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Rexroth Indradrive: Mpx-20 Version Notes

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The Drive & Control Company

Rexroth IndraDrive

MPx-20
Version Notes

Release Notes Edition 03


R911345606
Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Title Rexroth IndraDrive


MPx-20
Version Notes

Type of Documentation Release Notes

Document Typecode DOK-INDRV*-MP*-20VRS**-RN03-EN-P

Internal File Reference RS-c7f5eff1c7a5e9740a347ea500001931-3-en-US-4

Purpose of Documentation This documentation contains an overview of the firmware function or the sub‐
ject of the section.
For information on the record of revisions, see chapter "Overview of the func‐
tional scope/System overview/General information".

Copyright © Bosch Rexroth AG 2016


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.

sercos is registered trademark of sercos PROFIBUS® is registered trade‐


International e.V. mark of PROFIBUS Nutzerorga‐
nisation e. V.

EtherNet /IP™ is a trademark under li‐ ProfiNet® is registered trade‐


cense of Open DeviceNet Vendor Asso‐ mark of PROFIBUS Nutzerorga‐
ciation, Inc. nisation e. V.

EtherCAT® is registered trademark and CANopen® is registered trade‐


patented technology, licensed by Beckh‐ mark of CAN in Automation e.V.
off Automation GmbH, Germany
Safety over EtherCAT® is registered HIPERFACE® is registered trademark of SICK-
trademark and patented technology, li‐ STEGMANN GmbH
censed by Beckhoff Automation GmbH,
Germany
The protocol specification is open and in EnDat® is registered trademark of Dr. Jo‐
the public domain hannes Heidenhain GmbH

ACURO®link is registered trademark of


Hengstler GmbH

Liability 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.
Published by Bosch Rexroth AG ■ Bgm.-Dr.-Nebel-Str. 2 ■ 97816 Lohr a. Main, Germany
Tel. +49 9352 18 0 ■ Fax +49 9352 18 8400 ■ Dept. DC-IA/EDY (TH, BB)
http://www.boschrexroth.com ■ dokusupport@boschrexroth.de
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG I/395
Rexroth IndraDrive MPx-20 Version Notes

Table of Contents

Table of Contents
Page

1 How to use this documentation...................................................................................... 5


1.1 Structure of the Version Notes................................................................................................................ 5
1.2 Markers and terms.................................................................................................................................. 6
1.3 Cross references.................................................................................................................................... 6
1.4 Documentations...................................................................................................................................... 6

2 Important directions for use........................................................................................... 7


2.1 Appropriate use...................................................................................................................................... 7
2.1.1 Introduction.......................................................................................................................................... 7
2.1.2 Areas of use and application............................................................................................................... 7
2.2 Inappropriate use.................................................................................................................................... 8

3 Safety instructions for electric drives and controls......................................................... 9


3.1 Definitions of terms................................................................................................................................. 9
3.2 General information.............................................................................................................................. 10
3.2.1 Using the Safety instructions and passing them on to others............................................................ 10
3.2.2 Requirements for safe use................................................................................................................ 10
3.2.3 Hazards by improper use.................................................................................................................. 11
3.3 Instructions with regard to specific dangers.......................................................................................... 12
3.3.1 Protection against contact with electrical parts and housings........................................................... 12
3.3.2 Protective extra-low voltage as protection against electric shock .................................................... 13
3.3.3 Protection against dangerous movements........................................................................................ 14
3.3.4 Protection against electromagnetic and magnetic fields during operation and mounting.................. 15
3.3.5 Protection against contact with hot parts........................................................................................... 15
3.3.6 Protection during handling and mounting.......................................................................................... 16
3.3.7 Battery safety..................................................................................................................................... 16
3.3.8 Protection against pressurized systems............................................................................................ 17
3.4 Explanation of signal words and the Safety alert symbol..................................................................... 18

4 Changes and enhancements compared to the previous version................................. 19


4.1 Definitions of terms............................................................................................................................... 19
4.2 Incompatible functions and functional changes ................................................................................... 19
4.2.1 System overview............................................................................................................................... 19
4.2.2 Master communication...................................................................................................................... 20
4.2.3 Motor, drive mechanics, measuring systems.................................................................................... 21
4.2.4 Mains connection............................................................................................................................... 24
4.2.5 Drive control...................................................................................................................................... 25
4.2.6 Extended axis functions..................................................................................................................... 25
4.2.7 Optional device functions.................................................................................................................. 25
4.2.8 Handling, diagnostic and service functions....................................................................................... 26
4.2.9 Engineering/diagnostic interfaces...................................................................................................... 26
4.2.10 Commissioning.................................................................................................................................. 26
4.3 Compatible new functions and functional changes .............................................................................. 26
II/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Table of Contents

Page
4.3.1 System overview............................................................................................................................... 26
4.3.2 Master communication...................................................................................................................... 31
4.3.3 Motor, drive mechanics, measuring systems.................................................................................... 31
4.3.4 Mains connection............................................................................................................................... 34
4.3.5 Drive control...................................................................................................................................... 34
4.3.6 Operation modes............................................................................................................................... 36
4.3.7 Extended axis functions..................................................................................................................... 37
4.3.8 Optional device functions.................................................................................................................. 41
4.3.9 Handling, diagnostic and service functions....................................................................................... 43
4.3.10 Engineering/diagnostic interfaces...................................................................................................... 46
4.4 New, modified and no longer existing parameters................................................................................ 46
4.4.1 New, modified and no longer existing parameters............................................................................ 46
4.4.2 Changes in comparison to MPx20V06.............................................................................................. 50
4.4.3 Changes in comparison to MPx20V04.............................................................................................. 51
4.5 New, modified or no longer existing diagnostic messages................................................................... 64
4.5.1 New Diagnostic Messages................................................................................................................ 64
4.5.2 Modified diagnostic messages.......................................................................................................... 67
4.5.3 No longer existing diagnostic messages........................................................................................... 68

5 Overview of the functional scope................................................................................. 69


5.1 System overview................................................................................................................................... 69
5.1.1 General information........................................................................................................................... 69
5.1.2 IndraDrive product range................................................................................................................... 74
5.1.3 Drive firmware................................................................................................................................... 75
5.1.4 Master communication overview....................................................................................................... 76
5.1.5 Overview of functions/functional packages....................................................................................... 76
5.1.6 Performance data.............................................................................................................................. 88
5.1.7 Drive controllers................................................................................................................................. 91
5.1.8 Supported motors and measuring systems....................................................................................... 98
5.1.9 Documentations................................................................................................................................. 99
5.2 Master communication........................................................................................................................ 103
5.2.1 Basic functions of master communication....................................................................................... 103
5.2.2 Control options / additional functions .............................................................................................. 106
5.2.3 Master communication operating modes ........................................................................................ 108
5.2.4 Profile types (with field bus interfaces)............................................................................................ 110
5.2.5 sercos.............................................................................................................................................. 114
5.2.6 EtherCAT®...................................................................................................................................... 119
5.2.7 EtherNet/IP(TM) interface................................................................................................................ 124
5.2.8 PROFINET®.................................................................................................................................... 127
5.2.9 Ethernet POWERLINK ................................................................................................................... 131
5.2.10 PROFIBUS-DP................................................................................................................................ 134
5.2.11 CANopen-based communication..................................................................................................... 138
5.2.12 Analog interface............................................................................................................................... 140
5.2.13 RIL_ModbusTCP............................................................................................................................. 143
5.3 Motor, drive mechanics, measuring systems...................................................................................... 143
5.3.1 General information on motor operation with IndraDrive................................................................. 143
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG III/395
Rexroth IndraDrive MPx-20 Version Notes

Table of Contents

Page
5.3.2 Rexroth motors................................................................................................................................ 148
5.3.3 Third-party motors at IndraDrive controllers ................................................................................... 154
5.3.4 Motor holding brake ........................................................................................................................ 155
5.3.5 Motor fan control.............................................................................................................................. 158
5.3.6 Measuring systems, general information......................................................................................... 159
5.3.7 Supported measuring systems........................................................................................................ 177
5.3.8 Drive mechanics and measuring system arrangement................................................................... 182
5.3.9 Scaling of physical data................................................................................................................... 186
5.4 Drive control........................................................................................................................................ 188
5.4.1 Overview of drive control................................................................................................................. 188
5.4.2 Motor control.................................................................................................................................... 199
5.4.3 Open-loop axis control (open-loop operation)................................................................................. 213
5.4.4 Closed-loop axis control (closed-loop operation)............................................................................ 215
5.4.5 Commutation setting........................................................................................................................ 223
5.4.6 Limitations....................................................................................................................................... 242
5.4.7 Power supply................................................................................................................................... 246
5.5 Operation modes................................................................................................................................ 250
5.5.1 General information on the operation modes.................................................................................. 250
5.5.2 Torque/force control........................................................................................................................ 254
5.5.3 Velocity control................................................................................................................................ 255
5.5.4 Position control with cyclic command value input............................................................................ 257
5.5.5 Drive-internal interpolation............................................................................................................... 259
5.5.6 Drive-controlled positioning............................................................................................................. 261
5.5.7 Positioning block mode.................................................................................................................... 264
5.5.8 Synchronization modes................................................................................................................... 267
5.5.9 CiA402 field bus profile, operation modes....................................................................................... 280
5.6 Extended axis functions...................................................................................................................... 284
5.6.1 Availability of the extended axis functions....................................................................................... 284
5.6.2 Drive Halt......................................................................................................................................... 284
5.6.3 Error reactions................................................................................................................................. 285
5.6.4 E-Stop function................................................................................................................................ 290
5.6.5 Compensation functions / corrections............................................................................................. 291
5.6.6 Measuring wheel mode................................................................................................................... 295
5.6.7 Positive stop drive procedure.......................................................................................................... 296
5.6.8 Redundant motor encoder............................................................................................................... 297
5.6.9 Spindle positioning.......................................................................................................................... 298
5.6.10 Parameter set switching.................................................................................................................. 299
5.6.11 Star-delta switching......................................................................................................................... 300
5.6.12 Drive-controlled oscillation............................................................................................................... 302
5.6.13 Parking axis..................................................................................................................................... 303
5.6.14 Integrated safety technology........................................................................................................... 303
5.7 Optional device functions.................................................................................................................... 309
5.7.1 Availability of the optional device functions..................................................................................... 309
5.7.2 Cross communication (CCD)........................................................................................................... 309
5.7.3 Rexroth IndraMotion MLD (drive-integrated PLC)........................................................................... 317
5.7.4 Digital inputs/outputs....................................................................................................................... 321
IV/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Table of Contents

Page
5.7.5 Analog outputs................................................................................................................................. 322
5.7.6 Analog inputs................................................................................................................................... 324
5.7.7 Virtual master axis generator........................................................................................................... 327
5.7.8 Drive-integrated command value generator.................................................................................... 330
5.7.9 Drive-internal "command value box"................................................................................................ 332
5.7.10 Encoder emulation........................................................................................................................... 333
5.7.11 Programmable position switch......................................................................................................... 335
5.7.12 Probe function................................................................................................................................. 336
5.7.13 Measuring encoder.......................................................................................................................... 338
5.8 Handling, diagnostic and service functions......................................................................................... 340
5.8.1 Parameters, basics.......................................................................................................................... 340
5.8.2 Central Backup & Restore............................................................................................................... 343
5.8.3 Diagnostic system........................................................................................................................... 345
5.8.4 Control panel................................................................................................................................... 349
5.8.5 Firmware replacement..................................................................................................................... 351
5.8.6 Optional memory............................................................................................................................. 361
5.8.7 Replacing the controller................................................................................................................... 362
5.8.8 Enabling functional packages.......................................................................................................... 365
5.8.9 Extended diagnostic functions......................................................................................................... 366
5.8.10 Oscilloscope function....................................................................................................................... 367
5.8.11 Options for integrated energy and power measurement................................................................. 369
5.9 Engineering/diagnostic interfaces....................................................................................................... 372
5.9.1 IndraMotion Service Tool (IMST), IndraMotion Diagnostic Tool (IDST).......................................... 372
5.9.2 TCP/IP communication.................................................................................................................... 372
5.9.3 S/IP protocol.................................................................................................................................... 374
5.9.4 Firmware download via TFTP server .............................................................................................. 374
5.9.5 File handling by FTP via Ethernet................................................................................................... 375
5.10 Commissioning................................................................................................................................... 377
5.10.1 Commissioning motors.................................................................................................................... 377
5.10.2 Commissioning machine axes......................................................................................................... 381
5.10.3 Axis simulation................................................................................................................................. 383

6 Service and support................................................................................................... 385

Index.......................................................................................................................... 387
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 5/395
Rexroth IndraDrive MPx-20 Version Notes

How to use this documentation

1 How to use this documentation


1.1 Structure of the Version Notes
Purpose of this documentation
These Version Notes contain
● the changes compared with the previous firmware version MPx-18VRS
"Rexroth IndraDrive, MPx-18 Functions" (DOK-INDRV*-MP*-18VRS**-
APxx-EN-P, mat. no.: R911338673) with the following contents:
– the compatible new functions and functional enhancements
– the incompatible new functions and functional enhancements
– the new, modified and no longer existing parameters
– the new, modified and no longer existing diagnostic messages
● an overview of the firmware function with the relevant parameters and
diagnostic messages in chapter 5 "Overview of the functional scope" on
page 69.
The description of a firmware function in the documentation is basically divi‐
ded into fixed chapters:
● Brief description
● Functional description
● Notes on commissioning
● Diagnostic and status messages, monitoring functions
This documentation "Rexroth IndraDrive, MPx-20, Version Notes" only con‐
tains the "Brief description" sections of the firmware function. They provide an
overview of the firmware function or the subject of the section. The brief de‐
scription can contain, for example, general basics, the most important fea‐
tures of the function, overviews and application examples.

The detailed description of the firmware function is contained in the Ap‐


plication Manual "Rexroth IndraDrive, MPx-20, Functions" (DOK-INDRV*-
MP*-20VRS**-APxx-EN-P, mat. no. R911345608).

The detailed description of the parameters, their function and structure


is contained in the separate documentation "Rexroth IndraDrive, MPx-16 to
MPx-20 and PSB, Parameters" (DOK-INDRV*-GEN1-PARA**-RExx-EN-P,
mat. no. R911328651) .

The detailed description of the diagnostic messages, their causes and


measures for remedy is contained in the separate documentation
"Rexroth IndraDrive, MPx-16 to MPx-20 and PSB, Diagnostic Messages"
(DOK-INDRV*-GEN1-DIAG**-RE xx-EN-P, mat. no. R911326738) .
Your feedback Your experience is important for our improvement processes of products and
documentations.
If you discover mistakes in this documentation or suggest changes, please
send your feedback to the following e-mail address:
Dokusupport@boschrexroth.de
In order that we can handle your feedback, please send us the number indi‐
cated under "Internal File Reference" and the page number.
6/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

How to use this documentation

1.2 Markers and terms


The complete functionality of the IndraDrive firmware is divided into functional
packages (base packages and optional expansion packages). The scope of
the available functions does not only depend on the hardware design, but in
the majority of cases also on the variant and characteristic of the firmware.
The descriptions of the drive functions and the operation modes have a mark‐
er containing information on the availability of this functionality in the respec‐
tive functional package of the firmware.
Terms The following terms are used in the Version Notes and in the Functional De‐
scription:
● Firmware range, e.g. IndraDrive
● Firmware design, e.g. single-axis, double-axis
● Firmware variant e.g. MPB, MPE
● Firmware version e.g. MPB-20VRS
● Firmware characteristic, e.g. open-loop/closed-loop
● Firmware performance e.g. Basic/Economy/Advanced
● Firmware type, complete firmware type designation
Means of representation in this Bold type is used for important facts which are to be highlighted in the body
documentation text. "Quotation marks" are used for parameter names, diagnostic message
names, function designations.
All important information (e.g. Warning, Caution) are highlighted by a symbol.
Signal words in accordance with ANSI Z535.6-2006 draw the reader's atten‐
tion to hazards (see "Explanation of signal words and the safety alert
symbol"). In addition, there are the following tips:

This box contains important information that should be taken into


consideration.

This symbol highlights useful tips and tricks.

1.3 Cross references


Many basic subfunctions of the firmware, as well as necessary settings and
definitions, are of multiple use within the overall functionality or have an effect
on neighboring areas of the drive functionality. Descriptions that are part of
other IndraDrive documentations (Parameter Description, Description of Di‐
agnostic Messages, Project Planning Manuals ...) are only repeated in detail
in exceptional cases. Cross references indicate the source of more detailed
information.

1.4 Documentations
For a list of the reference documentations, see chapter 5.1 "System over‐
view" on page 69
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 7/395
Rexroth IndraDrive MPx-20 Version Notes

Important directions for use

2 Important directions for use


2.1 Appropriate use
2.1.1 Introduction
Rexroth products represent state-of-the-art developments and manufacturing.
They are tested prior to delivery to ensure operating safety and reliability.

WARNING Personal injury and property damage caused


by incorrect use of the products!
The products have been designed for use in the industrial environment and
may only be used in the appropriate way. If they are not used in the appropri‐
ate way, situations resulting in property damage and personal injury can oc‐
cur.

Rexroth as manufacturer is not liable for any damages resulting


from inappropriate use. In such cases, the guarantee and the
right to payment of damages resulting from inappropriate use are
forfeited. The user alone carries all responsibility of the risks.

Before using Rexroth products, make sure that all the pre-requisites for an
appropriate use of the products are satisfied:
● Personnel that in any way, shape or form uses our products must first
read and understand the relevant safety instructions and be familiar with
their appropriate use.
● If the products take the form of hardware, then they must remain in their
original state, in other words, no structural changes are permitted. It is
not permitted to decompile software products or alter source codes.
● Do not install damaged or faulty products or put them into operation.
● Make sure that the products have been installed in the manner descri‐
bed in the relevant documentation.

2.1.2 Areas of use and application


Drive controllers made by Rexroth are designed to control electric motors and
monitor their operation.
Control and monitoring of the Drive controllers may require additional sensors
and actuators.

The drive controllers may only be used with the accessories and
parts specified in this documentation. If a component has not
been specifically named, then it may neither be mounted nor con‐
nected. The same applies to cables and lines.
Operation is only permitted in the specified configurations and
combinations of components using the software and firmware as
specified in the relevant Functional Descriptions.

Drive controllers have to be programmed before commissioning to ensure


that the motor executes the specific functions of an application.
Drive controllers of the Rexroth IndraDrive series have been developed for
use in single- and multi-axis drive and control tasks.
8/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Important directions for use

To ensure application-specific use of Drive controllers, device types of differ‐


ent drive power and different interfaces are available.
Typical applications include, for example:
● Handling and mounting systems
● Packaging and food machines
● Printing and paper processing machines
● Machine tools
Drive controllers may only be operated under the assembly and installation
conditions described in this documentation, in the specified position of normal
use and under the ambient conditions as described (temperature, degree of
protection, humidity, EMC, etc.).

2.2 Inappropriate use


Using the Drive controllers outside of the operating conditions described in
this documentation and outside of the indicated technical data and specifica‐
tions is defined as "inappropriate use".
Drive controllers may not be used, if …
● they are subject to operating conditions that do not meet the specified
ambient conditions. This includes, for example, operation under water,
under extreme temperature fluctuations or extremely high maximum
temperatures.
● Furthermore, Drive controllers may not be used in applications which
have not been expressly authorized by Rexroth. Please carefully follow
the specifications outlined in the general Safety Instructions!

Components of the Rexroth IndraDrive system are products of


Category C3 (with restricted distribution) in accordance with
IEC 61800-3. This Category comprises EMC limit values for line-
based and radiated noise emission. Compliance with this Catego‐
ry (limit values) requires the appropriate measures of interference
suppression to be used in the drive system (e.g., mains filters,
shielding measures).
These components are not provided for use in a public low-volt‐
age mains supplying residential areas. If these components are
used in such a mains, high-frequency interference is to be expec‐
ted. This can require additional measures of interference suppres‐
sion.
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 9/395
Rexroth IndraDrive MPx-20 Version Notes

Safety instructions for electric drives and controls

3 Safety instructions for electric drives and controls


3.1 Definitions of terms
Application documentation Application documentation comprises the entire documentation used to in‐
form the user of the product about the use and safety-relevant features for
configuring, integrating, installing, mounting, commissioning, operating, main‐
taining, repairing and decommissioning the product. The following terms are
also used for this kind of documentation: Operating Instructions, Commis‐
sioning Manual, Instruction Manual, Project Planning Manual, Application De‐
scription, etc.
Component A component is a combination of elements with a specified function, which
are part of a piece of equipment, device or system. Components of the elec‐
tric drive and control system are, for example, supply units, drive controllers,
mains choke, mains filter, motors, cables, etc.
Control system A control system comprises several interconnected control components
placed on the market as a single functional unit.
Device A device is a finished product with a defined function, intended for users and
placed on the market as an individual piece of merchandise.
Electrical equipment Electrical equipment encompasses all devices used to generate, convert,
transmit, distribute or apply electrical energy, such as electric motors, trans‐
formers, switching devices, cables, lines, power-consuming devices, circuit
board assemblies, plug-in units, control cabinets, etc.
Electric drive system An electric drive system comprises all components from mains supply to mo‐
tor shaft; this includes, for example, electric motor(s), motor encoder(s), sup‐
ply units and drive controllers, as well as auxiliary and additional compo‐
nents, such as mains filter, mains choke and the corresponding lines and ca‐
bles.
Installation An installation consists of several devices or systems interconnected for a
defined purpose and on a defined site which, however, are not intended to be
placed on the market as a single functional unit.
Machine A machine is the entirety of interconnected parts or units at least one of
which is movable. Thus, a machine consists of the appropriate machine drive
elements, as well as control and power circuits, which have been assembled
for a specific application. A machine is, for example, intended for processing,
treatment, movement or packaging of a material. The term "machine" also
covers a combination of machines which are arranged and controlled in such
a way that they function as a unified whole.
Manufacturer The manufacturer is an individual or legal entity bearing responsibility for the
design and manufacture of a product which is placed on the market in the in‐
dividual's or legal entity's name. The manufacturer can use finished products,
finished parts or finished elements, or contract out work to subcontractors.
However, the manufacturer must always have overall control and possess
the required authority to take responsibility for the product.
Product Examples of a product: Device, component, part, system, software, firmware,
among other things.
Project Planning Manual A Project Planning Manual is part of the application documentation used to
support the sizing and planning of systems, machines or installations.
Qualified persons In terms of this application documentation, qualified persons are those per‐
sons who are familiar with the installation, mounting, commissioning and op‐
eration of the components of the electric drive and control system, as well as
with the hazards this implies, and who possess the qualifications their work
10/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Safety instructions for electric drives and controls

requires. To comply with these qualifications, it is necessary, among other


things,
● to be trained, instructed or authorized to switch electric circuits and devi‐
ces safely on and off, to ground them and to mark them.
● to be trained or instructed to maintain and use adequate safety equip‐
ment.
● to attend a course of instruction in first aid.
User A user is a person installing, commissioning or using a product which has
been placed on the market.

3.2 General information


3.2.1 Using the Safety instructions and passing them on to others
Do not attempt to install and operate the components of the electric drive and
control system without first reading all documentation provided with the prod‐
uct. Read and understand these safety instructions and all user documenta‐
tion prior to working with these components. If you do not have the user doc‐
umentation for the components, contact your responsible Rexroth sales part‐
ner. Ask for these documents to be sent immediately to the person or per‐
sons responsible for the safe operation of the components.
If the component is resold, rented and/or passed on to others in any other
form, these safety instructions must be delivered with the component in the
official language of the user's country.
Improper use of these components, failure to follow the safety instructions in
this document or tampering with the product, including disabling of safety de‐
vices, could result in property damage, injury, electric shock or even death.

3.2.2 Requirements for safe use


Read the following instructions before initial commissioning of the compo‐
nents of the electric drive and control system in order to eliminate the risk of
injury and/or property damage. You must follow these safety instructions.
● Rexroth is not liable for damages resulting from failure to observe the
safety instructions.
● Read the operating, maintenance and safety instructions in your lan‐
guage before commissioning. If you find that you cannot completely un‐
derstand the application documentation in the available language,
please ask your supplier to clarify.
● Proper and correct transport, storage, mounting and installation, as well
as care in operation and maintenance, are prerequisites for optimal and
safe operation of the component.
● Only qualified persons may work with components of the electric drive
and control system or within its proximity.
● Only use accessories and spare parts approved by Rexroth.
● Follow the safety regulations and requirements of the country in which
the components of the electric drive and control system are operated.
● Only use the components of the electric drive and control system in the
manner that is defined as appropriate. See chapter "Appropriate Use".
● The ambient and operating conditions given in the available application
documentation must be observed.
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 11/395
Rexroth IndraDrive MPx-20 Version Notes

Safety instructions for electric drives and controls

● Applications for functional safety are only allowed if clearly and explicitly
specified in the application documentation "Integrated Safety Technolo‐
gy". If this is not the case, they are excluded. Functional safety is a safe‐
ty concept in which measures of risk reduction for personal safety de‐
pend on electrical, electronic or programmable control systems.
● The information given in the application documentation with regard to
the use of the delivered components contains only examples of applica‐
tions and suggestions.
The machine and installation manufacturers must
– make sure that the delivered components are suited for their indi‐
vidual application and check the information given in this applica‐
tion documentation with regard to the use of the components,
– make sure that their individual application complies with the appli‐
cable safety regulations and standards and carry out the required
measures, modifications and complements.
● Commissioning of the delivered components is only allowed once it is
sure that the machine or installation in which the components are instal‐
led complies with the national regulations, safety specifications and
standards of the application.
● Operation is only allowed if the national EMC regulations for the applica‐
tion are met.
● The instructions for installation in accordance with EMC requirements
can be found in the section on EMC in the respective application docu‐
mentation.
The machine or installation manufacturer is responsible for compliance
with the limit values as prescribed in the national regulations.
● The technical data, connection and installation conditions of the compo‐
nents are specified in the respective application documentations and
must be followed at all times.
National regulations which the user has to comply with
● European countries: In accordance with European EN standards
● United States of America (USA):
– National Electrical Code (NEC)
– National Electrical Manufacturers Association (NEMA), as well as
local engineering regulations
– Regulations of the National Fire Protection Association (NFPA)
● Canada: Canadian Standards Association (CSA)
● Other countries:
– International Organization for Standardization (ISO)
– International Electrotechnical Commission (IEC)

3.2.3 Hazards by improper use


● High electrical voltage and high working current! Danger to life or seri‐
ous injury by electric shock!
● High electrical voltage by incorrect connection! Danger to life or injury by
electric shock!
● Dangerous movements! Danger to life, serious injury or property dam‐
age by unintended motor movements!
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Safety instructions for electric drives and controls

● Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electric drive systems!
● Risk of burns by hot housing surfaces!
● Risk of injury by improper handling! Injury by crushing, shearing, cutting,
hitting!
● Risk of injury by improper handling of batteries!
● Risk of injury by improper handling of pressurized lines!

3.3 Instructions with regard to specific dangers


3.3.1 Protection against contact with electrical parts and housings
This section concerns components of the electric drive and con‐
trol system with voltages of more than 50 volts.

Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating components of the electric drive
and control system, it is unavoidable that some parts of these components
conduct dangerous voltage.

High electrical voltage! Danger to life, risk of injury by electric shock or seri‐
ous injury!
● Only qualified persons are allowed to operate, maintain and/or repair the
components of the electric drive and control system.
● Follow the general installation and safety regulations when working on
power installations.
● Before switching on, the equipment grounding conductor must have
been permanently connected to all electric components in accordance
with the connection diagram.
● Even for brief measurements or tests, operation is only allowed if the
equipment grounding conductor has been permanently connected to the
points of the components provided for this purpose.
● Before accessing electrical parts with voltage potentials higher than
50 V, you must disconnect electric components from the mains or from
the power supply unit. Secure the electric component from reconnec‐
tion.
● With electric components, observe the following aspects:
Always wait 30 minutes after switching off power to allow live capacitors
to discharge before accessing an electric component. Measure the elec‐
trical voltage of live parts before beginning to work to make sure that the
equipment is safe to touch.
● Install the covers and guards provided for this purpose before switching
on.
● Never touch any electrical connection points of the components while
power is turned on.
● Do not remove or plug in connectors when the component has been
powered.
● Under specific conditions, electric drive systems can be operated at
mains protected by residual-current-operated circuit-breakers sensitive
to universal current (RCDs/RCMs).
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Safety instructions for electric drives and controls

● Secure built-in devices from penetrating foreign objects and water, as


well as from direct contact, by providing an external housing, for exam‐
ple a control cabinet.

