III I/O module 4 in the sercos ring. On power up, the Y-parameter
reads from drive parameter "P-0-1604: CCD: Addresses of projected I/Os".
Attribute

Value

Identification number

Y041

Name

Address, sercos I/O 4

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

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Parameters
Attribute

Value

Minimum

Maximum

99

Default value

Fig.11-44:

Attributes of parameter Y041

Y042: Configuration, sercos I/O 1

Y-Parameter "Y042: Configuration, sercos I/O 1" displays the configuration of
sercos III I/O module 1 in the sercos ring:

0: No sercos III I/O module available

1: Digital sercos III I/O module available

2: Analog sercos III I/O module available

Attribute

Value

Identification number

Y042

Name

Configuration, sercos I/O 1

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

Maximum

Default value

Fig.11-45:

Attributes of parameter Y042

Y043: Configuration, sercos I/O 2

Y-Parameter "Y043: Configuration, sercos I/O 2" displays the configuration of
sercos III I/O module 2 in the sercos ring:

0: No sercos III I/O module available

1: Digital sercos III I/O module available

2: Analog sercos III I/O module available

Attribute

Value

Identification number

Y043

Name

Configuration, sercos I/O 2

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

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Parameters
Attribute

Value

Maximum

Default value

Fig.11-46:

Attributes of parameter Y043

Y044: Configuration, sercos I/O 3

Y-Parameter "Y044: Configuration, sercos I/O 2" displays the configuration of
sercos III I/O module 2 in the sercos ring:

0: No sercos III I/O module available

1: Digital sercos III I/O module available

2: Analog sercos III I/O module available

Attribute

Value

Identification number

Y044

Name

Configuration, sercos I/O 3

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

Maximum

Default value

Fig.11-47:

Attributes of parameter Y044

Y045: Configuration, sercos I/O 4

Y-Parameter "Y045: Configuration, sercos I/O 4" displays the configuration of
sercos III I/O module 4 in the sercos ring:

0: No sercos III I/O module available

1: Digital sercos III I/O module available

2: Analog sercos III I/O module available

Attribute

Value

Identification number

Y045

Name

Configuration, sercos I/O 4

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

Maximum

Default value

Fig.11-48:

Attributes of parameter Y045

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Parameters

Y046: System Control

Y-Parameter "Y046: System control" can be used to configure how input sig
nals can be set.
Possible input values are the following:
1: VCP
2: SMC-Editor
3: SMC-Editor or VCP
4: IndraLogic visualization
5: IndraLogic visualization or VCP
6: IndraLogic visualization or SMC-Editor
7: IndraLogic visualization or SMC-Editor or VCP
8: Digital signals
9: Digital signals or VCP
10: Digital signals or SMC-Editor
11: Digital signals or SMC-Editor or VCP
12: Digital signals or IndraLogic visualization
13: Digital signals or IndraLogic visualization or VCP
14: Digital signals or IndraLogic visualization or SMC-Editor
15: Digital signals or IndraLogic visualization or SMC-Editor or VCP (default)
Attribute

Value

Identification number

Y046

Name

System control

Unit

None

Data format

UDINT

Display format

UDINT

Editability

P2 + P4

Minimum

Maximum

15

Default value

15

Fig.11-49:

Attributes of parameter Y046

Y047: SMC FW Version

Y-Parameter "Y047: SMC FW version" displays the firmware version of the
SMC.
This parameter is available in SMC12V02 and above.
Attribute

Value

Identification number

Y047

Name

SMC FW version

Unit

None

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Parameters
Attribute

Value

Data format

STRING

Display format

STRING

Editability

No

Minimum

---

Maximum

---

Default value

---

Fig.11-50:

Attributes of parameter Y007

Y048: Starting Block Restart Routine

Y-Parameter "Y048: Starting block restart routine" displays the starting block
of the restart routine. The value of the Y-parameter is set after a successful
download of an SMC program (see also chapter 6.2.5 "Restart Routine" on
page 199).

The starting block of the restart routine is defined in the

SMC-Editor via the "BEGIN_RESTART_ROUTINE" system
label.

This parameter is available in SMC12V04 and above.

If the value is "-1", the routine is not active. Any value in this parameter which
is unequal to "-1" indicates that the restart routine is activated.
Attribute

Value

Identification number

Y048

Name

Starting block restart routine

Unit

None

Data format

DINT

Display format

DINT

Editability

No

Minimum

-1

Maximum

2999

Default value

-1

Fig.11-51:

Attributes of parameter Y048

Y049: Restart, In-config

Y-parameter "Y049: Restart, In-config" can be used to configure the digital in
put or flag (MS, MF, MFR) emitting the "Restart" signal.
This parameter is available in SMC12V04 and above.
Attribute

Value

Identification number

Y049

Name

Restart, In-config

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Parameters
Attribute

Value

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-52:

Attributes of parameter Y049

Y050: Restart Possible, Out-config

Y-parameter "Y050: Restart possible, Out-config" can be used to configure
the digital output or flag (MF, MFR) emitting the "Restart" signal. The signal is
output if the SMC program can be restarted.
This parameter is available in SMC12V04 and above.
Attribute

Value

Identification number

Y050

Name

Restart possible, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-53:

Attributes of parameter Y050

11.3

Axis-dependent Y-Parameters

11.3.1

Overview
The table below shows the axis-dependent Y-parameters except the "Flying
Cutoff" Y-parameter.
The "x" in the Y-parameter number stands for the number of the
axis.

No.

Designation

Function

Data
mat

for Editability

Yx00

Application type

Selects the axis application type

UDINT

P2

Yx01

Axis type

Selects the axis type (real/virtual)

UDINT

P2

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Parameters
No.

Designation

Function

Data
mat

for Editability

Yx02

Enable axis

Enables the axis

BOOL

P2

Yx03

Jog velocity

Velocity in jog mode

REAL

P2 + P4

Yx04

Maximum velocity

Defines the maximum velocity

REAL

P2 + P4

Yx05

Setup velocity

Velocity in setup mode

REAL

P2 + P4

Yx06

Maximum acceleration

Acceleration limit

REAL

P2

Yx07

Maximum torque

Maximum value of torque/force in % of REAL

nominal value

P2 + P4

Yx08

Scaling type

Selects the scaling type (translatory/rota UDINT

ry, absolute/modulo)

P2

Yx09

Modulo value

Modulo value of the axis

REAL

P2

Yx10

Unit

[mm] or [inch]

BOOL

P2

Yx11

Negation of positioning data

Negation of position, velocity and torque BOOL

data

P2

Yx12

MicroAdjust

Sets the value for the MicroAdjust (offset) REAL

P2 + P4

Yx13

Presignal duration

Duration of presignal in [ms]

REAL

P2 + P4

Yx14

Presignal, distance

Distance from the target position for the REAL

presignal

P2 + P4

Yx15

Drive enable, In-config

Configures the system input

REAL

P2

Yx16

nInterruption, In-config

Configures the system input

REAL

P2

Yx17

Lift rolls, In-config

Configures the system input

REAL

P2

Yx18

Rolls closed, In-config

Configures the system input

REAL

P2

Yx19

Optional encoder, In-config

Configures the system input

REAL

P2

Yx20

Jog+, In-config

Configures the system input

REAL

P2

Yx21

Jog-, In-config

Configures the system input

REAL

P2

Yx22

Homing, In-config

Configures the system input

REAL

P2

Yx23

Homing switch, In-config

Configures the system input

BOOL

P2

Yx24

Setup mode, In-config

Configures the system input

REAL

P2

Yx25

Setup end, In-config

Configures the system input

REAL

P2

Yx26

nFeedControl, In-config

Configures the system input

REAL

P2

Yx27

Registration mark, In-config

Configures the system input

BOOL

P2

Yx28

Override

Configures the override source

UDINT

P2

Yx29

Drive enable, Out-config

Configures the system output

REAL

P2

Yx30

In Reference, Out-config

Configures the system output

REAL

P2

Yx31

Lift rolls active, Out-config

Configures the system output

REAL

P2

Yx32

Optional encoder active, Out-config

Configures the system output

REAL

P2

Yx33

In position, Out-config

Configures the system output

REAL

P2

Yx34

Velocity reached, Out-config

Configures the system output

REAL

P2

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Parameters
No.

Designation

Function

Data
mat

Yx35

Setup active, Out-config

Configures the system output

REAL

P2

Yx36

Setup start position, Out-config

Configures the system output

REAL

P2

Yx37

Setup end position, Out-config

Configures the system output

REAL

P2

Yx38

Presignal active, Out-config

Configures the system output

REAL

P2

Yx39

Axis address

sercos address of the axis

UDINT

No

Yx40

Max. number of press strokes

Machine constant

REAL

P2 + P4

Yx41

Safety-related reduced velocity

Value for the safely reduced speed

REAL

P2 + P4

Yx42

SI - Lock-off behaviour

Behavior of synchronous axes in safety UDINT

technology modes

P2 + P4

Yx43

Activate position limit switch

Activates the software limit switch

BOOL

P2

Yx44

Travel limit, maximum value

Configures the highest permissible travel REAL

range limit

P2

Yx45

Travel limit, minimum value

Configures the lowest permissible travel REAL

range limit

P2

Yx46

Axis diagnostic number

Diagnostic number of the axis

UDINT

No

Yx47

Configuration cyclic CCD process data

Configuration of the cyclic CCD process UDINT

data

P2

Yx48
Yx49

- Reserved

Fig.11-54:

11.3.2

for Editability

Overview of all axis-dependent Y-parameters (without Flying Cutoff)

Detailed Description

Yx00: Application Type

Y-Parameter "Yx00: Application type" can be used to activate the operation
mode for each axis. There are the following application types:
0: Free user mode (positioning mode with PSI, PSA, POI, POA commands,
continuous operation, etc.)
1: Roll feed
2: Flying Cutoff (only allowed for master axis)
3: Flying Cutoff test mode (only allowed for master axis)
For a detailed description of the "Flying Cutoff" application type,
please refer to chapter 7.11 "Flying Cutoff" on page 353.
Axis coupling

If the axis is to be used as coupled axis, i.e., the axis follows the command
value of a master axis, the coupling type must be entered via a three-digit
value "ABC" with the following meaning:

"A" = Selection of the master axis for this slave axis

Axes "1" to "6" are allowed as input for the master axis.

"B" = Selection of the source signal and therefore of the coupling type

"0" = S-0-0051, Actual position value encoder 1

(position coupling)

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Parameters

"1" = S-0-0053, Actual position value encoder 2

(position coupling)

"2" = S-0-0386, Active position feedback value

(position coupling)

"3" = P-0-0434, Position command value of controller

(position coupling)

"4" = P-0-0457, Position command value generator

(position coupling)

"5" = S-0-0040, Velocity feedback value

(velocity coupling)

"6" = S-0-0156, Velocity feedback value 2

(velocity coupling)

"7" = P-0-0048, Effective velocity command value

(velocity coupling)

"8" = P-0-0049, Active torque/force command value

(Torque coupling)

"9" = S-0-0084 Actual torque/force value

(Torque coupling)

See also chapter 7.10 "Axis Coupling" on page 344

The position coupling is enabled via the command CPA Position
Coupled Axes: Activation.
The velocity coupling is enabled via the command CVA Velocity
Coupled Axes: Activation.
The torque coupling is activated via the command Torquecou
pled axes: activation.

"C" = Selection of error reaction

"0" and "1" may be entered. If "0" is entered, the default error reaction of
the SMC is set. If "1" is entered, the error reaction can be only be adjus
ted to the specific application via the "open PLC part". In this case, be
sure to contact the Bosch Rexroth customer service.

Example axis coupling parameterization "Y300" = "270":

Axis 3 (slave axis) follows axis 2 (master axis). Axis 3 is velocity coupled to
axis 2 via parameter "P-0-0048, Effective velocity command value". Use is
made of the default error reaction of the SMC.
Attribute

Value

Identification number

Yx00

Name

Application type

Unit

None

Data format

UDINT

Display format

UDINT

Editability

P2

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Parameters
Attribute

Value

Minimum

Maximum

691

Default value

Fig.11-55:

Attributes of parameter Yx00

The following Y-parameters are automatically set on switchover from param

eter mode to manual mode:
Application type

Y-Parameters

Value

Free user mode

Roll feed

Yx08: Scaling type

2: Modulo, translatory scaling

Flying Cutoff,

Yx01: Axis type

0: Real axis

Flying Cutoff test mode

Yx08: Scaling type

0: Absolute, translatory scaling

Yx16: nInterruption, In-config

IN_UNUSED (100000)

Yx17: Lift rolls, In-config

IN_UNUSED (100000)

Yx18: Rolls closed, In-config

IN_UNUSED (100000)

Yx26: nFeedControl, In-config

IN_UNUSED (100000)

Yx28: Override

0 (unused)

Yx43: Activate position limit switch

TRUE

Yx01: Axis Type

Y-Parameter "Yx01: Axis type" can be used to configure the type of the axis.

The following axis types are available:

0: Real axis

1: Virtual axis
(see chapter 7.7 "Virtual Axis" on page 335)

The MLD provides only one virtual axis. That is why only one
axis may be configured as virtual axis at a time.

If the setting for the axis in Yx00: Application type is Flying

Cutoff or Flying Cutoff test mode, the value is automatically
set to "0" (real axis) when parameter mode is exited.

Attribute

Value

Identification number

Yx01

Name

Axis type

Unit

None

Data format

UDINT

Display format

UDINT

Editability

P2

Minimum

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Parameters
Attribute

Value

Maximum

Default value

Fig.11-56:

Attributes of parameter Yx01

Yx02: Enable Axis

Y-Parameter "Yx02: Enable axis" can be used to activate and deactivate the
axis. If activated (Yx02 = TRUE), the axis is under torque and fully functiona
ble.
As of SMC12V02:
If the axis is deactivated (Yx02 = FALSE), the "Parking axis" function is acti
vated for the axis (see also chapter 7.6 "Parking Axis" on page 334). Infor
mation on commanding the axis in the free PLC part can be found in chapter
10.3.8 "Commanding the Axes by Means of PLCopen Function Blocks or Ax
is Interfaces" on page 475.
Attribute

Value

Identification number

Yx02

Name

Enable axis

Unit

None

Data format

BOOL

Display format

BOOL

Editability

P2

Minimum

---

Maximum

---

Default value

TRUE

Fig.11-57:

Attributes of parameter Yx02

Yx03: Jog Velocity

Y-Parameter "Yx03: Jog velocity" can be used to configure the velocity for
jogging the axis in "manual mode".
The value of "Yx03: Jog velocity" must be less than the value of "Yx04: Maxi
mum velocity". This is checked each time "Yx03: Jog velocity" is edited and
when parameter mode is exited. If the value of "Yx04: Maximum velocity" is
set to a value lower than "Yx03: Jog velocity", the value of "Yx03: Jog veloci
ty" is automatically reduced.
Attribute

Value

Identification number

Yx03

Name

Jog velocity

Unit

Depending on Yx08 and Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

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Parameters
Attribute

Value

Minimum

Maximum

Yx04

Default value

250

Fig.11-58:

Attributes of parameter Yx03

Yx04: Maximum Velocity

Y-Parameter "Yx04: Maximum velocity" can be used to configure the maxi
mum velocity of the axis. For a real axis, this Y-parameter has an effect on
drive parameter "S-0-0091: Bipolar velocity limit value". If the value of "Yx04:
Maximum velocity" is set to a value lower than "Yx03: Jog velocity", "Yx05:
Setup velocity" or "Yx55: Return velocity", the value of "Yx03: Jog velocity",
"Yx05: Setup velocity" or "Yx55: Return velocity" is automatically reduced.
Attribute

Value

Identification number

Yx04

Name

Maximum velocity

Unit

Depending on Yx08 and Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

Maximum of S-0-0091

Default value

1000

Fig.11-59:

Attributes of parameter Yx04

Yx05: Setup Velocity

Y-Parameter "Yx05: Setup velocity" can be used to configure the velocity of
the axis in setup mode (see chapter 7.13 "Setup Mode" on page 406).
The value set in "Yx05: Setup velocity" must be less than the value set in
"Yx04: Maximum velocity". This is checked each time "Yx05: Setup velocity"
is edited and when parameter mode is exited. If the value of "Yx04: Maximum
velocity" is set to a value lower than "Yx05: Setup velocity", the value of
"Yx03: Setup velocity" is automatically reduced.
Attribute

Value

Identification number

Yx05

Name

Setup velocity

Unit

Depending on Yx08 and Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Attribute

Value

Maximum

Yx04

Default value

100

Fig.11-60:

Attributes of parameter Yx05

Yx06: Maximum Acceleration

Y-Parameter "Yx06: Maximum acceleration" can be used to configure the
maximum acceleration value.
For a real axis, this Y-parameter has an effect on drive parameter "S-0-0138:
Bipolar acceleration limit value". If the value of "Yx06: Maximum acceleration"
is set to a value lower than "Yx56: Return acceleration", the value of "Yx56:
Return acceleration" is automatically reduced.
Attribute

Value

Identification number

Yx06

Name

Maximum acceleration

Unit

Depending on Yx08 and Yx10

Data format

REAL

Display format

REAL

Editability

P2

Minimum

0,1

Maximum

Maximum of S-0-0138

Default value

1000

Fig.11-61:

Attributes of parameter Yx06

Yx07: Maximum Torque

Y-Parameter "Yx07: Maximum torque" can be used to set the maximum val
ue of the torque/force in % of the nominal value.
For a real axis, this Y-parameter has an effect on drive parameters S-0-0082,
S-0-0083 and S-0-0092 (torque/force limit values).
Attribute

Value

Identification number

Yx07

Name

Maximum torque

Unit

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

Maximum of S-0-0082

Default value

100

Fig.11-62:

Attributes of parameter Yx07

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Parameters

Yx08: Scaling Type

Y-Parameter "Yx08: Scaling type" can be used to configure the scaling type
of the axis. The settings made in this Y-parameter can be translatory or rotary
as well as absolute or modulo.
For a real axis, this Y-parameter has an effect on drive parameter "S-0-0044:
Velocity data scaling type", "S-0-0076: Position data scaling type", "S-0-0086:
Torque/force data scaling type" and "S-0-0160: Acceleration data scaling
type" and on drive parameter "P-0-0756: Virtual master axis, scaling type" for
a virtual axis.
Bit 1

Bit 0:

0: Absolute

0: Translatory

1: Modulo

1: Rotary

Fig.11-63:

Scaling type configuration options

This results in the following options:

00b (=0): Absolute, translatory scaling type

01b (=1): Absolute, rotary scaling type

10b (=2): Modulo, translatory scaling type

11b (=3): Modulo, rotary scaling type

If the setting for the axis in Yx00: Application type is roll

feed, the value is automatically set to "2" (modulo, translato
ry scaling type) when parameter mode is exited.