High housing voltage and high leakage current! Danger to life, risk of injury
by electric shock!
● Before switching on and before commissioning, ground or connect the
components of the electric drive and control system to the equipment
grounding conductor at the grounding points.
● Connect the equipment grounding conductor of the components of the
electric drive and control system permanently to the main power supply
at all times. The leakage current is greater than 3.5 mA.
● Establish an equipment grounding connection with a minimum cross
section according to the table below. With an outer conductor cross sec‐
tion smaller than 10 mm2 (8 AWG), the alternative connection of two
equipment grounding conductors is allowed, each having the same
cross section as the outer conductors.

Cross section outer con‐ Minimum cross section equipment grounding conductor
ductor Leakage current ≥ 3.5 mA
1 equipment grounding 2 equipment grounding
conductor conductors

1.5 mm2 (16 AWG) 2 × 1.5 mm2 (16 AWG)

2.5 mm2 (14 AWG) 2 × 2.5 mm2 (14 AWG)

4 mm2 (12 AWG) 10 mm2 (8 AWG) 2 × 4 mm2 (12 AWG)

6 mm2 (10 AWG) 2 × 6 mm2 (10 AWG)

10 mm2 (8 AWG) -

16 mm2 (6 AWG) -

25 mm2 (4 AWG) 16 mm2 (6 AWG) -

35 mm2 (2 AWG) -

50 mm2 (1/0 AWG) 25 mm2 (4 AWG) -

70 mm2 (2/0 AWG) 35 mm2 (2 AWG) -

... ... ...

Tab. 3-1: Minimum cross section of the equipment grounding connection

3.3.2 Protective extra-low voltage as protection against electric shock


Protective extra-low voltage is used to allow connecting devices with basic in‐
sulation to extra-low voltage circuits.
On components of an electric drive and control system provided by Rexroth,
all connections and terminals with voltages up to 50 volts are PELV ("Protec‐
tive Extra-Low Voltage") systems. It is allowed to connect devices equipped
with basic insulation (such as programming devices, PCs, notebooks, display
units) to these connections.
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Safety instructions for electric drives and controls

Danger to life, risk of injury by electric shock! High electrical voltage by incor‐
rect connection!
If extra-low voltage circuits of devices containing voltages and circuits of
more than 50 volts (e.g., the mains connection) are connected to Rexroth
products, the connected extra-low voltage circuits must comply with the re‐
quirements for PELV ("Protective Extra-Low Voltage").

3.3.3 Protection against dangerous movements


Dangerous movements can be caused by faulty control of connected motors.
Some common examples are:
● Improper or wrong wiring or cable connection
● Operator errors
● Wrong input of parameters before commissioning
● Malfunction of sensors and encoders
● Defective components
● Software or firmware errors
These errors can occur immediately after equipment is switched on or even
after an unspecified time of trouble-free operation.
The monitoring functions in the components of the electric drive and control
system will normally be sufficient to avoid malfunction in the connected
drives. Regarding personal safety, especially the danger of injury and/or
property damage, this alone cannot be relied upon to ensure complete safety.
Until the integrated monitoring functions become effective, it must be as‐
sumed in any case that faulty drive movements will occur. The extent of faulty
drive movements depends upon the type of control and the state of opera‐
tion.

Dangerous movements! Danger to life, risk of injury, serious injury or property


damage!
A risk assessment must be prepared for the installation or machine, with its
specific conditions, in which the components of the electric drive and control
system are installed.
As a result of the risk assessment, the user must provide for monitoring func‐
tions and higher-level measures on the installation side for personal safety.
The safety regulations applicable to the installation or machine must be taken
into consideration. Unintended machine movements or other malfunctions
are possible if safety devices are disabled, bypassed or not activated.
To avoid accidents, injury and/or property damage:
● Keep free and clear of the machine’s range of motion and moving ma‐
chine parts. Prevent personnel from accidentally entering the machine’s
range of motion by using, for example:
– Safety fences
– Safety guards
– Protective coverings
– Light barriers
● Make sure the safety fences and protective coverings are strong enough
to resist maximum possible kinetic energy.
● Mount emergency stopping switches in the immediate reach of the oper‐
ator. Before commissioning, verify that the emergency stopping equip‐
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Safety instructions for electric drives and controls

ment works. Do not operate the machine if the emergency stopping


switch is not working.
● Prevent unintended start-up. Isolate the drive power connection by
means of OFF switches/OFF buttons or use a safe starting lockout.
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● Additionally secure vertical axes against falling or dropping after switch‐
ing off the motor power by, for example,
– mechanically securing the vertical axes,
– adding an external braking/arrester/clamping mechanism or
– ensuring sufficient counterbalancing of the vertical axes.
● The standard equipment motor holding brake or an external holding
brake controlled by the drive controller is not sufficient to guarantee per‐
sonal safety!
● Disconnect electrical power to the components of the electric drive and
control system using the master switch and secure them from reconnec‐
tion ("lock out") for:
– Maintenance and repair work
– Cleaning of equipment
– Long periods of discontinued equipment use
● Prevent the operation of high-frequency, remote control and radio equip‐
ment near components of the electric drive and control system and their
supply leads. If the use of these devices cannot be avoided, check the
machine or installation, at initial commissioning of the electric drive and
control system, for possible malfunctions when operating such high-fre‐
quency, remote control and radio equipment in its possible positions of
normal use. It might possibly be necessary to perform a special electro‐
magnetic compatibility (EMC) test.

3.3.4 Protection against electromagnetic and magnetic fields during opera‐


tion and mounting
Electromagnetic and magnetic fields!
Health hazard for persons with active implantable medical devices (AIMD)
such as pacemakers or passive metallic implants.
● Hazards for the above-mentioned groups of persons by electromagnetic
and magnetic fields in the immediate vicinity of drive controllers and the
associated current-carrying conductors.
● Entering these areas can pose an increased risk to the above-men‐
tioned groups of persons. They should seek advice from their physician.
● If overcome by possible effects on above-mentioned persons during op‐
eration of drive controllers and accessories, remove the exposed per‐
sons from the vicinity of conductors and devices.

3.3.5 Protection against contact with hot parts


Hot surfaces of components of the electric drive and control system. Risk of
burns!
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Safety instructions for electric drives and controls

● Do not touch hot surfaces of, for example, braking resistors, heat sinks,
supply units and drive controllers, motors, windings and laminated
cores!
● According to the operating conditions, temperatures of the surfaces can
be higher than 60 °C (140 °F) during or after operation.
● Before touching motors after having switched them off, let them cool
down for a sufficient period of time. Cooling down can require up to 140
minutes! The time required for cooling down is approximately five times
the thermal time constant specified in the technical data.
● After switching chokes, supply units and drive controllers off, wait 15 mi‐
nutes to allow them to cool down before touching them.
● Wear safety gloves or do not work at hot surfaces.
● For certain applications, and in accordance with the respective safety
regulations, the manufacturer of the machine or installation must take
measures to avoid injuries caused by burns in the final application.
These measures can be, for example: Warnings at the machine or in‐
stallation, guards (shieldings or barriers) or safety instructions in the ap‐
plication documentation.

3.3.6 Protection during handling and mounting


Risk of injury by improper handling! Injury by crushing, shearing, cutting, hit‐
ting!
● Observe the relevant statutory regulations of accident prevention.
● Use suitable equipment for mounting and transport.
● Avoid jamming and crushing by appropriate measures.
● Always use suitable tools. Use special tools if specified.
● Use lifting equipment and tools in the correct manner.
● Use suitable protective equipment (hard hat, safety goggles, safety
shoes, safety gloves, for example).
● Do not stand under hanging loads.
● Immediately clean up any spilled liquids from the floor due to the risk of
falling!

3.3.7 Battery safety


Batteries consist of active chemicals in a solid housing. Therefore, improper
handling can cause injury or property damage.
Risk of injury by improper handling!
● Do not attempt to reactivate low batteries by heating or other methods
(risk of explosion and cauterization).
● Do not attempt to recharge the batteries as this may cause leakage or
explosion.
● Do not throw batteries into open flames.
● Do not dismantle batteries.
● When replacing the battery/batteries, do not damage the electrical parts
installed in the devices.
● Only use the battery types specified for the product.
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Safety instructions for electric drives and controls

Environmental protection and disposal! The batteries contained in


the product are considered dangerous goods during land, air, and
sea transport (risk of explosion) in the sense of the legal regula‐
tions. Dispose of used batteries separately from other waste. Ob‐
serve the national regulations of your country.

3.3.8 Protection against pressurized systems


According to the information given in the Project Planning Manuals, motors
and components cooled with liquids and compressed air can be partially sup‐
plied with externally fed, pressurized media, such as compressed air, hy‐
draulics oil, cooling liquids and cooling lubricants. Improper handling of the
connected supply systems, supply lines or connections can cause injuries or
property damage.
Risk of injury by improper handling of pressurized lines!
● Do not attempt to disconnect, open or cut pressurized lines (risk of ex‐
plosion).
● Observe the respective manufacturer's operating instructions.
● Before dismounting lines, relieve pressure and empty medium.
● Use suitable protective equipment (safety goggles, safety shoes, safety
gloves, for example).
● Immediately clean up any spilled liquids from the floor due to the risk of
falling!

Environmental protection and disposal! The agents (e.g., fluids)


used to operate the product might not be environmentally friendly.
Dispose of agents harmful to the environment separately from
other waste. Observe the national regulations of your country.
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Safety instructions for electric drives and controls

3.4 Explanation of signal words and the Safety alert symbol


The Safety Instructions in the available application documentation contain
specific signal words (DANGER, WARNING, CAUTION or NOTICE) and,
where required, a safety alert symbol (in accordance with
ANSI Z535.6-2011).
The signal word is meant to draw the reader's attention to the safety instruc‐
tion and identifies the hazard severity.
The safety alert symbol (a triangle with an exclamation point), which pre‐
cedes the signal words DANGER, WARNING and CAUTION, is used to alert
the reader to personal injury hazards.

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
could occur.

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

NOTICE
In case of non-compliance with this safety instruction, property damage could
occur.
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Changes and enhancements compared to the previous version

4 Changes and enhancements compared to the previ‐


ous version
4.1 Definitions of terms
Regarding the changes and enhancements compared to the previous version
MPx-18VRS, we distinguish between the incompatible and compatible func‐
tions and functional enhancements.
Incompatible functions Incompatible new functions or incompatible functional enhancements pro‐
duce an axis behavior which does not correspond to the previous version.
The causes can be, for example:
● Changes in the error behavior
● Change in default values (e.g., inertia)
● Change in filter types and filter degree
● Additional monitoring functions (e.g., in the safety technology) take ef‐
fect

Before commissioning, it is necessary to check whether the new


firmware in the application results in a different behavior at the ax‐
is, which might possibly cause problems.

If a new function or functional enhancement is incompatible, this means that,


for example, a parameter file from a previous version (MPx16VRS,
MPx17VRS, MPx18 in this case) cannot be used in the new firmware (MPx20
in this case).
Maybe the behavior of the previous version can partly be reestablished by
parameter adjustment.
Compatible functions Compatibility of a new function or functional enhancement means that, for ex‐
ample, a parameter file from a previous version (MPx16VRS, MPx17VRS,
MPx18 in this case) can be used in the new firmware (MPx20 in this case).
With the standard settings of the new firmware and/or the parameter settings
from the previous version, the drive shows the same behavior as before the
upgrade; the reaction to a command value input, for example, does not differ
in both firmwares. It is not necessary to adjust parameters.

4.2 Incompatible functions and functional changes


4.2.1 System overview
CSx02 control sections - CSB02, Basic plug-in unit
New control sections (CSx02.5) are supported for IndraDrive ML, see also
separate documentation "Rexroth IndraDrive ML, Drive Systems with
HMU05" (DOK-INDRV*-HXX05******-PR**-EN-P; mat. no.: R911344279)
CSx02 control sections - Advanced plug-in unit
New control sections (CSx02.5) are supported for IndraDrive ML, see also
separate documentation "Rexroth IndraDrive ML, Drive Systems with
HMU05" (DOK-INDRV*-HXX05******-PR**-EN-P; mat. no.: R911344279).
Motors that can be operated, general
Motors that can be operated expanded by MS2N
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Changes and enhancements compared to the previous version

New parameter "P-0-4044, Phase inductance of preconnected choke" imple‐


mented for motors that have to be operated with a preconnected choke due
to reduced dielectric strength.
Decimal places to be entered in "P-0-0018, Number of pole pairs/pole pair
distance" expanded from one to two decimal places (due to PASIM motors).
Redundant motor encoder not yet available
If there is a motor encoder defect, the motor position, when an additional po‐
sition control encoder is used with MPx18, can be determined via the position
of the additional encoder and the synchronous motor can be decelerated in a
controlled way. This function is not yet available in this MPx20 release!
Spindle encoder not yet available
If a spindle is equipped with a high-resolution load-side position encoder, "tol‐
erant" signal evaluation is possible for high-speed spindle operation with
MPx18. With MPx18, the load-side encoder can be configured as a "spindle
encoder" and then has advantageous properties for spindle operation. This
configuration option is not yet available in this MPx20 release!
Encoder 2 not yet available as a commutation encoder
If a synchronous motor only has a relative motor encoder, a position control
encoder mounted on the load side that can be evaluated in absolute form can
be used as a commutation encoder with MPx18. This function is not yet avail‐
able in this MPx20 release!
Distance-coded reference marks cannot yet be used
With MPx18, distance-coded reference marks of relative measuring systems
can be advantageously used to establish the position data reference (mini‐
mizing the travel distance of the homing procedure). The evaluation of dis‐
tance-coded reference marks cannot yet be used in this MPx20 release!
Additional Hall sensor components cannot yet be used
In combination with a relative measuring system, additional Hall sensor com‐
ponents (analog or digital Hall sensors) can be evaluated as commutation en‐
coders with MPx18. This is not yet possible with this MPx20 release!
Absolute encoder emulation not yet available
With MPx18, the controller can output position information of connected posi‐
tion encoders as incremental or absolute encoder signals. In this MPx20 re‐
lease, only the output of incremental encoder signals is possible, the output
of absolute encoder signals is not yet available!

4.2.2 Master communication


Master communication, general
The device-dependent configuration of the master communication interfaces
(example: PLL configuration) is now performed in parameter "P-0-4089.0.5,
Master communication: Configuration".
Sub-device state machine
● Implementing Sercos-compatible coupling and decoupling of master
communication state machine and sub-device state machine
● Error display can be cleared via "S-0-0390, Diagnostic message
number"
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Changes and enhancements compared to the previous version

EtherCAT, general
Supporting FSoE with EtherCAT.
New addressing using "Device Identification Value" ("P-0-4089.0.3, Device
Address") and "SII Configured State Alias" ("P-0-4089.0.7, ECAT: SII
Configured Station Alias").
Communication profile based on CANopen
CANopen communication objects and their mapping to the Sercos parameter
system were implemented.
The following communication objects are distinguished:
● Communication objects compatible with the original CiA 301 specifica‐
tion, they are used by all bus systems.
● Communication objects that are used in accordance with CiA 301 and
only in conjunction with CAN bus communication.
● Communication objects that are used in EtherCAT, differing from the
CiA 301 specification.
● Communication objects that are used in POWERLINK, differing from the
CiA 301 specification.
See also "CANopen-based communication", chapter "General information"
on page 138.

4.2.3 Motor, drive mechanics, measuring systems


Diagnostic LED
The display of the diagnostic LED was simplified, it is available in the follow‐
ing devices:
● IndraDrive HCQ / HCT
● IndraControl FM
● IndraDrive Mi, distributed servo drive KSM02.1
● IndraDrive Mi, distributed drive controller KMS02.1
● IndraDrive, KMV supply module

LED Significance
Color / flashing pattern 1) Measures
Off Supply unit not switched on
Check 24V supply and switch it on, if not yet done
Cable interrupted
Check cable and connector
Hardware defective
Replace hardware
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Changes and enhancements compared to the previous version

LED Significance
Color / flashing pattern 1) Measures
Flashing green Firmware update active

● Transition command active


● PM (parameter mode)
● bb (control section ready for oper., mains volt‐
age not available)
● ZKS (DC bus short circuit)
● Ab (drive ready for operation, power on)
● Bb (control section and power section ready for
operation, mains voltage available)
● charg (DC bus charging active)
Green ● AH (Drive Halt)
● AF (Drive in control)
● Lb (supply unit in rectifier mode)
● LB (supply unit in voltage control)
● I LB (supply unit in current control)
Flashing red-green Bus state (e.g., not active, pre-operational, …)

Loader active

Identification

Flashing red Firmware update error


Repeat firmware update

● All warnings
● Command errors
Read detailed state via "S-0-0095, Diagnostic mes‐
sage"
All errors (except F4xxx)
Read detailed state via "S-0-0095, Diagnostic mes‐
sage" and carry out service function
Communication error (F4xxx)
If necessary, read detailed state via "S-0-0095, Diag‐
nostic message"
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Changes and enhancements compared to the previous version

LED Significance
Color / flashing pattern 1) Measures
Red Booting phase
Wait until booting phase is over (approx. 2 minutes)
System error (F9xxx)
● Switch off and on; replace hardware, if neces‐
sary
● Check whether programming module has been
plugged
1) Flashing pattern: One square corresponds to a duration of
250 ms; the arrow marks the end of a cycle; abbreviations on
the squares: GN = LED permanently lit green, RD = LED per‐
manently lit red, -- = LED is off
Tab. 4-1: LED displays
Thermal motor monitoring
See chapter "Motor temperature monitoring" on page 146 .
Establishing the position data reference
When the position data reference is established using "positive stop drive
procedure" and the next reference mark is identified as the dedicated point,
the specifically configurable threshold value "S-0-0530, Clamping torque"
takes effect for detecting the axis end (triggering the reversal of motion).
Diagnostic motor data
Operational performance
The value in "P-0-2054, Operational performance, motor" can now be utilized
by the user for service intervals. It can be manually reset, e.g., when a new
service interval begins.
Motors with restricted use of the encoder data memory
For motors whose serial number can be read from the data memory, but
whose encoder data memory cannot be written (e.g., MSM motor range), the
values in the parameters P-0-2051...P-0-2054 are set appropriately:
● If the parameter "P-0-2055, Serial number, motor" does not contain any
data, the serial number that was read is written to P-0-2055 and the val‐
ues of P-0-2051...P-0-2054 are set to zero.
● If P-0-2055 contains a value corresponding to the value that was read,
the values in P-0-2051...P-0-2054 are retained in unchanged form.
● If P-0-2055 contains a value not corresponding to the value that was
read, the error diagnostics "C0263 Serial number of motor has changed"
is generated when progressing from PM to OM and the values in
P-0-2051...P-0-2054 are not affected.
● If "P-0-2055, Serial number, motor" already contains a value, this value,
when switching from PM to OM, is compared to the serial number of the
connected motor and overwritten if it deviates. The values in
P-0-2051...P-0-2054, however, are retained!
Measuring systems, general
See chapter "Basics on measuring systems, resolution" on page 159
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Changes and enhancements compared to the previous version

Encoder interfaces
The following encoders with the corresponding interface were modified:
● Encoders with HIPERFACE interface, modified for SIII encoder profile
● Encoders with 1Vpp interface, modified for SIII encoder profile
● Encoders with EnDat 2.1 interface, modified for SIII encoder profile
● Encoders with TTL interface (square-wave encoders), modified for SIII
encoder profile
● Extended evaluation as encoder 1 / motor encoder, modified for ENCE
input data
● Extended evaluation as encoder 2, modified for ENCE input data
● Extended encoder evaluation (measuring encoder), modified for ENCE
input data
● Extended evaluation as motor encoder (complex actuator), modified for
ENCE input data
● Number of encoder evaluations depending on firmware (ENCB):
– MPE: 1
– MPB: 2
– MPC: 3 (MPx20V08: 2)
– MPM (double-axis): 4
– MPM (HCQ, HCT): 5 (MPx20V08: 4)

4.2.4 Mains connection


Module group
New module group support implemented for IndraDrive ML:
● The so-called IndraBus is used instead of the module bus to communi‐
cate in the module group with IndraDrive ML. The IndraBus differs from
the module bus with the following characteristics:
– It is safe from cable breaks.
– There are four pieces of status information:
– Supply error
– Inverter error
– DC bus voltage error, mains failure
– DC bus short circuit blocked
● Power off is parameterized for all errors in the supply unit. If the function
is activated, the supply unit reads the status information "Inverter error"
and switches the power off in the case of an error.
Internal and external braking resistor
Load-dependent increase in the switch-on threshold
With loads over 100%, the threshold is increased until the max. DC bus volt‐
age (e.g., 900 V) is reached. (A load of up to 166% can be reached in this
process.) At 110%, however, "F2820 Braking resistor overload", or "F8820
Braking resistor overload" for supply units, is generated.
Mains power display and energy counter
Sercos parameters for mains-side power and energy display (S-0-1700.0.13
to S-0-1700.0.15) and display for cosPhi (S-0-1700.0.16) implemented:
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Changes and enhancements compared to the previous version

S-0-1700.0.13, Mains power


S-0-1700.0.14, Short-time mains energy counter
S-0-1700.0.15, Mains energy counter
S-0-1700.0.16, Power factor

4.2.5 Drive control


Motor control overview
Motor control functions that so far could be activated by bits of "P-0-0045,
Control word of current controller" or "P-0-0556, Config word of axis
controller" are now contained in "P-0-3945, Motor control configuration" and
can be activated by the corresponding bits.
Position controller
The lag error monitoring can be deactivated by entering the value "0" in
"S-0-0159, ".
Motor control, setting
By executing "P-0-0565, C3600 Command Motor data identification" with a
turning motor, the motor inertia is now determined. With the appropriate con‐
figuration, the total inertia of the axis can be determined using "P-0-0162,
C1800 Command Drive optimization/command value box". Taking the total
inertia of the axis into account, it is now possible to automatcally calculate
suitable velocity controller parameters.

4.2.6 Extended axis functions


Measuring wheel mode
Measuring wheel mode is only possible in operation modes in which the en‐
coder active in position control is selected using "S-0-0520, Axis control
word". In operation modes with a permanently assigned position encoder (en‐
coder 1 or encoder 2), the measuring wheel mode is no longer possible.

4.2.7 Optional device functions


CCD system mode
The parameters relevant to master communication have changed.
There is a new timing variant for dead time compensation in the Sercos CCD
system mode (CCD cycle time < master communication cycle time in CCD
master).
Analog inputs
Three remote analog inputs are supported in addition to the physical analog
inputs. The following parameters were implmented:
● P-0-0251, Remote analog input 1
● P-0-0252, Remote analog input 2
● P-0-0253, Remote analog input 3
The analog command value processes for the remote analog inputs are car‐
ried out via master communication or field bus only.
The remote analog inputs 1…3 have a fixed assignment to the assignments
A…C; using "P-0-0218, Analog input, control parameter" it is possible to pa‐
rameterize which inputs are to be assigned or deselected.
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Changes and enhancements compared to the previous version

Analog outputs at the control section


The default setting of all analog outputs was changed so that they now are by
default active in the "limitation" mode. The configuration can be changed to
the "overflow" mode using "P-0-0427, Control parameter of analog output".

4.2.8 Handling, diagnostic and service functions


Firmware replacement, release update
When updating from MPx20V02 to MPx20V04, any connected absolute
measuring system has to be homed again. "F2174 Loss of encoder 1
reference" is signaled during phase switch.
Error and diagnostic memory
The manufacturer-specific diagnostic memory is replaced by the standard
Sercos Diagnostic Trace.
The following parameters no longer exist:
● "S-0-0375 Diagnostic numbers list"
● "P-0-0105 Time stamp for list of diagnostic message numbers"
● "P-0-0198, System time error memory"
● "P-0-0199, System time error code"
Oscilloscope function
The device oscilloscope was expanded to 8 channels. The system time latch‐
ing was changed from "P-0-0197, System time" to "S-0-1305.0.1 System
time".

4.2.9 Engineering/diagnostic interfaces


IP communication/addressing
With active CCD communication, the IP configuration of CCD master and
CCD slaves is automatically carried out via the CCD master.

4.2.10 Commissioning
Simulation mode
In the simulation mode, the encoders assigned to interfaces using P-0-0077
and/or P-0-0078 are simulated. The corresponding position feedback values
are generated, the position data reference can be established.

4.3 Compatible new functions and functional changes


4.3.1 System overview
Supported devices, general
The following additional devices are supported:
● IndraDrive ML (Hxx05)
● IndraDrive Mi (KMS03.1)
● IndraDrive C (HCS03.1E-W0350)
CSB02 control sections - Basic plug-in unit
Changes to CSB02.x control section
● A new optional Engineering module "EP" is available. This Engineering
port module allows IP communication with devices for which IP commu‐
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Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

nication via the master communication interface is impossible (e.g.,


EtherCAT® protocol and control unit without an implemented EoE pro‐
file).
Type code: CSB02.xA-ET-EC-EP-xx
● New optional safety technology modules "SB" and "S5" are available. In
conjunction with the functional firmware package "SIL3 Motion" they
support the safety level SIL3 also for encoder-based safety functions
– SB: Safe Motion Bus option: To be selected via Safety bus com‐
munication only [CIPsafety over Sercos (CSoS) and FailSafe over
EtherCAT® (FSoE)].
– S5: Safe Motion option
Type code: CSB02.xB-ET-EC-EC-xx-SB/S5-xx
● New optional safety technology module "L3" available, this option sup‐
ports the Safe Torque Off function
Type code: CSB02.xA-ET-EC-xx-L3-xx
Type code: CSB02.xB-ET-EC-xx-L3-xx
● HAP01.1A control panel additionally supported (with FRAM, with µSD
slot)
CSH02 control sections - Advanced plug-in unit
Changes to Advanced control section CSH02.x
● A new master communication module ET MultiEthernet is available.
This module provides a slave interface functionality for these protocols:
sercos, EtherCAT, ProfiNet and Ethernet IP.
Type code: CSH02.xB-ET-EC-xx
● New optional safety technology modules SB and S5 are available. In
conjunction with the functional firmware package "SIL3 Motion" they
support the safety level SIL3 also for encoder-based safety functions.
– SB: Safe Motion Bus option: To be selected via Safety bus com‐
munication only [CIPsafety over Sercos (CSoS) and FailSafe over
EtherCAT® (FSoE)].
– S5: Safe Motion option
Type code: CSH02.xB-xx-EC-xx-SB/S5-xx
IndraDrive Cs
Changes to HCS01.1 drive controller
● IndraDrive Cs Economy: HCS01.1E-W00xx-E-S3-xx
– Master communication module S3 provides a slave interface func‐
tionality for the sercos and EtherCAT protocols.
– A new optional Engineering module EP is available. This Engineer‐
ing port module allows IP communication with devices for which IP
communication via the master communication interface is impossi‐
ble (e.g., EtherCAT® protocol and control unit without an imple‐
mented EoE profile).
Type code: HCS01.1E-W00xx-E-S3-EC-EP-xx
– Display HAP01.1A (with FRAM and µSD slot) is supported
● IndraDrive Cs Basic: HCS01.1E-W00xx-B-ET-xx
– A new optional Engineering module EP is available. This Engineer‐
ing port module allows IP communication with devices for which IP
communication via the master communication interface is impossi‐
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Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

ble (e.g., EtherCAT® protocol and control unit without an imple‐


mented EoE profile).
Type code: HCS01.1E-W00xx-B-ET-EC-EP-xx
– Display HAP01.1A (with FRAM and µSDslot) is supported
– New optional safety technology modules SB and S5 are available.
In conjunction with the functional firmware package "SIL3 Motion"
they support the safety level SIL3 also for encoder-based safety
functions
– SB: Safe Motion Bus option: To be selected via Safety bus
communication only [CIPsafety over Sercos (CSoS) and Fail‐
Safe over EtherCAT® (FSoE)].
– S5: Safe Motion option
Type code: HCS01.1E-W00xx-B-ET-EC-xx-SB/S5-xx
● IndraDrive Cs Advanced: HCS01.1E-W00xx-A-CC-xx and HCS01.1E-
W00xx-A-ET
– Master communication module ET provides a slave interface func‐
tionality with Sercos protocol
Type code: HCS01.1E-W00xx-A-ET-EC-xx
– New optional safety technology modules SB and S5 are available.
In conjunction with the functional package "SIL3 Motion" they sup‐
port the safety level SIL3 also for encoder-based safety functions.
– SB: Safe Motion Bus option: To be selected via Safety bus
communication only [CIPsafety over Sercos (CSoS) and Fail‐
Safe over EtherCAT® (FSoE)].
– S5: Safe Motion option
Type code: HCS01.1E-W00xx-A-xx-EC-xx-SB/S5-xx
IndraDrive Mi: KMS02.1, KMS03.1 distributed drive controller
● A new optional safety technology module "SD" is available. It supports
the safety function "Safe brake control" (SBC), and in conjunction with
the functional package "SIL3 Motion" the safety level SIL3 also for en‐
coder-based safety functions.
The supported encoder-based SIL3 functions can be identified as fol‐
lows in the type codes:
KMS02.1B-A018-x-D7-ET-xxx-SD-xx
KMS03.1B-B036-P-D7-ET-END-SD-xx
CSE02.1 control sections - Economy plug-in unit
● A new optional Engineering module "EP" is available. This Engineering
port module allows IP communication to be carried out with devices for
which IP communication via the master communication interface is im‐
possible (e.g., EtherCAT® protocol and control unit without an imple‐
mented EoE profile), see also separate documentation "IndraDrive Con‐
trol Sections, CSB02, CSE02, CSH02, CDB02; Project Planning Man‐
ual" (DOK-INDRV*-CXX02******-PRxx-EN-P, mat. no. R911338962)
Type code: CSE02.1A-S3-EC-EP-xx
● New optional safety technology module L3 available, this option sup‐
ports the Safe Torque Off function
Type code CSE02.1A-S3-EC-xx-L3-xx
● HAP01.1A control panel additionally supported (µSD slot)
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Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

Functional packages overview


The functional packages "SYX", "ML", "TF", "MA" are only available for Basic
devices with standard performance.
New base package "E" implemented for devices with restricted export.
New additive functional package "ME" (Ethernet IP scanner) implemented for
MPC20VRS.
Enabling functional packages
Implemented functional package SYTRONIX "SYX", for which either the addi‐
tive functional package "TF" or "ML" has to be additionally selected.
Performance data
Performance
For high-performance controllers, the PWM frequency can be reduced to
1 kHz to reduce inverter losses.
Control section /

Performance

Switch. 2)

TA_position
TA_velocity
TA_current

TMastCom
fPWM 1)

PWM
Level

TMLD
Firmware
System
and/or
Drive

2 kHz No 250 μs
4 kHz Yes 125 μs ≥TA_position3) 6)
HCS01.1 / MPB Basic 8 kHz Yes 125 μs 250 μs 500 μs
CSB02.1 / MPB 1000 µs
12 kHz Yes 83.3 μs ≥1000 μs4) 5)
KSM02.1 / MPB (not avail‐
16 kHz Yes 62.5 μs able with
KMS02.1 / MPB MPM)
CDB02.1 / MPM 4 kHz No 125 μs
≥TA_position3) 6)
Advanced 8 kHz Yes 62.5 μs 125 μs 250 μs
≥1000 µs4) 5)
16 kHz Yes 62.5 μs
2 kHz No 250 μs
4 kHz Yes 125 μs
≥TA_position3) 4)
Basic 8 kHz Yes 125 μs 250 μs 500 μs 5) 6)

HCS01.1 / MPC 12 kHz Yes 83.3 μs


1000 µs
CSH02.1 / MPC 16 kHz Yes 62.5 μs
4 kHz No 125 μs
≥TA_position3) 6)
Advanced 8 kHz Yes 62.5 μs 125 μs 250 μs
≥500 µs4) 5)
16 kHz Yes 62.5 μs
4 kHz No 125 μs Not availa‐ ≥TA_position
3) 6)
HCS01.1 / MPE Economy 500 μs 1000 μs
8 kHz No 125 μs ble ≥2000 µs4) 5)
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Changes and enhancements compared to the previous version


Control section /

Performance

Switch. 2)

TA_position
TA_velocity
TA_current

TMastCom
fPWM 1)

PWM
Level

TMLD
Firmware
System
and/or
Drive

HCQ02.1 / MPM 4 kHz No 125 μs Not availa‐


Basic 250 μs 500 μs 500 μs
HCT02.1 / MPM 8 kHz No 125 μs ble

1) Switching frequency of the power output stage, device-depend‐


ent (can be set via P-0-0001)
2) Reduction of the PWM frequency depending on velocity or load
(can be set via P-0-0045)
3) With sercos
4) With PROFIBUS®
5) With PROFINET® and EtherNet/IPTM
6) With EtherCAT®
Tab. 4-2: Performance depending on the control section design
Control section /

Performance

Switch. 2)

TA_position
TA_velocity
TA_current

TMastCom
fPWM 1)

PWM
Level

TMLD
Firmware
System
and/or
Drive

1 kHz No 500 μs 500 μs


As for TA_posi‐
2 kHz Yes7) 250 μs tion
3)
Basic 500 µs
HMU05 with 4 kHz Yes 125 μs 250 μs
1000 µs
CSB02.5 / MPB 8 kHz Yes 125 μs 1000 μs4)

4 kHz No 125 μs 2000 μs5)


Advanced 125 μs 250 μs 500 µs6)
8 kHz Yes 62.5 μs
1 kHz No 500 μs 500 μs
As for TA_posi‐
2 kHz Yes7) 250 μs tion
3)
Basic 250 μs 500 µs
HMU05 with 4 kHz Yes 125 μs
(500µs) 7) 1000 µs
CSH02.5 / MPC 8 kHz Yes 125 μs 1000 μs4)

4 kHz No 125 μs 2000 μs5)


Advanced 125 μs 250 μs 500 µs6)
8 kHz Yes 62.5 μs

1) Switching frequency of the power output stage, device-depend‐


ent (can be set via P-0-0001)
2) Reduction of the PWM frequency depending on velocity or load
(can be set via P-0-0045)
3) With sercos
4) With PROFIBUS®
5) With PROFINET® and EtherNet/IPTM
6) With EtherCAT®
7) With PWM switching from 2 → 1 kHz, only 500 µs is possible
for TA_velocity
Tab. 4-3: Performance depending on the control section design
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Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

Static type data, modules


Implemented electronic type plate S-0-1300 per module.

4.3.2 Master communication


Master communication state machine
Ethernet POWERLINK was added, see also chapter "Brief description" on
page 131.
Ethernet POWERLINK, general

Ethernet POWERLINK, general; see auch chapter "Brief de‐


scription" on page 131.
Ethernet POWERLINK diagnostic and status messages
Diagnostic and status messages for the master communication via Ethernet
POWERLINK, see also chapter "Brief description" on page 131.
Ethernet POWERLINK, synchronization and timing
Mechanisms for synchronization and timing with Ethernet POWERLINK mas‐
ter communication, see also chapter "Brief description" on page 131.
Analog master communication
Analog mode is supported for IndraDrive and HydraulikDrive.
The analog mode is set with the parameter "P-0-2945, Configuration of
analog mode" and the control word "P-0-4028, Device control word" .
Field bus profile types, general
Implemented new profiles CiA402, analog, Servodrive, FSP Drive
sercos / field bus addressing, address assignment, identification
Configured Station Address supported with EtherCAT.
sercos, general information
Hotplug for sercos implemented
SoE, general information
Supporting FSoE with EtherCAT.
sercos, connections
Operation of non-synchronous operation modes via asynchronous connec‐
tions (configured with "S-0-1050.x.1, ")
Profile type: FSP Drive (sercos profile)
With sercos, "S-0-0134, Master control word" is mapped to "P-0-0116,
Device control: Control word".
The evaluation of bit 14 depends on the profile type (only with 0x0102 and
0x0002). No evaluation with profile types 0x0F102 and 0xF002.

4.3.3 Motor, drive mechanics, measuring systems


Third-party motors
Extended command "calculate type plate data" (phase inductance of precon‐
nected choke added), encoder data memory can now be used for third-party
motors if an appropriate encoder is used as the motor encoder.
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Changes and enhancements compared to the previous version

With the "motor data identification" command, it is possible to check the di‐
rection of rotation before starting the command to determine the motor data
with motion. This is particularly advantageous for sensorless motors, if with
mounted pumps, for example, an inadmissible direction of rotation would
cause damage.
Rexroth motors with motor data memory
Rexroth motors with encoder data memory provide the highest convenience
for commissioning, because all data for motor control come "on board" in the
motor encoder and are automatically activated. Thanks to the continuing de‐
velopment of the motor properties and firmware functions, the current motor
ranges have different encoder data memory structure versions that support
extended functions, where applicable:

Encoder memory
Motor version P-0-3100 Comment

4.1 0x0401 Standard


4.2 0x0402 IndraDrive Mi
4.3 0x0403 4.1 + Diagnostic data of motor operation
MSK, MAD, MAF, KSM
4.4 0x0404 4.3 + Field weakening
4.5 0x0405 4.4 + Torque constant correction
4.6 0x0406 4.5 + MSK133 reluctance utilization
MSM 5.1 0x0501 Standard
SBC (Parker) 6.1 0x0601 Standard
MS2N with encoder 0x0406
4.6 and 7.1 4.5 + MSK133 Standard reluctance utilization
performance A 0x0701
MS2N with encoder
7.1 0x0701 Standard
performance C

Tab. 4-4: Versions and properties of encoder memory integrated in motors


The improved encoder memory version 7 is used for the new MS2N motor
range with MPx20 and above. Its data structure is more transparent for the
user and compared to the previous encoder memory versions it can be used
with a higher flexibility for future motor functions:
Depending on the upload to the device, the encoder memory parameters are
divided into…
...parameters loaded during boot-up or during the run-up to OM:
● P-0-3071, Identification data, type plate (motor, compact parameter)
● P-0-3072, Motor: Static type data, type plate (motor, compact parame‐
ter)
● Diagnostic motor data (P-0-3051, P-0-3052, P-0-3053) with the ope‐
rating hours, therm. and mech. operating hours
● P-0-3075, Application-specific data, type plate(compact parameter)
...parameters only loaded when "loading the control loop default values (RL)":
● P-0-3073, Motor: Control loop default values, type plate (compact pa‐
rameter), it additionally contains P-0-3945, Motor control configuration
(new parameter), as well as bit 0 and bit 2 of P-0-3009, Holding brake
control word, type plate
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Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

The so-called "compact parameters" are also new. In contrast to the fixed da‐
ta structure of older encoder memory versions, they can be flexibly config‐
ured with data.
MPx20 allows data to be written to the motor encoder data memory with the
master password having been set.
See also chapter "Rexroth housing motors with encoder data memory" on
page 150.
Encoders with ACURO®Link interface
The support of the ACURO®Link interface was implemented. For MS2N mo‐
tors, this encoder is optionally available as a motor encoder (encoder per‐
formance = C). Currently supported encoders: Hengstler AD37S
An ACURO®Link encoder transmits absolute position information serially in
digital format and safe communication:
● Evaluating a maximum of 31 position bits
● Automatically recognizing the encoder properties
● Memory range for user data
● Monitoring functions, such as error bit, warning bit, CRC (Cyclic Redun‐
dancy Check), signaling of encoder errors
● Transmitting the motor temperature if KTY84-130 or PT1000 (installed
in the motor windings) connected to the encoder sensor
● Can be used as a safety technology encoder
Basic level and extended evaluation parameters are used to parameterize
the ACURO®Link encoder. On the user side, it is basically necessary to write
the characteristic number for the ACURO®Link encoder to S-0-0602.x.01,
Phys. encoder type and to write the intended maximum travel range. The en‐
coder-specific data are automatically copied from the encoder memory to the
assigned parameters.
The ACURO®Link encoder can be used for motor control, because the time
offset between the recording of actual position values and their availability is
sufficiently small due to the serial transmission.
Stationarily offsetting the encoder The current position feedback value of an ACURO®Link encoder can be per‐
position manently offset using a command. This allows the commutation angle of syn‐
chronous motors to be adjusted to the value "zero":
● An encoder arbitrarily mounted to the motor shaft can hereby be brought
into alignment with the direction of the magnetic field of the rotor without
being mechanically offset.
● The encoder position is offset by reinitializing the encoder and the offset
remains permanently effective.

The following aspects apply to ACURO®Link encoders with this


MPx20 release:
● The maximum cable length is 50 m (otherwise usually 75 m)!
● The drive-controlled homing procedure is not yet possible if
it requires the reference mark of the encoder!
● The safety-related evaluation is not yet possible!

Encoders with EnDat 2.2 interface


With EnDat2.2, a range of the encoder data memory can be used for user da‐
ta (the Heidenhain order code is "EnDat22").
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Changes and enhancements compared to the previous version

EnDat2.2 encoders with multi-turn function via battery backup are not suppor‐
ted!
Stationarily offsetting the encoder The current position feedback value of an encoder can be permanently offset
position using an EnDat command. This allows the commutation angle of synchro‐
nous motors to be adjusted to the value "zero":
● An encoder arbitrarily mounted to the motor shaft can hereby be brought
into alignment with the direction of the magnetic field of the rotor without
being mechanically offset.
● The encoder position is offset by reinitializing the encoder and the offset
remains permanently effective.

4.3.4 Mains connection


Converter power supply, mains failure and phase failure
Control word and status word S-0-1720 implemented.

4.3.5 Drive control


Motor control frequency
1 kHz PWM implemented for HMS05, see also chapter "Performance" on
page 29.
● Firmware requires export licenses, if motor control frequency > 600Hz is
necessary (FWA type designation with "control mode" = E for "restricted
export")
● "Inverse" PWM to reduce ground leakage currents in the case of multi‐
ple axes in the modular drive system with HMS05 devices
● Configuration option for the minimum pulse duration to reduce periodic
overvoltages at the motor terminals (with MPC firmware only)
Velocity controller
Speed control loop filters increased from 4 to 8 filters with MPC.
Automatic control loop setting
Autom. control loop setting started via display.
In FXC motor control without an optional encoder, the automatic control loop
setting can only be used to determine the load inertia and to calculate the ve‐
locity controller parameters.
Thermal controller monitoring
New power section parameters for Hxx05 and parallel connection of power
sections implemented.
Protection against overcurrent and overvoltage
● The overcurrent monitoring has been expanded and now has multiple
stages.
– Firmware monitoring for peak current,
if the total current exceeds a specific threshold.
– Overcurrent detection in the power section,
if the current in the power section rises above a specific percent‐
age of the peak current.
– Desaturation monitoring,
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 35/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

if the current exceeds 5-10 times the type current of the IGBT mod‐
ules.
– Power supply immediately switched off,
if the current in the power section does not subside, despite the
output stage being switched off.
● Expansion of the ground fault monitoring
Sensorless motor operation, flux-controlled (FXC control)
When drive enable is set for a sensorless synchronous motor in FXC opera‐
tion, a jerky initial motion of up to 90° electrically can occur. Alternatively, it is
now possible to determine the rotor position when drive enable is set; this
considerably reduces the initial motion.
The frequency threshold for current-controlled FXC operation was modified
from a motor control frequency of previously 3 Hz as follows:
● Frequency threshold of synchronous motors is the motor control fre‐
quency that generates an induced voltage of 5 V at the motor,
● Frequency threshold of asynchronous motors is nominal frequency/50.
Thereby, torque output is already possible above this frequency threshold.
Below this value only frequency-controlled operation with a low torque output
ability is possible!
Using an adjustment factor, the slip compensation can be adjusted so that er‐
rors caused by non-linearity can be compensated.
Preconnected choke taken into account in the motor model "P-0-4044, Phase
inductance of preconnected choke";
Command and actual parameters for the model currents:
P-0-0603, FXC: Torque-generating current command value, model
P-0-0604, FXC: Flux-generating current command value, model
P-0-0605, FXC: Torque-generating actual current value, model
P-0-0606, FXC: Flux-generating actual current value, model
P-0-0607, FXC, current command value
P-0-0608, Controlled decel.: Velocity controller P-gain
P-0-0609, Controlled decel.: Velocity controller integral action time
Commutation setting using measuring method
For a specific, non-equilibrated drive mechanics, the measuring method for
determining the commutation offset can also be used with relative measuring
systems if the axis is always in the same, defined initial position (axis limit
stop) when switching on. The monitoring of the defined initial position re‐
quires a switch.
Torque/force scaling
Reference value of percentage-based scaling is "S-0-0533, Nominal torque/
force of motor" and no longer "S-0-0111, Motor current at standstill".
Current and torque/force limitation, overview, application-related
"S-0-0530, Clamping torque" is taken into account for the current limitation for
"positive stop drive procedure or homing at positive stop".
Acceleration limitation The acceleration limitation was expanded by parameter "P-0-0564,
Beschleunigungs-Grenzwert Motor".
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Changes and enhancements compared to the previous version

Holding brakes, brake check


The brake check configuration options were expanded for different mechani‐
cal arrangement options of holding brake, motor and measuring system. The
test procedure can thereby be adjusted to the properties of elasticity, gear
backlash, clearance, etc.
These are the possible settings for checking the released holding brake:
● Maximum allowed displacement during holding system check
● Maximum velocity during holding system check
● Maximum test duration during "releasing the holding system" test
These are the possible settings for the holding system check:
● Maximum test duration "holding torque check", holding system
● Duration for applying torque, "holding torque check", holding system
● Effective direction of test torque
The following data are determined for detection of wear:
● Change in position when checking the applied holding brake
● Starting torque with holding system released
● Current holding torque of brake
Positive stop drive procedure
A specific torque/force limit value (S-0-0530, Clamping torque) is now availa‐
ble for the "positive stop drive procedure" command. This parameter limits
the force that is used to move the axis or to push it toward the positive stop
when the command is active, if this value is lower than all other torque/force
limit values.

If there is a drive-controlled error reaction while the "positive stop


drive procedure" command is active, the torque/force limitation
through S-0-0530 etc. does not take effect!

4.3.6 Operation modes


Operation modes, general
The following operation mode restrictions were implemented:
Applying to
● Economy variant with a sercos master communication cycle time of
1 ms
and
● Basic variant with a master communication cycle time less than 1 ms
For performance reasons, only the following torque control, velocity control
and cyclic position control modes are possible:
● 0x0000 No operation mode
● 0x0001 Torque control
● 0x0002 Velocity control
● 0x0003 Position control, motor encoder, with lag error
● 0x000B Position control, motor encoder, without lag error
● 0x0103 Position control, motor encoder, with lag error, drive-controlled
● 0x010B Position control, motor encoder, without lag error, drive-control‐
led
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Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● 0x0205 "A0165 Position control with control word of axis controller"


● 0x0305 "A0160 Pos. ctrl drive-controlled with ctrl word of axis controller"
The error message "C0245 Operation mode configuration (->S-0-0423) not
allowed" is displayed in case the configuration is incorrect
Operation mode cycl. position control
An input shaper was integrated in the position command value path
(P-0-0642 to P-0-0644).
Drive-internal interpolation mode
An input shaper was integrated in the position command value path
(P-0-0642 to P-0-0644).
Drive-controlled positioning mode
An input shaper was integrated in the position command value path
(P-0-0642 to P-0-0644).
Positioning block mode
An input shaper was integrated in the position command value path
(P-0-0642 to P-0-0644).

4.3.7 Extended axis functions


Integrated safety technology
Safety technology in distributed drives
Only the optional safety technology module "S3" had previously been availa‐
ble for the distributed drives (IndraDrive Mi: KMS02 and KSM02).
The "Safe brake control (SBC)" is also available in the distributed drives
(IndraDrive Mi) with the optional safety technology module "SD" for the near
motor servo drive KMS02 and KMS03. In addition, encoder-dependent safety
functions up to SIL3 can be executed (see "Optional expansion packages for
safety technology").
Optional safety technology modules
Only the optional safety technology modules "L3", "L4" and "S4" had previ‐
ously been available for the drive systems IndraDrive Cs, IndraDrive M /
IndraDrive C (Cxx02 control section) and IndraDrive ML.
Encoder-dependent safety functions up to SIL3 can be executed with the op‐
tional safety technology modules "S5" and "SB" for the drive systems
IndraDrive Cs, IndraDrive M / IndraDrive C (Cxx02 control section) and
IndraDrive ML (see "Optional expansion packages for safety technology").
The differences between the optional safety technology modules "S5" and
"SB" consist, among other things, in the selection and feedback options for
the safety functions:
With the optional safety technology module "S5", the safety zone module,
safe local outputs or Safety bus communication can be used for the selection
and feedback of the safety functions. With the optional safety technology
module "SB", only Safety bus communication can be used for the selection
and feedback of the safety functions.
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Safety functions
In addition, the following safety functions are available for position monitoring:

Available with optional safety


technology module
IndraDrive Cs,
IndraDrive M /
IndraDrive IndraDrive C
Mi (Cxx02 control
section) and
IndraDrive ML
Safety technology function

(KMS02 and KSM02)

(KMS02 and KMS03)


SIL Notes

SD

SB
S3

S4

S5
Available in MPx-20 and
above with firmware option
Safely Monitored Position (SMP)
(FWS) "SAFETY-PLUS" or
The safety function "Safely monitored position" monitors ✓ ✓ ✓ ✓ ✓ 2 / 3* "SIL3-PLUS"
whether or not the parameterized position range is exceeded
* SIL 3 is only attained with
in positive or negative direction.
firmware option (FWS) "SIL3-
MOTION" or "SIL3-PLUS"
Available in MPx-20 and
Safely Limited Position (SLP) above with firmware option
(FWS) "SAFETY-PLUS" or
The safety function "Safely limited position " monitors via two
✓ ✓ ✓ ✓ ✓ 2 / 3* "SIL3-PLUS"
channels that the drive can be decelerated within the para‐
meterized position limits with the current velocity and the par‐ * SIL 3 is only attained with
ameterized minimum delay. firmware option (FWS) "SIL3-
MOTION" or "SIL3-PLUS"
Available in MPx-20 and
Safely Limited End Position (SLE) above with firmware option
(FWS) "SAFETY-PLUS" or
The safety function "Safely limited end position" monitors via
✓ ✓ ✓ ✓ ✓ 2 / 3* "SIL3-PLUS"
two channels that the drive can be decelerated within the
parameterized end position limit value with the current veloci‐ * SIL 3 is only attained with
ty and the parameterized minimum delay. firmware option (FWS) "SIL3-
MOTION" or "SIL3-PLUS"
Available in MPx-20 and
Safe CAM (SCA) above with firmware option
(FWS) "SAFETY-PLUS" or
The safety function "Safe CAM" monitors via two channels
✓ ✓ ✓ ✓ ✓ 2 / 3* "SIL3-PLUS"
whether or not the axis is within a position range defined by
the switch-on und switch-off thresholds (cam range) and * SIL 3 is only attained with
makes available the result via the status words. firmware option (FWS) "SIL3-
MOTION" or "SIL3-PLUS"
Safe Homing Procedure
With the auxiliary function "Safe homing procedure", another * SIL 3 is only attained with
homing event is expected at a separate position after the ✓ ✓ ✓ ✓ ✓ 2 / 3* firmware option (FWS) "SIL3-
functional homing procedure. The second homing event is MOTION" or "SIL3-PLUS"
used to verify the functional homing procedure.

"Safe Brake Control (SBC)" with "HAT02" control module


The safety function "Safe brake control (SBC)" previously could only be used
with the IndraDrive Cs drive system.
With the introduction of the "HAT02" control module, the safety function "Safe
brake control (SBC)" can also be used with the drive systems IndraDrive M /
IndraDrive C (Cxx02 control section) and IndraDrive ML.
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Changes and enhancements compared to the previous version

IO mapper inputs
The "IO mapper inputs" function was enhanced by the "Safe CAM" input sig‐
nals. This allows safety functions to be selected via Safe CAM.
Up to MPx-19, the start input for restart protection of the IO mapper block
"Safe AND with protection against restart" (type 6) was a safe input, in
MPx-20 and above it is a functional input.
Other IO mapper blocks are available in the firmware MPx-20 and above:
● The IO mapper block "Safe AND" is used to map additional activation
signals [mode selection signal (MS), enabling control signal (EC), SMMx
signal (A_SSMx)] to other, also functional, signals from the machine/
installation.
● The IO mapper block "functional connector" is used to map a reference
signal at a functional input to the control word of the safety technology
function "Safe homing procedure"
● The IO mapper block "Safe AND with ES bypass and protection against
restart" is used for parallel processing of multiple emergency stop sig‐
nals (ES) and the protection against automatic restart. The individual
emergency stop signals (ES) can be dynamically masked using bypass
signals.
Safety bus communication via "FailSafe over EtherCat (FSoE)"
In the firmware version MPx20VRS, "FailSafe over EtherCat (FSoE)" is avail‐
able in addition to "CIP Safety on sercos" for Safety bus communication. Via
"P-0-3345, SMO: Safety bus configuration" select the Safety bus communica‐
tion which is to be active.
Two new predefined configurations for the consumer connections were de‐
fined [types 5 (786) and 6 (787)] to assign the following new target signals:
● Reference signal for Safe homing procedure
● Assigning a signal of a safety-relevant control unit to the safe output at
the local interface
● Releasing the holding brake
Three new predefined configurations for the producer connections were de‐
fined [type 5 (788), type 6 (789) and 7 (790)] to assign the following new
source signals:
● Functional signals
● Safe CAM status
● Acknowledgment of holding brake control
● Encoder standstill signal

In the firmware version MPx20VRS, the new predefined configu‐


rations cannot be used for FSoE; the consumer and producer
connection are combined in a fixed profile for FSoE. The profile
selection is restricted to these two possible profiles: "2-byte SMO
control word / status word [bit-coded SMM (780/784)]" and "2-
byte SMO control word / status word (binary-coded SMM
(781/785)]".

Safe encoder evaluation


The safe absolute position of an encoder can be detected using the Safe en‐
coder evaluation. The safe absolute position is established using the auxiliary
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function "Safe homing procedure" and is the basis for the following position-
based safety functions:
● Safely Monitored Position (SMP)
● Safely Limited Position (SLP)
● Safely Limited End Position (SLE)
● Safe CAM (SCA)
The "safe encoder evaluation" in the safety options "S5" and "SB" supports
resolvers. SIL3 can therefore be attained with the encoder detection.
For encoder-dependent safety functions, the synchronous servo motors of
the MS2N series are supported with the encoder options "CS"/"CM"
(Safety4Wire single-turn / Safety4Wire multi-turn).
Firmware options for safety technology
In the firmware version MPx20VRS, three new firmware options (FWS) are
available:
● "SAFETY-PLUS"
● "SIL3-MOTION"
● "SIL3-PLUS"
The firmware can be enhanced by the following safety functions using the
"SAFETY-PLUS" firmware option:
● Safely Monitored Position (SMP)
● Safely Limited Position (SLP)
● Safely Limited End Position (SLE)
● Safe CAM (SCA)
Using the firmware option "SIL3-MOTION", SIL3 is also attained with the en‐
coder-dependent safety functions. As a prerequisite, a SIL3-capable encoder
(e.g., resolver) has to be used.
The firmware option "SIL3-PLUS" combines the functionalities of the firmware
options "SAFETY-PLUS" and "SIL3-MOTION" in one firmware option.
Correction of the torque/force constant
The correction of the torque/force constant can be used for synchronous mo‐
tors. The current torque/force constant value depends on the motor tempera‐
ture, the average speed and the current torque-generating motor current (due
to saturation effects).
For the following motors with encoder data memory, the required motor data
are automatically loaded to the drive:
● MSK with encoder memory version 4.5 and above
● MS2N with encoder memory version 4.6, and generally with encoder
memory version 7
With MS2N (encoder memory vers. 7), the correction is automatically activa‐
ted via the parameter "P-0-3945, Motor control configuration". The saturation
current threshold is now preset via "P-0-0472, Motor saturation current".
With MSK (with encoder memory vers. 4.5 and above) and MS2N (encoder
memory vers. 4.6), the required motor data are loaded to the drive, but the
correction function has to be manually activated at commissioning (in the
case of MSK for compatibility reasons). For MSK, the saturation current
threshold is displayed in "P-0-0472, Motor saturation current".
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Changes and enhancements compared to the previous version

Overview of warning and error classes and reactions


Controlled braking in the case of motor encoder (P-0-0119).
Decelerating by short circuiting the motor windings
Permanent motor phase short circuit, even if drive enable has been switched
off, instead of a motor holding brake (can be configured in P-0-0119).
Error reaction in the case of fatal errors: Deceleration by motor phase short
circuit.
Operation mode handling, drive state machine
Controlled deceleration, motor phase short circuit in NoRF. New diagnostic
messages implemented: A4004 to A4009.