If the setting for the axis in Yx00: Application type is Flying

Cutoff or Flying Cutoff test mode, the value is automatically
set to "0" (absolute, translatory scaling type) when parame
ter mode is exited.

Attribute

Value

Identification number

Yx08

Name

Scaling type

Unit

None

Data format

UDINT

Display format

Binary

Editability

P2

Minimum

00b

Maximum

11b

Default value

10b

Fig.11-64:

Attributes of parameter Yx08

Yx09: Modulo Value

Y-Parameter "Yx09: Modulo value" can be used to specify the size of the
modulo value. This parameter only has an effect if modulo scaling is config
ured in "Yx08: Scaling type".

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Parameters
For a real axis, this Y-parameter has an effect on drive parameter "S-0-0103:
Modulo value " and on drive parameter "P-0-0757: Virtual axis, modulo value"
for a virtual axis.
Attribute

Value

Identification number

Yx09

Name

Modulo value

Unit

Depending on Yx08 and Yx10

Data format

REAL

Display format

REAL

Editability

P2

Minimum

0,1

Maximum

Maximum of S-0-0103 or P-0-0757

Default value

360

Fig.11-65:

Attributes of parameter Yx09

Yx10: Unit
Y-Parameter "Yx10: Unit" can be used to configure the unit. The unit that can
be selected in this parameter are [mm] or [inch]. "FALSE" sets [mm], "TRUE"
sets [inch].
For a real axis, this Y-parameter has an effect on drive parameter "S-0-0144:
Velocity data scaling type", "S-0-0076: Position data scaling type", "S-0-0086:
Torque/force data scaling type" and "S-0-0160: Acceleration data scaling
type" and on drive parameter "P-0-0756: Virtual master axis, scaling type" for
a virtual axis.
Attribute

Value

Identification number

Yx10

Name

Unit

Unit

None

Data format

BOOL

Display format

BOOL

Editability

P2

Minimum

---

Maximum

---

Default value

FALSE

Fig.11-66:

Attributes of parameter Yx10

Yx11: Negation of Positioning Data

Y-Parameter "Yx11: Negation of positioning data" can be used to change the
effective direction of position, velocity and torque data. If "TRUE" is set, the
position data is negated.
For a real axis, this Y-parameter has an effect on drive parameters
"S-0-0043: Velocity polarity parameter", "S-0-0055: Position polarities" and
"S-0-0085: Torque/force polarity parameter".

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Parameters
Attribute

Value

Identification number

Yx11

Name

Negation of positioning data

Unit

None

Data format

BOOL

Display format

BOOL

Editability

P2

Minimum

---

Maximum

---

Default value

FALSE

Fig.11-67:

Attributes of parameter Yx11

Yx12: MicroAdjust
Y-Parameter "Yx12: MicroAdjust" can be used to configure an offset value for
incremental feed motions (POI/PSI command).
Attribute

Value

Identification number

Yx12

Name

MicroAdjust

Unit

Depending on Yx08 and Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

-10000

Maximum

10000

Default value

Fig.11-68:

Attributes of parameter Yx12

Yx13: Presignal Duration

Y-Parameter "Yx13: Presignal duration" can be used to configure the dura
tion in ms, for which output "Presignal active" is output (see chapter "Yx38:
Presignal Active, Out-config" on page 545). If the value specified is "0", the
output is continuously on.
Attribute

Value

Identification number

Yx13

Name

Presignal duration

Unit

ms

Data format

REAL

Display format

REAL

Editability

P2 + P4

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Attribute

Value

Minimum

Maximum

10000

Default value

5000

Fig.11-69:

Attributes of parameter Yx13

Yx14: Presignal, Distance

Y-Parameter "Yx14: Presignal, distance" can be used to configure the dis
tance from the target position, in excess of which the "Presignal" output (see
chapter "Yx38: Presignal Active, Out-config" on page 545) becomes active.
Attribute

Value

Identification number

Yx14

Name

Presignal, distance

Unit

Depending on Yx08 and Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

10000

Default value

Fig.11-70:

Attributes of parameter Yx14

Yx15: Drive Enable, In-config

Y-Parameter "Yx15: Drive enable, In-config" can be used to configure the
digital input or flag (MS, MF, MFR) emitting the "Drive enable" signal.
See also "Drive enabled" on page 221.
Attribute

Value

Identification number

Yx15

Name

Drive enable, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-71:

Attributes of parameter Yx15

Yx16: nInterrupt, In-config

Y-Parameter "Yx16: nInterrupt, In-config" can be used to configure the digital
input or flag (MS, MF, MFR) emitting the "nInterrupt" signal.

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Parameters
The signal is subject to negated processing, i.e., as soon as the signal be
comes "FALSE", the motion of the axis is stopped and the "Operating barrier"
output is set.
If the setting for the axis in Yx00: Application type is Flying Cutoff
or Flying Cutoff test mode, the value is automatically set to
"IN_UNUSED" when parameter mode is exited.
Attribute

Value

Identification number

Yx16

Name

nInterrupt, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-72:

Attributes of parameter Yx16

Yx17: Lift Rolls, In-config

Y-Parameter "Yx17: Lift rolls, In-config" can be used to configure the digital
input or flag (MS, MF, MFR) emitting the "Lift rolls" signal. See also chapter
7.15 "Lift Rolls (Electrically)" on page 409.
If "Lift rolls" is active, the "Operating barrier" output is set.
If the setting for the axis in Yx00: Application type is Flying Cutoff
or Flying Cutoff test mode, the value is automatically set to
"IN_UNUSED" when parameter mode is exited.
Attribute

Value

Identification number

Yx17

Name

Lift rolls, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-73:

Attributes of parameter Yx17

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters

Yx18: Rolls Closed, In-config

Y-Parameter "Yx18: Rolls closed, In-config" can be used to configure the dig
ital input or flag (MS, MF, MFR) emitting the "Rolls closed" signal. See also
chapter 7.15 "Lift Rolls (Electrically)" on page 409.
If the setting for the axis in Yx00: Application type is Flying Cutoff
or Flying Cutoff test mode, the value is automatically set to
"IN_UNUSED" when parameter mode is exited.
Attribute

Value

Identification number

Yx18

Name

Rolls closed, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-74:

Attributes of parameter Yx18

Yx19: Optional Encoder, In-config

Y-Parameter "Yx19: Optional encoder, In-config" can be used to configure
the digital input or flag (MS, MF, MFR) emitting the signal activating the op
tional encoder. See also "Optional Encoder" chapter 7.3 "Optional Encoder
(Measuring Wheel Mode)" on page 331.
Attribute

Value

Identification number

Yx19

Name

Optional encoder, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-75:

Attributes of parameter Yx19

Yx20: Jog+, In-config

Y-Parameter "Yx20: Jog+, In-config" can be used to configure the digital in
put or flag (MS, MF, MFR) emitting the "Jog+" signal.

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Parameters
Attribute

Value

Identification number

Yx20

Name

Jog+, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-76:

Attributes of parameter Yx20

Yx21: Jog, In-config

Y-Parameter "Yx21: Jog, In-config" can be used to configure the digital input
or flag (MS, MF, MFR) emitting the "Jog" signal.
Attribute

Value

Identification number

Yx21

Name

Jog, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-77:

Attributes of parameter Yx21

Yx22: Homing, In-config

Y-Parameter "Yx22: Homing, In-config" can be used to configure the digital
input or flag (MS, MF, MFR) emitting the "Homing" signal. See also chapter
7.14 "Homing" on page 407.
Attribute

Value

Identification number

Yx22

Name

Homing, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Attribute

Value

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-78:

Attributes of parameter Yx22

Yx23: Homing Switch, In-config

Y-Parameter "Yx23: Homing switch, In-config" can be used to configure
whether the "Homing switch" signal is evaluated.

With the homing switch activated, the signal must be applied to the particular
axis.

X31, pin7 ("IndraDrive", "IndraDrive double axis - axis 1", "IndraDrive

Cs")

X31, pin6 ("IndraDrive double axis - axis 2")

See also chapter 7.14 "Homing" on page 407.
Attribute

Value

Identification number

Yx23

Name

Homing switch, In-config

Unit

None

Data format

BOOL

Display format

BOOL

Editability

P2

Minimum

---

Maximum

---

Default value

TRUE

Fig.11-79:

Attributes of parameter Yx23

Yx24: Setup Mode, In-config

Y-Parameter "Yx24: Setup mode, In-config" can be used to configure the dig
ital input or flag (MS, MF, MFR) emitting the "Setup mode" signal (see chap
ter 7.13 "Setup Mode" on page 406).
Attribute

Value

Identification number

Yx24

Name

Setup mode, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

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Parameters
Attribute

Value

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-80:

Attributes of parameter Yx24

Yx25: Setup End, In-config

Y-Parameter "Yx25: Setup end, In-config" can be used to configure the digital
input or flag (MS, MF, MFR) emitting the "Setup end" signal.
See also chapter 7.13 "Setup Mode" on page 406.
Attribute

Value

Identification number

Yx25

Name

Setup end, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-81:

Attributes of parameter Yx25

Yx26: nFeedControl, In-config

Y-Parameter "Yx26: nFeed control, In-config" can be used to configure the
digital input or flag (MS, MF, MFR) emitting the "nFeed control" signal.
The signal is subject to negated processing, i.e., as soon as the signal be
comes "FALSE", the axis motion is stopped and the "Operating barrier" out
put is set.

If the value of the Y-parameter is set to "IN_UNUSED", the

signal will not be evaluated (i.e., in this case, it is always set
to "TRUE").

If the setting for the axis in Yx00: Application type is Flying

Cutoff or Flying Cutoff test mode, the value is automatically
set to "IN_UNUSED" when parameter mode is exited.

Attribute

Value

Identification number

Yx26

Name

nFeed control, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Attribute

Value

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-82:

Attributes of parameter Yx26

Yx27: Registration Mark, In-config

Y-Parameter "Yx27: Registration mark, In-config" can be used to configure
whether the "Registration mark" signal is evaluated.

With the registration mark input activated, the signal must be applied to the
particular axis at the touch probe input:

X31, pin3 ("IndraDrive", "IndraDrive double axis - axis 1")

X31, pin4 ("IndraDrive double axis - axis 2")

X31, pin1 ("IndraDrive Cs")

The position value used for processing the registration mark, is set in drive
parameter S-0-0426 (cf. IndraWorks, "Probe" dialog).
Attribute

Value

Identification number

Yx27

Name

Registration mark, In-config

Unit

None

Data format

BOOL

Display format

BOOL

Editability

P2

Minimum

---

Maximum

---

Default value

TRUE

Fig.11-83:

Attributes of parameter Yx27

Yx28: Override
Y-Parameter "Yx28: Override" can be used to set the analog input from the
override value is read.

Selectable inputs are the default analog inputs of the following controller sec
tions:

"IndraDrive Advanced+" (master axis)

"IndraDrive Advanced" (slave axis)

"IndraDrive double axis" (slave axis)

"IndraDrive Cs Basic Universal" (slave axis)

A value of "0" corresponds to unused.
See also chapter 7.5 "Velocity Override" on page 333.
If the setting for the axis in Yx00: Application type is Flying Cutoff
or Flying Cutoff test mode, the value is automatically set to "0"
(unused) when parameter mode is exited.

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Parameters
Attribute

Value

Identification number

Yx28

Name

Override

Unit

None

Data format

UDINT

Display format

UDINT (only axis number allowed)

Editability

P2

Minimum

Maximum

Default value

Fig.11-84:

Attributes of parameter Yx28

Yx29: Drive Enable, Out-config

Y-parameter "Yx29: Drive enable, Out-config" can be used to configure the
digital output or flag (MF, MFR) emitting the axis "Drive enable" signal.
Attribute

Value

Identification number

Yx29

Name

Drive enable, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-85:

Attributes of parameter Yx29

Yx30: In Reference, Out-config

Y-Parameter "Yx30: In reference, Out-config" can be used to configure the
digital output or flag (MF, MFR) at which the "In reference" signal is output.
Drive parameter "S-0-0403: Position feedback value status" is read out inter
nally.
See also chapter 7.14 "Homing" on page 407.
Attribute

Value

Identification number

Yx30

Name

In reference, Out-config

Unit

None

Data format

REAL

Display format

Output

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Attribute

Value

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-86:

Attributes of parameter Yx30

Yx31: Lift Rolls Active, Out-config

Y-Parameter "Yx31: Lift rolls active, Out-config" can be used to configure the
digital output or flag (MF, MFR) at which the "Lift rolls active" signal is output.
See also chapter 7.15 "Lift Rolls (Electrically)" on page 409.
Attribute

Value

Identification number

Yx31

Name

Lift rolls active, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-87:

Attributes of parameter Yx31

Yx32: Optional Encoder Active, Out-config

Y-Parameter "Yx32: Optional encoder active, Out-config" can be used to con
figure the digital output or flag (MF, MFR) at which the "Optional encoder ac
tive" signal is output.
See also chapter 7.3 "Optional Encoder (Measuring Wheel Mode)" on page
331.
Attribute

Value

Identification number

Yx32

Name

Optional encoder active, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-88:

Attributes of parameter Yx32

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Parameters

Yx33: In Position, Out-config

Y-Parameter "Yx33: In position, Out-config" can be used to configure the digi
tal output or flag (MF, MFR) at which the "In position" signal is output.
Drive parameter "S-0-0338: Status "In target position", bit 0" is read out inter
nally.
Attribute

Value

Identification number

Yx33

Name

In position, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-89:

Attributes of parameter Yx33

Yx34: Velocity Reached, Out-config

Y-Parameter "Yx34: Velocity reached, Out-config" can be used to configure
the digital output or flag (MF, MFR) at which the "Velocity reached" signal is
output.
The output is set if the difference between the internally generated velocity
command value and the actual velocity of the axis ("S-0-0040, Velocity feed
back value") is less than the parameterized velocity window. The velocity
window is defined via parameter "S-0-0157, Velocity window".
The SMC reads the value of parameter "S-0-0157, Velocity win
dow" once after switchover from parameter mode to operating
mode. In operating mode, the SMC no longer detects changes in
the parameter.
Attribute

Value

Identification number

Yx34

Name

Velocity reached, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-90:

Attributes of parameter Yx34

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Parameters

Yx35: Setup Active, Out-config

Y-Parameter "Yx35: Setup active, Out-config" can be used to configure the
digital output or flag (MF, MFR) at which the "Setup active" signal is output.
See also chapter 7.13 "Setup Mode" on page 406.
Attribute

Value

Identification number

Yx35

Name

Setup active, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-91:

Attributes of parameter Yx35

Yx36: Setup Start Position, Out-config

Y-Parameter "Yx36: Setup start position, Out-config" can be used to config
ure the digital output or flag (MF, MFR) at which the "Setup start position"
signal is output.
See also chapter 7.13 "Setup Mode" on page 406.
Attribute

Value

Identification number

Yx36

Name

Setup start position, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-92:

Attributes of parameter Yx36

Yx37: Setup End Position, Out-config

Y-Parameter "Yx37: Setup end position, Out-config" can be used to configure
the digital output or flag (MF, MFR) at which the "Setup end position" signal is
output.
See also chapter 7.13 "Setup Mode" on page 406.

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Parameters
Attribute

Value

Identification number

Yx37

Name

Setup end position, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-93:

Attributes of parameter Yx37

Yx38: Presignal Active, Out-config

Y-Parameter "Yx38: Presignal active, Out-config" can be used to configure
the digital output or flag (MF, MFR) at which the "Presignal active" signal is
output.
The presignal programmed in this parameter is applicable for each feed com
mand (POI, PSI, POA, PSA). As soon as the distance still to be traveled be
comes smaller than the programmed presignal distance, this output is activa
ted. The output remains activated constantly or for the programmed time.
Whenever a feed block is re-entered, the output is deactivated.
For configuration of the presignal, please refer to chapter "Yx13: Presignal
Duration" on page 533 and chapter "Yx14: Presignal, Distance" on page 534.
Attribute

Value

Identification number

Yx38

Name

Presignal active, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-94:

Attributes of parameter Yx38

Yx39: Axis Address

Y-Parameter "Yx39: Axis address" displays the sercos address of the axis.
This Y-parameter reads drive parameter "P-0-4025: Drive address of master
communication".

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Parameters
Attribute

Value

Identification number

Yx39

Name

Axis address

Unit

None

Data format

UDINT

Display format

UDINT

Editability

No

Minimum

Maximum

99

Default value

Fig.11-95:

Attributes of parameter Yx39

Yx40: Max. Number of Press Strokes

Y-Parameter "Yx40: Max. number of press strokes" is used to display the
maximum number of strokes of the press.
This is required for calculation of the "rest-in-rest with velocity limitation" cam
profile in case of synchronous cam axes.
See also chapter 7.9.4 "Cam Axis" on page 343.
Attribute

Value

Identification number

Yx40

Name

Max. number of press strokes

Unit

H/min

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

999999

Default value

20

Fig.11-96:

Attributes of parameter Yx40

Yx41: Safety Related Reduced Speed

Y-Parameter "Yx41: Safety related reduced speed" is used to configure the
velocity command value for traversing in Safe Motion (SMM14) safety tech
nology mode.
This parameter is specified in percent of the maximum velocity allowed in
SMM14 (cf. drive parameters P-0-3244, P-0-3254, P-0-3264, P-0-3274).
See also chapter 7.12 "Drive-integrated Safety Technology" on page 399.
If the value is set to "0", the SMC does not automatically limit the command
velocity. In this case, the superordinate control itself is responsible for speci
fying reduced command velocities in manual or automatic mode.