4.3.8 Optional device functions


Time formats and time functions
The IndraLogic programming system and the MLD system libraries make
available functions and function blocks for processing time data types. Fur‐
thermore, there are functions that can be used to make time measurements.
The drive system time can be read or set using these functions and function
blocks. In addition, the units of the time data can be converted.
The following time data types are available:

Time data
Function Unit
type

SYSTIME ULINT, 64bit ms (since 1970-01-01 UTC)

Tab. 4-5: Time data type


The following functions are available in the new "SysTimeRtc" library:

Time data
Function Unit
type

Provides the current drive system time


SysTimeRtcGet DWORD
(s since 1970-01-01 UTC)
Sets current drive system time
SysTimeRtcSet DWORD
(s since 1970-01-01 UTC)
SysTimeRtcHighResGet SYSTIME Provides the drive system time
SysTimeRtcHighResSet SYSTIME Sets the drive system time

Tab. 4-6: Time data type


Device/libraries and version assignment
Libraries with the „xxxx23.library" extension are converted libraries primarily
intended to port MLD1G projects. There are no placeholders for these libra‐
ries. For new PLC projects and if multiple libraries are available, the libraries
without the „xxxx23.library" extension should be used (e.g., SysSem.library
instead of SysSem23.library).
Motion
The same library is provided for all variants. This allows all provided function
blocks to be called. Function blocks that are not operable on a configuration
signal „RESOURCE_ERROR“.
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MLD file system


The PLC system files are managed by IndraLogic. There are files available in
the form of parameters, independent of the external memory card. All other
files are contained on the memory card. In MPx20/PSB20 and above, the file
system is available with all variants with MLD, if a µSD card has been plug‐
ged. When the memory card is initialized, the folder structure required for the
application is created, unless it already exists. This folder structure consists
of:
● Backup
● Documentation
● PLC
● Temp
● Tools
● User
This is how the directories are used:
● In the "Documentation" directory, the user can store their own files to
keep records of their installation/machine.
● In the "Tools" directory, the user can store tools.
● The "PLC" directory contains files that are managed by IndraLogic.
● The "User" directory is reserved for user files that can be accessed from
the PLC, via FTP or using the IndraWorks File Explorer.
● The "Backup" directory is used to store a backup of the retain data and
the parameters.
● The "Temp" directory contains temporary files.
External memory card as a storage medium
When MLD is used, the external memory card is particularly important. The
drive-integrated PLC can also be used without the memory card, but in this
case some options are missing, such as the loading of source code. If an ex‐
ternal memory card is used for the MLD options, it has to have been plugged
before the drive is started.
The external memory card provides the following options for MLD:
● Storing the source code of a PLC application
● Optional: Filing of the PLC boot application (with corresponding "MLD
configuration" in IndraWorks or corresponding parameter setting of
P-0-1367)
● Restoring a PLC project from the loaded source code
● PLC retain data and parameter backup
Drives at Sercos peripherals
It is possible to connect up to 4 drives to the Sercos peripherals. This increa‐
ses the number of drives in the CCD group by the max. number of configura‐
ble I/Os.
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The number of configurable peripheral Sercos devices remains


the same. It is possible to configure uo to 4 devices. These are
counted among the peripheral Sercos devices:
● Block IO modules
● IO bus couplers (modular IO, S20 bus couplers, S67 bus
couplers, etc.)
● Drives

CCD: IP communication
Automatic IP address assignment for CCD slaves can be activated via
P-0-1800.0.1.
IP address: 172.31.<master comm. address CCD master><device part auto‐
matically set>
Depending on the master communication protocol that was set, the "master
comm. address CCD master" results from:
"S-0-1040, Drive address of master communication" with sercos master com‐
munication set or without master communication set
"P-0-4089.0.3, Device Address" for all other master communications
The following values are assigned to the device part of the automatically set
IP address:
CCD master: 254
CCD slave: "S-0-1040, Drive address of master communication"
CCD: Overview, features, modes
Optional CCD slaves (hotplug capability) are possible, and acyclic access to
CCD slave parameters is possible via S/IP. The max. number of slaves is
higher at CCD cycle times of 250 µs or 500 µs.
CCD: Addressing
Hotplug is supported.
It is possible to mark CCD slaves when addressing. These devices can be
missing in the CCD group without causing offsets in the CCD slave address‐
ing/assignment. Thus, the CCD group can also be operated without configu‐
ration adjustments after the optional CCD slaves have been added/removed.
Probe
The probe function was enhanced by absolute time measurement; previous‐
ly, only relative time measurement had been possible. The absolute time
measurement is supported by "S-0-1305.0.2, System fine time", i.e. the pos‐
sible measuring signals were expanded by parameter S-0-1305.0.2.

4.3.9 Handling, diagnostic and service functions


Diagnostics: Structure and priority-based generation
If the device status changes after a diagnostic message was signaled and the
diagnostic message is no longer present, this change is now recorded.
The new parameter "S-0-0390.0.136, Detailed diagnostic message" was im‐
plemented (replaces logbook, is basis for Diagnostic Trace).
The bit 20 was implemented in "S-0-0390, Diagnostic message number", it
displays the diagnostic message status:
● Bit 20="0":
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– Diagnostic message is "Fxxxx" (error) type:


The error cannot be cleared, because its cause has not yet been
removed.
– Diagnostic message is "Cxxxx" (command) type:
The command is in process.
● Bit 20="1":
– Diagnostic message is "Fxxxx" (error) type:
The error can be cleared.
– Diagnostic message is "Cxxxx" (command) type:
The command was terminated with error or completed without
error.
Patch function
Symbol-based patch function and displaying internal storage locations for
Hxx05 power section
The patch function allows the IndraWorks Engineering software to access in‐
ternal data and variables that are not mapped by S- and P-parameters. The
following functions are available for this purpose:
● Standard patch function: Accessing internal data and variables via the
memory address
● Symbol-based patch function: Accessing internal variables via a symbol
assigned to the variable
● Block patch function: Easily accessing entire internal data ranges.
4 to 8 symbol-based patch functions can be activated. Four of them are ac‐
tive in the electric variants, all eight in the hydraulic variants.
P-0-0492, Symbol-based patch function 1, data source
P-0-0493, Symbol-based patch function 1, display
P-0-0494, Symbol-based patch function 2, data source
P-0-0495, Symbol-based patch function 2, display
P-0-0496, Symbol-based patch function 3, data source
P-0-0497, Symbol-based patch function 3, display
P-0-0498, Symbol-based patch function 4, data source
P-0-0499, Symbol-based patch function 4, display
P-0-0792, Symbol-based patch function 5, data source
P-0-0793, Symbol-based patch function 5, display
P-0-0794, Symbol-based patch function 6, data source
P-0-0795, Symbol-based patch function 6, display
P-0-0796, Symbol-based patch function 7, data source
P-0-0797, Symbol-based patch function 7, display
P-0-0798, Symbol-based patch function 8, data source
P-0-0799, Symbol-based patch function 8, display
Operating hours and error memory
HMU05 error memory
The power section error memory is used to analyze the error history for serv‐
icing. This is also possible if power sections come back without the control
sections, e.g. for repair.
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The information from "P-0-0194, Error memory power section" is additionally


displayed in the parameters "P-0-2602.0.1, Power section logbook event",
"P-0-2602.0.2, Time stamp of power section logbook event" to obtain a con‐
sistent interface for the power section error memory. The operating hours
counter of the power section is displayed in addition to "P-0-0191, Operating
hours power section".
Each HMU has its individual operating hours counter (P-0-2602.SI.20,
Operating hours counter of power section). The master HMU synchronizes to
the system time. Each power section (HMU) has its own logbook for the er‐
rors, diagnostics and events occurred on the respective module.
(P-0-2602.SI.1 and P-0-2602.SI.2) In addition, each slave (ILC system) per‐
sistently records the 16-bit error code of its subsystems, available on its error
status, in its local logbook with the time stamp "individual operating hours
counter". The power section master also records its own errors persistently in
its logbook. The entries are persistently stored in the power section so to
enable diagnostics for servicing.
Diagnostic LED
For devices without a display, the bus-specific state and the state of the sub-
device state machine is displayed on a diagnostic LED.
Besides IndraDrive HCQ / HCT, KSM02.1, KMS02.1, the diagnostic LED is
also available for the KMV supply unit, see also Project Planning Manual
"Rexroth IndraDrive Mi, Drive Systems with KCU02, KSM02, KMS02" (DOK-
INDRV*-KCU02+KSM02-PRxx-EN-P, mat. no. R911335703).
Application-specific control panel function
Predefined default value for supply units
The "Actual"-"Values" (P-0-0680.0.2) menu item of the supply units is initial‐
ized with a predefined menu structure (default value P-0-0680.0.2). The fol‐
lowing parameters are displayed:
● Mains voltage peak value (S-0-1702.0.1)
● Mains current (S-0-1702.0.2)
● Mains power (S-0-1702.0.13)
● DC bus voltage (S-0-1707.0.1)
● Thermal device load (S-0-1710.0.2)
Application-specific control panel function
Device info extended for Hxx05, menu for supply units adjusted
Resetting to default values
Loading application-specific parameters from the motor type plate, i.e. writing
the factory default values via the "create type plate data" command, is possi‐
ble with MPx20 and above, see also "P-0-4090, Configuration for loading
default values".
sercos function groups
New supply unit parameter "S-0-1700.0.1, List of FSP Power Supply classes"
and new instances of "S-0-1302.x.1, FSP Type".
Identification parameter of the implemented function and sercos profiles of
the firmware/hardware combination.
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Saving system information


Parameter was created for saving the view (e.g., configurable axis view with
IndraWorks Ds) to the drive (P-0-0250.x.x).
Optional memory card, file system
Availabilityof the optional memory card also extended to Basic and Economy
devices.
Operating hours counter and system time
New parameters for the system time implemented:
● S-0-1305.0.1, System time
● S-0-1305.0.2, System fine time
● S-0-1305.0.3, System coarse time
This allows the system time to be set and tracked with high precision via the
sercos and EtherCAT master communication protocols.
"P-0-0197, System time" is maintained for compatibility reasons.

4.3.10 Engineering/diagnostic interfaces


Internet protocol services (S/IP)
It is possible to access PLC variables via S/IP. Implementing S/IP routing and
SVC routing depending on the SCP class.
FTP server
With the implementation of a new display type with memory card, the FTP
server is available in all firmware derivatives.
Webserver
Open source licenses can be displayed via <IP.IP.IP.IP>/licenses.htm
(<IP.IP.IP.IP> coresponds to the English IP address of the drive).
Open source licenses displayed via "licenses.htm"
Engineering over IP
Ethernet POWERLINK was added, see also chapter "Brief description" on
page 131.

4.4 New, modified and no longer existing parameters


4.4.1 New, modified and no longer existing parameters
New parameters
● P-0-0564, Motor acceleration limit value
● P-0-3061, Status of motor fan control
● P-0-3235.0.6, SMO: Proposed axis identifier, auto commissioning
● P-0-3235.0.7, SSO Proposed TUNID, auto commissioning
● P-0-3242.0.4, SMO: Phys. encoder resolution (digital)
● P-0-3263.0.8, SMO: Jerk
● P-0-3271.0.1, SMO: Safe CAM 1
● P-0-3271.0.2, SMO: Safe CAM 2
● P-0-3271.0.3, SMO: Safe CAM 3
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● P-0-3271.0.4, SMO: Safe CAM 4


● P-0-3271.0.5, SMO: Safe CAM 5
● P-0-3271.0.6, SMO: Safe CAM 6
● P-0-3271.0.7, SMO: Safe CAM 7
● P-0-3271.0.8, SMO: Safe CAM 8
● P-0-3271.0.130, SMO: Safe CAM, compact
● P-0-3353, Proposed FSoE slave address, auto commissioning
● P-0-3360.0.1, PROFIsafe: F-Device Address
● P-0-3360.0.2, PROFIsafe: Proposed F-Device address
● P-0-3360.0.3, PROFIsafe: Current F-Device state
● P-0-3360.0.4, PROFIsafe: F-parameters
● P-0-3360.0.5, PROFIsafe: Application parameters
● P-0-3360.0.6, PROFIsafe: Proposed F-Device address, auto commis‐
sioning
● P-0-3915.0.1, Module/firmware history, time stamp
● P-0-3915.0.2, Module/firmware history, component designation
● P-0-3915.0.3, Module/firmware history, cause of error
● P-0-3915.0.130, Module/firmware history, compact
● P-0-4084.0.2, Default profile

● S-0-0550, Torque/force command value, positive 2


● S-0-0551, Torque/force command value, negative 2
● S-0-0552, Torque/force feedback value 2
● S-0-0553, Torque/force command value 2 ramp
● S-0-0602.0.8, Phys. max. initialization speed
New alias parameters

● P-0-2760, Supply unit control loop data, compact


● P-0-2767, Multi-encoder interface configuration
● P-0-3589, Holding system check configuration data, compact
● P-0-3591, Module/firmware history, compact
● P-0-3720, Default profile
● P-0-3721, SMO: Safe CAM, compact
● P-0-3898, SSO Proposed TUNID, auto commissioning
● P-0-3899, SMO: Proposed axis identifier, auto commissioning

Definitions:
An alias parameter is a replacement parameter for communication interfaces
which do not support 32 bit IDNs (EIDN).
Example:
Alias parameter:
P-0-2599 -> "S-0-1702.0.16"
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A legacy alias parameter is a replacement parameter for compatible access


and for communication interfaces which do not support 32 bit IDNs (EIDN).
Example:
Legacy alias parameter:
e.g., P-0-1701 -> "P-0-1808.2.1"

Modified parameters
● P-0-0001, Switching frequency of the power output stage
● P-0-0214, Analog input, assignment A, scaling
● P-0-0215, Analog input, assignment A, signal value at 0
● P-0-0216, Analog input, assignment A, dead zone
● P-0-0217, Analog input 1, time constant input filter
● P-0-0231, Analog input 2, time constant input filter
● P-0-0232, Analog input 3, time constant input filter
● P-0-0233, DA: Analog input 1, time constant input filter
● P-0-0234, DA: Analog input 2, time constant input filter
● P-0-0237, Analog input, assignment B, scaling
● P-0-0238, Analog input, assignment B, signal value at 0
● P-0-0239, Analog input, assignment B, dead zone
● P-0-0246, Analog input, assignment C, scaling
● P-0-0247, Analog input, assignment C, signal value at 0
● P-0-0248, Analog input, assignment C, dead zone
● P-0-0701, Motion step 1, slave axis initial position
● P-0-0853, Max. DC bus voltage, motor
● P-0-1120, Velocity control loop filter: Filter type
● P-0-3242.0.1, SMO: Phys. Encoder type
● P-0-3242.0.2, SMO: Phys. Encoder properties
● P-0-3242.0.3, SMO: Phys. Encoder resolution (analog)
● P-0-4014, Type of construction of motor

● S-0-0127, C0100 Communication phase 3 transition check


● S-0-0600.0.1, Encoder status
Modified alias parameters
No alias parameter was modified.
No longer existing parameters

● P-0-0074, Encoder type 1 (motor encoder)


● P-0-0075, Encoder type 2 (optional encoder)
● P-0-0076, Encoder type 3 (measuring encoder)
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 49/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-0105, Time stamp for list of diagnostic message numbers


● P-0-0198, System time error memory
● P-0-0199, System time error code
● P-0-0326, Multiplication of measuring encoder
● P-0-0327, Encoder resolution of measuring encoder
● P-0-0343, Encoder 1, cosine signal
● P-0-0344, Encoder 1, sine signal
● P-0-0345, Encoder 2, cosine signal
● P-0-0346, Encoder 2, sine signal
● P-0-0347, Encoder 3, cosine signal
● P-0-0348, Encoder 3, sine signal
● P-0-0476, Logbook configuration word
● P-0-0477, Logbook axis number
● P-0-0478, Logbook event
● P-0-0479, Logbook time stamp
● P-0-1000, Kind of encoder 1, encoder memory
● P-0-1001, Encoder 1 resolution, encoder memory
● P-0-1010, Kind of encoder 2, encoder memory
● P-0-1011, Encoder 2 resolution, encoder memory
● P-0-1020, Kind of encoder 3, encoder memory
● P-0-1021, Encoder 3 resolution, encoder memory
● P-0-3354, FSoE: Connection ID
● P-0-3610, CANopen: Heartbeat/NodeGuard Configuration
● P-0-3611, CANopen: COB-IDs
● P-0-3612, CANopen: Transmission Types
● P-0-3613, CANopen: List of the Event Parameters
● P-0-3908.0.1, Circuit board designation
● P-0-3908.0.4, Circuit board name
● P-0-3908.0.8, Circuit board hardware version
● P-0-3908.0.11, Circuit board order code
● P-0-3908.0.12, Circuit board serial number
● P-0-3908.0.150, Circuit board firmware identifier
● P-0-4089.0.9, ECAT: XInt Shift
● S-0-0059, Position switch flag parameter
● S-0-0060, Position switch point 1 "On"
● S-0-0116, Feedback 1 resolution
● S-0-0117, Feedback 2 resolution
● S-0-0256, Multiplication 1 (motor encoder)
● S-0-0257, Multiplication 2 (optional encoder)
● S-0-0375, List of diagnostic numbers
● S-0-0441, Marker position feedback 2
● S-0-0443, Counter marker position feedback 2
● S-0-0460, Position switch point 1 "Off"
50/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● S-0-0600.0.20, Encoder data out container


● S-0-0602.x.137, Phys. max. initialization speed
● S-0-0603.0.3, Phys. encoder input signal A
● S-0-0603.0.4, Phys. encoder input signal B
● S-0-0610.0.20, Encoder data out container (input)
● S-0-0900, Torque/force command value, positive 2
● S-0-0901, Torque/force command value, negative 2
● S-0-0902, Torque/force feedback value 2
● S-0-0903, Torque/force command value 2 ramp
Alias parameters
● P-0-2719
● P-0-3580

4.4.2 Changes in comparison to MPx20V06


New, modified and no longer existing parameters
New parameters
● P-0-3242.0.4, SMO: Phys. Encoder resolution (digital)
● P-0-3263.0.8, SMO: Jerk
● P-0-3915.0.1, Module/firmware history, time stamp
● P-0-3915.0.2, Module/firmware history, component designation
● P-0-3915.0.3, Module/firmware history, cause of error
● P-0-3915.0.130, Module/firmware history, compact
● P-0-4089.0.9, ECAT: XInt Shift
New alias parameters
● P-0-3580, ECAT: XInt Shift
● P-0-3591, Module/firmware history, compact

Definitions:
An alias parameter is a replacement parameter for communication interfaces
which do not support 32 bit IDNs (EIDN).
Example:
Alias parameter:
P-0-2599 -> "S-0-1702.0.16"

A legacy alias parameter is a replacement parameter for compatible access


and for communication interfaces which do not support 32 bit IDNs (EIDN).
Example:
Legacy alias parameter:
e.g., P-0-1701 -> "P-0-1808.2.1"
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 51/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

Modified parameters
● P-0-0214, Analog input, assignment A, scaling
● P-0-0215, Analog input, assignment A, signal value at 0
● P-0-0216, Analog input, assignment A, dead zone
● P-0-0217, Analog input 1, time constant input filter
● P-0-0231, Analog input 2, time constant input filter
● P-0-0232, Analog input 3, time constant input filter
● P-0-0233, DA: Analog input 1, time constant input filter
● P-0-0234, DA: Analog input 2, time constant input filter
● P-0-0237, Analog input, assignment B, scaling
● P-0-0238, Analog input, assignment B, signal value at 0
● P-0-0239, Analog input, assignment B, dead zone
● P-0-0246, Analog input, assignment C, scaling
● P-0-0247, Analog input, assignment C, signal value at 0
● P-0-0248, Analog input, assignment C, dead zone
● P-0-0853, Max. DC bus voltage, motor
● S-0-0127, C0100 Communication phase 3 transition check
Modified alias parameters
No alias parameter was modified.
No longer existing parameters
● P-0-3625.000.001, EPL: ERR History
● P-0-3625.000.002, EPL: Error Entry
● P-0-3626.000.004, EPL: ConfId
● P-0-3626.000.005, EPL: VerifyConfInvalid

4.4.3 Changes in comparison to MPx20V04


New parameters
● P-0-0015, Minimum pulse duration
● P-0-0016, Current controller control word 2
● P-0-0035.0.1, Oscilloscope: Trigger time
● P-0-0110, Device control: Status word 2
● P-0-0183, Drive optimization, checksum
● P-0-0250.0.10, IndraWorks view manager
● P-0-0251, Remote analog input 1
● P-0-0252, Remote analog input 2
● P-0-0253, Remote analog input 3
● P-0-0269, Oscilloscope: Channel number setting
● P-0-0270, Oscilloscope: Signal selection 5
● P-0-0271, Oscilloscope: Signal selection 6
● P-0-0272, Oscilloscope: Signal selection 7
● P-0-0273, Oscilloscope: Signal selection 8
● P-0-0274, Oscilloscope: List of measured values 5
52/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-0275, Oscilloscope: List of measured values 6


● P-0-0276, Oscilloscope: List of measured values 7
● P-0-0277, Oscilloscope: List of measured values 8
● P-0-0322.0.2, Performance load prewarning threshold exceeded
● P-0-0472, Motor saturation current
● P-0-0501, Dynamic alias mapping, mapping EIDN
● P-0-0502, Dynamic alias mapping, mapping EIDN content
● P-0-0560, Configuration of actuator
● P-0-0561, Effective velocity controller command value
● P-0-0562, Active infeed/gear factor
● P-0-0563, Velocity command value input for adjustment
● P-0-0603, FXC: Torque-generating current command value, model
● P-0-0604, FXC: Flux-generating current command value, model
● P-0-0605, FXC: Torque-generating actual current value, model
● P-0-0606, FXC: Flux-generating actual current value, model
● P-0-0607, FXC, current command value
● P-0-0608, Controlled decel.: Velocity controller P-gain
● P-0-0609, Controlled decel.: Velocity controller integral action time
● P-0-0642, Anti-vibration filter frequency
● P-0-0643, Anti-vibration filter damping
● P-0-0644, Anti-vibration filter delay clocks
● P-0-0650.0.1, Internal IndraDrive parameter
● P-0-0650.0.2, Internal IndraDrive parameter
● P-0-0650.0.3, Internal IndraDrive parameter
● P-0-0660, C6300 Generate type plate command
● P-0-0660.0.2, Generate type plate, IDN list of type plates
● P-0-0660.0.3, Generate type plate, configuration list
● P-0-0661, C9100 Confirm power section configuration command
● P-0-1000.0.130, Phys. encoder type plate
● P-0-1550, Container FSoE MasterMessage
● P-0-1551, Container FSoE SlaveMessage
● P-0-1901.0.1, CiA402: Controlword
● P-0-1901.0.2, CiA402: Statusword
● P-0-1901.0.3, CiA402: Abort connection option code
● P-0-1901.0.4, CiA402: Quick stop option code
● P-0-1901.0.5, CiA402: Shutdown option code
● P-0-1901.0.6, CiA402: Disable operation option code
● P-0-1901.0.7, CiA402: Halt option code
● P-0-1901.0.8, CiA402: Fault reaction option code
● P-0-1901.0.9, CiA402: Modes of operation
● P-0-1901.0.10, CiA402: Modes of operation display
● P-0-1901.0.11, CiA402: Supported drive modes
● P-0-1901.0.12, CiA402: Error Code
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 53/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-1901.0.21, CiA402: Position encoder resolution


● P-0-1901.0.22, CiA402: Position encoder resolution, Encoder icrements
● P-0-1901.0.23, CiA402: Position encoder resolution, Motor revelutions
● P-0-1901.0.24, CiA402: Gear ratio
● P-0-1901.0.25, CiA402: Feed constant
● P-0-1901.0.26, CiA402: Feed constant, feed
● P-0-1901.0.27, CiA402: Feed constant, shaft revolutions
● P-0-1901.0.28, CiA402: Velocity factor
● P-0-1901.0.29, CiA402: Velocity factor, numerator
● P-0-1901.0.30, CiA402: Velocity factor, divisor
● P-0-1901.0.31, CiA402: Acceleration factor
● P-0-1901.0.32, CiA402: Acceleration factor, numerator
● P-0-1901.0.33, CiA402: Acceleration factor, divisor
● P-0-1901.0.34, CiA402: Polarity
● P-0-1901.0.35, CiA402: SI unit position
● P-0-1901.0.36, CiA402: SI unit velocity
● P-0-1901.0.37, CiA402:SI unit acceleration
● P-0-1901.0.41, CiA402: Target Position
● P-0-1901.0.42, CiA402: Interpolation time period
● P-0-1901.0.43, CiA402: Interpolation time period value
● P-0-1901.0.44, CiA402: Interpolation time index
● P-0-1901.0.45, CiA402: Position Range Limit
● P-0-1901.0.46, CiA402: Min position range limit
● P-0-1901.0.47, CiA402: Max position range limit
● P-0-1901.0.48, CiA402: Software Position Limit
● P-0-1901.0.49, CiA402: Min position limit
● P-0-1901.0.50, CiA402: Max position limit
● P-0-1901.0.51, CiA402:Position actual internal value
● P-0-1901.0.52, CiA402:Position demand internal value
● P-0-1901.0.53, CiA402:Homing method
● P-0-1901.0.54, CiA402: Homing speeds
● P-0-2602.0.3, Error memory: Diagnostic code
● P-0-2603.0.4, Error memory: Time stamp (system time)
● P-0-2603.0.50, Power section XML identification data
● P-0-2875.0.3, Maximum flow
● P-0-2875.0.4, Maximum pressure
● P-0-2943, Pump displacement volume
● P-0-2944, Motor nominal speed
● P-0-2945, Configuration of analog mode
● P-0-3060.0.1, Motor fan switch-on temperature
● P-0-3060.0.3, Speed-dependent motor shutdown temperature reduction
● P-0-3060.0.4, Motor mounting situation
● P-0-3060.0.5, Motor shutdown temperature reduction / 1000rpm
54/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-3060.0.10, Thermal parameters, motor


● P-0-3060.0.130, Thermal parameters, motor, compact
● P-0-3071, Identification data, type plate
● P-0-3072, Motor: Static type data, type plate
● P-0-3073, Motor: Control loop default values, type plate
● P-0-3075, Application-specific data, type plate
● P-0-3203, SMO: Optional firmware packages
● P-0-3215, SMO: Velocity command value for SOS check function
● P-0-3238.0.1, SMO: Active position limit value, positive
● P-0-3238.0.2, SMO: Active position limit value, negative
● P-0-3253, SMO: Safe homing procedure control word
● P-0-3253.0.1, SMO: Safe homing procedure configuration
● P-0-3253.0.2, SMO: C4000 Safe homing procedure command
● P-0-3253.0.3, SMO: Reference position
● P-0-3253.0.4, SMO: Safe homing procedure tolerance window
● P-0-3253.0.5, SMO: Maximum homing velocity
● P-0-3253.0.6, SMO: Reference check time interval
● P-0-3257.0.1, SMO: Actual position value, coded
● P-0-3264.0.2, SMO: Safety function diagnostics
● P-0-3270.0.4, SMO: Safe end position limit value, positive
● P-0-3270.0.5, SMO: Safe end position limit value, negative
● P-0-3290.0.4, SMO: Safe position limit value, positive
● P-0-3290.0.5, SMO: Safe position limit value, negative
● P-0-3332.0.2, SMO: IO mapper inputs, IO mapper block status
● P-0-3350, FSoE: Slave address
● P-0-3351, FSoE: Expected slave address
● P-0-3352, FSoE: Slave state
● P-0-3355, FSoE: Safe communication parameters
● P-0-3356, FSoE: Safe application parameters
● P-0-3600.0.1, CANopen: Device type
● P-0-3601.0.1, CANopen: Error register
● P-0-3603.0.1, CANopen: Communication cycle period
● P-0-3604.0.1, CANopen: Manufacturer device name
● P-0-3604.0.2, CANopen: Manufacturer hardware version
● P-0-3604.0.3, CANopen: Manufacturer software version
● P-0-3606.0.1, Identity Object: Highest sub-index supported
● P-0-3606.0.2, CANopen: Vendor ID
● P-0-3606.0.3, CANopen: Product Code
● P-0-3606.0.4, CANopen: Revision Number
● P-0-3606.0.5, CANopen: Serial Number
● P-0-3616.0.1, ECAT: EtherCAT Address
● P-0-3616.0.2, ECAT: Virtual MAC Address
● P-0-3617.0.1, ECAT: IP Address Info
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 55/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-3617.0.2, ECAT: IP Address


● P-0-3617.0.3, ECAT: Subnet Mask
● P-0-3617.0.4, ECAT: Default Gateway
● P-0-3618.0.1, ECAT: Receive PDO Mapping
● P-0-3619.0.1, ECAT: RPDO: application object
● P-0-3620.0.1, ECAT: Transmit PDO Mapping
● P-0-3621.0.1, ECAT: TPDO: application object
● P-0-3622.0.1, ECAT: Sync Manager Communication Type
● P-0-3622.0.2, ECAT: Sync Manager 1
● P-0-3622.0.3, ECAT: Sync Manager 2
● P-0-3622.0.4, ECAT: Sync Manager 3
● P-0-3622.0.5, ECAT: Sync Manager 4
● P-0-3623.0.1, ECAT: PDO Assignment RX (Outputs)
● P-0-3623.0.2, ECAT: PDO Assign Outputs 1
● P-0-3624.0.1, ECAT: PDO Assignment TX (Inputs)
● P-0-3624.0.2, ECAT: PDO Assign Inputs 1
● P-0-3625.0.1, EPL: ERR History
● P-0-3625.0.2, EPL: Error Entry
● P-0-3626.0.1, EPL: Verify Configuration
● P-0-3626.0.2, EPL: ConfDate
● P-0-3626.0.3, EPL: ConfTime
● P-0-3626.0.4, EPL: ConfId
● P-0-3626.0.5, EPL: VerifyConfInvalid
● P-0-3627.0.1, EPL: Interface Group
● P-0-3627.0.2, EPL: Interface Index
● P-0-3627.0.3, EPL: Interface Description
● P-0-3627.0.4, EPL: Interface Type
● P-0-3627.0.5, EPL: Interface Mtu
● P-0-3627.0.6, EPL: Interface Phys Address
● P-0-3627.0.7, EPL: Interface Name
● P-0-3627.0.8, EPL: Interface Oper Status
● P-0-3627.0.9, EPL: Interface Admin State
● P-0-3627.0.10, EPL: Valid
● P-0-3628.0.1, EPL: Sequ Layer Timeout
● P-0-3629.0.1, EPL: Cmd Layer Timeout
● P-0-3630.0.1, EPL: Rx Comm Param
● P-0-3630.0.2, EPL: Node ID
● P-0-3630.0.3, EPL: Mapping Version
● P-0-3631.0.1, EPL: Rx Mapp Param
● P-0-3631.0.2, EPL: Rx Object Mapping
● P-0-3632.0.1, EPL: Tx Comm Param
● P-0-3632.0.2, EPL: Node ID
● P-0-3632.0.3, EPL: Mapping Version
56/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-3633.0.1, EPL: Tx Mapp Param


● P-0-3633.0.2, EPL: Tx Object Mapping
● P-0-3634.0.1, EPL: CN Loss SoC
● P-0-3634.0.2, EPL: Loss SoC: Cumulative Cnt
● P-0-3634.0.3, EPL: Loss SoC: Threshold Cnt
● P-0-3634.0.4, EPL: Loss SoC: Threshold
● P-0-3635.0.1, EPL: CN CRC Error
● P-0-3635.0.2, EPL: CRC Error: Cumulative Cnt
● P-0-3635.0.3, EPL: CRC Error: Threshold Cnt
● P-0-3635.0.4, EPL: CRC Error: Threshold
● P-0-3636.0.1, EPL: CN Loss Of SoC Tolerance
● P-0-3637.0.1, EPL: IP Addr Table
● P-0-3637.0.2, EPL: If Index
● P-0-3637.0.3, EPL: Addr IPAD
● P-0-3637.0.4, EPL: Net Mask IPAD
● P-0-3637.0.5, EPL: Reasm Max Size
● P-0-3637.0.6, EPL: Default Gateway IPAD
● P-0-3638.0.1, EPL: Ip Group
● P-0-3638.0.2, EPL: Forwarding
● P-0-3638.0.3, EPL: Default TTL
● P-0-3638.0.4, EPL: Forward Datagrams
● P-0-3639.0.1, EPL: Feature Flags
● P-0-3640.0.1, EPL: EPL Version
● P-0-3641.0.1, EPL: Curr NMT State
● P-0-3642.0.1, EPL: EPL Node ID
● P-0-3642.0.2, EPL: Node ID
● P-0-3642.0.3, EPL: Node ID By HW
● P-0-3642.0.4, EPL: SW Node ID
● P-0-3643.0.1, EPL: Cycle Timing
● P-0-3643.0.2, EPL: Isochr Tx Max Payload
● P-0-3643.0.3, EPL: Isochr Rx Max Payload
● P-0-3643.0.4, EPL: Pres Max Latency
● P-0-3643.0.5, EPL: Preq Act Payload Limit
● P-0-3643.0.6, EPL: Pres Act Payload Limit
● P-0-3643.0.7, EPL: Asnd Max Latency
● P-0-3643.0.8, EPL: Multiple Cycle Cnt
● P-0-3643.0.9, EPL: Async MTU
● P-0-3643.0.10, EPL: Prescaler
● P-0-3644.0.1, EPL: CN Basic Ethernet Timeout
● P-0-3645.0.1, EPL: Host Name
● P-0-3646.0.1, EPL: Reset Cmd
● P-0-3647.0.1, ECAT: Synchronization Type (Outputs) number of entries
● P-0-3647.0.2, ECAT: Synchronization Type (Outputs)
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 57/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-3647.0.5, ECAT: Synchronization Types Supported (Outputs)


● P-0-3647.0.7, ECAT: Calc and Copy Time (Outputs)
● P-0-3647.0.10, ECAT: Delay Time (Outputs)
● P-0-3648.0.1, ECAT: Synchronization Type (Inputs) number of entries
● P-0-3648.0.2, ECAT: Synchronization Type (Inputs)
● P-0-3648.0.5, ECAT: Synchronization Types Supported (Inputs)
● P-0-3648.0.7, ECAT: Calc and Copy Time (Inputs)
● P-0-3648.0.10, ECAT: Delay Time (Inputs)
● P-0-3945, Motor control configuration
● P-0-4044, Phase inductance of preconnected choke
● P-0-4083.0.2, Application: Allocation of object ID to sercos EIDN
● P-0-4083.0.3, Master communication: Allocation of object ID to sercos
EIDN
● P-0-4084.0.1, List of available profile types
● P-0-4089.0.7, ECAT: SII Configured Station Alias
● P-0-4089.0.8, ECAT: Register Configured Station Alias
● S-0-0105, Position controller integral action time
● S-0-0390.0.136, Detailed diagnostic message
● S-0-0530, Clamping torque
● S-0-0600.0.10, Marker position
● S-0-0601.0.136, Multi-encoder interface configuration
● S-0-0602.0.5, Phys. distance-coded reference offset A
● S-0-0602.0.6, Phys. distance-coded reference offset B
● S-0-0602.0.136, Phys. encoder evaluation configuration
● S-0-0602.0.137, Phys. max. initialization speed
● S-0-0603.0.3, Phys. encoder input signal A
● S-0-0603.0.4, Phys. encoder input signal B
● S-0-0610.0.10, Marker position not scaled (input)
● S-0-0611.0.130, sercos III encoder profile "extended", compact
● S-0-0611.0.136, Serial number of encoder
● S-0-0800, Pressure command value
● S-0-0801, Pressure command value additive
● S-0-0802, Bipolar pressure limit value
● S-0-0803, Pressure feedback value A
● S-0-0804, Pressure feedback value B
● S-0-0805, Pressure polarity parameter
● S-0-0806, Pressure data scaling type
● S-0-0807, Pressure data scaling factor
● S-0-0808, Pressure data scaling exponent
● S-0-0809, Pressure feedback value
● S-0-0810, Pressure ramp time
● S-0-0811, Pressure ramp reference
● S-0-0813, System pressure
58/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● S-0-0814, Tank pressure


● S-0-0819, Cylinder stroke
● S-0-0820, Piston area A
● S-0-0821, Piston area B
● S-0-0827, Pressure control deviation
● S-0-0828, Positive pressure limit value
● S-0-0829, Negative pressure limit value
● S-0-0830, Pressure status word
● S-0-0831, Depressurized window
● S-0-0832, Pressure window
● S-0-0840, Flow command value
● S-0-0841, Flow command value additive
● S-0-0842, Flow feedback value
● S-0-0843, Flow control deviation
● S-0-0844, Flow zero window
● S-0-0845, Flow data scaling type
● S-0-0846, Flow data scaling factor
● S-0-0847, Flow data scaling exponent
● S-0-0848, Flow polarities
● S-0-0849, Flow status word
● S-0-0850, Bipolar flow limit value
● S-0-0851, Positive flow limit value
● S-0-0852, Negative flow limit value
● S-0-0853, Flow window absolute
● S-0-0854, Flow window percentage
● S-0-0855, Flow ramp reference
● S-0-0856, Flow ramp time
● S-0-0857, Flow threshold
● S-0-0900, Torque/force command value, positive 2
● S-0-0901, Torque/force command value, negative 2
● S-0-0902, Torque/force feedback value 2
● S-0-0903, Torque/force command value 2 ramp
● S-0-1048, C6100 Command Activate IP settings
● S-0-1300.0.151, Adjustment values
● S-0-1300.0.153, Type data 1
● S-0-1303.0.1, Diagnostic trace configuration
● S-0-1303.0.2, Diagnostic trace control
● S-0-1303.0.3, Diagnostic trace state
● S-0-1303.0.10, Diagnostic trace main diagnostics
● S-0-1303.0.11, Diagnostic trace system time
● S-0-1303.0.12, Diagnostic trace detailed diagnostics
● S-0-1303.0.13, Diagnostic trace system time fine
● S-0-1303.0.14, Diagnostic trace system time coarse
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 59/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● S-0-1305.0.1, System time


● S-0-1320, List of available energy modes
● S-0-1321.0.1, Energy Mode Name
● S-0-1321.0.6, Power Consumption
● S-0-1323.0.1, Current Energy Mode
● S-0-1323.0.7, Consumed Energy Odometer
● S-0-1323.0.8, Supplied Energy Odometer
● S-0-1708.0.130, Supply unit control loop data, compact
New alias parameters
● P-0-2592, Power section logbook data, compact
● P-0-2704, Actual DC bus voltage

Definitions:
An alias parameter is a replacement parameter for communication interfaces
which do not support 32 bit IDNs (EIDN).
Example:
Alias parameter:
P-0-2599 -> "S-0-1702.0.16"

A legacy alias parameter is a replacement parameter for compatible access


and for communication interfaces which do not support 32 bit IDNs (EIDN).
Example:
Legacy alias parameter:
e.g., P-0-1701 -> "P-0-1808.2.1"

● P-0-0804, Effective active-current generating component, command val‐


ue
● P-0-0805, Effective reactive-current generating component, cmd value
● P-0-0807, Active-current generating component, actual value
● P-0-0808, Reactive-current generating component, actual value
● P-0-0822, DC bus voltage command value
● P-0-0836, Phase-to-phase mains voltage L1-L2
● P-0-0837, Phase-to-phase mains voltage L2-L3
● P-0-0838, Phase current L1
● P-0-0839, Phase current L2
● P-0-0842, Output voltage, active component
● P-0-0843, Output voltage, reactive component
● P-0-0863, Mains current controller, status word
● P-0-0867, Mains angle
● P-0-0873, Active-current generating component, command value
● P-0-0874, Reactive-current generating component, command value
60/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-0886, Mains frequency


● P-0-0887, Mains integral
● P-0-2302, SMO: Status word, bit-coded SCA
● P-0-2588, Diagnostic trace configuration
● P-0-2589, Diagnostic trace control
● P-0-2590, Diagnostic trace state
● P-0-2591, Diagnostic trace main diagnostics
● P-0-2593, Diagnostic trace detailed diagnostics
● P-0-2594, Diagnostic trace system time fine
● P-0-2595, Diagnostic trace system time coarse
● P-0-2729, Detailed diagnostics
● P-0-2730, Generate type plate, IDN list of type plates
● P-0-2738, Generate type plate, configuration list
● P-0-2742, Type plate, compact
● P-0-2743, Type plate, compact
● P-0-2744, Type plate, compact
● P-0-2745, Type plate, compact
● P-0-2746, Type plate, compact
● P-0-2747, Type plate, compact
● P-0-2748, Type plate, compact
● P-0-2749, Type plate, compact
● P-0-2750, Type plate, compact
● P-0-2751, SMO: IO mapper block type, compact
● P-0-2752, SMO: IO mapper block type, compact
● P-0-2753, SMO: IO mapper block type, compact
● P-0-2754, SMO: IO mapper inputs, IO mapper block status
● P-0-2755, System time (fine)
● P-0-2756, System time (coarse)
● P-0-2757, ECAT: SII Configured Station Alias
● P-0-2758, ECAT: Register Configured Station Alias
● P-0-2759, IndraWorks view manager
● P-0-2761, Thermal parameters, motor, compact
● P-0-2762, Power section XML identification data
● P-0-2763, sercos III encoder profile "extended", compact
● P-0-2764, sercos III encoder profile "extended", compact
● P-0-2765, Encoder status (input)
● P-0-2766, Position (input)
● P-0-2768, Encoder status
● P-0-2769, Marker position
● P-0-2770, Position
● P-0-2771, Encoder status
● P-0-2772, Marker position
● P-0-2773, Position
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 61/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-2774, Encoder status


● P-0-2775, Marker position
● P-0-2776, Position
● P-0-2777, Encoder status
● P-0-2778, Marker position
● P-0-2779, Position
● P-0-2780, Encoder status
● P-0-2781, Marker position
● P-0-2782, Position
● P-0-2783, Encoder status
● P-0-2784, Marker position
● P-0-2785, Position
● P-0-2786, Encoder status (input)
● P-0-2787, Marker position not scaled (input)
● P-0-2788, Position (input)
● P-0-2789, sercos III encoder profile "extended", compact
● P-0-2790, Performance load prewarning threshold exceeded
● P-0-2791, SMO: Active position limit value, positive
● P-0-2792, SMO: Active position limit value, negative
● P-0-2793, SMO: Safe homing procedure configuration
● P-0-2794, SMO: C4000 Safe homing procedure command
● P-0-2795, SMO: Reference position
● P-0-2796, SMO: Safe homing procedure tolerance window
● P-0-2797, SMO: Maximum homing velocity
● P-0-2798, SMO: Reference check time interval
● P-0-2799, SMO: Actual position value, coded
● P-0-3473, Maximum flow
● P-0-3474, Maximum pressure
● P-0-3581, List of available profile types
● P-0-3582, Encoder status (input)
● P-0-3583, Marker position not scaled (input)
● P-0-3584, Position (input)
● P-0-3585, Encoder status (input)
● P-0-3586, Marker position not scaled (input)
● P-0-3587, Position (input)
● P-0-3590, SMO: Safety function diagnostics
Modified parameters
● P-0-0018, Number of pole pairs/pole pair distance
● P-0-0045, Control word of current controller
● P-0-0049, Effective torque/force command value
● P-0-0077, Assignment of encoder 1->interface
● P-0-0078, Assignment of encoder 2->interface
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Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-0079, Assignment measuring encoder->interface


● P-0-0098, Max. model deviation
● P-0-0113, Bipolar velocity limit value of motor
● P-0-0118, Power supply, configuration
● P-0-0119, Best possible deceleration
● P-0-0121, Encoder 1, gear turns, mechanical system side
● P-0-0122, Encoder 1, gear turns, encoder side
● P-0-0124, Encoder 2, gear turns, mechanical system side
● P-0-0125, Encoder 2, gear turns, encoder side
● P-0-0127, Measuring encoder gearbox revolutions, encoder side
● P-0-0128, Measuring encoder gearbox revolutions, mechanical side
● P-0-0130, Position switch signal selection list
● P-0-0131, Position switch signal selection
● P-0-0177, Encoder 1, absoute encoder buffer
● P-0-0178, Encoder 2, absoute encoder buffer
● P-0-0179, Absolute encoder buffer, measuring encoder
● P-0-0185, Encoder 2 control word
● P-0-0194, Error memory power section
● P-0-0197, System time
● P-0-0218, Analog input, control parameter
● P-0-0241, Actual pos. smoothing time constant for hybrid pos. control
● P-0-0328, Measuring encoder properties
● P-0-0329, Actual pos. smoothing time constant for measuring encoder
● P-0-0330, Control word of measuring encoder
● P-0-0427, Control parameter of analog output
● P-0-0460, Module group, control word
● P-0-0461, Module group, status word
● P-0-0467, Maximum value thermal load of braking resistor
● P-0-0469, Prewarning threshold of therm. load of braking resistor
● P-0-0512, Temperature sensor
● P-0-0522, Control word for commutation setting
● P-0-0540, Torque of holding brake
● P-0-0556, Config word of axis controller
● P-0-0558, Drive Halt configuration
● P-0-0668, Device data archiving, configuration
● P-0-0833, Braking resistor threshold
● P-0-0844, Thermal load of braking resistor
● P-0-0858, Data of external braking resistor
● P-0-0860, Converter configuration
● P-0-1800.0.1, CCD: Configuration
● P-0-1801.0.10, CCD: Addresses of configured drives
● P-0-1801.0.11, CCD: Addresses of configured I/Os
● P-0-2003, Selection of functional packages
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 63/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● P-0-2054, Operational performance, motor


● P-0-2055, Serial number, motor
● P-0-3001, Encoder type, encoder memory
● P-0-3002, Number of pole pairs/pole pair distance, type plate
● P-0-3051, Encoder memory, operating hours counter, motor
● P-0-3052, Encoder memory, thermal operating data, motor
● P-0-3053, Encoder memory, mechanical operating data, motor
● P-0-3222.0.2, SMO: Linear position data scaling exponent
● P-0-3224.0.2, SMO: Acceleration data scaling exponent
● P-0-3255, SMO: Velocity threshold for Safe standstill
● P-0-3256, SMO: Encoder evaluation status
● P-0-3264, SMO: Safety function selection
● P-0-3264.0.1, SMO: Safety function status
● P-0-3270.0.1, SMO: Configuration of global safety functions
● P-0-3270.0.3, SMO: Standstill window for safe direction
● P-0-3277.0.1, SMO: Configuration of normal operation
● P-0-3290.0.1, SMO: Configuration of safe motion
● P-0-3330.0.1, SMO: IO mapper inputs, type
● P-0-3330.0.2, SMO: IO mapper inputs, IDN source
● P-0-3330.0.3, SMO: IO mapper inputs, bit source
● P-0-3332.0.1, SMO: IO mapper inputs, minimum pulse duration
● P-0-3345, SMO: Safety bus configuration
● P-0-4084, Application: Profile type
● P-0-4088, Master communication: Drive configuration
● P-0-4089.0.1, Master communication: Protocol
● P-0-4089.0.3, Device Address
● P-0-4089.0.5, Master communication: Configuration
● P-0-4090, Configuration for loading default values
● S-0-0012, Class 2 diagnostics
● S-0-0040, Velocity feedback value of encoder 1
● S-0-0051, Position feedback value of encoder 1
● S-0-0052, Reference distance of encoder 1
● S-0-0053, Position feedback value of encoder 2
● S-0-0054, Reference distance of encoder 2
● S-0-0082, Torque/force limit value positive
● S-0-0083, Torque/force limit value negative
● S-0-0084, Torque/force feedback value
● S-0-0115, Encoder 2, type of position encoder
● S-0-0147, Homing paramete
● S-0-0150, Reference offset of encoder 1
● S-0-0151, Reference offset of encoder 2
● S-0-0156, Velocity feedback value of encoder 2
● S-0-0159, Monitoring window of following distance
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Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● S-0-0164, Acceleration feedback value encoder 1


● S-0-0175, Offset of position feedback value of encoder 1
● S-0-0176, Offset of position feedback value of encoder 2
● S-0-0177, Absolute offset encoder 1
● S-0-0178, Absolute offset encoder 2
● S-0-0195, Acceleration feedback value encoder 2
● S-0-0277, Encoder 1, type of position encoder
● S-0-0378, Absolute encoder range, encoder 1
● S-0-0379, Absolute encoder range, encoder 2
● S-0-0390, Diagnostic message number
● S-0-0428, Probe, IDN list signal selection
● S-0-0600.0.1, Encoder status
● S-0-0600.0.2, Position
● S-0-0601.0.1, Encoder data out configuration
● S-0-0601.0.2, Resolution of position
● S-0-0602.0.1, Phys. Encoder type
● S-0-0602.0.3, Phys. Encoder resolution (analog)
● S-0-0602.0.4, Phys. Encoder resolution (digital)
● S-0-0602.0.7, Phys. Encoder protocol configuration
● S-0-0610.0.1, Encoder status (input)
● S-0-0610.0.2, Position (input)
● S-0-1050.0.1, sercos Connection: Connection setup
● S-0-1305.0.2, System time (fine)
● S-0-1305.0.3, System time (coarse)
Modified alias parameters
● P-0-1534, C6100 Command Activate IP settings
No longer existing parameters
No parameter was removed.

4.5 New, modified or no longer existing diagnostic messages


4.5.1 New Diagnostic Messages
The following diagnostic messages were subsequently implemented in the
firmware version MPx-18:
● C0611 Travel range greater than absolute range (distance-coded)
● E2004 Performance load prewarning threshold exceeded
● E2048 Low battery voltage (encoder)
The following diagnostic messages were subsequently implemented in the
firmware version MPx-19:
● C9100 Confirm power section configuration command
● C9101 Confirm power section configuration command error
● E2822 Mains connection temperature monitoring defective
● E2834 Switching off via OFF input
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 65/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● E2841 Prewarning: Mains connection overtemperature


● F2020 Low device temperature error
● F2813 Mains connection function error
● F2822 Mains connection temperature monitoring defective
● F2841 Shutdown: Mains connection overtemperature
● F8033 Ground fault in motor line
The following new diagnostic messages were implemented in firmware ver‐
sion MPx-20:
● A0007 Operational
● A0025 Basic ethernet mode
● A0026 Ready to operate
● A0030 Hot-plug phase 0
● A0031 Hot-plug phase 1
● A0032 Hot-plug phase 2
● A0040 Communication phase 4
● A0324 SMO: Normal operation
● A0325 SMO parameter mode active
● A0326 SMO parking axis active
● A4004 Drive without controller enable
● A4005 Drive decelerated by motor phase short circuit
● A4006 Drive decelerated in a controlled way
● A4007 "Drive on" delay time
● A4008 "Drive off" delay time
● A4009 Motor phase short circuit with drive enable switched off
● C0133 FKM: Address conflict
● C0211 Invalid encoder configuration (3 active encoders)
● C0760 Load defaults procedure command (application data)
● C0762 Locked with password
● C1809 Command start only possible with active position limits
● C1810 Drive optimization incorrectly configured
● C0763 Load defaults procedure (application data), invalid param.
● C4000 SMO: Safe homing procedure command
● C4001 Encoder evaluation error during Safe homing procedure
● C4002 Incorrect SMO position feedback value
● C4003 Home switch distance below minimum value
● C4004 Faulty SMO reference signal
● C6300 Generate type plate command
● C6301 Command is password-protected
● C6302 IDN not permissible (->S-0-0423)
● C6303 Insufficient memory
● C6304 Type plate unknown
● C6305 General type plate generation error
● C6310 Command not possible with this encoder type
66/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● C6311 Error when accessing encoder memory


● E2009 Synchronous velocity command value > limit value
● E3112 Safe reference missing
● E3113 Prewarning: End of reference position check time interval
● E3460 PROFIsafe: Wrong F-module selected
● E4040 sercos: Hot-plug error
● E4041 sercos: HP0 Cycle Time invalid
● E4042 sercos: HP0 MDT length invalid
● E4043 sercos: HP0 AT length invalid
● E4044 sercos: HP0 MTU size invalid
● E4045 sercos: HP0 NRT window invalid
● E4046 sercos: HP supported removed
● E4047 sercos: HP enabled removed
● F2056 Overload at dig. I/Os
● F2107 Incorrect commutation angle
● F2191 No automatic CCD slaves IP configuration
● F3112 Safe reference missing
● F3135 Zone bus error
● F3165 Faulty SMO reference signal
● F3166 Reference position check failed
● F3167 Encoder evaluation warning
● F3451 FSoE stack error
● F3452 FSoE stack connection error
● F3460 PROFIsafe error
● F3461 PROFIsafe connection error
● F4019 sercos: Incorrect sequence upon phase start
● F6008 Internal overflow when calculating positioning profile
● F7009 Homing velocity exceeded
● F7011 SMP, SLP: Safe position limit value, positive exceeded
● F7012 SMP, SLP: Safe position limit value, negative exceeded
● F7015 SMO: Cross data comparison error
● F7023 SLE: Safe position limit value, positive exceeded
● F7024 SLE: Safe position limit value, negative exceeded
● F8033 Ground fault in motor line
● F8055 Incorrect processing of diagnostic message
The following new diagnostic messages were implemented in firmware ver‐
sion MPx-20V06:
● A4010 Drive control command active
● C0263 Serial number of motor has changed
● C1224 Zero point shifting only possible in parameter mode
● C1225 Zero point shifting only possible with master password
● E4021 CCD: Not all slaves support SWC
● E2001 Diagnostic trace S-0-1303.0.10 overflow warning
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 67/395
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● F6001 Non-fatal system error

4.5.2 Modified diagnostic messages


The following diagnostic messages were subsequently extended or modified
in the firmware version MPx-18:
● C0256 Safety technology configuration error
● F2048 Low battery voltage
The following diagnostic messages were subsequently extended or modified
in the firmware version MPx-19:
● E2810 Drive system not ready for operation
● F8028 Overcurrent in power section
The following diagnostic messages were extended or modified in the firm‐
ware version MPx-20:
● A0004 Initialization
● A0005 Pre-Operational
● C0214 SMO: Incorrect configuration
● C0290 Error when reading encoder data => measuring encoder
● C0291 Incorr. parameterization of measuring enc. (hardware)
● C6100 Command Activate IP settings
● C6101 Incorrect IP settings
● C8214 SMO: Incorrect configuration
● C8215 SMO: Incorrect encoder/scaling configuration
● E2011 PLC - Warning no. 1
● E2012 PLC - Warning no. 2
● E2013 PLC - Warning no. 3
● E2014 PLC - Warning no. 4
● E2015 PLC - Warning no. 5
● E2016 PLC - Warning no. 6
● E2017 PLC - Warning no. 7
● E2059 Velocity command value limit active
● E2063 Velocity command value > limit value
● E2075 Encoder 2: Encoder signals disturbed
● E2076 Measuring encoder: Encoder signals disturbed
● E2077 Absolute encoder monitoring, encoder 1 (encoder alarm)
● F2011 PLC - Error no. 1
● F2012 PLC - Error no. 2
● F2013 PLC - Error no. 3
● F2014 PLC - Error no. 4
● F2015 PLC - Error no. 5
● F2016 PLC - Error no. 6
● F2017 PLC - Error no. 7
● F2105 Cannot address OEM encoder memory
● F2174 Loss of encoder 1 reference
● F2175 Loss of encoder 2 reference
68/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Changes and enhancements compared to the previous version

● F2177 Encoder 1 modulo limitation error


● F2178 Encoder 2 modulo limitation error
● F4002 RTD telegram failure
● F4009 Bus failure
● F8079 Velocity limit value exceeded
● F8314 SMO: Incorrect configuration
● F8324 SMO: Error in activation

4.5.3 No longer existing diagnostic messages


Compared to the firmware version MPx-19, the following diagnostic messag‐
es no longer exist or were replaced by other diagnostic messages:
● C0296 Error in initialization of absolute encoder monitoring
● E2031 Encoder 1 warning: Signal amplitude incorrect
● E2042 Encoder 2 warning: Encoder signals incorrect
● E2075 Encoder 2: Encoder signals disturbed
● E2078 Absolute encoder monitoring, opt. encoder (encoder alarm)
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 69/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

5 Overview of the functional scope


5.1 System overview
5.1.1 General information
About this documentation
Editions of this documentation Edition Release date Notes
DOK-INDRV*-MP*-20VRS**-AP01-EN-P 2015-09-01 First edition
DOK-INDRV*-MP*-20VRS**-AP02-EN-P 2015-12-22 Corrections
DOK-INDRV*-MP*-20VRS**-AP03-EN-P 2016-05-01 Corrections

Tab. 5-1: Record of revisions


Means of representation in this This section contains an overview of the means of representation and nota‐
documentation tions of recurring terms.
Bold type is used for important facts which are to be highlighted in the body
text.
"Quotation marks" are used for parameter names, diagnostic message
names, function designations.
All important information (e.g. Warning, Caution) are highlighted by a symbol.
Signal words in accordance with ANSI Z535.6-2006 draw the reader's atten‐
tion to hazards (see "Explanation of signal words and the safety alert
symbol").

This box contains important information that should be taken into


consideration.

This symbol highlights useful tips and tricks.