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Parameters
Attribute

Value

Identification number

Yx41

Name

Safety related reduced speed

Unit

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

100

Default value

80

Fig.11-97:

Attributes of parameter Yx41

Yx42: SI Lock-off Behavior

Y-Parameter "Yx42: SI Lock-off behavior" can be used to select the behav
ior of slave axes (synchronous or coupled axis) in safety technology modes
SS1 ES, SS1 and SS2. The following settings can be made:
0: No lock-off from the master axis
1: Automatic lock-off from the master axis by activating safety technology
mode and automatic re-lock-on after exiting safety technology mode

See also:

chapter 7.9 "Synchronous Axis" on page 339

chapter 7.10 "Axis Coupling" on page 344

chapter 7.12 "Drive-integrated Safety Technology" on page 399

Where position coupled axes are concerned, the SMC never re
acts to a safety technology operation mode, i.e., there is never
any lock-off.
Attribute

Value

Identification number

Yx42

Name

SI Lock-off behavior

Unit

None

Data format

UDINT

Display format

UDINT

Editability

P2 + P4

Minimum

Maximum

Default value

Fig.11-98:

Attributes of parameter Yx42

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Parameters

Yx43: Activate Position Limit Switch

Y-Parameter "Yx43: Activate position limit switch" can be used to activate the
position limit switches of Yx44 and Yx45.
For a real axis, this Y-parameter has an internal effect on drive parameter
"S-0-0055: Position polarities, bit 4".
If the setting for the axis in Yx00: Application type is Flying Cutoff
or Flying Cutoff test mode, the value is automatically set to
"TRUE" when parameter mode is exited.
Attribute

Value

Identification number

Yx43

Name

Activate position limit switch

Unit

None

Data format

BOOL

Display format

BOOL

Editability

P2

Minimum

---

Maximum

---

Default value

FALSE

Fig.11-99:

Attributes of parameter Yx43

Yx44: Travel Limit, Maximum Value

Y-Parameter "Yx44: Travel limit, maximum value" can be used to configure
the highest allowed travel range limit value. This value only has an effect if
parameter "Yx43: Activate position limit" is set to "TRUE".
For a real axis, this Y-parameter has an internal effect on drive parameter
"S-0-0049: Positive position limit value".
Attribute

Value

Identification number

Yx44

Name

Travel limit, maximum value

Unit

Depending on Yx08 and Yx10

Data format

REAL

Display format

REAL

Editability

P2

Minimum

Minimum of S-0-0049

Maximum

Maximum of S-0-0049

Default value

1000

Fig.11-100:

Attributes of parameter Yx44

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Parameters

Yx45: Travel Limit, Minimum Value

Y-Parameter "Yx45: Travel limit, minimum value" can be used to configure
the lowest allowed travel range limit value. This value only has an effect if pa
rameter "Yx43: Activate position limit" is set to "TRUE".
For a real axis, this Y-parameter has an internal effect on drive parameter
"S-0-0050: Negative position limit value".
Attribute

Value

Identification number

Yx45

Name

Travel limit, minimum value

Unit

Depending on Yx08 and Yx10

Data format

REAL

Display format

REAL

Editability

P2

Minimum

Minimum of S-0-0050

Maximum

Maximum of S-0-0050

Default value

-1000

Fig.11-101:

Attributes of parameter Yx45

Yx46: Axis Diagnostic Number

Y-Parameter "Yx46: Axis diagnostic number" is used to output the current
drive diagnostic number. The diagnostic number corresponds to drive param
eter "S-0-0390, Diagnostic message number" and should be evaluated as a
hexadecimal value.
If the axis is configured as virtual axis, the value is always "0", i.e., the diag
nostic number is not generated.
Attribute

Value

Identification number

Yx46

Name

Axis diagnostic number

Unit

None

Data format

UDINT

Display format

HEX

Editability

No

Minimum

Maximum

FFFFFh

Default value

Fig.11-102:

Attributes of parameter Yx46

Yx47: Configuration Cyclic CCD Process Data

The cyclic CCD process data serves to exchange real-time data between the
master axis and the slave axis. It is automatically configured by the SMC af
ter switching to operating mode (see IndraWorks - Dialog CCD: Process da
ta, command values and CCD: Process data, actual values).

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Parameters
Y-Parameter "Yx47: Configuration cyclic CCD process data " can be used for
the user-specific configuration of the actual and command value of the chan
nel of the cyclic CCD process data.
The individual bits in "Yx47" have the following function:
Process data

Bit area

Bit

0
Command
value channel

Actual value
channel

Fig.11-103:

0 - 15

16 - 31

Function
0: "S-0-0037, Additive velocity command value" is
configured
1: "S-0-0037, Additive velocity command value" is
not configured

Reserved

...

...

15

Reserved

16

Reserved

...

...

31

Reserved

Function of parameter "Yx47"

Observe the following when using the parameter:

Non-configured parameters (e.g., "S-0-0037") can be used for a specific

application in the CCD process data channel (e.g., link of the "P-0-0048"
to the "S-0-0037"). The CCD process data channel can be adjusted us
ing the corresponding IndraWorks dialog (e.g., via CCD: Free process
data).

If parameter "S-0-0037" is not configured in the command value channel

of the CCD process data, the following commands cannot be used in
the SMC program:

"CVA Velocity Coupled Axes: activation"

"SOC Velocity Synchronous Axis: Configuration"

In this case, the SMC generates an error.
In general, it is not necessary to adjust the configuration of the cy
clic CCD process data and it should therefore only be carried out
in consultation with Bosch Rexroth customer service.
Attribute

Value

Identification number

Yx47

Name

Configuration cycl. CCD Process data

Unit

None

Data format

UDINT

Display format

BIN

Editability

P2

Minimum

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Parameters
Attribute

Value

Maximum

4294967295

Default value

Fig.11-104:

Attributes of parameter Yx47

Yx48 - Yx49: Reserved

Parameters Yx48 to Yx49 are reserved and are therefore without function.

11.4

Y-Parameters for Flying Cutoff

11.4.1

Overview
For a detailed description of the "Flying Cutoff" application type, please refer
to chapter 7.11 "Flying Cutoff" on page 353.
All "Flying Cutoff" Y-parameters listed below only have an effect
on the "Flying Cutoff" and "Flying Cutoff test mode" application
types, see also chapter "Yx00: Application Type" on page 525. In
all other cases, these Y-parameters are ineffective.

No.

Designation

Function

Data
mat

Yx50

Starting block manual cut routine

Starting block of the manual cut routine

DINT

No

Yx51

Starting block maximum stroke routine

Starting block of the maximum stroke rou DINT

tine

No

Yx52

Starting block rapid stop routine

Starting block of the rapid stop routine

No

Yx53

Min. synchronization cycles

Minimum number of PLC cycles for syn UDINT

chronization

P2 + P4

Yx54

Return position

Return position in Flying Cutoff mode

REAL

P2 + P4

Yx55

Return velocity

Return velocity in Flying Cutoff mode

REAL

P2 + P4

Yx56

Return acceleration

Return acceleration in Flying Cutoff mode REAL

P2 + P4

Yx57

Measuring wheel feed constant

Feed constant of the measuring encoder

P2

Yx58

Maximum stroke position

Defines the position of the maximum REAL

stroke of the carriage

P2 + P4

Yx59

Crop cut length

Length for crop cut

REAL

P2 + P4

Yx60

Maximum part length

Maximum possible part length

REAL

P2 + P4

Yx61

Error reaction max. part length

Error reaction on reaching the maximum UDINT

part length

P2 + P4

Yx62

Registration sensor offset

Registration sensor offset

REAL

P2 + P4

Yx63

Tool width

Offset for tool width

REAL

P2 + P4

Yx64

Tool offset

Offset for tool

REAL

P2 + P4

Yx65

Tool cycle time

Duration of tool program in [ms]

REAL

P2 + P4

Yx66

Test mode velocity

Test mode velocity

REAL

P2 + P4

Yx67

Test mode acceleration

Test mode acceleration

REAL

P2 + P4

DINT

REAL

for Editability

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Parameters
No.

Designation

Function

Yx68

Marerial pulse distance

Distance between material pulse signals REAL

in [mm]

P2 + P4

Yx69

Flying cutoff configuration

Configuration word for Flying Cutoff

UDINT

P2 + P4

Yx70

Cut inhibit, In-config

Configures the system input

REAL

P2

Yx71

Return inhibit, In-config

Configures the system input

REAL

P2

Yx72

Immediate cut, In-config

Configures the system input

REAL

P2

Yx73

Crop cut, In-config

Configures the system input

REAL

P2

Yx74

Return optimization, In-config

Configures the system input

REAL

P2

Yx75

Rapid stop, In-config

Configures the system input

REAL

P2

Yx76

Reset material length counter, In-config

Configures the system input

REAL

P2

Yx77

Enable test mode, In-config

Configures the system input

REAL

P2

Yx78

Reset product length counter, In-config

Configures the system input

REAL

P2

Yx79

Scrap cut active, Out-config

Configures the system output

REAL

P2

Yx80

Scrap cut active, Out-config

Configures the system output

REAL

P2

Yx81

Return optimization active, Out-config

Configures the system output

REAL

P2

Yx82

Return inhibit active, Out-config

Configures the system output

REAL

P2

Yx83

Max. part length reached, Out-config

Configures the system output

REAL

P2

Yx84

Material pulse, Out-config

Configures the system output

REAL

P2

Yx85

Presync pulse, Out-config

Configures the system output

REAL

P2

Yx86

Presync value

Value of the distance or time for the pre REAL

sync pulse prior to synchronization

P2 + P4

Yx87

Maximum tailout length

Maximum length of usable material after REAL

the material end has been detected

P2 + P4

Yx88

No material, In-config

Configures the system input

REAL

P2

Yx89

Tailout done, Out-config

Configures the system output

REAL

P2

Fig.11-105:

11.4.2

Data
mat

for Editability

Overview of all (axis-dependent) Flying Cutoff Y-parameters

Detailed Description

Yx50: Starting Block Manual Cut Routine

Y-Parameter "Yx50: Starting block manual cut routine" is used to display the
starting block of the manual cut routine of the SMC program. The value of the
Y-parameter is set after a successful download of an SMC program. See also
chapter "Manual Cut (Manual Mode)" on page 382.
The starting block of the manual cut routine is defined in the
SMC-Editor via the "BEGIN_FC_MANUAL_CUT_ROUTINE" sys
tem label.
If the value is "-1", the routine is not active. Any value in this parameter which
is unequal to "1" indicates that the manual cut routine is activated.

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Parameters
Attribute

Value

Identification number

Yx50

Name

Starting block manual cut routine

Unit

None

Data format

DINT

Display format

DINT

Editability

No

Minimum

-1

Maximum

2999

Default value

-1

Fig.11-106:

Attributes of parameter Yx50

Yx51: Starting Block Maximum Stroke Routine

Y-Parameter "Yx51: Starting block maximum stroke routine" is used to dis
play the starting block of the maximum stroke routine of the SMC program.
The value of the Y-parameter is set after a successful download of an SMC
program.
See also chapter "Maximum Stroke Routine" on page 386.
The starting block of the maximum stroke routine is defined in the
SMC-Editor via the "BEGIN_FC_MAX_STROKE_ROUTINE" sys
tem label.
If the value is "-1", the routine is not active. Any value in this parameter which
is unequal to "-1" indicates that the maximum stroke routine is activated.
Attribute

Value

Identification number

Yx51

Name

Starting block maximum stroke routine

Unit

None

Data format

DINT

Display format

DINT

Editability

No

Minimum

-1

Maximum

2999

Default value

-1

Fig.11-107:

Attributes of parameter Yx51

Yx52: Starting Block Rapid Stop Routine

Y-Parameter "Yx52: Starting block rapid stop routine" is used to display the
starting block of the rapid stop routine of the SMC program. The value of the
Y-parameter is set after a successful download of an SMC program.
See also chapter "Rapid Stop Routine" on page 385.

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Parameters
The starting block of the rapid stop routine is defined in the SMCEditor via the "BEGIN_FC_RAPID_STOP_ROUTINE" system la
bel.
If the value is "-1", the routine is not active. Any value in this parameter which
is unequal to "1" indicates that the rapid stop routine is activated.
Attribute

Value

Identification number

Yx52

Name

Starting block rapid stop routine

Unit

None

Data format

DINT

Display format

DINT

Editability

No

Minimum

-1

Maximum

2999

Default value

-1

Fig.11-108:

Attributes of parameter Yx52

Yx53: Min. Synchronization Cycles

Y-Parameter "Yx53: Min. synchronization cycles" can be used to set the mini
mum number of PLC cycles to be used for synchronizing the carriage to the
velocity of the material. The lower the set value, the lower the limit of the ac
celeration used for synchronization.
See also chapter 7.11 "Flying Cutoff" on page 353.

NOTICE

Carriage return movement

If the minimum number of synchronization cycles is set to a very low value,

the carriage sometimes moves back at the beginning of synchronization in or
der to extend the synchronization distance.

Attribute

Value

Identification number

Yx53

Name

Min. synchronization cycles

Unit

Zyklen

Data format

UDINT

Display format

UDINT

Editability

P2 + P4

Minimum

Maximum

30

Default value

10

Fig.11-109:

Attributes of parameter Yx53

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Parameters

Yx54: Return Position

Y-Parameter "Yx54: Return position" can be used to set the position at which
the carriage is in its standstill position waiting for the next product cycle.
See also chapter 7.11 "Flying Cutoff" on page 353.
Attribute

Value

Identification number

Yx54

Name

Return position

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Yx45

Maximum

Yx44

Default value

Fig.11-110:

Attributes of parameter Yx54

Yx55: Return Velocity

Y-Parameter "Yx55: Return velocity" can be used to set the velocity used by
the carriage to make the return motion.
The value of parameter "Yx55: Return velocity" must be less than the value
of parameter "Yx04: Maximum velocity". This is checked each time parame
ter "Yx55: Return velocity" is edited and when parameter mode is exited. If
the value of "Yx04: Maximum velocity" is set to a value lower than "Yx55: Re
turn velocity", the value of "Yx55: Return velocity" is automatically reduced.
The value of "Yx55: Return velocity" also has an effect on the
synchronization velocity.
Attribute

Value

Identification number

Yx55

Name

Return velocity

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

Yx04

Default value

1000

Fig.11-111:

Attributes of parameter Yx55

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters

Yx56: Return Acceleration

Y-Parameter "Yx56: Return acceleration" can be used to set the maximum
acceleration of the carriage. This is applicable both to synchronization and re
turn of the carriage.
The value of parameter "Yx56: Return acceleration" must be less than the
value of parameter "Yx06: Maximum acceleration". This is checked each time
parameter "Yx56: Return acceleration" is edited and when parameter mode is
exited. If the value of "Yx06: Maximum acceleration" is set to a value lower
than "Yx56: Return acceleration", the value of "Yx56: Return acceleration" is
automatically reduced.
The value of "Yx56 Return acceleration" also has an effect on the
synchronization acceleration.
Attribute

Value

Identification number

Yx56

Name

Return acceleration

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

0,1

Maximum

Yx06

Default value

1000

Fig.11-112:

Attributes of parameter Yx56

Yx57: Measuring Wheel Feed Constant

Y-Parameter "Yx57: Measuring wheel feed constant" can be used to set the
feed constant of the measuring encoder.
See also chapter 7.11.2 "Configuring the Measuring Encoder" on page 362.
Internally, this Y-parameter has an effect on drive parameter "P-0-0159:
Slave drive feed travel".
Attribute

Value

Identification number

Yx57

Name

Measuring wheel feed constant

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2

Minimum

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Parameters
Attribute

Value

Maximum

Maximum of P-0-0-0159

Default value

500

Fig.11-113:

Attributes of parameter Yx57

Yx58: Maximum Stroke Position

Y-Parameter "Yx58: Maximum stroke position" can be used to define the po
sition at which the "Maximum stroke" error is output. If configured, the maxi
mum stroke routine is started in the event of an error.
See also chapter "Maximum Stroke Routine" on page 386.
Attribute

Value

Identification number

Yx58

Name

Maximum stroke position

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Yx54

Maximum

Yx44

Default value

900

Fig.11-114:

Attributes of parameter Yx58

Yx59: Crop Cut Length

Y-Parameter "Yx59: Crop cut length" can be used to parameterize the length
to which the crop cut is to be made chapter "Crop Cut" on page 384.
Attribute

Value

Identification number

Yx59

Name

Crop cut length

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

999999

Default value

100

Fig.11-115:

Attributes of parameter Yx59

Yx60: Maximum Part Length

Y-Parameter "Yx60: Maximum part length" can be used to parameterize the
maximum length to be machined by the system before the error reaction par

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Parameters
ameterized in parameter "Yx61: Error reaction maximum part length" is trig
gered.
See also chapter "Maximum Part Length" on page 391.
Attribute

Value

Identification number

Yx60

Name

Maximum part length

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

999999

Default value

1000

Fig.11-116:

Attributes of parameter Yx60

Yx61: Error Reaction Max. Part Length

Y-Parameter "Yx61: Error reaction maximum part length" can be used to pa
rameterize the error reaction to be triggered if the maximum part length
(Yx60) is exceeded.
See also chapter "Maximum Part Length" on page 391.

The following error reactions can be set:

0: Off

1: Warning

2: Error

3: Force cut
The fact that the maximum part length has been exceeded is displayed by
the signal configured in parameter "Yx83: Max. part length reached, Out-con
fig" (see chapter "Yx83: Max. Part Length Reached, Out-config" on page
569). The display is shown when "Warning", "Error" or "Force cut" is config
ured.
Attribute

Value

Identification number

Yx61

Name

Error reaction maximum part length

Unit

None

Data format

UDINT

Display format

UDINT

Editability

P2 + P4

Minimum

Maximum

Default value

Fig.11-117:

Attributes of parameter Yx61

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Parameters

Yx62: Registration Mark Sensor Offset

Y-Parameter "Yx62: Registration mark sensor offset" can be used to set the
distance from the registration mark sensor.
See also chapter 7.11 "Flying Cutoff" on page 353.
Attribute

Value

Identification number

Yx62

Name

Registration mark sensor offset

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

-999999

Maximum

999999

Default value

-100

Fig.11-118:

Attributes of parameter Yx62

Yx63: Tool Width

Y-Parameter "Yx63: Tool width" can be used to parameterize an offset to
compensate for a possibly existing width of the blade.
Attribute

Value

Identification number

Yx63

Name

Tool width

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

999999

Default value

Fig.11-119:

Attributes of parameter Yx63

Yx64: Tool Offset

Y-Parameter "Yx64: Tool offset" can be used to set the distance of the tool
from the starting position of the carriage.
Attribute

Value

Identification number

Yx64

Name

Tool offset

Unit

Depending on Yx10

Data format

REAL

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Attribute

Value

Display format

REAL

Editability

P2 + P4

Minimum

-999999

Maximum

999999

Default value

Fig.11-120:

Attributes of parameter Yx64

Yx65: Tool Cycle Time

Y-Parameter "Yx65: Tool cycle time" can be used to specify the (estimated)
duration of the tool program. This value serves as an internal operand. If "0"
is set, internal calculation is switched off.
See also "Flying Cutoff Y-parameters" on page 360.
Attribute

Value

Identification number

Yx65

Name

Tool cycle time

Unit

ms

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

999999

Default value

Fig.11-121:

Attributes of parameter Yx65

Yx66: Test Mode Velocity

Y-Parameter "Yx66: Test mode velocity" can be used to parameterize the ve
locity of the virtual master axis in test mode. This Y-parameter has an effect
on drive parameter "P-0-0770: Virtual master axis, positioning velocity". This
parameter only has an effect in "Flying Cutoff test mode" application type.
See also chapter "Test Mode (Simulation)" on page 378.
Attribute

Value

Identification number

Yx66

Name

Test mode velocity

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

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Parameters
Attribute

Value

Maximum

Yx57 * 2048

Default value

1000

Fig.11-122:

Attributes of parameter Yx66

Yx67: Test Mode Acceleration

Y-Parameter "Yx67: Test mode acceleration" can be used to parameterize
the acceleration of the virtual master axis in test mode. This parameter only
has an effect in "Flying Cutoff test mode" application type.
See also chapter "Test Mode (Simulation)" on page 378.
Attribute

Value

Identification number

Yx67

Name

Test mode acceleration

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

10000

Default value

1000

Fig.11-123:

Attributes of parameter Yx67

Yx68: Material Pulse Distance

Y-Parameter "Yx68: Material pulse distance" can be used to define the dis
tance between two material pulses. The internal counter measures the mate
rial length that has run through and emits a pulse signal according to the par
ameterized value. The digital output for the pulse signal is defined in "Yx84:
Material pulse, Out-config" (see chapter "Yx84: Material Pulse, Out-config"
on page 569).
For a detailed description, please refer to chapter "Material Pulse" on page
396.
Attribute

Value

Identification number

Yx68

Name

Material pulse distance

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Attribute

Value

Maximum

999999

Default value

1000

Fig.11-124:

Attributes of parameter Yx68

Yx69: Flying Cutoff Configuration

Y-Parameter "Yx69: Flying Cutoff configuration" can be used to configure the
"Flying Cutoff" application type.
See also chapter 7.11 "Flying Cutoff" on page 353.
Attribute

Value

Identification number

Yx69

Name

Flying cutoff configuration

Unit

None

Data format

UDINT

Display format

Binary

Editability

P2 + P4

Minimum

Maximum

4294967295

Default value

Fig.11-125:

Attributes of parameter Yx69

Meaning of the individual Yx69 bits:

Bit
0

Function
Synchronization processes with the material velocity
0: Synchronization with polynomial 5th order, i.e., with jerk limitation
1: Synchronization with constant acceleration, i.e., without jerk limitation

0: If a manual cut is requested with the material moving, an error is generated and a cut is not made.
1: A manual cut is allowed even with the material moving.