Your feedback Your experience is important for our improvement processes of products and
documentations.
If you discover mistakes in this documentation or suggest changes, please
send your feedback to the following e-mail address:
Dokusupport@boschrexroth.de
In order that we can handle your feedback, please send us the number indi‐
cated under "Internal File Reference" and the page number.
Terms, basic principles
Parameters
Communication between master and drive takes place, with a few excep‐
tions, by means of parameters.
Parameters are used for:
● Determining the configuration
● Parameterizing the control loop
● Triggering and controlling drive functions and commands
● Transmitting command values and actual values (according to require‐
ments, cyclically or acyclically)
All operating data are mapped to parameters!
70/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

The operating data stored in parameters can be identified by means of the


IDN. They can be read and transferred, if required. The user write access to
parameters depends on the properties of the respective parameter and the
current communication phase. The drive firmware checks specific parameter
values (operating data) for validity.
Data storage and parameter handling
Data memory Several non-volatile data memories are available in an IndraDrive device:
● In the controller
● In the motor encoder (depending on motor type)
● In the programming module / control panel
In addition, a volatile data memory (working memory) is available in the con‐
troller.
Condition as supplied Condition as supplied of the Rexroth drive components:
● The controller memory contains controller-specific parameter values.
● The programming module / control panel contains the firmware.
● The motor encoder memory contains the encoder-specific and, depend‐
ing on the motor type, the motor-specific parameter values.
Storing the application-specific pa‐ ● The application-specific parameter values are stored in the program‐
rameter values ming module / control panel. Due to the limited number of writing cycles
of non-volatile storage media, application-specific parameter values can
be stored in the working memory (volatile memory) of the controller, too.
● With the "IMST" or "IDST" service tool (as of MPx18V10), parameter
values can be saved on an external data carrier.
Saving parameter values Saving application-specific parameter values is required in the following ca‐
ses:
● After initial commissioning of the machine axis or the motor
● Before replacing the controller for servicing (if possible)
Application-specific parameter values can be saved via:
● "IndraWorks Ds/D/MLD" commissioning tool
→ Saving parameter values on external data carrier
● Control master
→ Saving parameter values on master-side data carrier
Parameter IDN lists The drive supports master-side saving of parameter values by listing parame‐
ter identification numbers (IDNs). Using these lists guarantees complete stor‐
age of the application-specific parameter values. It is also possible to deter‐
mine IDN lists defined by the customer.
Loading parameter values Loading parameter values is required in the following cases:
● Initial commissioning of the motor
→ Loading default values (factory settings) and the motor-specific pa‐
rameter values
● Serial commissioning of machine axes at series machines
→ Loading the parameter values saved after initial commissioning
● Reestablishing a defined initial state
→ Reloading the parameter values saved after initial commissioning
● Replacing the controller for servicing
→ Loading the parameter values currently saved before servicing
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 71/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Options for loading parameter values to the controller:


● Motor encoder data memory
→ Loading the parameter values by command or via the control panel
during initial motor commissioning
● "IndraWorks Ds/D/MLD" commissioning tool
→ Loading the parameter values from an external data carrier
● "IMST" or "IDST" service tool as of MPx18V10
→ Loading the parameter values from an external data carrier
● Control master
→ Loading the parameter values from a master-side data carrier
Checksum of parameter values By means of checksum comparison, the control master can determine wheth‐
er the values of the application-specific parameter values currently active in
the drive correspond to the values saved on the master side.
Password
By means of a password, IndraDrive controllers provide the possibility to pro‐
tect parameter values against accidental or unauthorized change. With re‐
gard to write protection, there are 3 groups of writable parameters:
● Parameters that are generally write-protected, such as motor parame‐
ters, hardware code parameters, encoder parameters, error memories,
etc. ("administration parameters"). The values of these parameters
guarantee the correct function and performance of the drive.
● Parameters the customer can combine in groups and protect them with
a so-called customer password. This allows protecting parameter values
that are used for adjusting the drive to the axis, after having determined
them.
● All other writable parameters and are not contained in the above-men‐
tioned groups. They are not write-protected.
Types of passwords The drive firmware allows activating and deactivating the write protection for
parameter values by means of three hierarchically different passwords:
● Customer password
The parameter values of a parameter group combined by the customer
can be protected.
● Control password
Parameters protected by a customer password are writable; "adminis‐
tration parameters" remain read-only.
● Master password
All writable parameters, including "administration parameters" and pa‐
rameters protected by a customer password, can be changed.
Commands
Commands are used to activate and control complex functions or monitoring
features in the drive. The higher-level master can start, interrupt and clear
commands.
Each command is assigned to a parameter by means of which the execution
of the command can be controlled. During the execution of the command the
display of the control panel reads "Cx", "C" representing the diagnostic com‐
mand message and "x" representing the number of the command.

Each command that was started must be actively cleared again.


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All commands available in the drive are stored in parameter "S-0-0025, IDN-
list of all procedure commands" .
Types of commands There are 3 different types of commands:
● Drive control commands
– Can cause automatic drive motion
– Can only be started when drive enable has been set
– Deactivate the active operation mode during its execution
● Administration commands
– Carry out administration tasks
– Cannot be interrupted
See also section "Command processing"
Operation modes
The selection of operation modes defines which command values will be pro‐
cessed in which way, in order to lead to the desired drive motion. The opera‐
tion mode does not determine how these command values are transmitted
from the master to the slave.
One of the eight operation modes that are defined in parameters is always
active if the conditions below are fulfilled:
● Control section and power section are ready for operation
● Drive enable signal sees a positive edge
● Drive follows command value input
● "Drive Halt" function has not been activated
● No drive control command is active
● No error reaction is carried out
The display of the control panel reads "AF" when an operation mode was ac‐
tivated.

All implemented operation modes are stored in parameter


"S-0-0292, List of supported operation modes".

See also chapter "Operation modes"


Warnings
Depending on the active operation mode and the parameter settings, many
monitoring functions are carried out. If a state is detected that permits correct
operation, but if continued results in the occurrence of an error and the auto‐
matic shutdown of the drive, the drive firmware generates an error message.

Warnings do not cause automatic shutdown (exception: fatal


warning).

Warning classes Warnings are classified in different warning classes which determine whether
or not the drive carries out an automatic reaction when the warning is gener‐
ated.

The warning class can be recognized by the diagnostic message.

We distinguish the following warning classes:


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● Without drive reaction → diagnostic message number E2xxx, E3xxx,


E4xxx
● With drive reaction → diagnostic message number E8xxx

Warnings cannot be cleared. They persist until the condition that


triggered the warning is no longer fulfilled.

Errors
Depending on the active operation mode and the parameter settings, many
monitoring functions are carried out. If a state is detected that affects or pre‐
vents correct operation, the drive firmware generates an error message.
Error classes Errors are assigned to various error classes that differ based on the different
error reactions of the drive.

The error class can be recognized by the diagnostic message


number.

Diagnostic message number Error class


F2xxx Non-fatal error
F3xxx Non-fatal safety technology error
F28xx Non-fatal error
F4xxx Interface error (master communication error)
F6xxx Travel range error
F7xxx Safety technology error
F8xxx Fatal error
F83xx Fatal safety technology error
F9xxx Fatal system error

Tab. 5-2: Overview of error classes

Apart from the mentioned error classes that can occur during op‐
eration, errors can occur when the devices are booted up and
during firmware download. These errors are displayed on the con‐
trol panel with a short diagnostic text rather than with a diagnostic
message number of the "Fxxxx" pattern. Boot and firmware down‐
load errors are described in the separate "Troubleshooting Guide"
documentation (description of diagnostic messages).

Error reactions of the drive If the drive controller is in control and an error state is detected, the execution
of a drive error reaction is automatically started. The diagnostic message
number "Fxxxx" flashes on the display of the control panel.
The drive reaction in the case of F2xxx, F3xxx, F4xxx, F6xxx, F7xxx and
F8xxx errors is defined in parameter "P-0-0119, Best possible deceleration".
At the end of each error reaction, the drive goes torque-free. The motor
phase short circuit error reaction for F8xxx is an exception. Here it is possible
to set that a motor phase short circuit is maintained after the error reaction
was completed.
See also "Error reactions"
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Clearing an error message Error messages are not automatically cleared; instead, there is a procedure
for this depending on the severity of the error; see the separate "Trouble‐
shooting Guide" documentation (description of diagnostic messages).
For example, if the error state persists, the error message is immediately
generated again.
Clearing error messages when If a drive error occurs during operation with drive enable having been set, the
drive enable was set drive carries out an error reaction. The drive automatically deactivates itself
at the end of each error reaction; in other words, the output stage is switched
off and the drive switches from an energized to a de-energized state.
To reactivate the drive,
● clear the error message and
● set a positive edge for drive enable again.
Error memory The diagnostic message numbers of occurring errors are written to an error
memory. This memory contains the diagnostic message numbers of the last
50 errors that occurred and the time when they occurred. Errors caused by a
shutdown of the control voltage (e.g., "F8070 Control voltage failure"), are not
stored in the error memory.
The diagnostic message numbers in the error memory are mapped to param‐
eter "P-0-0192, Error memory of diagnostic numbers" and can be displayed
by the control panel. Using the "IndraWorks Ds/D/MLD" commissioning tool,
it is possible to display the diagnostic message numbers and the respective
times at which the errors occurred.
Reconfiguring an error as a warn‐ The user can reconfigure some error cases as a warning. After an error has
ing been reconfigured, it is not an error reaction that takes place when such an
error occurs, but only a warning is output. The list of reconfigurable axis er‐
rors is contained in "P-0-0173, List of configurable axis-specific monitoring
functions", reconfiguration also takes place in this parameter.

When an error has been reconfigured, only a warning is output in‐


stead of the error message; the warning shows the control master
that there is a problem. It then is the user's responsibility to react
to the diagnostic warning messages in an appropriate way. If this
is not the case, the machine or installation can be damaged.

The reconfiguration of errors as warnings can be used in application-related


form in the following cases:
● Using an external encoder as a redundant motor encoder, see chapter
"Redundant motor encoder"
● Using a measuring encoder, see "Measuring encoder"
● Position control with cyclic command value input, see chapter of the
same name, "Position control with cyclic command value input" under
"Operation modes"

5.1.2 IndraDrive product range


The figure below shows the relations between control sections and power
sections, firmware derivatives and possible technology modules.
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Fig. 5-1: IndraDrive - version 20 product range

5.1.3 Drive firmware


Firmware variants
For the IndraDrive range, there are different application-related firmware
types available that are characterized by their scope of functions and their
performance:
● MPx: Drives for general automation (including machine tool applica‐
tions) with a MultiEthernet interface (sercos, EtherCAT®, PROFINET®,
EtherNet/IPTM), field bus interface (PROFIBUS-DP) and analog interface
● PSx: Supply units for IndraDrive devices.

The first two letters of the firmware designation identify the appli‐
cation and profile of the firmware:
● MP: "Multi Purpose" → Drives for general automation
● PS: "Power Supply" → Supply units for modular drives
The third letter of the firmware designation identifies the hard‐
ware, as well as the performance and functionality of the firmware
(x contains B, C, E and M):
● B: Single-axis firmware with BASIC performance and func‐
tionality plus MLD-S functions
● C: Single-axis firmware with ADVANCED performance and
functionality plus CCD + MLD-M functions
● E: Single-axis firmware with ECONOMY performance and
functionality
● M: Double-axis/multi-axis firmware with BASIC performance
and functionality

This documentation describes the functionality of the following firmware


types:
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● FWA-INDRV*-MPB-20VRS-D5
● FWA-INDRV*-MPC-20VRS-D5
● FWA-INDRV*-MPE-20VRS-D5
● FWA-INDRV*-MPM-20VRS-D5
● FWA-INDRV*-PSB-20VRS
The "IndraWorks Ds/D/MLD" commissioning tool is available for commission‐
ing these firmware variants.
Organizing the firmware
For the application-specific definition of the drive functionality, the firmware
functions are divided into different "functional packages". There are a gener‐
ally available base package and various additional functional packages (e.g.
main spindle, IndraMotion MLD) that can be optionally activated.

The scope of functions of the functional packages and their possi‐


ble combinations are described in section "Overview of functions/
functional packages".

5.1.4 Master communication overview


The MPx-20VRS firmware supports the following interfaces for master com‐
munication:

Firmware variant

Master communication MPB MPC MPE MPM PSB


sercos ■ ■ ■ ■ ■
PROFIBUS-DP ■ ■ - ■ ■
EtherNet/IP interface ■ ■ - ■ -
PROFINET ■ ■ - ■ -
Analog interface ■ ■ ■ ■ ■
Servodrive over EtherCAT ■ ■ ■ ■ ■
CANopen ■ ■ - - -
CoE (CAN application proto‐
■ ■ ■ - ■
col over EtherCAT)
Ethernet POWERLINK ■ ■ - - ■

Tab. 5-3: Supported master communication interfaces

5.1.5 Overview of functions/functional packages


Overview
General information
The application-specific scope of usable functions of the FWA-INDRV*-
MP*-20VRS drive firmware depends on
● the existing device configuration
- and -
● the licensed functional firmware packages.
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Depending on the hardware design, the scope of firmware func‐


tionality can be determined according to the respective applica‐
tion (scalability of the firmware functionality). The scope of corre‐
sponding parameters depends on the available functions.

Drive functionality scaling


Firmware scaling by control sec‐ IndraDrive controllers have slots for optional cards. Depending on the availa‐
tion configuration ble optional cards, it is possible to activate certain functions (incl. correspond‐
ing parameters), e.g.:
● Master communication
● Safety technology
● Encoder emulation
● Optional encoders
● I/O extension

The functions and parameters for the evaluation of the measuring


systems as control encoders do not depend on the device config‐
uration, since their functions can be freely assigned to the various
optional encoder modules.

See also the section "Drive controllers"


Firmware scaling by functional The firmware functionality is divided into the following package groups:
packages
● Base packages (open-loop or closed-loop)
● Optional expansion packages:
– Alternative functional packages (expansion packages for servo
function, main spindle function, synchronization, Sytronix)
– Additive functional package (technology functions, IndraMotion
MLD, IndraMotion MLD Advanced, IndraMotion MLD Ethernet IP
scanner)
Depending on the hardware configuration, the base packages are available
without any access enable. Using the optional expansion packages, however,
requires licensing.

The desired scope of firmware functions should preferably be de‐


fined when the firmware is ordered. This guarantees that the re‐
quired functional packages have been enabled when the firmware
is delivered. In individual cases, it is possible to provide access
enable subsequently (additional licensing) or to reduce the activa‐
ted scope of functions.
This procedure is described in the section "Enabling functional
packages" .

The figure below contains an overview of the possibilities of firmware scaling


by functional packages:
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* not with MPM firmware


Base package is always contained, functional packages are optional
expansion packages
Functional packages are optional expansion packages
Fig. 5-2: Functional packages of IndraDrive firmware MPx20 depending on
control performance
Brief description of the functional packages
The overall functionality of an IndraDrive device is divided into groups of
functions, the so-called "functional packages". The FWA-INDRV*-
MP*-20VRS firmware supports the functional packages listed below.

Each of the listed packages is available in Basic, Economy or


Advanced characteristic which differ with regard to their perform‐
ance and functionality.

Base packages The following base packages are available:


● Base package "open-loop" (open-loop motor control)
→ No position evaluation and functions depending thereof and no posi‐
tion control modes are possible
● Base package "closed-loop" (closed-loop motor control)
→ Position evaluation and functions and operation modes depending
thereof are possible
Alternative functional packages The following alternative functional packages are available:
● Servo functions1)
This package makes available all specific expansions for servo applica‐
tions, such as compensations and correction functions (e.g., axis error
correction, quadrant error correction, parameter set switching to a limi‐
ted extent).
● Synchronization1)
With this package, the synchronization options of the drive can be used
(support of synchronization modes, measuring encoder function, probe
function, parameter set switching to a limited extent…).
● Main spindle functions1)
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This package contains the specific functions for the use of main spindles
(e.g., spindle positioning, parameter set switching to the full extent).
● Sytronix1)
This package provides extended functions for hydraulics applications.

1)...These functional packages cannot be activated simultaneously


(only individually)!

Additive functional packages In addition, additive functional packages are available:


● Technology functions
● IndraMotion MLD
● IndraMotion MLD Advanced
● IndraMotion MLD Ethernet/IP scanner

One design of the additive functional packages can be activated


with each single-axis device (ADVANCED and BASIC) in addition
to any available alternative package. IndraMotion MLD
Ethernet/IP scanner can only be activated on ADVANCED devi‐
ces.

Firmware types
Structure of the firmware type des‐ The type designation of the IndraDrive firmware consists of the following type
ignation code elements:

Base
package
of variant Alternative Additive
IndraDrive firm‐
(depend‐ Version Release Language OL/CL functional functional
ware
ing on packages packages
control
section)

Basic single-axis FWA-INDRV* -MPB- 20 VRS- D5- x- xxx- xx


Advanced sin‐ xx
FWA-INDRV* -MPC- 20 VRS- D5- x- xxx-
gle-axis
Economy single- -
FWA-INDRV* -MPE- 20 VRS- D5- x- xxx-
axis
Basic multi-axis FWA-INDRV* -MPM- 20 VRS- D5- x- xxx- -

OL Open-loop characteristic
CL Closed-loop characteristic
Tab. 5-4: Basic structure of the firmware type designation
Function-specific abbreviations in Base package (application and performance):
type designation of IndraDrive
firmware ● MPB → Single-axis firmware with Basic performance
● MPC → Single-axis firmware with Advanced performance
● MPE → Single-axis firmware with Economy performance
● MPM → Multi-axis firmware with Basic performance
Firmware characteristic:
● 0 → Open-loop
● 1 → Closed-loop
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Alternative functional packages:


● NNN → No alternative functional package
● SRV → Functional package "Servo function"
● SNC → Functional package "Synchronization"
● MSP → Functional package "Main spindle"
● SYX → Functional package "Sytronix"
● ALL → All alternative functional packages (except SYX), i.e. it is possible
to select any alternative functional package
Additive functional packages (only with MPB and MPC firmware)
● NN → No additive expansion package
● TF → Technology functions
● ML → IndraMotion MLD
● MA → IndraMotion MLD Advanced
● ME → IndraMotion MLD Ethernet/IP scanner (only with MPC firmware
and if "ALL" has been selected as the alternative functional package)

The sales representative in charge will help you with the currently
available firmware types.

Base packages
General information
In the base packages of the firmware, the minimum scope of functionalities is
available depending on the respective firmware characteristic ("open-loop" or
"closed-loop"). They contain the basic functions of a drive firmware and a
number of other fundamental functions.
Basic functions
The following basic functions are available for every drive and contain the
fundamental basic functions of a digital drive (available in the firmware char‐
acteristics "open-loop" and "closed-loop"):
● Extensive diagnostic functions:
– Drive-internal generation of diagnostic messages
– Patch function
– Status displays, status classes
– Oscilloscope function
– Code of optional card
– Parameter value check
– Operating hours counter, logbook function, error memory
● Undervoltage monitor
● Output of control signals
● Limitations that can be parameterized
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Scope of functions
Motor control modes
MPB MPC MPE MPM

V/Hz (U/f) CL/OL CL/OL CL/OL CL/OL


FXC CL/OL CL/OL - CL/OL
FOC CL CL CL CL
FOCsl CL CL CL CL

V/Hz (U/f) Frequency-controlled operation of sensorless asynchronous


three-phase a.c. motors
FXC Flux-controlled, sensorless operation of three-phase a.c. mo‐
tors
FOC Current-controlled operation of three-phase a.c. motors (with
motor encoder)
FOCsl Current-controlled operation of sensorless three-phase a.c.
motors
OL Open-loop characteristic
CL Closed-loop characteristic
Tab. 5-5: Motor control mode depending on firmware variant
Supported operation modes

The operation modes supported by the firmware depend on the


hardware and firmware and are contained in parameter
"S-0-0292, List of supported operation modes".

The following overview illustrates with which base or functional package the
respective operation mode is supported and it applies to all firmware variants.

In functional package ...


In base package (on the basis of a base package with the following character‐
Operation mode istic)
(characteristic)
Servo function Synchronization Main spindle

Standard operation modes:

- Torque/force control CL + + +

- Velocity control OL/CL + + +

- Position control CL + + +

- Drive-internal interpolation CL + + +

- Drive-controlled positioning CL + + +

- Positioning block mode CL + + +

Synchronization modes:

- Velocity synchronization - - OL/CL -

- Phase synchronization - - CL -
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In functional package ...


In base package (on the basis of a base package with the following character‐
Operation mode istic)
(characteristic)
Servo function Synchronization Main spindle

- Electronic cam - - CL -

- Electronic motion profile - - CL -

+ Operation mode already contained in base package (for char‐


acteristic see base package)
- Operation mode not possible
OL Open-loop characteristic
CL Closed-loop characteristic
Tab. 5-6: Supported operation modes
To use a functional package, it has to have been activated (enabled). The
currently enabled functional packages are displayed in parameter "P-0-2004,
Active functional packages".
See also "Enabling functional packages"
Availability of the extended axis functions
The following overview illustrates in which base or functional packages the
respective extended axis function is available (if not stated otherwise, this ap‐
plies to all firmware versions MPB, MPC, MPE and MPM).

In functional package …
In base pack‐
(on the basis of a base package with the following charac‐
Extended axis function age
teristic)
(characteristic)
Servo function Synchronization Main spindle

Drive Halt OL/CL + + +


vcmd reset (emergency stop) OL/CL + + +

vcmd reset with ramp and filter (quick stop) OL/CL + + +

vcmd reset with ramp and filter (emergency


OL/CL + + +
stop)
Torque disable OL/CL + + +
Return motion - CL - -
Package reaction on error OL/CL + + +
NC reaction on error OL/CL + + +

MLD reaction on error OL/CL1) 2) +1) 2) +1) 2) +1) 2)


E-Stop function OL/CL + + +
Friction torque compensation CL + + +
Encoder error correction CL + + +

Backlash on reversal correction CL1) +1) +1) +1)

Precision axis error correction - CL1) - -

Control-side axis error correction - CL1) - -


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In functional package …
In base pack‐
(on the basis of a base package with the following charac‐
Extended axis function age
teristic)
(characteristic)
Servo function Synchronization Main spindle

Temperature error correction - CL1) - -

Quadrant error correction - CL1) - -

Cogging torque compensation - CL1) CL1) -

Measuring wheel mode - - CL1) -

Positive stop drive procedure OL/CL + + +

Redundant motor encoder CL1) +1) +1) +1)

Spindle positioning - - - CL1)

Parameter set switching OL/CL CL3) 4) OL/CL4) OL/CL

Drive-controlled oscillation - - - OL/CL 1)


Parking axis OL/CL + + +

Programmable position switch - CL 1)2) CL 1)2) -

Set/shift coordinate system - CL 1) CL1) CL1)


Integrated safety technology Only available via the corresponding hardware configuration

+ Extended axis function already contained in base package (for


characteristic see base package)
- Extended axis function not possible
OL Open-loop characteristic
CL Closed-loop characteristic
1) Not for the MPE firmware variant
2) Not for the MPM firmware variant
3) For the MPE firmware variant only (8 switchable parameter
sets, all parameter groups)
4) In the functional packages "Servo function" and "Synchroniza‐
tion", only the "Application" and "Control loop" parameter
groups can be switched. MPB/MPC features 8 switchable pa‐
rameter sets, MPM only features 4 switchable parameter sets.
Tab. 5-7: Availability of the extended axis functions
To use a functional package, it has to have been activated (enabled). The
currently enabled functional packages are displayed in parameter "P-0-2004,
Active functional packages".
See also "Enabling functional packages"
Availability of the optional device functions
The following overview illustrates in which base or functional packages the
respective optional device function is available (if not stated otherwise, this
applies to all firmware versions MPB, MPE, MPC and MPM).

In base package In functional package …


Optional device function
(characteristic) Servo function Synchronization Main spindle

Cross communication (CCD)4) OL/CL + + +

IndraMotion MLD Additive functional packages (TF, ML, MA or ME)1) 2) 3)


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In base package In functional package …


Optional device function
(characteristic) Servo function Synchronization Main spindle

Digital inputs/outputs1) OL/CL + + +

Analog inputs1) OL/CL + + +

Virtual master axis generator3) OL/CL - + -

Command value generator OL/CL + + +


Command value box CL + + +
Encoder emulation OL/CL + + +

Programmable position switch - CL2) CL2) -

Probe CL + + +
Position control encoder CL + + +

Measuring encoder1) - OL/CL2) OL/CL2) -

+ Optional device function already contained in base package


(for characteristic see base package)
- Optional device function not possible
OL Can be used in open-loop operation
CL Can be used in closed-loop operation
TF IndraMotion MLD, technology functions
ML IndraMotion MLD, Motion Logic Standard
MA IndraMotion MLD, Motion Logic Advanced
ME IndraMotion MLD, Dual Master Ethernet/IP sercos III
1) Depending on hardware configuration
2) Not for the MPE firmware variant
3) Not for the MPM firmware variant
4) Only with MPC firmware variant
Tab. 5-8: Availability of the optional device functions
To use a functional package, it has to have been activated (enabled). The
currently enabled functional packages are displayed in parameter "P-0-2004,
Active functional packages".
See also "Enabling functional packages"
Alternative functional packages
General information
In addition to the base packages that are always available, the alternative
functional packages are provided as optional expansion packages. When
these functional packages are used, only one package can be activated (al‐
ternative activation).
The following expansion packages are available:
● (Expanded) servo function
● Synchronization
● Main spindle function
● Sytronix
Servo function
Depending on the firmware variant and characteristic, the functional package
"Servo function" has the following scope of functions:
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MPB MPC MPE MPM

Relative return motion CL CL - -


Precision axis error correction CL CL - -
Temperature error correction CL CL - CL
Quadrant error correction CL CL - CL
Cogging torque compensation CL CL - CL
Programmable position switch CL CL - -
Set/shift coordinate system CL CL - -
Contained in
Parameter set switching (only the "Application" and "Control
CL CL base pack‐ -
loop" parameter groups)
age

CL Closed-loop characteristic
Tab. 5-9: Overview of the "Servo function" expansion package
Synchronization
Depending on the firmware variant and characteristic, the functional package
"Synchronization" has the following scope of functions:

MPB MPC MPE MPM

Velocity synchronization OL, CL OL, CL - OL, CL


Phase synchronization CL CL - CL
Electronic cam CL CL - CL
Electronic motion profile CL CL - CL
Cogging torque compensation CL CL - CL
Measuring wheel mode CL CL - CL
Programmable position switch CL CL - -
Measuring encoder OL, CL OL, CL - CL

Parameter set switching OL,CL1) OL,CL1) - OL,CL2)

OL Open-loop characteristic
CL Closed-loop characteristic
1) 8 switchable parameter sets, only "Application" and "Control"
parameter groups
2) 4 switchable parameter sets, only "Application" and "Control"
parameter groups
Tab. 5-10: Overview of the "Synchronization" expansion package
Main spindle function
Depending on the firmware variant and characteristic, the functional package
"Main spindle" has the following scope of functions:
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MPB MPC MPE MPM

Spindle positioning CL CL - CL

Parameter set switching OL, CL OL, CL OL, CL1) OL, CL

Drive-controlled oscillation OL, CL OL, CL - OL, CL

OL Open-loop characteristic
CL Closed-loop characteristic
1) The functional package "Main spindle" is not available for MPE;
parameter set switching, however, is already available to the
full extent in both base packages (OL, CL)!
Tab. 5-11: Overview of the "Main spindle" expansion package
Sytronix
Depending on the firmware variant and characteristic, the functional package
"Sytronix" has the following scope of functions:

MPB MPC MPE MPM

Pressure and flow rate scaling OL, CL OL, CL - -


Command values/actual values of pressure and flow rate OL, CL OL, CL - -
Complex actuators (separate evaluation for motor encoder and
CL CL - -
encoder 1)
Controller output adaptation, parameterizable OL, CL OL, CL - -
Return motion error reaction CL CL - -

Parameter set switching (limited functionality) OL, CL2) OL, CL2) - -

OL Open-loop characteristic
CL Closed-loop characteristic
1) Contained in the expanded base package for MPE
2) 8 switchable parameter sets, only "Application" and "Control"
parameter groups
Tab. 5-12: Overview of the "Sytronix" expansion package
Additive functional packages
General information
So-called additive functional packages are part of the optional expansion
packages. Additive functional packages can be used in addition to the basic
function and one of the alternative functional packages (additive activation).
IndraMotion MLD (drive-integrated PLC)

Employing the "Advanced performance" level (P-0-0556, bit 2) is


not possible with the firmware MPB-18V08 and above, if an addi‐
tive functional package is used.

Additive functional package The following designs of the additive functional package are available:
● The "TF" design allows self-contained PLC programs (technology func‐
tions) by Rexroth to be loaded and used (see "Technology functions").
● The "ML" design allows Rexroth IndraMotion MLD-S / MLD-M to be
freely programmed.
● The "MA" design adds the use of self-contained technology function
blocks (library) to the "ML" design.
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 87/395
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Overview of the functional scope

● The "ME" design adds an Ethernet/IP scanner functionality to the "MA"


design that is provided in the form of an MLD library.

A technology function is a complete (compiled) PLC project that


can consist of multiple function blocks (conforming to IEC). A proj‐
ect is created by combining IEC or firmware function blocks and
mostly provides a complex and comprehensive functionality to
solve a specific technological application.
The technology functions can be loaded via IndraWorks (see also
MLD Application Manual: "Using technology functions").
Examples of technology functions: Following-on cutting devices,
pick&place, process controller (register controller, winding compu‐
tation,…), preventive maintenance, Sytronix…

See documentation "Rexroth IndraDrive, Rexroth IndraMotion MLD


(2G) as of MPx-18, Application Manual" (DOK-INDRV*-MLD3-**VRS*-AP;
mat. no.: R911338914) and "Rexroth IndraMotion MLD (2G) Libraries as of
MPx18, Reference Book" (DOK-INDRV*-MLD-SYSLIB3-RE; mat. no.:
R911338916).
Integrated safety technology
Introduction The integrated safety technology in the drive can only be used if the device is
equipped with an optional safety technology module "Lx" or "Sx".
Optional safety technology modules "Lx" provide functions of the "Safe stand‐
still" group. Optional safety technology modules "Sx" provide functions for
safe motion monitoring and safe standstill monitoring.
Optional packages The integrated safety technology can be expanded and supplemented by the
optional firmware supplements "Extended Safety Functions" and
"SafeMotion SIL3":
● Using the safety functions of safe absolute position monitoring (SLP,
SMP, SLE, SCA) requires the firmware supplement "Extended Safety
Functions" in addition to an optional safety technology module "Sx".
● By purchasing the firmware supplement "SafeMotion SIL3", all safety
functions comply with SIL 3.
"Extended Safety Functions" and "SafeMotion SIL3" can be ordered individu‐
ally or combined as "FWS" in addition to a firmware (FWA), either preconfig‐
ured when a device is ordered or subsequently to expand the functionality.
Safety technology function de‐ The chapter "Integrated safety technology "Safe Torque Off" and "Safe Brake
scriptions Control"" lists the safety technology functions depending on the optional
modules "Lx". For the descriptions of the safety functions, please see the
documentation "Rexroth IndraDrive Integrated Safety Technology "Safe
Torque Off" (as of MPx-16), Application Manual" (DOK-INDRV*-SI3-**VRS**-
AP; mat. no.: R911332634).
The chapter "Integrated safety technology "Safe Motion"" lists the safety
technology functions depending on the optional modules "Sx". For the
descriptions of the safety functions, please see the documentation "Rexroth
IndraDrive Integrated Safety Technology "Safe Motion" (as of MPx-18),
Application Manual" (DOK-INDRV*-SI3*SMO-VRS**-AP; mat. no.:
R911338920).
88/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

5.1.6 Performance data


Overview
Levels of control performance
For the control performance of the IndraDrive range, there are basically three
different levels with regard to the clock rates:
● Advanced performance
High control performance by shorter clock rates for the control loops and
the signal processing of inputs and outputs or drive-integrated PLC
(IndraMotion MLD).
● Basic performance
→ Standard control performance by medium internal clock rates for the
control loops and the signal processing of inputs/outputs or drive-inte‐
grated PLC (IndraMotion MLD)
● Economy performance
→ Low control performance due to reduced clock rates (cycle times) for
the control loops and signal processing of inputs/outputs.

Basic control section and "Advanced performance" setting are not


possible when functional package "MLD" is active.

Performance and clock rates


In this documentation, the clock rate data refer to the following characteristic
values:
● Current controller clock TA_current
● Velocity controller clock TA_velocity
● Position controller clock TA_position
● Cycle time of PLC (IndraMotion MLD) TMLD
● Cycle time of master communication TMastCom
The table below contains an overview of the clock rates depending on the re‐
spective control performance. The detailed assignment of clock rate to con‐
trol section design, performance level and parameter setting is contained in
the table "Performance depending on the control section design" in section
"Control section design and performance" (see below).

The control performance is not synonymous with the control sec‐


tion design, because it is determined by several factors.

The available performance depends on the following requirements and pa‐


rameter settings:
● Device configuration and the associated drive firmware (MPB, MPC,
MPM and MPE)
● Activation of functional packages (cf. P-0-2004)
● Performance level in "P-0-0556, Config word of axis controller"
● Switching frequency in "P-0-0001, Switching frequency of the power
output stage"
See also "Overview of drive control"
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 89/395
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Control section design and performance


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

PWM switching 2)
Perform. level
Functional
packages

TA_position
TA_velocity
TA_current
fPWM 1)

TMLD
Drive system
and/or

2 kHz No 250 μs
HCS01.1 / MPB 4 kHz Yes 125 μs 1000 µs
CSB02.1 / MPB Basic 8 kHz Yes 125 μs 250 μs 500 μs
All3) (not available with
CSB02.5 / MPB MPM)
12 kHz Yes 83.3 μs
KSM02.1 / MPB
16 kHz Yes 62.5 μs
KMS02.1 / MPB
KMS03.1 / MPB 4 kHz No 125 μs
All3), except
CDB02.1 / MPM Advanced 8 kHz Yes 62.5 μs 125 μs 250 μs Not available
MLD
16 kHz Yes 62.5 μs
2 kHz No 250 μs
4 kHz Yes 125 μs
Basic 8 kHz Yes 125 μs 250 μs 500 μs
HCS01.1 / MPC
12 kHz Yes 83.3 μs
CSH02.1 / MPC All3) 1000 µs
16 kHz Yes 62.5 μs
CSH02.5 / MPC
4 kHz No 125 μs
Advanced 8 kHz Yes 62.5 μs 125 μs 250 μs
16 kHz Yes 62.5 μs

HCS01.1 / MPE 4 kHz No 125 μs


All3) Economy 500 μs 1000 μs Not available
CSE02.1 / MPE 8 kHz No 125 μs

HCQ02.1 / MPM 4 kHz No 125 μs


All3) Basic 250 μs 500 μs Not available
HCT02.1 / MPM 8 kHz No 125 μs

1) Switching frequency of the power output stage, device-depend‐


ent (can be set via P-0-0001)
2) Reduction of the PWM frequency depending on velocity or load
(can be set via P-0-0045)
3) The selection of functional packages depends on the drive sys‐
tem and on the control section/firmware
Tab. 5-13: Performance depending on the control section design
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Control section performance with sercos and EtherCAT


Position
Performance clock Bus clock
MPE MPB / MPM MPC
level TA_posi‐ TMastCom/µs
tion/µs

No MLD
No 2nd encoder
250 250 Not possible ok
No synchronization modes

Advanced Reduced cyclic data 1)


No MLD
250 500 Not possible ok
No synchronization modes
250 ≥1000 Not possible No MLD ok
500 250 Not possible Not possible Not possible
Basic 500 500 Not possible No synchronization modes ok
500 ≥1000 Not possible ok ok

1000 1000 Reduced cyclic data 1) Not relevant Not relevant


Economy
1000 ≥1000 ok Not relevant Not relevant

1) With sercos MDT/AT: 22 bytes


CC connection: 12 bytes
Safety connection: 10 bytes
1) With EtherCAT SoE MDT/AT: 26 bytes
CoE MDT/AT: 24 bytes
Tab. 5-14: Control section performance with sercos and EtherCAT
Control section performance with Ethernet/IP, PROFINET and PROFIBUS
Position Bus
Performance clock clock
MPE MPB / MPM MPC
level TA_posi‐ TMast‐
tion/µs Com/µs

250 250 Not possible Not possible Not possible


Reduced cyclic data (24
250 500 Not possible Not possible
bytes)

Advanced No MLD
Reduced cyclic data (32
250 1000 Not possible No 2nd encoder
bytes)
Reduced cyclic data (32 bytes)
250 ≥2000 Not possible No MLD ok
500 250 Not possible Not possible Not possible
Reduced cyclic data (24
500 500 Not possible Not possible
bytes)
Basic
Reduced cyclic data (32
500 1000 Not possible Reduced cyclic data (32 bytes)
bytes)
500 ≥2000 Not possible ok ok
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 91/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Position Bus
Performance clock clock
MPE MPB / MPM MPC
level TA_posi‐ TMast‐
tion/µs Com/µs

1000 1000 Not possible Not relevant Not relevant


Economy
1000 ≥2000 ok Not relevant Not relevant

Tab. 5-15: Control section performance with Ethernet/IP, PROFINET and


PROFIBUS
Performance at reduced switching frequency
At switching frequencies of 4 kHz, 8 kHz, 12 kHz or 16 kHz and the corre‐
sponding setting in parameter "P-0-0045, Control word of current controller"
type of PWM clocking), the switching frequency is automatically reduced by
half to increase the ability of the controller to withstand thermal loads:
● Depending on the thermal load of the controller
● Depending on the velocity
When the reduction of the PWM frequency is used, the switching frequency
of the power output stage is changed, but not the cycle times! The perform‐
ance is not reduced!
See "Current limitation: Principles of current limitation"
Automatic PWM adjustment see chapter "Dynamic current limitation", section
"Continuous current of controller depending on work load at PWM of 12 kHz
or 16 kHz"

5.1.7 Drive controllers


Standard design of the IndraDrive controllers
Design of the IndraDrive controllers

Fig. 5-3: Standard design of the IndraDrive controllers


Power section The following are connected to the power section:
● Mains or DC bus voltage
92/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
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● 24 V control voltage
● Motor

The design versions of the power sections are described, respec‐


tively, in separate documentations (see "Reference documenta‐
tions").

Control section The control section additionally makes available connections for:
● Encoder
● Master communication
● Digital / analog inputs / outputs
● Optional Ethernet engineering
● Optional safety technology
● Optional memories for user data
● Optional encoder emulation
● Optional Engineering port
The control section is a separate part of the IndraDrive controller and is plug‐
ged in the power section. The drive controller is supplied ex works complete
with the control section. The control section may only be replaced by a quali‐
fied service engineer.

The available control sections are described in the separate docu‐


mentation "IndraDrive Control Sections CSB02, CSE02, CSH02,
CDB02" (DOK-INDRV*-CSx02-CDB02-PRxx-EN-P; mat. no.:
R911338962).

Special design of the IndraDrive controllers

Fig. 5-4: Special design of the IndraDrive controllers


Compact converters, special de‐ ● IndraDrive Cs (HCS01), compact single-axis converter
sign
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 93/395
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Overview of the functional scope

In contrast to the usual device design with power sections and control
sections that can be explicitly ordered, the control section and power
section of the HCS01 controller (IndraDrive Cs) are inseparably integra‐
ted in one device.
For information on the functional and performance features of HCS01
controllers, see "Rexroth IndraDrive Cs, Drive Systems with HCS01",
Project Planning Manual, mat. no. R911322210, DOK-INDRV*-
HCS01******-PR**-EN-P.
● IndraDrive C (HCQ, HCT), compact multi-axis converter
Also in contrast to the usual device design, each of the compact HCT
and HCQ controllers can operate 3 - 4 axes. The control section and
power section are inseparably integrated in one device.
For information on the functional and performance features, see
"Rexroth IndraDrive, Drive Controllers HCQ02, HCT02", Project Plan‐
ning Manual, mat. no. R911324185, DOK-INDRV*-HCQ-T+HMQ-
TPRxx-EN-P.
Inverters for cabinet free drive ● IndraDrive Mi (KSM02.1, distributed servo drive)
technology
⇒ Synchronous servo motors with integrated inverter
In KSM (distributed servo drive), the control section and the power sec‐
tion are integrated in the motor (synchronous servo motor), safety tech‐
nology and MultiEthernet options are optionally available.
See also separate documentations:
– "Rexroth IndraDrive Mi, Drive Systems with KCU02 KSM02,
KMS02/03, KMV03, KNK03" (DOK-INDRV*-KCU02+KSM02-PR**-
EN-P; mat. no.: R911335703)
● Rexroth IndraDrive Mi (KMS02.1, distributed drive controller)
⇒ Compact inverter with control section for near motor mounting
In KMS (distributed drive controller), the control section and the power
section are integrated and remote from the motor. Due to the high de‐
gree of protection, KMS can be mounted as near as possible to the mo‐
tor. Safety technology and MultiEthernet options are optionally available.
This variant of IndraDrive Mi does not have a HIPERFACE® encoder in‐
terface.
See also separate documentations:
– "Rexroth IndraDrive Mi Distributed Drive Controller KMS02" (DOK-
INDRV*-KMS02******-IT**-EN-P; mat. no.: R911339112).
– "Rexroth IndraDrive Mi Distributed Servo Drive KSM02" (DOK-
INDRV*-KSM02******-IT**-EN-P; mat. no.: R911339106)
Power sections, drive systems
All HMS01, HMD01, HCS02, HCS03 and HCS04.2 power sections from the
table below with the production date FD: 07W01 and above are supported
(07W01 means production year 2007, week 01).
Plus the HMU05 controllers.
Power sections
94/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
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Power sections

HMS01.1N-W0020-A-07-NNNN
HMS01.1N-W0036-A-07-NNNN
HMS01.1N-W0054-A-07-NNNN
HMS01.1N-W0070-A-07-NNNN
HMS01.1N-W0110-A-07-NNNN
HMS01.1N-W0150-A-07-NNNN
HMS01.1N-W0210-A-07-NNNN
HMS01.1N-W0350-A-07-NNNN
HMD01.1N-W0012-A-07-NNNN
HMD01.1N-W0020-A-07-NNNN
HMD01.1N-W0036-A-07-NNNN
HMS02.1N-W0028-A-07-NNNN
HMS02.1N-W0054-A-07-NNNN
HCS02.1E-W0012-A-03-xNNx
HCS02.1E-W0028-A-03-xNNx
HCS02.1E-W0054-A-03-xNNx1)
HCS02.1E-W0070-A-03-xNNx1)
HCS03.1E-W0070-A-05-xNxx
HCS03.1E-W0100-A-05-xNxx
HCS03.1E-W0150-A-05-xNxx
HCS03.1E-W0210-A-05-xNxx
HCS03.1E-W0350-A-05-xNxx
HCS04.2E-W0290-N-0x-xNxN
HCS04.2E-W0350-N-0x-xNxN
HCS04.2E-W0520-N-0x-xNxN
HCS04.2E-W0640-N-0x-xNxN
HCS04.2E-W0790-N-0x-xNxN
HCS04.2E-W1010-N-0x-xNxN
HCS04.2E-W1240-N-0x-xNxN
HCS04.2E-W1540-N-0x-xNxN

HMU05.1N-F0140-0350-N-4A-D7-NN2)
HMU05.1N-F0170-0430-N-4A-D7-NN2)
HMU05.1N-F0220-0510-N-4A-D7-NN2)
HMU05.1N-F0270-0660-N-4A-D7-NN2)
HMU05.1N-F0340-0820-N-4A-D7-NN2)
HMU05.1N-F0430-1040-N-4A-D7-NN2)
HMU05.1N-F0540-1300-N-4A-D7-NN2)
HMU05.1N-F0680-1690-N-4A-D7-NN2)

1) As of week 30/2007
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 95/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

2) No restriction as regards the production period


Tab. 5-16: Power sections

The message "F8118 Invalid power section/firmware


combination" is output for devices of an older production date.

Drive systems
For HCS01, HCQ, HCT, KMS and KSM, there are no restrictions as regards
the production period.

Drive systems

HCS01.1E-W00xx-A-0x-x-xx-EC-xx-xx-NN-FW
KMS02.1B-A0xx-P-D7-ET-xxx-xx-xx-FW
KSM02.1B-0xxC-xxN-xx-Hxx-ET-xx-D7-xx-FW
KMS03.1B-xxxx-P-D7-ET-END-xx-xx-FW
HCQ02.1E-W-00xx-A-03-B-L8-1S-xx-xx-NN-xx
HCT02.1E-W00xx-A-03-B-xx-xx-xx-xx-NN-xx

Tab. 5-17: Drive systems

Control sections and optional modules


In their basic configuration, all control sections already contain modules for
encoder evaluation (EC) and master communication (ET, S3, CC). The table
below shows the control sections supported by the MPx-20VRS firmware, as
well as possible optional modules.

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

Control section types → CSE02.1 CSB02.1 CDB02.1 CSH02.1


CSB02.5 CSH02.5

ECONOMY BASIC BASIC ADVANCED


"Single-axis" "Single-axis" "Multi-axis" "Single-axis"
Firmware variant → MPE-20VRS MPB-20VRS MPM-20VRS MPC-20VRS
Optional modules for master communication

PB PROFIBUS-DP - ■ ■
3)


CN CANopen - ■ -
3)


ET MultiEthernet - - -
3)

Optional modules for encoder evaluation



EC Multi-encoder interface - ■ ■
2)
96/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
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Control section types → CSE02.1 CSB02.1 CDB02.1 CSH02.1


CSB02.5 CSH02.5

EM Encoder emulation - ■ ■
2)

Optional modules for safety technology



L3 STO (Safe Torque Off) ■ ■ ■
2)


S4 Safe Motion - ■ ■
2)


SB Safe Motion Bus - ■ ■
2)


S5 Safe Motion - ■ ■
2)

Optional modules for I/O extension



DA I/O extension digital/analog - ■ ■
2)

Optional modules for communication


ET MultiEthernet - - - ■

EP Engineering Port ■ - -
1)

1)Only available with CSB02.1A


2)Only available with CSB02.1B
3)Only available with CSH02.xB-CC

Tab. 5-18: Supported control section configurations

In their basic configuration, all HCS01 controllers already contain modules for
encoder evaluation (EC) and master communication (ET, S3, CC). The table
below shows the optional modules supported by the MPx-20VRS firmware.

Device HCS01.1

ECONOMY BASIC ADVANCED


"Single-axis" "Single-axis" "Single-axis"
Firmware variant → MPE-20VRS MPB-20VRS MPC-20VRS
Optional modules for master communication
ET MultiEthernet - - ■
PB PROFIBUS-DP - ■ ■
CN CANopen - ■ ■
Optional modules for encoder evaluation
EC Multi-encoder interface - ■ ■
EM Encoder emulation - ■ ■
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 97/395
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Device HCS01.1
Optional modules for safety technology
L3 STO (Safe Torque Off) ■ ■ ■
STO (Safe Torque Off) and SBC
L4 ■ ■ ■
(Safe Brake Control)
S4 Safe Motion - ■ ■
SB Safe Motion Bus - ■ ■
S5 Safe Motion - ■ ■
Optional modules for I/O extension
DA I/O extension digital/analog - ■ ■
Optional modules for communication
ET MultiEthernet - ■ ■
EP Engineering Port ■ ■ -

Tab. 5-19: Supported control section configurations

In their basic configuration, all distributed drive controllers KMS0x and


KSM02 servo drives already contain the ET master communication module.
The table below shows the optional modules supported by the MPx-20VRS
firmware.

Device KSM02.1 KMS02.1 KMS03.1

BASIC BASIC BASIC


"Single-axis" "Single-axis" "Single-axis"
Firmware variant → MPB-20VRS MPB-20VRS MPB-20VRS
Optional modules for master communication
ET MultiEthernet - - -
Optional modules for encoder evaluation
ENH Encoder HIPERFACE® - ■ -
Encoder HIPERFACE ® and digital
END - - ■
encoder
Optional modules for safety technology
L3 Safe Torque Off (STO) ■ ■ ■
S3 Safe Motion (without SBC) ■ ■ -
SD Safe Motion ■ ■ ■
Optional module MultiEthernet
TO MultiEthernet output coupling ■ ■ ■
External master communication
ES ■ ■ ■
MultiEthernet

Tab. 5-20: Supported control section configurations


98/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

The table below shows the optional modules for compact multi-axis convert‐
ers HCT and HCQ supported with MPx20VRS.

Device HCT02.1 HCQ02.1

BASIC BASIC
"Multi-axis" "Multi-axis"
Firmware variant → MPM-20VRS MPM-20VRS
Optional modules for master communication
ET Multi-protocol EtherNet ■ -
PB PROFIBUS ■ -
L8 Embedded PC, LX 800 ■ ■
Optional modules for encoder evaluation
Number of encoder evaluations in basic device 4 5
Optional modules for I/O extension
D1 Digital I/O extension (DEA40.1) ■ ■

Tab. 5-21: Supported control section configurations


All controllers or control sections have a different number of interfaces for op‐
tional modules, which are listed in the table below.

Controller or control section Number of optional module slots

KMS02.1, KSM02.1, KMS03.1 1


HCS01, HCQ02.1, HCT02.1, CSB02.1A,
2
CSE02.1
CSB02.xB, CSH02.x 3
CDB02.1 4

Tab. 5-22: Number of optional card slots

5.1.8 Supported motors and measuring systems


Supported motors
The following table contains an overview of the Rexroth motors supported by
this firmware:

Rexroth housing motors Rexroth kit motors


Synchronous Asynchronous Synchronous Asynchronous

MLF (IndraDyn L)
MSK (IndraDyn S) MAD (IndraDyn A)
MBS (IndraDyn H)
MSM MAF (IndraDyn A) 1MB
MCL
MS2N MAL
MBT (IndraDyn T)

Tab. 5-23: Appropriate Rexroth motors for IndraDrive


In addition to the Rexroth motors, it is basically possible to operate three-
phase third-party motors (synchronous and asynchronous motors) at
IndraDrive controllers. However, it is necessary to check whether the specific
motor type can be controlled (see chapter "Third-party motors" in "Rexroth
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 99/395
Rexroth IndraDrive MPx-20 Version Notes

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IndraDrive, Drive System, R911309636, DOK-INDRV*-SYSTEM*****-PR0x-


…..").

The operation of SBC motors of the manufacturer Parker is direct‐


ly supported by motor-type-specific parameters made available in
the encoder data memory!

Supported measuring systems


Supported encoder systems Encoder systems with a supply voltage of 5 and 12 V:
● MSM motor encoder (with HCS01 only)
● MSK motor encoder
● Sin-cos encoder 1 Vpp; HIPERFACE®
● Sin-cos encoder 1 Vpp; EnDat2.1
● Sin-cos encoder 1 Vpp; with reference track
● 5V-TTL square-wave encoder; with reference track
● Sin-cos encoder 1 Vpp and SSI encoder (combined encoder for SSI)
● SSI encoder
● Resolver, available with MPx20V06 and above
● EnDat 2.2
● Safety4Wire
Other encoder systems For the following combinations, the evaluation of an analog enoder and addi‐
tional Hall sensors is not yet supported in this firmware release of MPx20 and
below:
● MCL motor with L1 option (analog Hall sensors)
● MCL motor with L0 option (digital Hall sensors)

5.1.9 Documentations
Drive systems, system components
Drive systems, system components

Title Kind of documentation Document typecode1) Material number


Rexroth IndraDrive … DOK-INDRV*-… R911…

…Cs Project Planning Manual HCS01******-PRxx-EN-P 322210


Drive Systems with HCS01
…Mi Project Planning Manual KCU02+KSM02-PRxx-EN-P 335703
Drive Systems with KCU02
KSM02, KMS02/03, KMV03
Drive Systems with HMV01/02 Project Planning Manual SYSTEM*****-PRxx-EN-P 309636
HMS01/02, HMD01, HCS02/03
Supply Units, Power Sections Project Planning Manual HMV-S-D+HCS-PRxx-EN-P 318790
HMV, HMS, HMD, HCS02, HCS03
ML, Drive Systems with HMU05 Project Planning Manual Hxx05******-PRxx-EN-P 344279
100/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Title Kind of documentation Document typecode1) Material number


Rexroth IndraDrive … DOK-INDRV*-… R911…

Drive Controllers Project Planning Manual CSH********-PRxx-EN-P 295012


Control Sections CSB01, CSH01,
CDB01
Control Sections Project Planning Manual Cxx02******-PRxx-EN-P 338962
CSE02, CSB02, CDB02, CSH02
Additional Components and Accesso‐ Project Planning Manual ADDCOMP****-PRxx-EN-P 306140
ries

1) In the document typecodes, "xx" is a wild card for the current


edition of the documentation (example: PR01 is the first edition
of a Project Planning Manual)
Tab. 5-24: Documentations – Drive systems, system components
Drive Systems with Multi-Axis Drive Controllers

Title Kind of documentation Document typecode1) Material number


R911…

Rexroth IndraDrive Project Planning Manual DOK-INDRV*-HCQ-T+HMQ-T- 324185


Drive Controllers HCQ02, HCT02 PRxx-EN-P

Rexroth IndraDrive Project Planning Manual DOK-INDRV*-ADDCOMP****- 306140


Additional Components and Accesso‐ PRxx-EN-P
ries
Rexroth IndraControl VDP 80.1 Project Planning Manual DOK-SUPPL*-VDP*80.1***-PRxx- 329156
Machine Operator Panel EN-P

Operator Display

1) In the document typecodes, "xx" is a wild card for the current


edition of the documentation (example: PR01 is the first edition
of a Project Planning Manual)
Tab. 5-25: Documentations – Drive Systems, System Components
Motors
Title Type of documentation Document typecode1) Material number
Rexroth IndraDyn … DOK-MOTOR*-… R911…

A Asynchronous Motors MAD / MAF Project Planning Manual MAD/MAF****-PRxx-EN-P 295781


H Synchronous Kit Spindle Motors Project Planning Manual MBS-H******-PRxx-EN-P 297895
L Synchronous Linear Motors Project Planning Manual MLF********-PRxx-EN-P 293635
L Ironless Linear Motors MCL Project Planning Manual MCL********-PRxx-EN-P 330592
S Synchronous Motors MKE Project Planning Manual MKE*GEN2***-PRxx-EN-P 297663
S Synchronous Motors MSK Project Planning Manual MSK********-PRxx-EN-P 296289
S Synchronous Motors MSM Data Sheet MSM********-DAxx-EN-P 329338
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 101/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Title Type of documentation Document typecode1) Material number


Rexroth IndraDyn … DOK-MOTOR*-… R911…

S Synchronous Motors MS2N Project Planning Manual MS2N*******-PRxx-EN-P 347583


T Synchronous Torque Motors Project Planning Manual MBT********-PRxx-EN-P 298798

1) In the document typecodes, "xx" is a placeholder for the current


edition of the documentation (e.g.: PR01 is the first edition of a
Project Planning Manual)
Tab. 5-26: Documentations – motors
Cables
Title Kind of documentation Document typecode1) Material number
DOK-CONNEC-… R911…

Rexroth Connection Cables Selection Data CABLE*INDRV-CAxx-EN-P 322949


IndraDrive and IndraDyn

1) In the document typecodes, "xx" is a wild card for the current


edition of the documentation (example: CA02 is the second ed‐
ition of the documentation "Selection Data")
Tab. 5-27: Documentations – Cables
Firmware
Title Type of documentation Document typecode1) Material number
Rexroth IndraDrive ... DOK-INDRV*-… R911…

MPx-20 Application Manual MP*-20VRS**-APxx-EN-P 345608


Functions
MPx-20 Release Notes MP*-20VRS**-RNxx-EN-P 345606
Version Notes
Power Supply Basic PSB-20 Application Manual PSB-20VRS**-APxx-EN-P 345612
Functions
Power Supply Basic PSB-19 Application Manual PSB-19VRS**-APxx-EN-P 345602
Functions
MPx-18 Application Manual MP*-18VRS**-APxx-EN-P 338673
Functions
MPx-18 Release Notes MP*-18VRS**-RNxx-EN-P 338658
Version Notes
MPx-17 Application Manual MP*-17VRS**-APxx-EN-P 331236
Functions
MPx-17 Release Notes MP*-17VRS**-RNxx-EN-P 331588
Version Notes
MPx-16 Application Manual MP*-16VRS**-APxx-EN-P 326767
Functions
MPx-16 Release Notes MP*-16VRS**-RNxx-EN-P 329272
Version Notes
102/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Title Type of documentation Document typecode1) Material number


Rexroth IndraDrive ... DOK-INDRV*-… R911…

MPx-16 to MPx-20 and PSB Reference Book GEN1-PARA**-RExx-EN-P 328651


Parameters
MPx-16 to MPx-20 and PSB Reference Book GEN1-DIAG**-RExx-EN-P 326738
Diagnostic Messages
Integrated Safety Technology Application Manual SI3-**VRS**-APxx-EN-P 332634
"Safe Torque Off" (as of MPx-16)
Integrated Safety Technology Application Manual SI3*SMO-VRS-APxx-EN-P 338920
"Safe Motion" (as of MPx-18)
Rexroth IndraMotion MLD Reference Book MLD-SYSLIB2-RExx-EN-P 332627
Libraries as of MPx-17
Rexroth IndraMotion MLD Reference Book MLD-SYSLIB3-RExx-EN-P 338916
Libraries as of MPx-18
Rexroth IndraMotion MLD Application Manual MLD2-**VRS*-APxx-EN-P 334351
as of MPx-17
Rexroth IndraMotion MLD Application Manual MLD3-**VRS*-APxx-EN-P 338914
As of MPx-18

1) In the document typecodes, "xx" is a placeholder for the current


edition of the documentation (e.g.: RE02 is the second edition
of a Reference Book)
Tab. 5-28: Documentations – Firmware
Control unit
Title Type of documentation Document typecode1) Material number
Rexroth IndraMotion MTX micro DOK-MTXMIC-… R911…

Easy setup for Standard Turning and Commissioning Manual EASY*******-COxx-EN-P 332281
Milling Machines
12VRS Manual SYS*DES*V12-RExx-EN-P 334369
System Description
12VRS Manual NC*FUNC*V12-APxx-EN-P 334357
Functional Description
12VRS Reference Book MA*PAR**V12-RExx-EN-P 334365
Machine Parameters
12VRS Manual NC**PRO*V12-RExx-EN-P 334361
Programming Manual

1) In the document typecodes, "xx" is a placeholder for the current


edition of the documentation (e.g.: RE02 is the second edition
of a Reference Book)
Tab. 5-29: Documentations – Control unit
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 103/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

5.2 Master communication


WARNING Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
● Keep free and clear of the ranges of motion of machines and moving
machine parts.
● Prevent personnel from accidentally entering the machine’s range of
motion (e.g., by safety fence, safety guard, protective covering, light bar‐
rier).
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● In addition, observe the safety message "Protection Against Dangerous
Movements" in the chapter "Safety Instructions for Electric Drives and
Controls".