0: Stationary permanently installed registration sensor.

1: Moving registration sensor mounted to the carriage.

0: If the material is not in its home position while the first Flying Cutoff command is to be processed, the refer
ence is automatically set with respect to the return position.
1: If the material is not in its home position while the first Flying Cutoff command is to be processed, the refer
ence is generated by an automatic crop cut.

0: If it is no longer possible to synchronize the tool in case of a Flying Cutoff command because the amount of
material having passed through is already too large and the maximum part length has not been reached yet,
an error is generated.
1: If it is no longer possible to synchronize the tool in case of a Flying Cutoff command because the amount of
material having passed through is already too large and the maximum part length has not been reached yet,
an automatic cut is made.

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Parameters
Bit
5

Function
0: The return motion is triggered by the Flying Cutoff motion command.
1: The return motion is not triggered by the Flying Cutoff motion command. The user must use an appropriate
motion command to move the carriage to the return position.

0: The value of parameter "Yx86: Presync value" is evaluated as distance in mm.

1: The value of parameter "Yx86: Presync value" is evaluated as time in ms.

0: After tailout machining has been done, Cut Inhibit is not set.
1: After tailout machining has been done, Cut Inhibit is set.

0: Errors in Flying Cutoff mode do not cause the "rapid stop routine" to be called.
1: Errors in Flying Cutoff mode (diagnostic number between 0200h and 0300h) cause the "rapid stop routine"
to be called if an automatic task or the manual routine/manual cut routine is active.

Bit 9 is ignored if bit 7 is set.

0: When tailout machining is done, a cut is not forced.
1: When tailout machining is done, a cut is forced.

10

Reserved

11

0: Short parts permitted, i.e., the carriage starts the synchronization on the next cut position, even if the return
position has not been reached

As of
12V06

1: Short parts permitted, i.e., the carriage starts the synchronization on the next cut position, only if the return
position has not yet been reached
(see also chapter "Short Parts" on page 389)

Fig.11-126:

Yx70: Cut Inhibit, In-config

Y-Parameter "Yx70: Cut inhibit, In-config" can be used to configure the digital
input or flag (MS, MF, MFR) emitting the "Cut inhibit" signal, see also chapter
"Cut Inhibit" on page 387.
The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"
application type is configured.
Attribute

Value

Identification number

Yx70

Name

Cut inhibit, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-127:

Attributes of parameter Yx70

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Parameters

Yx71: Return Inhibit, In-config

Y-Parameter "Yx71: Return inhibit, In-config" can be used to configure the
digital input or flag (MS, MF, MFR) emitting the "Return inhibit" signal, see al
so chapter "Return Inhibit" on page 388.
The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"
application type is configured.
Attribute

Value

Identification number

Yx71

Name

Return inhibit, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-128:

Attributes of parameter Yx71

Yx72: Immediate Cut, In-config

Y-Parameter "Yx72: Immediate cut, In-config" can be used to configure the
digital input or flag (MS, MF, MFR) emitting the "Immediate cut" signal, see
also chapter "Manual Cut (Manual Mode)" on page 382 and chapter "Immedi
ate Cut (Automatic Mode)" on page 384.
The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"
application type is configured.
Attribute

Value

Identification number

Yx72

Name

Immediate cut, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-129:

Attributes of parameter Yx72

Yx73: Crop Cut, In-config

Y-Parameter "Yx73: Crop cut, In-config" can be used to configure the digital
input or flag (MS, MF, MFR) emitting the "Crop cut" signal, see also chapter
"Crop Cut" on page 384. The crop cut length is configured in parameter
"Yx59: Crop cut length" (see chapter "Yx59: Crop Cut Length" on page 557).

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Parameters
The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"
application type is configured.
Attribute

Value

Identification number

Yx73

Name

Crop cut, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-130:

Attributes of parameter Yx73

Yx74: Return Optimization, In-config

Y-Parameter "Yx74: Return optimization, In-config" can be used to configure
the digital input or flag (MS, MF, MFR) emitting the "Return optimization" sig
nal.
See also chapter "Return Optimization" on page 388.
The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"
application type is configured.
Attribute

Value

Identification number

Yx74

Name

Return optimization, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-131:

Attributes of parameter Yx74

Yx75: Rapid Stop, In-config

Y-Parameter "Yx75: Rapid stop, In-config" can be used to configure the digi
tal input or flag (MS, MF, MFR) emitting the "Rapid stop" signal, with the re
sult that the rapid stop routine will be processed. See also chapter "Rapid
Stop Routine" on page 385.
The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"
application type is configured.

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Parameters
Attribute

Value

Identification number

Yx75

Name

Rapid stop, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-132:

Attributes of parameter Yx75

Yx76: Reset Material Length Counter, In-config

Y-Parameter "Yx76: Reset material length counter, In-config" can be used to
configure the digital input or flag (MS, MF, MFR) emitting the "Reset material
length counter" signal (see VSx19 and VSx24, see chapter "Axis-dependent
System Variables" on page 207). See also chapter "Material Length Counter"
on page 391.
The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"
application type is configured.
Attribute

Value

Identification number

Yx76

Name

Reset material length counter, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-133:

Attributes of parameter Yx76

Yx77: Enable Test Mode, In-config

Y-Parameter "Yx77: Enable test mode, In-config" can be used to configure
the digital input or flag (MS, MF, MFR) emitting the "Enable test mode" sig
nal, see also chapter "Test Mode (Simulation)" on page 378.
The input is only evaluated if the "Flying Cutoff test mode" application type is
configured.

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Parameters
Attribute

Value

Identification number

Yx77

Name

Enable test mode, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-134:

Attributes of parameter Yx77

Yx78: Reset Product Length Counter, In-config

Y-Parameter "Yx78: Reset product length counter, In-config" can be used to
configure the digital input or flag (MS, MF, MFR) emitting the "Reset product
length counter" signal, see also chapter "Product Length Counter" on page
391.
The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"
application type is configured.
Attribute

Value

Identification number

Yx78

Name

Reset product length counter, In-config

Unit

None

Data format

REAL

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-135:

Attributes of parameter Yx78

Yx79: Scrap Cut Active, Out-config

Y-Parameter "Yx79: Scrap cut active, Out-config" can be used to configure
the digital output or flag (MF, MFR) emitting the "Scrap cut active" signal, see
also chapter "Scrap Cut Output" on page 391.
Attribute

Value

Identification number

Yx79

Name

Scrap cut active, Out-config

Unit

None

Data format

REAL

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Attribute

Value

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-136:

Attributes of parameter Yx79

Yx80: Cut Inhibit Active, Out-config

Y-Parameter "Yx80: Cut inhibit active, Out-config" can be used to configure
the digital output or flag (MF, MFR) emitting the "Cut inhibit active" signal,
see also chapter "Cut Inhibit" on page 387.
Attribute

Value

Identification number

Yx80

Name

Cut inhibit active, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-137:

Attributes of parameter Yx80

Yx81: Return Optimization Active, Out-config

Y-Parameter "Yx81: Return optimization active, Out-config" can be used to
configure the digital output or flag (MF, MFR) emitting the "Return optimiza
tion active" signal, see also chapter "Return Optimization" on page 388.
Attribute

Value

Identification number

Yx81

Name

Return optimization active, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-138:

Attributes of parameter Yx81

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Parameters

Yx82: Return Inhibit Active, Out-config

Y-Parameter "Yx82: Return inhibit active, Out-config" can be used to config
ure the digital output or flag (MF, MFR) emitting the "Return inhibit active"
signal, see also chapter "Return Inhibit" on page 388.
Attribute

Value

Identification number

Yx82

Name

Return inhibit active, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-139:

Attributes of parameter Yx82

Yx83: Max. Part Length Reached, Out-config

Y-Parameter "Yx83: Max. part length reached, Out-config" can be used to
configure the digital output or flag (MF, MFR) at which the "Max. part length
reached" signal is output.
See also chapter "Yx60: Maximum Part Length" on page 557 and chapter
"Yx61: Error Reaction Max. Part Length" on page 558.
Attribute

Value

Identification number

Yx83

Name

Max. part length reached, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-140:

Attributes of parameter Yx83

Yx84: Material Pulse, Out-config

Y-Parameter "Yx84: Material pulse, Out-config" can be used to configure the
digital output or flag (MF, MFR) emitting the "Material pulse" signal.
See also chapter "Yx68: Material Pulse Distance" on page 561.
For a detailed description, please refer to chapter "Material Pulse" on page
396.

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Attribute

Value

Identification number

Yx84

Name

Material pulse, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-141:

Attributes of parameter Yx84

Yx85: Presync Pulse, Out-config

Y-parameter "Yx85: Presync pulse, Out-config" can be used to configure the
digital output or flag (MF, MFR) emitting the "Presync pulse" signal.
See also chapter "Yx86: Presync Value" on page 570.
For a detailed description, please refer to chapter "Presync Pulse" on page
397.
Attribute

Value

Identification number

Yx86

Name

Presync pulse, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-142:

Attributes of parameter Yx85

Yx86: Presync Value

Y-Parameter "Yx8: Presync value" is used to specify the value which is used
for the presync pulse. Either a distance in mm or inch or a time in ms is giv
en, depending on bit 6 of parameter Yx69.
The digital output for the pulse signal is defined in "Yx85, Presync pulse, Outconfig" (see chapter "Yx85: Presync Pulse, Out-config" on page 570).
For a detailed description, please refer to chapter "Presync Pulse" on page
397.
If "Time" is selected as unit in Yx69, bit 6, a constant material ve
locity is assumed. Otherwise, signal accuracy cannot be ensured.

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Parameters
Attribute

Value

Identification number

Yx86

Name

Presync value

Unit

Depending on Yx10 and Yx69

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

10000

Default value

Fig.11-143:

Attributes of parameter Yx86

Yx87: Maximum Tailout Length

Y-parameter "Yx87: Maximum tailout length" is used to specify the maximum
length of usable material, after the input configured in "Yx88: No material, Inconfig" has detected the end of material. See also chapter "Tailout" on page
393.
Attribute

Value

Identification number

Yx87

Name

Maximum tailout length

Unit

Depending on Yx10

Data format

REAL

Display format

REAL

Editability

P2 + P4

Minimum

Maximum

999999

Default value

Fig.11-144:

Attributes of parameter Yx87

Yx88: No Material, In-config

Y-Parameter "Yx88: No material, In-config" can be used to configure the digi
tal input or flag (MS, MF, MFR) detecting the end of material and initiating the
tailout machining. See also chapter "Tailout" on page 393.
The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"
application type is configured.
Attribute

Value

Identification number

Yx88

Name

No material, In-config

Unit

None

Data format

REAL

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Attribute

Value

Display format

Input

Editability

P2

Minimum

IN_UNUSED (100000)

Maximum

MFR199 (500199)

Default value

IN_UNUSED (100000)

Fig.11-145:

Attributes of parameter Yx88

Yx89: Tailout Done, Out-config

Y-Parameter "Yx89: Tailout done, Out-config" can be used to configure the
digital output or flag (MF, MFR) emitting the "tailout done" signal. See also
chapter "Tailout" on page 393.
Attribute

Value

Identification number

Yx89

Name

Tailout done, Out-config

Unit

None

Data format

REAL

Display format

Output

Editability

P2

Minimum

OUT_UNUSED (200000)

Maximum

MFR199 (500199)

Default value

OUT_UNUSED (200000)

Fig.11-146:

11.5

Attributes of parameter Yx89

Parameters Influenced by the SMC (S/P-Parameters)

The following table provides an overview of S/P-parameters of the IndraDrive
which are automatically changed by the SMC on switchover from parameter
mode to manual mode (P2 P4) or by Y-parameters.

Parameter
Name
no.

Axis
type

Point
change

of

S-0-0001

NC cycle time (TNcyc)

Master

P2 P4

Is set to the value of Y001, but not for sercos III or Ether
Cat as master communication.

S-0-0026

Configuration list for signal

Master
status word

P2 P4

If a "parallel interface" is available for master communi

cation and Y010 is set to "TRUE", parameter P-0-1414 is
entered in list elements 0 to 15.

S-0-0027

Configuration list for signal

Master
control word

P2 P4

If a "parallel interface" is available for master communi

cation and Y010 is set to "TRUE", parameter S-0-0000 is
entered in list elements 0 to 15.

S-0-0037

Master
Additive velocity command
and
value
slaves

Influenced by

Is set if the CVA and SOC command is used.

P4
P2 P4

When the position-controlled operation mode is activa

ted, the value is set to "0".
Set to "0" on switchover.

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Parameters
Parameter
Name
no.

S-0-0043

S-0-0044

Axis
type

Master
Velocity polarity parameter and
slaves

Velocity data scaling type

Master
and
slaves

Point
change

P2 P4

P2 P4

of

Influenced by
If Yx11 is set to "FALSE", the value
"2#1111_1111_1111_1000" is set; if not, the value
"2#0000_0000_0000_0001" is set. Is only written if axis x
is a real axis.
If Yx08 is set to translatory, bit 0 is set to "TRUE" and bit
1 and bit 2 are set to "FALSE"; if the setting is rotary, bit
1 is set to "TRUE" and bit 0 and bit 2 are set to "FALSE".
If Yx10 is set to [inch], bit 4 is set to "TRUE", else to
"FALSE".
Bit 6 is set to "TRUE" (data reference to load).
Is only written if axis x is a real axis.

S-0-0048

Master
Additive position command
and
value
slaves

S-0-0049

S-0-0050

S-0-0055

S-0-0076

P4

Is set if the SPO command is used.

P2 P4

Set to "0" on switchover.

Master
Positive position limit value and
slaves

P2 P4

If Yx43 is set to "TRUE", the value of Yx44 is written to

the parameter if axis x is a real axis.

Negative position limit val

ue

Master
and
slaves

P2 P4

If Yx43 is set to "TRUE", the value of Yx45 is written to

the parameter if axis x is a real axis.

Position polarities

Master
and
slaves

Position data scaling type

Master
and
slaves

P2 P4

If Yx11 is set to "FALSE", bit 0 is set to "FALSE", else to

"TRUE". If Yx43 is set to "TRUE", bit 4 is set to "TRUE",
else to "FALSE".
Is only written if axis x is a real axis.
If the scaling type is translatory, bit 0 is set to "TRUE"
and bit 1 to "FALSE"; else, bit 0 is set to "FALSE" and bit
1 to "TRUE".

P2 P4

If Yx10 is set to "TRUE" and the scaling type is set to

translatory, bit 4 is set to "TRUE". Else, bit 4 is set to
"FALSE". If the scaling type is absolute, bit 7 is set to
"FALSE"; else, bit 7 is set to "TRUE".
Is only written if axis x is a real axis.

S-0-0081

S-0-0082

S-0-0083

S-0-0085

Additive torque/force com

mand value

Master
and
slaves

Is set if the CTA and TAA command is used.

P4
P2 P4

When the troque-controlled operatiog mode is deactiva

ted, the value is set to "0".
Set to "0" on switchover.

Torque/force limit value

positive

Master
and
slaves

Torque/force limit value

negative

Master
and
slaves

P2 + P4

Torque/force polarity pa
rameter

Master
and
slaves

P2 P4

P2 + P4

Set to the value of "Yx07: Maximum torque". Is also set if

the MOM command is used.
Is only written if axis x is a real axis.
The value set is the negated value from "Yx07: Maxi
mum torque". Is also set if the MOM command is used.
Is only written if axis x is a real axis.
If Yx11 is set to "TRUE", bit 0 is set to "TRUE", else to
"FALSE". Bit 1 and bit 2 are set to "FALSE".
Is only written if axis x is a real axis.

574/605

Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Parameter
Name
no.
S-0-0086

S-0-0091

Axis
type

Point
change

Scaling type for torque/

force data

Master
and
slaves

P2 P4

Bipolar velocity limit value

Master
and
slaves

P2 + P4

of

Influenced by

Set to "2#0000_0000_0100_0000".
Set to the value of "Yx04" * 1.2 + 50 to prevent the drive
from continuously displaying the "E2059 Velocity com
mand value limit active" warning. However, the value
written never exceeds the maximum of S-0-0091.
Is only written if axis x is a real axis.

S-0-0092

Bipolar torque/force limit

value

Master
and
slaves

P2 + P4

Set to the value of Yx07.

S-0-0103

Modulo value

Master
and
slaves

P2 P4

If the scaling type selected in Yx08 is modulo, the value

of Yx09 is set.

S-0-0138

Bipolar acceleration limit

value

Master
and
slaves

Is only written if axis x is a real axis.

P2 P4

Set to the value of "Yx046" * 1.2 + 50 to prevent the

drive from continuously displaying the "E2070 Accelera
tion limit active" warning. However, the value written
never exceeds the maximum of S-0-0138.
Is only written if axis x is a real axis.

S-0-0142

S-0-0160

Application type

Acceleration data scaling

type

Master
and
slaves

Master
and
slaves

P2 P4

If "Default" or "SMC_Axis_Nbr_" is entered in S-0-0142,

the "SMC_Axis_Nbr_x" string is entered, with "x" being
the axis number.
If the scaling type is translatory, bit 0 is set to "TRUE"
and bit 1 and bit 2 to "FALSE"; else, bit 0 and bit 2 are
set to "FALSE" and bit 1 to "TRUE".

P2 P4

If Y010 is set to "TRUE" and the scaling type is set to

translatory, bit 4 is set to "TRUE". Else, bit 4 is set to
"FALSE".
Bit 6 is always set to "TRUE" (data reference to load).
Is only written if axis x is a real axis.

S-0-0169

Probe control parameter

Master
and
slaves

P2 P4

If Yx27 is set to "TRUE", bit 0 and bit 8 are set to

"TRUE", else to "FALSE".

S-0-0170

Probing cycle procedure

command

Master

P4

If registration mark processing is active in Flying Cutoff

mode, value "3" is set.

S-0-0265

Language selection

Master
and
slaves

P2 + P4

If the language selected in Y000 is German, English or

French, the value entered is "0" (German), "1" (English),
or "2" (French). If a value between 3 and 99 is entered in
Y000, the drive parameter remains as it is.

S-0-0269

Storage mode

Master
and
slaves

P2 P4

Set to "0" (resident behavior, i.e., parameters remain

preserved even in case of a voltage failure).

S-0-0287

Secondary mode 7

Master
and
slaves

P2 P4

If an axis is a position coupled slave axis (cf. Yx00), the

value is set to "2#0000_0011_0000_0101".

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Bosch Rexroth AG

575/605

Parameters
Parameter
Name
no.

Axis
type

Point
change

of

Influenced by

S-0-0328

Assign list signal status

word

Master

P2 P4

If a "parallel interface" is available for master communi

cation and Y010 is set to "TRUE", 0..15 is entered in list
elements 0 to 15.

S-0-0329

Assignment list signal con

Master
trol word

P2 P4

If a "parallel interface" is available for master communi

cation and Y010 is set to "TRUE", "0" is entered in list el
ements 0 to 15.

S-0-0370

Data container A: Configu

ration list command value Master
-1

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0371

Data container A: Configu

Master
ration list actual value -1

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0393

Command value mode

Master
and
slaves

P2 P4

Set to "2#0000_0000_0000_0010".

S-0-0417

Master
Positioning velocity thresh
and
old in modulo mode
slaves

P2 P4

Set to "0".

S-0-0426

Signal selection probe 1

Master
and
slaves

P2 P4

If the "Flying Cutoff" application type is selected in Yx00,

"P-0-0052" is applied. If "Flying Cutoff test mode" is se
lected, "P-0-0789" is applied.

S-0-0427

Signal selection probe 2

Master
and
slaves

P2 P4

If the "Flying Cutoff" or "Flying Cutoff test mode" applica

tion type is selected in Yx00, "S-0-0051" is applied.

S-0-0448

Set absolute position con

trol

Master
and
slaves

P4

If the homing is activated in manual mode, the selected

encoder configured via "S-0-0147" (bit 3), i.e., motor en
coder or optional encoder.

S-0-0490

Data container A: Configu

ration list command value Master
2

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0491

Data container A: Configu

ration list command value Master
3

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0492

Data container A: Configu

ration list command value Master
4

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0493

Data container A: Configu

ration list command value Master
5

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0494

Data container A: Configu

ration list command value Master
6

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0495

Data container A: Configu

ration list command value Master
7

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

576/605

Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Parameter
Name
no.

Axis
type

Point
change

of

Influenced by

S-0-0496

Data container A: Configu

ration list command value Master
8

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0500

Data container A: Configu

Master
ration list value 2

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0501

Data container A: Configu

Master
ration list actual value 3

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0502

Data container A: Configu

Master
ration list actual value 4

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0503

Data container A: Configu

Master
ration list actual value 5

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0504

Data container A: Configu

Master
ration list actual value 6

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0505

Data container A: Configu

Master
ration list actual value 7

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0506

Data container A: Configu

Master
ration list actual value 8

P2 P4

If a MLD-S is configured and the master communication

is not sercos III or EtherCat, the content of the list is de
leted.

S-0-0520

Control word of axis con

troller

Master
and
slaves

P2 P4

Bit 0 is set to "FALSE" if no optional encoder is config

ured (P-0-0075 = "0").

P-0-0008

Activation E-Stop function

Master

P2 P4

If Y015 is set to "TRUE", the value is set to "1", else to

"0".

P-0-0061

Angle offset begin of table

Master
and
slaves

P4

Is set if the CMP command is used.

P-0-0084

Number of bits per master

axis revolution

Slaves

P2 P4

If the application type is "Flying Cutoff", the value is set

to "20". Otherwise, it is set to the value of the P-0-0773
of the master axis.

P-0-0086

Master
Configuration word syn
and
chronous operation modes
slaves

P2 P4

Bits 8 to 15 are set to "TRUE" (new cam format).

P-0-0088

Control word synchroniza

tion modes

Master
and
slaves

P2 P4

If the "Roll feed" application type is selected in Yx00, val

ue "2#0000_0100_0000_0000" is entered.

P-0-0090

Travel range limit parame

ter

Master
and
slaves

P2 P4

If the "Flying Cutoff" or "Flying Cutoff test mode" applica

tion type is selected in Yx00, bit 2 it set to "FALSE" (an
exceeded travel range is treated as an error).

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Bosch Rexroth AG

577/605

Parameters
Parameter
Name
no.

Axis
type

Point
change

of

P-0-0114

Undervoltage threshold

Master
and
slaves

P2 P4

The value is set to "0" for SAC.

P-0-0117

Activation of control unit

reaction on error

Master
and
slaves

P2 P4

If the axis belongs to a position coupled axis group (cf.

Yx00) and the default error reaction is set, bit 0 is set to
'1'.

P-0-0118

Power supply, configura

tion

Master
and
slaves

P2 P4

Bit 15 is set to "TRUE" for SAC (deactivation of module

bus communication). If the axis belongs to a position
coupled axis group (cf. Yx00) and the default error reac
tion is set, bit 0, bit 1 and bit 7 are set to '0'.

P-0-0119

Best possible deceleration

Master
and
slaves

P2 P4

If the axis belongs to a position coupled axis group (cf.

Yx00) and the default error reaction is set, all bits are set
to '0'.

P-0-0155

Synchronization mode

Master
and
slaves

P2 P4

With the exception of bit 5, all bits are set to "FALSE".

The value of bit 5 remains unaffected.

Influenced by

The following bits are written during the synchronization

of the Flying Cutoff:
P-0-0155

Synchronization mode

Master

P4

If Bit0 = TRUE in Yx69, Bit8 is set to the value

"TRUE".

If Bit0 = FALSE in Yx69, Bit8 is set to the value

"FALSE" and if the material moves, Bit6 and Bit7
are set to the value "TRUE".

All other bits are set to "FALSE".

P-0-0159

Slave drive feed travel

Master

P2 P4

If the "Flying Cutoff" or "Flying Cutoff test mode" applica

tion type is selected in Yx00, the value of "Yx57: Meas
uring wheel feed constant" is written to P-0-0159.

P-0-0213

Analog input, assignment

A, target parameter

Master
and
slaves

P2 P4

If the controller section is a CSH, parameter "S-0-0000"

is applied.

P-0-0218

Analog input, control pa

rameter

Master
and
slaves

P2 P4

If the controller section is a CSH, the value is set to

"2#0000_0000_0001_0000" is applied.

P-0-0226

Probe, extended control

word

Master

P2 P4

If the "Flying Cutoff" or "Flying Cutoff test mode" applica

tion type is selected in Yx00 and registration mark pro
cessing is activated, the value is set to
"2#0000_0001_0000_0000".

P-0-0236

Analog input, assignment

B, target parameter

Master
and
slaves

P2 P4

If the controller section is a CSH, parameter "S-0-0000"

is applied.

P2 P4

The following parameters are applied: P-0-0115 (HMS)

and P-0-0861 (HCS), respectively. In addition, the fol
lowing parameters are applied: S-0-0401 (if Yx27 is set
to "TRUE"), S-0-0000, S-0-0000, S-0-0000, S-0-0400 (if
Yx23 is set to "TRUE"), 2x S-0-0000, P-0-0223 (if Y010
is set to "TRUE", master only), and 3x S-0-0000.

P-0-0300

Digital I/O, assignment list

Master
and
slaves

578/605

Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Parameter
Name
no.

Axis
type

Point
change

P-0-0301

Digital I/O bit numbers

Master
and
slaves

P-0-0302

Digital I/O, direction

Master
and
slaves

P2 P4

P-0-0303

Digital I/O, inputs

Master

P2 + P4

If an MLD-S is used as master axis, the digital inputs are

set to X31/X32 via this drive parameter.

P-0-0304

Digital I/O, outputs

Master

P2 + P4

If an MLD-S is used as master axis, the digital outputs

are set to X32 via this drive parameter.

P2 P4

of

Influenced by
If the power section is an "HMS", the value is set to "0" in
list element 0, else to "9". List element 1 is set to "0", if
Yx27 is set to "TRUE". List element 5 is set to "0", if
Yx23 is set to "TRUE". List element 8 is set to "0", if
Y010 and Y015 are set to "TRUE" (master only).
The direction is set according to the output addresses
configured in the Y-parameters.
If Y010 is set to "TRUE", all unassigned I/Os (i.e., those
not configured in Y-parameters) are set to "Output".

If Y010 is set to "TRUE", the default assignment of con

nector X31 is configured.
P-0-0306

Digital inputs, assignment

connector and pin

Slaves

P2 + P4

If Yx23 is set to "TRUE", pin7 of connector X31 is config

ured.
If Yx27 is set to "TRUE", pin1 of connector X31 is config
ured.

P-0-0312

Digital outputs, assign

ment sub-device

Slaves

P2 + P4

Is set to "0", if Y010 is "TRUE" or a Y-parameter uses

X31, pin8 as an output.

P-0-0316

Digital outputs, assign

ment connector and pin

Slaves

P2 + P4

Is set to X31, pin8 if Y010 is "TRUE" or a Y-parameter

uses the output.

P-0-0418

Master
Analog output, assignment
and
A, signal value at 0V
slaves

P2 P4

The value is set to "0" for SAC.

P-0-0420

Master
Analog output, assignment
and
A, signal selection
slaves

P2 P4

"P-0-0048, Effective velocity command value" is applied

for SAC.

P-0-0422

Master
Analog output, assignment
and
A, scaling [1/V]
slaves

P2 + P4

The value of "Yx04" divided by "8" is set for SAC.

P-0-0427

Control parameter of ana

log output

Master
and
slaves

P2 P4

Bit 0 and bit 4 are set to "TRUE" for an SAC.

P-0-0456

Position command value

delay

Master
and
slaves

P2 P4

If the axis is used as master axis with P-0-0457 source

signal for position coupled slave axes (cf. Yx00), a value
between "1" and "32" set. Otherwise, the value is always
set to "0".

P-0-0525

Master
Holding brake control word and
slaves

P2 P4

In case of position-coupled axes (cf. CPA command)

with holding brake, Bit 5 for the master axis and the
slave axes are set to "TRUE", if the specified error reac
tion requires the release of the holding brake.

P-0-0556

Config word of axis con

troller

Master
and
slaves

P2 P4

Bit 4 is set to "TRUE". Bit 1 is set to "TRUE" for an SAC.

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Bosch Rexroth AG

579/605

Parameters
Parameter
Name
no.

Axis
type

Point
change

of

Influenced by

P-0-0692

Additive master axis posi

tion, process loop

Master
and
slaves

P2 P4

The value "0" is entered.

P-0-0693

Filter time constant, add.

master axis pos., process
loop

Master

P4

If the "Flying Cutoff" or "Flying Cutoff test mode" applica

tion type is selected in Yx00, the value is set to "0".

P-0-0700

MotionProfile, master axis

switching position

Master
and
slaves

P4

Is set if the CMP command is used.

P-0-0750

Master
Master axis revolutions per
and
master axis cycle
slaves

P2 P4

If the application type is "Flying Cutoff", the value is set

to "0". Otherwise, it is set to the value of the P-0-0763 of
the master axis.

P-0-0756

Virtual master axis, scaling

Master
type

This parameter is set only if the optional "SNC" function

package is activated.

P2 P4

If the scaling type is translatory, bit 0 is set to "TRUE"

and bit 1 and bit 2 are set to "FALSE". If the scaling type
is rotary, bit 0 is set to "FALSE", bit 1 to "TRUE" and bit
2 to "FALSE". If the scaling type is modulo, bit 7 is set to
"TRUE", else to "FALSE".
If [mm] is selected as unit in Yx10, bit 4 is set to
"FALSE". If [inch] is selected as unit in Yx10, bit 4 is set
to "TRUE".

P-0-0757

Virtual master axis, modu

lo value

Master

P2 P4

The value of "Yx09: Modulo value" is entered (multiplied

by 10,000) if axis x is configured as a virtual axis.

P-0-0758

Virtual master axis, actual

position value

Master

P2 P4

The value "0" is entered.

If absolute scaling is selected, the value is set to "0",
else to "1" (if P-0-0750 was set to "0" beforehand).

P-0-0763

Modulo factor of master

axis format converter

Master

P2 P4

If Y028 is set to measuring encoder, the value is set to

"0" if the application type is "Flying Cutoff". Otherwise,
the value is set to "1".
This parameter is set only if the optional "SNC" function
package is activated.

P-0-0765

Modulo factor measuring

encoder

Master
and
slaves

P2 P4

If the "Flying Cutoff" or "Flying Cutoff test mode" applica

tion type is selected in Yx00, the value is set to "0". If
P-0-0052 is selected in Y028, the value is set to "1".

P-0-0769

Virtual master axis, com

mand value mode

Master

P2 P4

The value "2#0000_0000_0000_0010" (shortest dis

tance) is entered.

P-0-0770

Virtual master axis, posi

tioning velocity

Master

P2 + P4

The value of "Y166: Test mode velocity" is entered if the

"Flying Cutoff test mode" application type is selected.

P-0-0860

Converter configuration

Master
and
slaves

P2 P4

Bit 15 is set to "TRUE" for an SAC.

P-0-0914

Virtual master axis, veloci

ty threshold positioning

Master

P2 P4

Set to "0".

580/605

Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Parameter
Name
no.

Axis
type

Point
change

of

Influenced by

Depending on Y028, one of the following parameters is

applied:

P-0-0916

Master axis format con

verter signal selection

Master
P2 P4
+ slaves

S-0-0000 (dummy parameter)

P-0-0758 (virtual master axis)

P-0-0052 (measuring encoder)

P-0-0434 (position command value)

S-0-0051 (Position feedback value 1)

S-0-0053 (Actual position value encoder 2)

P-0-0753 (actual position value in the actual value

cycle)

P-0-1277 (master only, if the master axis position

is formed by a CCD slave)

If the value entered in parameter Y028 is "4", no value is

written to P-0-0916 in the master. The value of S-0-0000
is entered in the CCD slave.
P-0-0917

Control word of master ax

Master
is generator

P2 P4

Set to "2#0000_0000_0001_0001" (master axis genera

tor activated with separate master axis format).

P-0-1270

PLC Global Register A0

Master

P4

Control word for cyclic field bus communication.

P-0-1271

PLC Global Register A1

Master

P4

Data container in the cyclic field bus communication

command value channel.

P-0-1272

PLC Global Register A2

Master

P4

Status word for cyclic field bus communication.

P-0-1273

PLC Global Register A3

Master

P4

Data container in the cyclic field bus communication ac

tual value channel.

P-0-1277

PLC Global Register A7

Master

P4

Data container for the master axis value, if a CCD slave

is selected as master axis in Y028.

P-0-1278

PLC Global Register A8

Master

P4

Data container for the position command value in case

of position coupling, if CCD slave 1 is selected as master
axis in Yx00.

P-0-1279

PLC Global Register A9

Master

P4

Data container for the position command value in case

of position coupling, if CCD slave 2 is selected as master
axis in Yx00.

P-0-1280

PLC Global Register A10

Master

P4

Data container for the position command value in case

of position coupling, if CCD slave 3 is selected as master
axis in Yx00.

P-0-1281

PLC Global Register A11

Master

P4

Data container for the position command value in case

of position coupling, if CCD slave 4 is selected as master
axis in Yx00.

P-0-1282

PLC Global Register A12

Master

P4

Data container for the position command value in case

of position coupling, if CCD slave 5 is selected as master
axis in Yx00.

P-0-1283

PLC Global Register A13

Master

P2 + P4

Control word for acyclic field bus communication.

P-0-1284

PLC Global Register A14

Master

P2 + P4

Data container in the acyclic field bus communication ac

tual value channel.

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Parameters
Parameter
Name
no.

Axis
type

Point
change

P-0-1285

PLC Global Register A15

Master

P2 + P4

Status word for acyclic field bus communication.

P-0-1286

PLC Global Register A16

Master

P2 + P4

Data container in the acyclic field bus communication ac

tual value channel.

P-0-1296

PLC Global Register A26

Master

P4

Velocity command value for axis 1 when the VOA com

mand is used.

P-0-1297

PLC Global Register A27

Master

P4

Velocity command value for axis 2 when the VOA com

mand is used.

P-0-1298

PLC Global Register A28

Master

P4

Velocity command value for axis 3 when the VOA com

mand is used.

P-0-1299

PLC Global Register A29

Master

P4

Velocity command value for axis 4 when the VOA com

mand is used.

P-0-1300

PLC Global Register A30

Master

P4

Velocity command value for axis 5 when the VOA com

mand is used.

P-0-1301

PLC Global Register A31

Master

P4

Velocity command value for axis 6 when the VOA com

mand is used.

P-0-1367

PLC configuration

Master

P2 P4

Set to "2#0000_0011_1101_0001".

P-0-1387

PLC Global Register AT0

Master

P2 + P4

Cyclically displays the SMC system diagnostics (cf.

Y030)

P-0-1390..
PLC input/output words
.P-0-1447

Master

P2 + P4

These data containers are used for the cyclic exchange

of the inputs and outputs of the SMC.

P-0-1600

CCD: configuration

Master

P2 P4

Bit5 is set to TRUE for MPC08V02. Bit5 is set to FALSE

for higher releases.

P-0-1610

CCD: Cycle time

Master

P2 P4

Set to the value of Y001.

P-0-1612

CCD: Configuration list

signal control word

Master

P2 P4

Parameters S-0-0199, S-0-0393 are applied. See also

chapter 10.4.3 "Signal Control Word / Signal Status
Word" on page 492.

P-0-1614

CCD: Assignment list sig

nal control word

Master

P2 P4

Bits 0 and 2 are applied. See also chapter 10.4.3 "Sig

nal Control Word / Signal Status Word" on page 492.

P-0-1616

CCD: Extrapolated cmd

value signal selection

Master

P2 P4

If Y028 is unequal to "0", P-0-0761 is applied.

P-0-1623

CCD: Configuration list

master cmd values

P2 P4

P-0-1420/P-0-1421 (MD2), S-0-0051 et seq. and

P-0-1278 et seq. (if position coupling is selected in Yx00)
as well as P-0-1422P-0-1429 are applied. See also
chapter 10.4.2 "Free Process Data" on page 491.

P2 P4

P-0-1400/P-0-1401 (only for MD2), P-0-1277 (if a CCD

slave is selected as master axis in Y028), P-0-1278 et
seq. (if the master axis is selected as CCD slave in Yx00
with position coupling) as well as P-0-1440P-0-1447
are applied. See also chapter 10.4.2 "Free Process Da
ta" on page 491.

P-0-1624

Master

CCD: Configuration list ac

Master
tual master values

of

Influenced by

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Parameters
Parameter
Name
no.

P-0-1625

CCD: Configuration list

slave cmd values

Axis
type

Master

Point
change

of

Influenced by

P2 P4

P-0-0081 (only for MD2), S-0-0275 (only with optional

SRV or SNC function package), S-0-0037 (see Yx47),
S-0-0047 (if position coupling is selected in Yx00) as
well as P-0-0304 are applied. See also chapter 10.4.2
"Free Process Data" on page 491.

P-0-1626

CCD: Configuration list ac

Master
tual slave values

P2 P4

P-0-0082 (only for MD2) as well as P-0-0303 are ap

plied. Parameter S-0-0130, P-0-0210 (only for CSH) and
P-0-3215 (S1) / P-0-0106 (L1), S-0-0053 (if an optional
encoder is provided), P-0-0761 (if a CCD slave is selec
ted as master axis in Y028), S-0-0051 et seq. (if the
master axis is selected as CCD slave in Yx00 with posi
tion coupling) are applied. See also chapter 10.4.2
"Free Process Data" on page 491.

P-0-1627

CCD: Configuration list

master cmd values I/Os

Master

P2 P4

P-0-1410P-0-1413 are applied if digital sercos III I/O

modules are available. P-0-1428 and P-0-1429 are ap
plied if an analog sercos III I/O module is available.

P-0-1628

CCD: Configuration list

master actual values I/Os

Master

P2 P4

P-0-1390P-0-1393 are applied if digital sercos III I/O

modules are available. P-0-1402...P-0-1405 are applied
if an analog sercos III I/O module is available.

P-0-1629

CCD: Configuration com

pact I/Os

Master

P2 P4

Is read out and used to determine the scalings for sys

tem variables VS031...VS036 (analog sercos III I/O mod
ule).

P-0-1891

CCD: Actual value data

container 4, Slave 1 2Byte

Master

P4

Data container for the torque command value in case of

torque coupling with P-0-0049, if CCD slave 1 is selec
ted as master axis in Yx00.

P-0-1892

CCD: Actual value data

container 4, Slave 2 2Byte

Master

P4

Data container for the torque command value in case of

torque coupling with P-0-0049, if CCD slave 2 is selec
ted as master axis in Yx00.

P-0-1893

CCD: Actual value data

container 4, Slave 3 2Byte

Master

P4

Data container for the torque command value in case of

torque coupling with P-0-0049, if CCD slave 3 is selec
ted as master axis in Yx00.

P-0-1894

CCD: Actual value data

container 4, Slave 4 2Byte

Master

P4

Data container for the torque command value in case of

torque coupling with P-0-0049, if CCD slave 4 is selec
ted as master axis in Yx00.

P-0-1895

CCD: Actual value data

container 4, Slave 5 2Byte

Master

P4

Data container for the torque command value in case of

torque coupling with P-0-0049, if CCD slave 5 is selec
ted as master axis in Yx00.

P-0-4004

Magnetizing current

Master
and
slaves

P2 P4

The value is set to "0" for SAC.

P-0-4021

Baud rate RS-232/485

Master

P2 P4

The value is set to "2" (38.4 kbauds).

P-0-4070

Parameter storage config

uration

Master

P2 P4

Set to "2#0000_0000_0000_0001" (programming module

mode)..

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

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Parameters
Parameter
Name
no.

P-0-4080

Axis
type

Field bus: Config. list of

Master
cyclic actual value data ch.

Point
change

P2 P4

of

Influenced by
If Y010 is set to "TRUE" and master communication is
set to "Profibus" or "Profinet", the following parameters
are assigned to the list: P-0-4078, P-0-1414..P-0-1419,
P-0-1272, P-0-1273.
If Y010 is set to "TRUE" and master communication is
set to "Ethernet/IP", the following parameters are as
signed to the list: P-0-4078, S-0-0000,
P-0-1414..P-0-1419, P-0-1272, P-0-1273.
If Y010 is set to "TRUE" and master communication is
set to "Profibus" or "Profinet", the following parameters
are assigned to the list: P-0-4077, P-0-1394..P-0-1399,
P-0-1270, P-0-1271.

P-0-4081

Field bus: Config. list of

cyclic command value da
ta ch.

Master

P2 P4

P-0-4084

Field bus: Profile type

Master

P2 P4

If master communication is set to "Profibus", "Profinet" or

"Ethernet/IP", the value "FFFD" is set.

P-0-4088

Master communication:
Drive configuration

Master

P2 P4

Bit3 (runs according to "bb" if there is no master commu

nication) and Bit0 (device remains in parameter mode af
ter powering up) are set to TRUE.

P-0-4095

RS-232/485 Parity

Master

P2 P4

The value "0" is entered.

Fig.11-147:

11.6

If Y010 is set to "TRUE" and master communication is

set to "Ethernet/IP", the following parameters are as
signed to the list: P-0-4077, S-0-0000,
P-0-1394..P-0-1399, P-0-1270, P-0-1271.

S/P-parameters of the drive, which are influenced by the SMC

S/P-Parameters of IndraDrive
For a list with related documentation, please refer to the chapter 1.2 Related
Documentation, page 15.
This list also includes the IndraDrive parameter description
(DOK-INDRV*-GEN-**VRS**-PA**-EN-P) as well as related documentations
on firmware and hardware

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
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Connection Diagrams

12

Connection Diagrams

12.1

General Information
The general wiring of the IndraDrive and the VCP 08 is described in the fol
lowing hardware documentation (project planning):

Power unit "IndraDrive C"

DOK-INDRV*-HCSxx.1****-PRxx-EN-P

Power unit "IndraDrive M"

DOK-INDRV*-HMS+HMD****-PRxx-EN-P

Control unit
DOK-INDRV*-CSH********-PRxx-EN-P

Supply unit IndraDrive M

DOK-INDRV*-HMV-*******-PRxx-EN-P

Small operating terminal VCP 08

DOK-SUPPL*-VCP08******-PRxx-EN-P

12.2

Input/Output Assignment on the Master Board Card

The following two tables show the default assignment of I/O signals for con
nectors X31, X32, X33 and X34 on the master board card (if parameter Y010
was set to "TRUE" when switching from "Parameter" to "Manual" mode).
"IndraDrive" drive family

Pin

I/O

Function

Parameter

Bit no.

bb Relay Rel(a)

P-0-0115

bb Relay Rel(b)

P-0-0115

Touch probe

S-0-0401

Jog +

S-0-0000

Jog -

S-0-0000

Homing

S-0-0000

Homing switch

S-0-0400

PWR

Uext

--

--

PWR

GNDext

--

--

Parameter

Bit no.

Fig.12-1:

Connector X31 - IndraDrive

Pin

I/O

Function

Analog output 1 1)

--

--

Analog output 2

--

--

Analog_GND 1)

--

--

Analog input 1 U+ 1)

S-0-0000

-1

Analog input 1 U-

S-0-0000

-1

E-Stop2

P-0-0223

Parameter mode2

S-0-0000

1)

1)

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Connection Diagrams
Pin

I/O

Function

Parameter

Bit no.

Unassigned

S-0-0000

-1

Unassigned

S-0-0000

-1

These signals are only assigned for the drive control device
IndraDrive Advanced+/Advanced.
This signal is only active on the master axis (axis 1).

1)
2)

Fig.12-2:

Connector X32 - IndraDrive

Pin

I/O

Function

Parameter

Bit no.

Unassigned

S-0-0000

Unassigned

S-0-0000

Unassigned

S-0-0000

Unassigned

S-0-0000

Unassigned

S-0-0000

Unassigned

S-0-0000

Function

Parameter

Bit no.

Fig.12-3:

Connector X33 - IndraDrive double axis

Pin

I/O

Unassigned

S-0-0000

Unassigned

S-0-0000

Unassigned

S-0-0000

Unassigned

S-0-0000

Unassigned

S-0-0000

PWR

--

--

Function

Parameter

Bit no.

Fig.12-4:
"IndraDrive Cs" drive family

GNDext

Connector X34 - IndraDrive double axis

Pin

I/O

Touch probe

S-0-0401

Unassigned

S-0-0000

Unassigned

S-0-0000

Jog +

S-0-0000

Jog -

S-0-0000

Homing

S-0-0000

Homing switch

S-0-0400

Unassigned

S-0-0000

Fig.12-5:

Connector X31 - IndraDrive Cs

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
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Bosch Rexroth AG

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Connection Diagrams
Pin

I/O

2
3

Fig.12-6:

12.3

Function

Parameter

Bit no.

Analog_GND

--

--

Analog input 1 U-

--

--

Analog input 1 U+

--

--

Connector X32 - IndraDrive Cs

Input/Output Configuration of the Parallel Interface

The following table provides the default configuration of the I/O signals on the
parallel interface (X15 plug).

Pin

I/O

20

Function

Par.

Bit

Pin

I/O

Automatic mode

S-0-00002

Start

S-0-00002

24

nStop

S-0-00002

21

Clear error

S-0-00002

Unassigned1)

22

Par.

Bit

Unassigned1)

S-0-00002

Unassigned1)

S-0-00002

Unassigned1)

S-0-00002

25

Unassigned1)

S-0-00002

S-0-00002

Unassigned1)

S-0-00002

Unassigned1)

S-0-00002

26

Unassigned1)

S-0-00002

Unassigned1)

S-0-00002

Unassigned1)

S-0-00002

23

Unassigned1)

S-0-00002

27

Unassigned1)

S-0-00002

PWR

--

--

30

PWR

--

--

28

Manual mode

P-0-1414

33

Unassigned

P-0-1414

10

Automatic mode

P-0-1414

15

Unassigned

P-0-1414

29

SMC program valid

P-0-1414

34

Unassigned

P-0-1414

10

11

Run

P-0-1414

16

Unassigned

P-0-1414

11

14

PWR

Uext1

--

--

35

PWR

--

--

12

Drive enable for axes

P-0-1414

17

Unassigned

P-0-1414

12

31

Operating barrier

P-0-1414

36

Unassigned

P-0-1414

13

13

Errorneg

P-0-1414

18

Unassigned

P-0-1414

14

32

Unassigned

P-0-1414

37

Unassigned

P-0-1414

15

19

PWR

--

--

GNDext

Uext3
1)
2)

Fig.12-7:

Function

Uext0

Uext2

All unassigned input signals can be used for safety technology and
other features.
The input word is directly read from drive parameter S-0-0145.

Connector X15, HCC01

12.4

Connection Diagrams of the sercos III I/O Modules

12.4.1

sercos III I/O Module with Digital Inputs and Outputs

The connection diagrams of the Rexroth Inline sercos III I/O module with digi
tal inputs and outputs (module R-ILB S3 24 DI16 DIO16) can be found in the
"DOK-CONTRL-S3DI16/DIO16-KB01-EN-P" documentation.

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Connection Diagrams

12.4.2

sercos III I/O Module with Analog Inputs and Outputs

The connection diagrams of the Rexroth Inline sercos III I/O module with ana
log inputs and outputs (module R-ILB S3 AI4 AO2) can be found in the
"DOK-CONTRLS3AI4AO2- KB01-EN-P" documentation.

12.5

Encoder Connection of Option and External Encoder

12.5.1

Encoder Connection ENS

For encoders with a control voltage supply of 12 Volt:

Encoder systems of the IndraDyn S motors (MSK motors)

1 Vss with HIPERFACE

1 Vss with EnDat 2.1

1 Vss with reference track

5V-TTL square wave encoder with reference

Connection
point

Type

Pin number

Version type

Multiwire [mm2]

X8

D-Sub

15

Female connector at de
vice

0,25 - 0,5

Fig.12-8:

Connection

Connection

Fig.12-9:

12.5.2

Signal

Function

GND_Shield

Connection for signal shields

A+

Track A positive

A-

Track A negative

GND_Encoder

Voltage supply - reference potential

B+

Track B positive

B-

Track B negative

EncData+

Data transfer positive

EncData-

Data transfer negative

R+

Reference track positive

10

R-

Reference track negative

11

VCC_Encoder

Power supply

12

n.c.

13

EncCLK+

Cycle positive

14

EncCLK-

Cycle negative

15

n.c.

Connection assignment

Encoder Connection EN2

For encoders with a control voltage supply of 5 Volt:

EnDat2.1 with Sense lines

Sine encoder (1 Vss) with reference track

Square wave encoder (TTL) with reference track

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
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Connection Diagrams
Type

Pin number

Version type

Multiwire [mm2]

D-Sub

15

Pins on the device

0,25 1,0

Fig.12-10:

Connection

Signal

Sense+

Feedback of the supply voltage

Sense-

Feedback of the supply voltage

R-

Reference track negative

R+

Reference track positive

B-

Track B negative

B+

Track B positive

A+

Track A positive

A-

Track A negative

EncData+

10

GND_Encoder

11

EncCLK+

Cycle positive

12

VCC_Encoder

Power supply

13

EncCLK-

Cycle negative

14

GND_Shield

15

EncData-

Fig.12-11:

12.6

Connection
Function

Data transfer
Voltage supply - reference potential

Connection for signal shields

Data transfer

Connection assignment

Multi Encoder Interface

Supported encoder systems

Encoder with a supply voltage of 5 and 12 Volt

Encoder systems

MSM motor encoder

MSK motor encoder

Sin/cos encoder 1 Vss; HIPERFACE

Sin/cos encoder 1 Vss; EnDat 2.1

Sin/cos encoder 1 Vss; with reference track

5-V-TTL square wave encoder; with reference track

SSI

Resolver
Port assignment

Connection

Signal

Function

GND_shld

A+

Analog track A positive

A-

Analog track A negative

GND_Encoder

B+

Analog track B positive

B-

Analog track B negative

Connection for signal shields (internal

shields)

Reference potential of power supplies

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Bosch Rexroth AG

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Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Connection Diagrams
Connection
7
8

Signal

Function

EncData+

Data transfer positive

A+TTL

Track A TTL positive

EncData-

Data transfer negative

A-TTL

Track A TTL negative

R+

Reference track positive

10

R-

Reference track negative

11

+12V

Encoder supply 12 V

12

+5V

Encoder supply 5 V

EncCLK+

13

B+TTL
EncCLK-

14

15

Track B TTL positive

Cycle negative

B-TTL

Track B TTL negative

Sense-

Return of the reference potential (Sense

line)

VCC_Resolver
Plug housing

Fig.12-12:

Cycle positive

Connection assignment

Resolver power supply

Outer shield

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
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Service and Support

13

Service and Support

Our worldwide service network provides an optimized and efficient support.
Our experts offer you advice and assistance should you have any queries.
You can contact us 24/7.
Service Germany

Our technology-oriented Competence Center in Lohr, Germany, is responsi

ble for all your service-related queries for electric drive and controls.
Contact the Service Helpdesk & Hotline under:
Phone:

+49 9352 40 5060

Fax:

+49 9352 18 4941

E-mail:

service.svc@boschrexroth.de

Internet:

http://www.boschrexroth.com

Additional information on service, repair (e.g. delivery addresses) and training

can be found on our internet sites.
Service worldwide

Outside Germany, please contact your local service office first. For hotline
numbers, refer to the sales office addresses on the internet.

Preparing information

To be able to help you more quickly and efficiently, please have the following
information ready:

Detailed description of malfunction and circumstances resulting in the

malfunction

Type plate name of the affected products, in particular type codes and
serial numbers

Your contact data (phone and fax number as well as your email ad
dress)

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Index

Index
A

Abbreviations...................................................... 17
Abort program................................................... 415
Abort program, In-config................................... 508
About this documentation................................... 15
Information representation ........................... 16
Related documentation ................................ 15
Validity of the documentation ....................... 15
ACC.................................................................. 235
Acceleration change......................................... 235
Access to inputs, outputs, flags and variables. . 471
Acknowledge bit................................................ 237
Activate position limit switch............................. 548
Active system command................................... 515
Active system command status........................ 516
Adding more sercos III slaves............................. 36
Address
sercos I/O 1 ................................................ 517
sercos I/O 2 ................................................ 517
sercos I/O 3 ................................................ 518
sercos I/O 4 ................................................ 518
AEA................................................................... 236
AKN................................................................... 237
AKP............................................................. 41, 237
Alphanumerical keys......................................... 125
APE............................................................. 41, 239
Application type................................................. 525
Archiving and restoring projects........................ 481
AutoConfig I/Os................................................. 504
Automatic formatting........................................... 64
Automatic mode................................................ 322
Automatic mode, In-config................................ 505
Automatic mode, Out-config............................. 509
Automatic mode key......................................... 125
Automatic tasks................................................. 195
Axis address..................................................... 545
Axis coupling..................................................... 344
Axis-dependent system inputs.......................... 220
Crop cut ...................................................... 223
Cut Inhibit ................................................... 223
Drive enable ............................................... 221
Homing ....................................................... 222
Homing switch ............................................ 222
Immediate cut ............................................. 223
Jog ........................................................... 222
Jog + .......................................................... 222
Lift rolls ....................................................... 221
nFeedControl ............................................. 223
nInterrupt .................................................... 221
No material ................................................. 224
Optional encoder ........................................ 221
Rapid stop .................................................. 223
Registration mark ....................................... 223
Reset material length counter .................... 223
Reset product length counter ..................... 224

...Axis-dependent system inputs

Return Inhibit .............................................. 223
Return optimization .................................... 223
Rolls closed ................................................ 221
Setup end ................................................... 223
Setup mode ................................................ 222
Test mode .................................................. 223
Axis-dependent system outputs........................ 225
Cut inhibit active ......................................... 226
Drive enabled ............................................. 226
In position ................................................... 226
In reference ................................................ 226
Lift rolls enabled ......................................... 226
Material pulse ............................................. 227
Maximum part length reached .................... 227
Optional encoder active ............................. 226
Presignal active .......................................... 226
Presync pulse ............................................. 227
Return inhibit active .................................... 227
Return optimization active .......................... 226
Scrap cut active .......................................... 226
Setup active ............................................... 226
Setup end position ..................................... 226
Setup start position .................................... 226
Tailout done ............................................... 227
Velocity reached ......................................... 226
Axis diagnostic number..................................... 549
Axis-independent system inputs....................... 218
Abort Program ............................................ 219
Automatic mode ................................... 84, 218
Clear error ............................................ 84, 218
Manual routine ........................................... 219
nE-Stop ...................................................... 219
nStop .................................................... 84, 219
Parameter mode ........................................ 219
Restart ........................................................ 220
Single step ........................................... 85, 219
Start ...................................................... 84, 219
Axis-independent system outputs..................... 224
Automatic mode ................................... 85, 224
Drive enabled ............................................. 224
Manual mode ............................................. 224
nError ................................................... 85, 224
Operating barrier ........................................ 225
Parameter mode ........................................ 224
Restart possible ......................................... 225
Run ....................................................... 85, 225
SMC program valid .................................... 225
Axis information................................................ 136
Axis information screen
Axis Status screen ..................................... 137
Axis status screen............................................. 137
Axis type........................................................... 527

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DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Index

BAC................................................................... 240
Backup / Restore screen................................... 149
Backup / Restore screen ............................ 149
BCE................................................................... 241
BIC.............................................................. 41, 241
Branch conditional on bit................................... 241
Branch conditional on bit mask......................... 241
Branch conditional on count.............................. 240
Build menu.......................................................... 66

Cam axes: activation......................................... 243

Cam axis................................................... 343, 426
Commands ................................................. 343
Parameterization ........................................ 344
Cam axis: configuration.................................... 244
Cam axis: Motion Step...................................... 246
Cam axis: profile............................................... 251
Cam axis: Settings............................................ 253
Cams................................................................... 43
CCD
Configuration ................................................ 36
Cyclic data .................................................. 490
Free process data ...................................... 491
Signal control word ..................................... 492
Signal status word ...................................... 492
Change password screen................................. 161
CIO.............................................................. 41, 243
Clear error, In-config......................................... 505
Clear key........................................................... 125
Clear outputs............................................. 411, 503
Clear position lag.............................................. 258
Clear subroutine stack...................................... 261
CMA.................................................................. 243
CMC.................................................................. 244
CMM.................................................................. 246
CMP.................................................................. 251
CMS.................................................................. 253
Command description....................................... 234
Commanding the axes by means of
PLCopen function blocks or axis interfaces ..... 475
Commissioning the sercos III slaves................... 36
Communication with an external PLC................. 23
Compare and jump........................................... 258
Compare and set a bit....................................... 260
Complete backup.............................................. 455
Complete restoration......................................... 456
CON.................................................................. 255
Configuration
sercos I/O 1 ................................................ 519
sercos I/O 2 ................................................ 519
sercos I/O 3 ................................................ 520
sercos I/O 4 ................................................ 520
Configuration cyclic CCD process data.......... 549
Connection diagrams........................................ 585
Encoder connection EN2 ........................... 588

...Connection diagrams
Encoder connection ENS ........................... 588
Encoder connection of optional and ex
ternal encoders ......................................... 588
General information .................................... 585
Input/output assignment on the master
board card .................................................. 585
Input/output configuration of the parallel
interface ..................................................... 587
sercos III I/O Modules ................................ 587
Continuous operation........................................ 255
Control
VCP control ................................................ 109
Converting variable <-> bit pattern.................... 268
Copy bit field..................................................... 243
COU.................................................................. 255
Counter............................................................. 255
CPA................................................................... 256
CPJ................................................................... 258
CPL................................................................... 258
CPS................................................................... 260
Creating an SMC program.................................. 39
CRL................................................................... 260
Crop cut............................................................ 384
Crop cut, In-config............................................. 564
Crop cut length.................................................. 557
CST................................................................... 261
CTA................................................................... 263
CTC................................................................... 264
Cut inhibit.......................................................... 387
Cut inhibit, In-config.......................................... 563
Cut inhibit active, Out-config............................. 568
CVA................................................................... 266
CVC.................................................................. 268
CVT............................................................. 42, 268
Cycle time......................................................... 498
Cyclic CCD data................................................ 490
Cyclic task......................................................... 199

Data entry keys................................................. 125

Data storage....................................................... 23
Debug functions
only for Sequential Motion Control ............... 84
Default screen................................................... 159
Delete key......................................................... 127
Diagnostic numbers.......................................... 438
Diagnostics....................................................... 437
Diagnostic screen............................................. 138
Axis Information screen .............................. 141
Error information screen ............................. 138
Flag/Variable screen .................................. 141
I/O screen ................................................... 141
Parameter screen ....................................... 141
PLC Status screen ..................................... 139
Show Program screen ................................ 140

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

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Index

...Diagnostic screen
System I/O Signals screen ......................... 140
Version SMC screen .................................. 139
Digital inputs and outputs.................................. 213
Downloading the SMC screens
Setting the VCP for download .................... 115
Downloading the VCP application
Copying the application files to the VCP
via an FTP connection ............................... 118
Determining the IP settings ........................ 115
Exiting the main menu ................................ 117
Fix Settings dialog ...................................... 116
IP address and subnet screen ................... 117
IP Address dialog ....................................... 116
Network dialog ........................................... 115
Settings, main menu .................................. 115
Downloading the VCP application via Ethernet 113
Drive-controlled positioning............................... 399
Drive enable, In-config...................................... 534
Drive enable, Out-config........................... 510, 541
Drive parameters screen................................... 159

EDG.................................................................. 271
Edge detection bit............................................. 271
Edit key............................................................. 126
Edit menu............................................................ 65
Enable axis....................................................... 528
Enable test mode, In-config.............................. 566
End of synchronization.............................. 271, 372
Enter key........................................................... 126
EOS.......................................................... 271, 372
Error detection.................................................. 437
Error diagnostics............................................... 441
Error information screen................................... 138
Error numbers................................................... 441
Error reaction max. part length......................... 558
EtherCAT
EtherCAT master configuration .................. 189
General information .................................... 164
Ethernet/IP
Ethernet/IP scanner configuration .............. 189
General information .................................... 164
Ethernet communication............................. 30, 120
Changing the network settings ..................... 30
Commissioning the drives with IndraWorks . 34
Going online with the SMC-Editor ................ 34
Testing the IP address ................................. 33
External compiler.............................................. 107
External encoder............................................... 333
Extras menu........................................................ 66

FAK................................................................... 272

Field bus
Communication types ................................. 165
Cyclic communication ................................ 165
Data access and data exchange ................ 165
Data check ................................................. 179
Data communication .................................. 168
Error codes ................................................. 178
Field bus interface structure ....................... 168
Field bus master request scheme .............. 169
Field bus slave request scheme ................. 170
Handshaking .............................................. 179
Overview .................................................... 164
Parameter channel ..................................... 167
System configuration .................................. 165
Field of application.............................................. 19
File menu............................................................ 64
Firmware version of the SMC........................... 521
Flags................................................................. 210
Programmable flags ................................... 211
System flags ............................................... 211
Flag screen....................................................... 141
Programmable Flags screen ...................... 142
Programmable non-volatile flags screen .... 143
System / Axis Flags screen ........................ 142
Flying Cutoff
Application types ........................................ 353
Configuring the measuring encoder ........... 362
Cut inhibit ................................................... 387
Error .......................................................... 372
Errors during Flying Cutoff motion com
mands ........................................................ 372
Example without registration sensor .......... 433
Flying Cutoff commands ............................ 364
Flying Cutoff functions ................................ 378
Function ..................................................... 353
Material length counter ............................... 391
Maximum part length .................................. 391
Maximum stroke routine ............................. 386
Motion commands 353, 364, 366, 368,
369,
372
Overview .................................................... 353
Part separation ........................................... 393
Presync Impuls ........................................... 397
Product length counter ............................... 391
Program example if Flying Cutoff is used . . 373
Registration ................................................ 435
Return inhibit .............................................. 388
Return optimization .................................... 388
Scap cut output .......................................... 391
Sequence summary ................................... 397
Short parts .................................................. 389
Short parts inhibit ....................................... 389
SMC program example .............................. 373
Tailout machining ....................................... 393
Travel pulse ................................................ 396

596/605

Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Index

Flying Cutoff commands

EOS End of synchronization ................... 372
LMC Part length by registration mark
counter ....................................................... 369
LMK Part length or registration mark ....... 368
LML Part length ....................................... 364
LMR Part length by registration mark ...... 366
Flying Cutoff configuration................................ 562
Flying Cutoff functions
Crop cut ...................................................... 384
Cut inhibit ................................................... 387
Immediate cut (automatic mode) ................ 384
Manual cut (manual mode) ........................ 382
Material length counter ............................... 391
Material pulse ............................................. 396
Maximum part length .................................. 391
Maximum stroke routine ............................. 386
Part Separation .......................................... 393
Presync pulse ............................................. 397
Product length counter ............................... 391
Rapid stop routine ...................................... 385
Return inhibit .............................................. 388
Return optimization .................................... 388
Scrap cut output ......................................... 391
Short parts .................................................. 389
Tailout ........................................................ 393
Test mode (simulation) ............................... 378
Flying Cutoff routine
Maximum stroke routine ............................. 201
Rapid stop routine ...................................... 201
Flying Cutoff routines........................................ 201
Flying Cutoff screen.......................................... 155
Operation screen ........................................ 156
Registration screen .................................... 157
Setup screen .............................................. 157
Test Mode screen ...................................... 155
FOA................................................................... 273
FOC.................................................................. 274
Free process data............................................. 491
FTP debug output............................................... 66
FUN................................................................... 275
Functional description......................................... 64
Build menu ................................................... 66
Debug function - Sequential Motion Control 84
Edit menu ..................................................... 65
External compiler ....................................... 107
Extras menu ................................................. 66
File menu ..................................................... 64
Online menu ................................................. 70
Parameter box .............................................. 86
Program download - IndraMotion ................. 83
Target system toolbar .................................. 74
Useful shortcuts ......................................... 109
Function keys.................................................... 124
Functions.................................................. 275, 321
Axis coupling .............................................. 344

...Functions
Axis Coupling ............................. 349, 351, 352
External encoder ........................................ 333
Flying Cutoff ............................................... 353
Operation modes ........................................ 321
Optional encoder (measuring wheel
mode) ......................................................... 331
Overview of synchronization modes and
axis coupling .............................................. 336
Parking axis ................................................ 334
Synchronous axis ....................................... 339
System commands ..................................... 324
Velocity override ......................................... 333
Virtual axis .................................................. 335
Function screen................................................ 147
Functions screen
Flying Cutoff screen ................................... 155
Homing screen ........................................... 150
Lift rolls screen ........................................... 153
Optional Encoder screen ............................ 154
Restart screen ............................................ 150
Setup Mode screen .................................... 152
System Command screen .......................... 149

GSD file..................................................... 180, 184

Help key............................................................ 126

HMI extensions................................................. 459
HOM.................................................................. 277
Home axis......................................................... 277
Homing...................................................... 399, 407
Homing, In-config.............................................. 537
Homing screen.................................................. 150
Set Reference screen ................................ 151
Homing switch, In-config................................... 538

I/O screen......................................................... 145

Immediate cut............................................. 43, 384
Immediate cut, In-config.................................... 564
Important instruction for use............................... 27
Improper use....................................................... 28
Information representation
Names and abbreviations ............................ 17
Safety instructions ........................................ 16
Symbols used ............................................... 16
In position, Out-config....................................... 543
Input support....................................................... 61
Automatic formatting .................................... 64
Intellisense ................................................... 61
Symbolic addressing .................................... 62
Input window for variables.................................. 60
In reference, Out-config.................................... 541

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
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Index

Intellisense.......................................................... 61
Intended use....................................................... 27
Interrupt, In-config............................................. 534

JMP................................................................... 278
Jog, In-config................................................... 537
Jog+, In-config.................................................. 536
Jogging............................................................. 130
Jog screen........................................................ 130
Jog velocity....................................................... 528
JSR................................................................... 279
JST.................................................................... 279
JTK.................................................................... 280
Jump and stop.................................................. 279
Jump to subroutine........................................... 279

L2, Safe torque off............................................ 403

L3, Safe torque off............................................ 403
L4, Safe torque off and safe brake control........ 403
Language.......................................................... 497
Language version............................................. 229
Layout of the VCP display................................. 123
Lift rolls.............................................................. 409
Lift rolls, In-config.............................................. 535
Lift rolls active, Out-config................................. 542
Linking external and internal inputs and out
puts................................................................... 467
LMC.......................................................... 282, 369
LMK........................................................... 283, 368
LML........................................................... 283, 364
LMR.......................................................... 283, 366
Loading a user program.................................... 192
Loading of SMC program blocks ("Online
change")............................................................ 476
Loading parameter values after a total de
vice breakdown................................................... 52

MA1 optional card............................................... 22

Main key............................................................ 124
Main screen...................................................... 128
Axis information screen .............................. 136
Parameter screen ....................................... 158
Main Screen...................................................... 127
Diagnostic screen ....................................... 138
Function screen .......................................... 147
Jog screen .................................................. 130
Process screen .......................................... 131
Manual cut........................................................ 382
Manual cut routine............................................ 198
Manual mode.................................................... 321
Manual mode, Out-config.................................. 509
Manual mode key.............................................. 125

Manual routine.................................................. 196

Manual routine, In-config.................................. 508
Manual routine after automatic mode............... 503
Master axis selection of the system.................. 512
MAT.................................................................. 284
Material length counter..................................... 391
Material length output....................................... 284
Material pulse, Out-config................................. 569
Material pulse distance..................................... 561
Mathematics...................................................... 284
Max. number of press strokes........................... 546
Max. part length reached, Out-config................ 569
Maximum acceleration...................................... 530
Maximum part length................................ 391, 557
Maximum stroke position.................................. 557
Maximum stroke routine.............................. 43, 386
Maximum tailout length..................................... 571
Maximum torque............................................... 530
Maximum velocity............................................. 529
MD2 optional cards............................................. 22
Measuring encoder
Configuration .............................................. 362
Measuring wheel feed constant........................ 556
MF/MFR............................................................ 211
MicroAdjust....................................................... 533
Min. synchronization cycles.............................. 554
Minus key.......................................................... 125
MLO.................................................................. 284
MMC (memory card)
Content ......................................................... 25
Modulo value..................................................... 531
MOM................................................................. 285
MS..................................................................... 211
Multilingualism.................................................. 414
Multiplication factor for feed.............................. 272
Multitasking....................................................... 193
Automatic tasks .......................................... 195
Flying Cutoff routines ................................. 201
Manual cut routine ...................................... 198
Manual routine ........................................... 196

Navigation keys................................................. 126

Negation of positioning data............................. 532
nError, Out-config............................................. 508
nE-stop, In-config.............................................. 506
Next error............................................................ 65
nFeedControl, In-config.................................... 539
No material, In-config........................................ 571
No operation..................................................... 286
NOP.................................................................. 286
nStop, In-config................................................. 507
Number of axes................................................. 516
Number of sercos I/Os...................................... 517

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Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Index

Online change .................................................. 476

Online menu........................................................ 70
Operating barrier, Out-config............................ 511
Operating keys.................................................. 124
Operation............................................................ 57
Field bus ..................................................... 164
Loading a user program ............................. 192
SMC-Editor ................................................... 57
Operation modes.............................................. 321
Operation screen.............................................. 156
Option / General.................................................. 67
Optional encoder, In-config............................... 536
Optional encoder (measuring wheel mode)...... 331
Optional encoder active, Out-config.................. 542
Optional encoder screen................................... 154
Options_/_Display............................................... 69
Override.................................................... 333, 540

Page down key................................................. 124

Page up key...................................................... 124
Parallel acknowledge with mask....................... 237
Parallel setting with mask................................. 239
Parameter box.................................................... 86
Parameterization................................................. 39
Parameter mode............................................... 323
Parameter mode, In-config............................... 506
Parameter mode, Out-config............................. 510
Parameters
Default screen ............................................ 159
Drive Parameters screen ........................... 159
S/P-parameters of IndraDrive .................... 583
Settings screen .......................................... 160
Y-parameters ............................................. 495
Parameter screen............................................. 158
Parking axis...................................................... 334
Part length................................................. 283, 364
Part length by registration................................. 366
Part length by registration counter.................... 369
Part length by registration mark........................ 283
Part length by registration mark counter........... 282
Part length or registration.................................. 368
Part length or registration mark......................... 283
Part separation.................................................. 393
Password protection................................. 110, 161
PBK................................................................... 286
PFA................................................................... 287
PFC................................................................... 288
PFI.................................................................... 288
Phase synchronous axes: activation................. 273
Phase synchronous axis........................... 340, 423
Phase synchronous axis: configuration............ 274
PLC extensions................................................. 459
Provision .................................................... 460
PLC status screen............................................. 139
Plus key............................................................ 125

POA.................................................................. 289
POI.............................................................. 43, 290
Position-coupled Axes: activation..................... 256
Position coupling............................................... 429
Position Coupling.............................................. 349
Positioning, absolute to positive stop................ 287
Positioning, absolute with immediate block
stepping............................................................ 289
Positioning, absolute with in-position................ 291
Positioning, incremental to positive stop........... 288
Positioning, incremental with immediate
block stepping................................................... 290
Positioning, incremental with in-position........... 292
Positioning to positive stop: configuration......... 288
Position mode drive controlled.......................... 399
Position offset of synchronous axes................. 304
Positive stop drive procedure............................ 410
Presignal........................................................... 411
Active, Out-config ....................................... 545
Distance ..................................................... 534
Presignal duration............................................. 533
Presync impuls.................................................. 397
Presync pulse, Out-config................................. 570
Presync value................................................... 570
Previous error..................................................... 65
Process input image......................................... 215
Process output image....................................... 216
Process screen................................................. 131
Axis information screen ............................. 136
Diagnostic screen ....................................... 138
Flag screen ................................................ 141
I/O screen ................................................... 145
Select Program screen ............................... 132
Show Program screen ................................ 135
Single Step screen ..................................... 133
Variable screen .......................................... 143
Product data management................................ 421
Product length counter...................................... 391
Profibus
General information .................................... 164
Profibus master configuration .................... 179
Profinet
General information .................................... 164
Profinet controller configuration ................. 184
Program download
IndraMotion for Handling .............................. 83
Program example if Flying Cutoff is used
Program example ....................................... 373
Requirements ............................................. 373
Program examples
Conditional statements ............................... 420
Loops ......................................................... 421
Simple minimum program .......................... 419
Programmable flags.......................................... 141
Programmable flags screen.............................. 142
Programmable non-volatile flags...................... 141

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Bosch Rexroth AG

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Index

Programmable non-volatile flags screen........... 143

Programmable non-volatile variables................ 143
Programmable non-volatile variables screen.... 145
Programmable variables................................... 143
Programmable variables screen....................... 144
Programming.................................................... 193
Command description ................................ 234
Digital inputs and outputs ........................... 213
Flags .......................................................... 210
General information .................................... 193
Language version ....................................... 229
Multitasking ................................................ 193
Starting the user program .......................... 201
Stopping the user program ......................... 201
System inputs and outputs ......................... 217
User commands overview .......................... 229
Variables .................................................... 203
Programming examples.................................... 419
Projects
Archiving and restoring .............................. 481
PSA................................................................... 291
PSI.............................................................. 43, 292

Rapid stop, In-config......................................... 565

Rapid stop routine............................................. 385
Read/write Y-parameter.................................... 298
Registration mark, In-config.............................. 540
Registration mark interrupt................................ 294
Registration mark sensor offset........................ 559
Registration position limit.................................. 293
Registration screen........................................... 157
Release update................................................... 52
REP................................................................... 293
Replacing the controller without MMC................ 50
Replacing the controller without stationary
inserted MMC...................................................... 47
Replacing the controller with stationary in
serted MMC........................................................ 44
Reset material length counter, In-config........... 566
Reset product length counter, In-config............ 567
Restart.............................................................. 416
Restart, In-config............................................... 522
Restart behavior................................................ 296
Restart possible, Out-config.............................. 523
Restart routine.................................................. 199
Restart screen................................................... 150
Restoring Y-parameters.................................... 455
Return acceleration........................................... 556
Return from subroutine..................................... 297
Return inhibit..................................................... 388
Return inhibit, In-config..................................... 564
Return inhibit active, Out-config........................ 569
Return optimization........................................... 388
Return optimization, In-config........................... 565
Return optimization active, Out-config.............. 568

Return position.................................................. 555

Return velocity.................................................. 555
RMI................................................................... 294
Roll feed............................................................ 430
Feed before press ...................................... 432
Press before feed ....................................... 430
RSV................................................................... 296
RTS................................................................... 297
Run, Out-config................................................. 511
Runtime environment.......................................... 57
RWY.................................................................. 298

S2...................................................................... 403
S2, Safe motion................................................ 403
SAC..................................................... 42, 299, 412
Safe motion............................................... 403, 405
Safe operation modes....................................... 404
Safe stop 1........................................................ 404
Safe stop 1 (SS1 ES)........................................ 405
Safe stop 2........................................................ 405
Safe torque off.......................................... 403, 406
Safe torque off and safe brake control.............. 403
Safety related reduced speed........................... 546
Safety technology, drive-integrated.................. 399
Commissioning ........................................... 400
Safety technology hardware ....................... 403
Saving Y-parameters........................................ 454
Scaling type...................................................... 531
Scrap cut active, Out-config.............................. 567
Scrap cut output................................................ 391
Screen hierarchy
Axis information screen .............................. 158
Diagnostic screen ............................... 137, 163
Functions screen ........................................ 147
Jog Axis screen .......................................... 129
Parameter screen ....................................... 158
Process screen .......................................... 131
User screen ................................................ 163
SDDml file......................................................... 190
Search for registration mark.............................. 305
Select program screen...................................... 132
sercos analog converter.................................... 412
sercos III
General information .................................... 164
"sercos" master configuration ..................... 189
sercos III I/O Modules......................................... 22
Configuration ................................................ 38
sercos III I/O modules
Connection Diagrams ................................. 587
Serial communication........................................ 120
Service work....................................................... 43
Problems ...................................................... 52
Replacing the controller without MMC
(BASIC slave axis) ....................................... 50

600/605

Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Index

...Service work
Replacing the controller without station
ary inserted MMC (slave axis) ...................... 47
Replacing the controller with stationary
inserted MMC (master axis) ......................... 44
SET................................................................... 300
Set / reset / toggle bit........................................ 236
Set absolute counter......................................... 299
Set reference screen......................................... 151
Set tailout length - cam axis.............................. 260
Set task cycle counter....................................... 308
Settings screen................................................. 160
Change Password screen .......................... 161
Setting up and commissioning the drives
Setting up Ethernet communication ............. 30
Setting up and commissioning the system.......... 29
Creating an SMC program ........................... 39
Parameterization .......................................... 39
Prerequisites ................................................ 29
Release update ............................................ 52
Service work ................................................. 43
Setting up and commissioning the drives ..... 29
Switching from CLM/FLP to SMC ................ 40
Setting up the VCP
Communication between VCP and mas
ter axis ........................................................ 111
Downloading the VCP application using a
USB stick .................................................... 112
Downloading the VCP application via
Ethernet ...................................................... 113
Termination DIP switches .......................... 112
Setup active, Out-config.................................... 544
Setup end, In-config.......................................... 539
Setup end position, Out-config.......................... 544
Setup mode....................................................... 406
Setup mode, In-config....................................... 538
Setup mode screen........................................... 152
Setup screen..................................................... 157
Setup start position, Out-config......................... 544
Setup velocity.................................................... 529
Set variable value............................................. 300
Short parts........................................................ 389
Short Parts Inhibit............................................. 389
Show program screen....................................... 135
Signal control word........................................... 492
Signal status word............................................. 492
SI Lock-off behavior....................................... 547
Single step, In-config........................................ 505
Single step screen............................................ 133
Slippage............................................................ 332
SMC_GetIOM.................................................... 471
SMC_GetVar..................................................... 473
SMC_SetOM..................................................... 472
SMC_SetVar..................................................... 474
SMC-Editor................................................... 19, 57
Functional description .................................. 64

...SMC-Editor
Input support ................................................ 61
Installation .................................................... 57
Overview ...................................................... 57
Runtime environment ................................... 57
Source program format ................................ 59
Tips & tricks ................................................ 109
Version dependencies of the SMC-Editor
on the system ............................................... 58
SMC FW version............................................... 521
SMC-Program valid, Out-config........................ 511
SMC screens.................................................... 127
Main screen ................................................ 128
SMM1-4............................................................ 405
SOA.................................................................. 301
SOC.................................................................. 303
Source program format....................................... 59
IndraMotion for Handling .............................. 59
Input window for variables ............................ 60
Sequential Motion Control ............................ 59
Special keys...................................................... 126
SPO.................................................................. 304
SRM.................................................................. 305
SS1................................................................... 404
SS1 ES............................................................. 405
SS2................................................................... 405
Standards............................................................ 19
Start, In-config................................................... 507
Starting block
Automatic task 2 ......................................... 500
Automatic Task 3 ....................................... 501
Automatic task 4 ......................................... 501
Cyclic task .................................................. 502
Manual cut routine ...................................... 552
Manual routine ........................................... 502
Maximum stroke routine ............................. 553
Rapid stop routine ...................................... 553
restart routine ............................................. 522
Starting block maximum stroke routine............. 553
Starting the user program................................. 201
Start program.................................................... 500
STC................................................................... 308
STO................................................................... 406
Stop motion....................................................... 286
Stopping the user program............................... 201
Support
See service hotline ..................................... 591
Supported hardware........................................... 22
Switching from CLM/FLP to SMC....................... 40
Command block ........................................... 41
Data areas .................................................... 40
Flying cutoff .................................................. 43
Logic task ..................................................... 40
Online change .............................................. 40
Vectors ......................................................... 40

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Bosch Rexroth AG

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Index

Symbolic addressing with Sequential Motion

Control................................................................ 62
Synchronization mode...................................... 399
Synchronization modes and axis coupling
Overview .................................................... 336
Synchronous axis.............................................. 339
System / axis flags............................................ 141
System / axis flags screen................................ 142
System / axis variables..................................... 143
System / axis variables screen......................... 144
System command............................................. 515
Delete programmable flags ........................ 329
Delete programmable variables ................. 329
File selection .............................................. 326
Load default values .................................... 327
Load single parameter set from MMC ........ 329
Load SMC data from MMC ........................ 327
Load SMC program from MMC .................. 326
No system command ................................. 326
Overview .................................................... 324
Reset material length counter .................... 329
Restore drive parameters from MMC ......... 330
Save drive parameters to MMC ................. 331
Save single parameter set to MMC ............ 330
Save SMC data to MMC ............................ 328
System command parameter............................ 515
System command screen................................. 149
System control.................................................. 521
System diagnostic number................................ 513
System diagnostics........................................... 514
System flags
Axis-dependent .......................................... 211
Axis-independent ....................................... 211
System I/O signals screen................................ 140
System inputs
Default configuration .................................. 227
System inputs and outputs................................ 217
Axis-dependent system inputs ................... 220
Axis-dependent system outputs ................. 225
Axis-independent system inputs ................ 218
Axis-independent system outputs .............. 224
Configuration .............................................. 217
System outputs
Default configuration .................................. 227
System overview................................................. 19
System presentation........................................... 19
System variables
Axis-dependent .......................................... 207
Axis-independent ....................................... 205

TAA................................................................... 310
TAC................................................................... 312
Tailout done, Out-config.................................... 572
Tailout machining.............................................. 393
Target groups...................................................... 15

Target system toolbar......................................... 74

Task configuration............................................. 465
Technical data..................................................... 20
Test mode (simulation)..................................... 378
Test mode acceleration..................................... 561
Test mode screen............................................. 155
Test mode velocity............................................ 560
Tool cycle time.................................................. 560
Tool offset......................................................... 559
Tool width.......................................................... 559
Torque average: activation............................... 310
Torque average: configuration.......................... 312
Torque Control.................................................. 399
Torque-coupled axes: activation....................... 263
Torque-coupled axes: configuration.................. 264
Torque coupling........................................ 352, 430
Torque limit....................................................... 285
Travel limit, maximum value............................. 548
Travel limit, minimum value.............................. 549
Travel pulse...................................................... 396

Unconditional jump........................................... 278

Unconditional jump task.................................... 280
Unit.................................................................... 532
UserAdjust variables......................................... 475
User commands overview................................. 229
User-defined extensions................................... 459
Cyclic CCD data ......................................... 490
HMI extensions .......................................... 459
Overview .................................................... 459
PLC extensions .......................................... 459

Variable I/O link................................................. 460

Variables........................................................... 203
Programmable variables ............................ 204
System variables ........................................ 205
Variable screen................................................. 143
Programmable Non-volatile Variables
screen ........................................................ 145
Programmable Variables screen ................ 144
System / Axis Variables screen .................. 144
VCC.................................................................. 312
VCP 08 keyboard.............................................. 122
Data entry keys .......................................... 125
Menu display keys ...................................... 124
Navigation keys .......................................... 126
Operating keys ........................................... 124
Slide-in strips .............................................. 122
Special keys ............................................... 126
VCP control....................................................... 109
Description of VCP 08 keys ....................... 122
General ...................................................... 109
Setting up and commissioning the VCP 08 110

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Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Index

...VCP control
SMC system screens ................................. 127
VCP watchdog.................................................. 127
Velocity change................................................. 312
Velocity control.................................................. 399
Velocity coupled axes: activation...................... 266
Velocity coupled axes: configuration................. 268
Velocity coupled axis via PLC global register. . . 317
Velocity coupling....................................... 351, 429
Velocity override............................................... 315
Velocity reached, Out-config............................. 543
Velocity synchronous axes: activation.............. 301
Velocity synchronous axis......................... 341, 425
Velocity synchronous axis: configuration.......... 303
VEO............................................................ 41, 315
Version Drives screen....................................... 139
Version SMC screen......................................... 139
Version Drives screen ................................ 139
VF/VFR............................................................. 204
Virtual axis........................................................ 335
Visualization devices........................................... 23
VOA.................................................................. 317
VS..................................................................... 205

WAI................................................................... 319
Waiting time...................................................... 319
Watchdog.......................................................... 412
Watchdog sensitivity......................................... 514

Y000: Language................................................ 497

Y001: Cycle time............................................... 498
Y002: Start program.......................................... 500
Y003: Starting block Auto task 2....................... 500
Y004: Starting block Auto task 3....................... 501
Y005: Starting block Auto task 4....................... 501
Y006: Starting Block Manual Routine............... 502
Y007: Starting block cyclic task........................ 502
Y008: Manual routine after Automatic mode..... 503
Y009: Clear outputs.......................................... 503
Y010: AutoConfig I/Os...................................... 504
Y011: Automatic mode, In-config...................... 505
Y012: Clear error, In-config............................... 505
Y013: Single step, In-config.............................. 505
Y014: Parameter mode, In-config..................... 506
Y015: nE-stop, In-config................................... 506
Y016: Start, In-config........................................ 507
Y017: nStop, In-config...................................... 507
Y018: Manual routine, In-config........................ 508
Y019: Abort program, In-config......................... 508
Y020: nError, Out-config................................... 508
Y021: Automatic mode, Out-config................... 509
Y022: Manual mode, Out-config....................... 509
Y023: Parameter mode, Out-config.................. 510

Y024: Drive enabled, Out-config....................... 510

Y025: Run, Out-config...................................... 511
Y026: SMC-Program valid, Out-config.............. 511
Y027: Operating barrier, Out-config.................. 511
Y028: Master axis selection of the system........ 512
Y029: System diagnostic number..................... 513
Y030: System diagnostics................................. 514
Y031: Watchdog sensitivity............................... 514
Y032: System command................................... 515
Y033: System command parameter................. 515
Y034: Active system command......................... 515
Y035: Active system command status.............. 516
Y036: Number of axes...................................... 516
Y037: Number of sercos I/Os............................ 517
Y038: Address, sercos I/O 1............................. 517
Y039: Address, sercos I/O 2............................. 517
Y040: Address, sercos I/O 3............................. 518
Y041: Address, sercos I/O 4............................. 518
Y042: Configuration, sercos I/O 1..................... 519
Y043: Configuration, sercos I/O 2..................... 519
Y044: Configuration, sercos I/O 3..................... 520
Y045: Configuration, sercos I/O 4..................... 520
Y046: System control........................................ 521
Y047: SMC FW version.................................... 521
Y048: Starting block restart routine................... 522
Y049: Restart, In-config.................................... 522
Y050: Restart possible, Out-config................... 523
Y24: Setup mode, In-config.............................. 538
Y-parameters
Axis-dependent .......................................... 523
Axis-independent ....................................... 495
Flying Cutoff ............................................... 551
General ...................................................... 495
Yx00: Application type...................................... 525
Yx01: Axis type................................................. 527
Yx02: Enable axis............................................. 528
Yx03: Jog velocity............................................. 528
Yx04: Maximum velocity................................... 529
Yx05: Setup velocity......................................... 529
Yx06: Maximum acceleration............................ 530
Yx07: Maximum torque..................................... 530
Yx08: Scaling type............................................ 531
Yx09: Modulo value.......................................... 531
Yx10: Unit......................................................... 532
Yx11: Negation of positioning data................... 532
Yx12: MicroAdjust............................................. 533
Yx13: Presignal duration................................... 533
Yx14: Presignal, distance................................. 534
Yx15: Drive enable, In-config............................ 534
Yx16: nInterruption, In-config............................ 534
Yx17: Lift rolls, In-config.................................... 535
Yx18: Rolls closed, In-config............................. 536
Yx19: Optional encoder, In-config..................... 536
Yx20: Jog+, In-config........................................ 536
Yx21: Jog, In-config........................................ 537
Yx22: Homing, In-config.................................... 537

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Bosch Rexroth AG

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Index

Yx23: Homing switch, In-config......................... 538

Yx25: Setup end, In-config................................ 539
Yx26: nFeedControl, In-config.......................... 539
Yx27: Registration mark, In-config.................... 540
Yx28: Override.................................................. 540
Yx29: Drive enable, Out-config......................... 541
Yx30: In reference, Out-config.......................... 541
Yx31: Lift rolls active, Out-config...................... 542
Yx32: Optional encoder active, Out-config....... 542
Yx33: In position, Out-config............................. 543
Yx34: Velocity reached, Out-config................... 543
Yx35: Setup active, Out-config......................... 544
Yx36: Setup start position, Out-config.............. 544
Yx37: Setup end position, Out-config............... 544
Yx38: Presignal active, Out-config.................... 545
Yx39: Axis address........................................... 545
Yx40: Max. number of press strokes................ 546
Yx41: Safety-related reduced speed................. 546
Yx42: SI Lock-off behavior............................. 547
Yx43: Activate position limit switch................... 548
Yx45: Travel limit, minimum value.................... 549
Yx46: Axis diagnostic number........................... 549
Yx47: Configuration cyclic CCD process
data................................................................... 549
Yx50: Starting block manual cut routine........... 552
Yx52: Starting block rapid stop routine............. 553
Yx53: Min. synchronization cycles.................... 554
Yx54: Return position........................................ 555
Yx55: Return velocity........................................ 555
Yx56: Return acceleration................................. 556
Yx57: Measuring wheel feed constant.............. 556
Yx58: Maximum stroke position........................ 557

Yx59: Crop cut length....................................... 557

Yx60: Maximum part length.............................. 557
Yx61: Error reaction max. part length............... 558
Yx62: Registration mark sensor offset.............. 559
Yx63: Tool width............................................... 559
Yx64: Tool offset............................................... 559
Yx65: Tool cycle time........................................ 560
Yx66: Test mode velocity.................................. 560
Yx67: Test mode acceleration.......................... 561
Yx68: Material pulse distance........................... 561
Yx69: Flying Cutoff configuration...................... 562
Yx70: Cut inhibit, In-config................................ 563
Yx71: Return inhibit, In-config........................... 564
Yx72: Immediate cut, In-config......................... 564
Yx73: Crop cut, In-config.................................. 564
Yx74: Return optimization, In-config................. 565
Yx75: Rapid stop, In-config............................... 565
Yx76: Reset material length counter, In-config. 566
Yx77: Enable test mode, In-config.................... 566
Yx78: Reset product length counter, In-config. . 567
Yx79: Scrap cut active, Out-config.................... 567
Yx80: Cut inhibit active, Out-config................... 568
Yx81: Return optimization active, Out-config.... 568
Yx82: Return inhibit active, Out-config.............. 569
Yx83: Max. part length reached, Out-config..... 569
Yx84: Material pulse, Out-config....................... 569
Yx85: Presync pulse, Out-config....................... 570
Yx86: Presync value......................................... 570
Yx87: Maximum tailout length........................... 571
Yx88: No Material, In-config.............................. 571
Yx89: Tailout done, Out-config......................... 572

604/605

Bosch Rexroth AG

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P
Rexroth IndraMotion for Metal Forming 12VRS Sequential Motion Control

Notes

Bosch Rexroth AG

605/605

Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Tel.
+49 9352 18 0
Fax
+49 9352 18 8400
www.boschrexroth.com/electrics

R911334475

DOK-IM*MF*-TF*SMC**V12-RE04-EN-P