5.2.1 Basic functions of master communication


Brief description
General information
The same basic functions of master communication for IndraDrive devices
apply to:
● MultiEthernet interface with
– sercos
– EtherCAT®
– PROFINET®
– EtherNet/IPTM
– Ethernet POWERLINK
● Field bus interface
● Analog interface
The protocol is selected or deactivated via "P-0-4089.0.1, Master
communication: Protocol" (alias: P-0-2310).
IP engineering can also be carried out via the MultiEthernet interface. This
function is maintained after the master communication has been switched off.
When the EtherCAT® protocol has been activated, IP engineering cannot be
carried out, because it is not supported by EtherCAT®; EoE (Ethernet over
EtherCAT) can be used for EtherCAT® instead.
Notes on parameter access The following mechanisms are available for control units that cannot access
4-byte EIDN parameters:
● 4-byte EIDNs with sercos element and sercos instance = 0, which are
available in the drive, can be accessed as 2-byte IDNs. Example: Pa‐
rameter P-0-4006.0.0 via P-0-4006
● The below-mentioned 4-byte EIDNs with sercos element or sercos in‐
stance unequal 0 are mapped to the assigned 2-byte IDN parameters

4-byte EIDN parameter 2-byte IDN parameter

P-0-4089.0.1, Master communication: Protocol P-0-2310, Master communication: Protocol


P-0-4089.0.2, Master communication: Device name P-0-2311, Master communication: Device name
104/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

4-byte EIDN parameter 2-byte IDN parameter


P-0-4089.0.3, Device Address P-0-2303, Device Address
P-0-4089.0.4, Active Device Address P-0-2304, Active Device Address
P-0-4089.0.5, Master communication: Configuration P-0-2318, Master communication: Configuration
P-0-4089.0.6, Sync failures monitoring threshold P-0-2728, Sync failures monitoring threshold
P-0-4089.0.10, Master communication: MAC address device P-0-2312, Master communication: MAC address device
P-0-4089.0.11, Master communication: MAC address Port1 P-0-2313, Master communication: MAC address Port1
P-0-4089.0.12, Master communication: MAC address Port2 P-0-2314, Master communication: MAC address Port2
P-0-4089.0.13, Master communication: IP address P-0-2315, Master communication: IP address
P-0-4089.0.14, Master communication: Network mask P-0-2316, Master communication: Network mask
P-0-4089.0.15, Master communication: Gateway address P-0-2317, Master communication: Gateway address

Tab. 5-30: Parameters for configuring the master communication

Using the above-mentioned mechanisms, all parameters can thus


be accessed via 2-byte IDNs. The CCD configuration parameters
represent the only exception.

Features

When the field bus card (PROFIBUS® and CANopen) has been
plugged in, it is only possible to change between inactive master
communication and PROFIBUS® or CANopen master communi‐
cation. Switching to sercos®, EtherCAT®, EtherNet/IPTM,
PROFINET® or POWERLINK is impossible.
Without the field bus card, only sercos was possible as the mas‐
ter communication for IndraDrive Cs with the MPE-18VRS
(Economy) firmware; with MPE-20VRS and above, EtherCAT
(SoE and CoE) is available in addition to sercos.

● Protocol selection via the control panel or "P-0-4089.0.1, Master


communication: Protocol" (alias: P-0-2310)
● IP engineering is supported depending on the protocol
● Master communication engineering is supported depending on the pro‐
tocol
● Command processing
→ Drive commands to be externally activated (via master communica‐
tion, "Engineering over IP" or control panel)
● Device control (state machine)
→ Individual state machines for master communication and device
– According to the variant of master communication, the master com‐
munication state machine has a different functionality and com‐
plexity. The communication-specific states are distinguished and
mapped to the status words of the corresponding master communi‐
cation (e.g. for sercos: "S-0-0135, Drive status word"; "S-0-1045,
sercos: Device Status (S-Dev)".
– The device state machine is independent of the variant of master
communication and maps the device-specific states to parameter
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 105/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

"S-0-0424, Status parameterization level". We always distinguish


between the operating mode (OM) and the parameter mode (PM).
● Extended control options
– Signal control word (S-0-0145) and signal status word (S-0-0144)
– Multiplex channel
See chapter "Control options / additional functions".

The state machine of the master communications is briefly out‐


lined in this section; it will be described in detail, i.e. including the
individual status transitions, in the main chapter of the respective
master communication.

Pertinent parameters
The following parameters are used independent of the variant of master com‐
munication:
Parameters for state machine and ● S-0-0011, Class 1 diagnostics
phase switching
● S-0-0012, Class 2 diagnostics
● S-0-0013, Class 3 diagnostics
● S-0-0014, Interface status
● S-0-0420, C0400 Activate parameterization level procedure command
● S-0-0422, C0200 Exit parameterization level procedure command
● S-0-0423, IDN-list of invalid data for parameterization levels
● S-0-0424, Status parameterization level
● P-0-4086, Master communication status
● P-0-4088, Master communication: Drive configuration
Operation mode parameters ● S-0-0032, Primary operation mode
● S-0-0033, Secondary operation mode 1
● S-0-0034, Secondary operation mode 2
● S-0-0035, Secondary operation mode 3
● S-0-0284, Secondary operation mode 4
● S-0-0285, Secondary operation mode 5
● S-0-0286, Secondary operation mode 6
● S-0-0287, Secondary operation mode 7

Control and status words specific For the "sercos" interface, the following additional parameters are used:
to sercos
● S-0-0134, Master control word
● S-0-0135, Drive status word
● S-0-1044, sercos: Device Control (C-Dev)
● S-0-1045, sercos: Device Status (S-Dev)
Field-bus-specific parameters The following additional parameters are used for field buses:
● P-0-4068, Field bus: Control word IO
● P-0-4077, Field bus: Control word
● P-0-4078, Field bus: Status word
Specific parameters for analog in‐ The following additional parameters are used for the analog interface:
terface
106/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

● P-0-4028, Device control word


● P-0-0115, Device control: Status word
Pertinent diagnostic messages
● C0100 Communication phase 3 transition check
● C5200 Communication phase 4 transition check
● C0200 Exit parameterization level procedure command
● C0400 Activate parameterization level 1 procedure command

5.2.2 Control options / additional functions


Configurable signal control word
Brief description
The signal control word allows individual control bits, that are available in dif‐
ferent parameters, to be written by a freely configurable collective parameter.
The configurable signal control word is used to accept a maximum of 16 cop‐
ies of bits from other drive parameters.
Possible applications This functionality can be used, for example,
● for setting bits in drive parameters and for starting commands via the cy‐
clic channel (master communication),
● for defining an application-specific combination of 16-bit wide control
and status words which can then be transmitted in the cyclic data chan‐
nel.

For sercos and field bus interfaces the parameter "S-0-0145,


Signal control word" has to be accordingly configured in the cyclic
data so that the configured control bits are evaluated.

Pertinent parameters ● S-0-0027, Configuration list for signal control word


● S-0-0145, Signal control word
● S-0-0329, Assign list signal control word
● S-0-0399, IDN-list of configurable data in signal control word
Configurable signal status word
Brief description
The configurable signal status word is used to accept a maximum of 16 cop‐
ies of bits from other drive parameters. The user can thereby freely configure
a bit list with status bits. This allows a bit list to be defined which contains all
the important pieces of status information of the drive for the control unit.
Pertinent parameters ● S-0-0026, Configuration list for signal status word
● S-0-0144, Signal status word
● S-0-0328, Assign list signal status word
● S-0-0398, IDN-list of configurable data in signal status word
Multiplex channel
Brief description
The multiplex channel is an expansion of the cyclic data channel. By means
of index assignment and switching, cyclic access to list elements is possible
for the multiplex channel, too.
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 107/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

The "multiplex channel" mechanism cannot be used with the ana‐


log interface.

Features ● 8 multiplex containers with 4 bytes each are available for cyclic com‐
mand value data (MDT) and cyclic actual value data (AT)
● Multiplex data to be transmitted is addressed via parameter "S-0-0368,
Data container A: Addressing" (L-byte for MDT; H-byte for AT)
● Individual elements from list parameters can be addressed via parame‐
ters S-0-0362 and S-0-0366
● Multiplex data are transmitted in communication cycle
Possible applications Using the multiplex channel it is possible:
● To increase the number of transmittable bytes in the cyclic real-time
channel (command and actual values) by multiplexing data
● To transmit the multiplex data in every cycle with a cycle time of "Tscyc x
quantity of multiplex data" by incrementing the addressing index
(S-0-0368)
● To achieve operation mode dependent configuration of the cyclic data
by index switching in case the operation mode is changed

When IndraMotion MLC and IndraDrive MLD-M are used, the


multiplex channel is used for communication between MLC or
MLD-M and the drive and can therefore no longer be used freely.

Pertinent parameters Parameters for command value channel:


● S-0-0362, Data container A: List index command values
● S-0-0368, Data container A: Addressing
● S-0-0360, Data container A: Command value 1
● S-0-0450, Data container A: Command value 2
- to -
S-0-0456, Data container A: Command value 8
Parameters for actual value channel:
● S-0-0366, Data container A: List index feedback values
● S-0-0364, Data container A: Feedback value 1
● S-0-0480, Data container A: Feedback value 2
- to -
S-0-0486, Data container A: Feedback value 8
Configuration lists of the command value data containers:
● S-0-0370, Data container A: Configuration list command value-1
● S-0-0490, Data container A: Configuration list command value 2
- to -
S-0-0496, Data container A: Configuration list command value 8
Configuration lists of the actual value data containers:
● S-0-0371, Data container A: Configuration list feedback value-1
● S-0-0500, Data container A: Configuration list feedback value 2
- to -
S-0-0506, Data container A: Configuration list feedback value 8
108/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Pertinent diagnostic messages ● C0151 IDN for command value data container not allowed
● C0152 IDN for actual value data container not allowed
● C0238 Order of cyclic command value configuration incorrect
● E4008 Invalid addressing command value data container A
● E4009 Invalid addressing actual value data container A

5.2.3 Master communication operating modes


Introduction and overview
Overview of commanding options and operating modes
An external control master (remote mode) can command the drive, or it can
be commanded internally via IndraMotion MLD or the available inputs/outputs
(local mode).
The figure below contains an overview of the drive commanding options.

* MultiEthernet is not available for PROFIBUS, interfaces can be


used for engineering
** Only as of MPx17 and not possible for EtherCAT
Fig. 5-5: Overview of commanding options for an IndraDrive device
Operating modes and changes of The overview below shows the basically possible operating states and the
states actions required for change/transition from one operating mode to the other.
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 109/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Fig. 5-6: Operating states and operating modes of master communication


Device control and state machine According to the type of master communication or setting of the device con‐
trol, different control words take effect. Internally, however, all relevant control
bits are always displayed in parameter "P-0-0116, Device control: Control
word".

The actual state machines of master communication are descri‐


bed in the section "Device control and state machines"!

Normal operation (via internal or external control unit)


In the so-called normal operation, the command triggering for the drive takes
place via an internal (IndraMotion MLD) or external control unit (e.g.
IndraMotion MTX or MLC); we distinguish the following cases:
● Remote mode with active master communication (standard case)
Command triggering for the axis takes place via the master communica‐
tion (sercos, field bus, analog interface).
Special case [respective configuration via "P-0-4089.0.1, Master
communication: Protocol" (alias: P-0-2310)]:
– Analog mode for sercos or field bus devices (master communica‐
tion has been deactivated and a device with sercos or field bus in‐
terface is permanently operated via the digital/analog inputs/
outputs)
See also "Special cases of operation with external control unit"
110/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

● MLD mode (stand-alone "Motion Control")


→ The PLC integrated in the drive (IndraMotion MLD) commands the ax‐
is or, in conjunction with cross communication (CCD), an entire axis
group.
→ Configuration via parameter P-0-1367 (see also "Stand-alone motion
control" in the separate documentation "IndraMotion MLD, Application
Manual")
Local setting-up mode / emergency mode (easy startup mode)
During operation, the drive can due to the situation change to a local mode
for setting-up or to remedy an emergency (e.g. bus failure). We distinguish
the following operating modes:
● Setting-up mode (easy startup mode)
For commissioning or the setting-up procedure, the drive can temporari‐
ly be moved via the inputs/outputs (digital and analog), independently of
the external master (e.g., field bus interfaced PLC or NC) or the internal
control (IndraMotion MLD).
● Emergency mode in the case of bus failure (freezing the last command
values)
Even if the master communication fails, it is possible to continue ope‐
rating the drive in an emergency mode via the (local) inputs/outputs at
the device.

Using the emergency mode requires the corresponding configura‐


tion in the parameter "P-0-4088, Master communication: Drive
configuration"; the automatic activation of the easy startup mode
can be set in this parameter, if necessary.

5.2.4 Profile types (with field bus interfaces)


Brief description
Supported profile types, overview
When a field bus interface is used for master communication, IndraDrive con‐
trollers support the following profile types (modes):
● "No profile"
● I/O mode positioning
● I/O mode preset velocity
● Freely configurable mode (IndraDrive profile type)
The tables below contain an overview of the most important properties and
features of these 4 profile types.
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 111/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Profile type: "No profile"


Content of "P-0-4084,
Application: Profile Master commu‐
type" nication Field bus or drive operation mode Features

PROFIBUS® - Field bus control word and field bus sta‐


tus word are not available in the cyclic data
CANopen
- With the profile type "No profile", all - Field bus control word and field bus sta‐
PROFINET® settings relevant to the profile type tus word are deactivated and cannot be
EtherNet/IPTM are deactivated written via acyclic services
0x0000
sercos - The profile type "No profile" is in‐ - Free configuration of real-time data
tended for MLD applications with
EtherCAT - Drive is controlled via MLD
"permanent control"
(CoE)
- Drive can be controlled via dig./analog in‐
POWERLINK puts

Tab. 5-31: Profile type "No profile"

I/O mode positioning


Content of "P-0-4084,
Application: Profile Master commu‐
type" nication Field bus or drive operation mode Features

- Up to 64 positioning blocks can be con‐


trolled via field bus
PROFIBUS®
- Apart from control word and status word,
CANopen I/O mode positioning (positioning other real-time data can be configured (in
0x0002
PROFINET® block mode, encoder 1, lagless) P-0-4080 and P-0-4081)
EtherNet/IPTM - Bits can be freely defined in signal status
word via "configurable signal status word"
POWERLINK
function

Tab. 5-32: Profile type "I/O mode positioning"

FSP Drive (sercos profile)


Content of "P-0-4084,
Application: Profile Master commu‐
type" nication Field bus or drive operation mode Features

EtherNet/IPTM
Control and status words used: S-0-0134/
PROFINET®
0x0102 Drive profile acc. to sercos III S-0-0135
sercos
All operation modes are supported
PROFIBUS®

Tab. 5-33: Profile type "FSP Drive (sercos profile)"


112/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

CiA402 drive profile


Content of "P-0-4084,
Application: Profile Master commu‐
type" nication Field bus or drive operation mode Features

Control word/status word: 0x6040/0x6041


EtherCAT Supported operation modes are
(CoE)
● cyclic sync position mode
0x0402 POWERLINK Drive profile acc. to CiA402
● cyclic sync velocity mode
CANopen
(CoC) ● cyclic sync torque mode
● homing mode

Tab. 5-34: Profile type "CiA402 drive profile"

Servodrive profile without evaluation of "drive enable" bit


Content of
"P-0-4084,
Application: Profile Master commu‐
type" nication Field bus or drive operation mode Features

S-0-0134, bit 14, not evaluated


POWERLINK Control and status words used S-0-0134/
0xF002 Drive profile acc. to sercos II
EtherCAT (SoE) S-0-0135
All operation modes are supported

Tab. 5-35: Profile type "Servodrive without evaluation of „drive enable” bit"

FSP Drive without evaluation of "drive enable" bit


Content of "P-0-4084,
Application: Profile Master commu‐
type" nication Field bus or drive operation mode Features

sercos
EtherCAT S-0-0134, bit 14, not evaluated
(CoE) Control and status words used S-0-0134/
0xF102 Drive profile acc. to sercos III
POWERLINK S-0-0135
CANopen All operation modes supported
(CoC)

Tab. 5-36: Profile type "FSP Drive without evaluation of "drive enable" bit"
FF00
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 113/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

I/O mode positioning


Content of "P-0-4084,
Application: Profile Master commu‐
type" nication Field bus or drive operation mode Features

- Up to 64 positioning blocks can be con‐


trolled via field bus
PROFIBUS®
- Apart from control word and status word,
CANopen I/O mode positioning (positioning other real-time data can be configured (in
0xFF82
PROFINET® block mode, encoder 1, lagless) P-0-4080 and P-0-4081)
EtherNet/IPTM - Bits can be freely defined in signal status
word via "configurable signal status word"
POWERLINK
function

Tab. 5-37: Profile type "I/O mode positioning"

I/O mode preset velocity


Content of "P-0-4084,
Application: Profile Master commu‐
type" nication Field bus or drive operation mode Features

- Fixed velocity command values can be


controlled and ramp-function generator can
PROFIBUS® be operated via field bus
CANopen - Apart from control word and status word,
0xFF92 PROFINET® I/O mode preset velocity other real-time data can be configured (in
EtherNet/IPTM P-0-4080 and P-0-4081)

POWERLINK - Bits can be freely defined in signal status


word using "configurable signal status
word" function

Tab. 5-38: Profile type "IO mod""e preset velocity"

Freely configurable mode


Content of "P-0-4084,
Application: Profile Master commu‐
type" nication Field bus or drive operation mode Features

- Possible use of complete drive functional‐


PROFIBUS® ity by free configuration of real-time data
CANopen Freely configurable mode and operation mode selection
0xFFFE PROFINET® (Default assignment is "drive-control‐ - Control word and status word have a
led positioning" with corresponding Rexroth-specific structure
EtherNet/IPTM required cyclic data)
POWERLINK - Selection suited for operation with analog
command values in commissioning phase
0xFFFD As for profile 0xFFFE, but reduced field bus control word

Tab. 5-39: Profile type "freely configurable mode"


Pertinent parameters ● S-0-0026, Configuration list for signal status word
● S-0-0144, Signal status word
● S-0-0328, Assign list signal status word
● P-0-4068, Field bus: Control word IO
● P-0-4071, Field bus: Length of cyclic command value data channel
114/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
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Overview of the functional scope

● P-0-4074, Field bus: Data format


● P-0-4077, Field bus: Control word
● P-0-4078, Field bus: Status word
● P-0-4080, Field bus: Config. list of cyclic actual value data ch.
● P-0-4081, Field bus: Config. list of cyclic command value data ch.
● P-0-4082, Field bus: Length of cyclic actual value data channel
● P-0-4083, Parameter channel: Length
● P-0-4084, Application: Profile type
Supported profile types, basic principles and terms
Drive profile The drive profile defines
● the structure of the field bus control word (P-0-4077) and of the field bus
status word (P-0-4078),
● the structure and content of real-time channel (P-0-4080, P-0-4081),
● the active operation mode (S-0-0032, S-0-0033, S-0-0034, S-0-0035),
● the drive states and their transitions (state machine of IndraDrive profile
type or I/O mode).
By selecting a profile type, the commissioning of field bus drives becomes
very easy for the user. The advantage of the profile selection is that all impor‐
tant basic settings for the desired drive function are thereby made automati‐
cally in the drive. As the profile types are defined independently of the bus,
the transfer of applications from one field bus to the other is also facilitated.
State machine A state (e.g. Drive Halt, drive error, …) represents a specific internal and ex‐
ternal behavior. The state can be exited by defined events (e.g. drive com‐
mands, switching of operation modes, …). Corresponding state transitions
are assigned to the events. The interaction of control and status bits and the
state transitions are called state machine.
Abbreviations ● i16: Signed 16-bit variable (1 word) in Intel format
● i32: Signed 32-bit variable (2 words) in Intel format
● u16: Unsigned 16-bit variable (1 word) in Intel format
● u32: Unsigned 32-bit variable (2 words) in Intel format
● ZKL1: Class 1 diagnostics
● ZKL2: Class 2 diagnostics

5.2.5 sercos
Brief description
Topology
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 115/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

1 Engineering via inactive sercos port of a node at the bus


2 Engineering via optional sercos netSWITCH
3 Engineering via IndraWorks on sercos control
4 Engineering via routing using control unit (if routing control is
available)
Fig. 5-7: Engineering options via sercos
It is possible to operate IndraDrive controllers with a MultiEthernet interface
(ET) or the optional module "sercos" as sercos master communication. Via
these modules it is possible to exchange real-time data with a sercos master.
We distinguish the following communication channels:
● Cyclic data channel
→ Channel for cyclic transmission of useful data (process data) in real
time
● Acyclic data channel (service channel)
→ Channel for acyclic transmission of useful data (service data)
● Non-real-time channel (NRT channel)
→ Defined time slot within the cycle time for transmission of standard
Ethernet telegrams
General features ● Hotplug is supported
● Standard sercos Diagnostic Trace
● Transmission rate 100 Mbit/s
● Cyclical data exchange of command and actual values in equal time in‐
tervals
● Data transmission via Ethernet cable (CAT5e-copper)
● Service channel for parameterization and diagnostics
● Free configuration of telegram contents
● Synchronization between time command value takes effect and meas‐
urement starting time of the actual values for all devices on a ring
116/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

● Overall synchronization of all connected devices


Firmware-specific features

BASIC ECONOMY ADVANCED MULTIAXIS


MPB-20VRS MPE-20VRS MPC-20VRS MPM-20VRS

Position controller cycle Tposition µs 250/500 1000 250 500

Master communication cycle min µs 250/500 2000 250 500


time max ms 65 65 65 65
Byte 26 26 26 26
Motion data Tsercos=Tposition
for MDT/AT respectively IDN 12 12 12 12

[excl. 2 byte connection con‐ Byte 50 50 50 50


trol word (C_Con)] Tsercos>Tposition
IDN 16 16 16 16

CC connections Byte 12 12 12 12
[excl. 2 byte connection control word (C_Con)] IDN 2 2 2 2
Byte 10 10 10 10
Safety connections SMP SMP SMP SMP
IDN
Container Container Container Container

Tab. 5-40: sercos key data


● IndraDrive supports 6 connections, 2 between control unit and drive and
4 CC connections for direct communication with one or several other no‐
des

CC connections or connections for exchanging safety data were


implemented in this firmware version in accordance with the
sercos specification (SCP V1.1.2). Regarding use and configura‐
tion, see Technical Note "TN_332_CC-Verbindun‐
gen_SERCOS3_EIDN.pdf"

The number of configurable bytes in consumer/producer connec‐


tions depends on the relation of the position cycle time (P-0-0556,
bit 2) to the sercos cycle time:
● sercos cycle time = position cycle time → max. length 26
bytes / 12 IDNs
● sercos cycle time > position cycle time → max. length 50
bytes / 16 IDNs
The NRT channel is only possible, if a time slot of more than
125 µs is available.

Hardware requirements
Optional module with sercos com‐ IndraDrive Cs
munication
ECONOMY HCS01.1E-W00xx-A-0x-E-S3-EC-NN-xx-NN-FW
IndraDrive control section
ECONOMY CSE02.1A-S3-EC-NN-xx-NN-FW

Tab. 5-41: Control section design for "sercos interface"


DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 117/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Optional module with IndraDrive Cs


MultiEthernet communication
ADVANCED HCS01.1E-W00xx-A-0x-A-CC-EC-xx-xx-NN-FW
IndraDrive Mi
Distributed servo drive KSM02.1B-xxxC-xxN-xx-Hxx-ET-NN-D7-xx-FW
KMS02.1B-Axxx-P-D7-ET-xxx-xx-xx-FW
Distributed drive controller
KMS03.1B-xxxx-P-D7-END-xx-xx-FW
Drive connection box KCU02.1N-ET-ET-025-NN-N-NN-NN
IndraDrive control sections
CSB02.1x-ET-EC-xx-xx-xx-NN-FW
BASIC single-axis
CSB02.5B-ET-EC-xx-xx-xx-NN-xx
BASIC double-axis CDB02.1B-ET-EC-EC-xx-xx-xx-xx-NN-FW
CSH02.1B-CC-EC-xx-xx-xx-NN-FW
ADVANCED single-axis
CSH02.5B-ET-EC-xx-xx-xx-NN-xx

Tab. 5-42: Control section design for MultiEthernet


Axis addressing The axis address can be set directly using the control panel of the drive. This
can be done using the so-called Easy Menu (see also "Standard control pan‐
el").

Fig. 5-8: Submenu for "Slave___" "_Addresss"


Alternatively, the address can be directly changed or displayed using the pa‐
rameter "S-0-1040, Drive address of master communication". With sercos the
address can be set remotely and automatically via the master using remote
address assignment. This function has to be supported by the master, e.g.
the CCD master. On this topic, see chapter "Cross communication (CCD)".
The topology address of the drive determined in communication phase 0
(CP0) is displayed in parameter "S-0-1042, sercos: Topology index".
The axis address is always displayed in the left side of the standard display
of the control panel.
Pertinent parameters Specific parameters for sercos communication:
● S-0-1000, sercos: SCP Type & Version
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Overview of the functional scope

● S-0-1002, sercos: Communication Cycle time (tScyc)


● S-0-1003, sercos: Allowed MST losses
● S-0-1005, sercos: Minimum feedback processing time (t5)
● S-0-1006, sercos: AT0 transmission starting time (t1)
● S-0-1007, sercos: Feedback acquisition capture point (t4)
● S-0-1008, sercos: Command value valid time (t3)
● S-0-1009, sercos: Device Control (C-Dev) offset in MDT
● S-0-1010, sercos: Lengths of MDTs
● S-0-1011, sercos: Device Status (S-Dev) offset in AT
● S-0-1012, sercos: Length of ATs
● S-0-1013, sercos: SVC offset in MDT
● S-0-1014, sercos: SVC offset in AT
● S-0-1015, sercos: Ring delay
● S-0-1016, sercos: Slave delay (P/S)
● S-0-1017, sercos: NRT transmission time
● S-0-1019, Master comm. engineering over IP: MAC address
● S-0-1020, Master comm. engineering over IP: IP address
● S-0-1021, Master comm. engineering over IP: Network mask
● S-0-1022, Master comm. engineering over IP: Gateway address
● S-0-1023, sercos: SYNC jitter
● S-0-1024, C5300 sercos: SYNC delay measuring procedure command
● S-0-1026, sercos: Version of communication hardware
● S-0-1027.0.1, sercos: Requested MTU
● S-0-1027.0.2, sercos: Effective MTU
● S-0-1028, sercos: Error counter MST-P/S
● S-0-1031, sercos: Signal assignment TSx
● S-0-1034, sercos: PHY error counter Port1 and Port2
● S-0-1035, sercos: Error counter Port1 & Port2
● S-0-1035.0.1, sercos: Error counter P&S
● S-0-1036, sercos: Inter Frame Gap
● S-0-1037, sercos: Slave Jitter
● S-0-1040, Drive address of master communication
● S-0-1041, sercos: AT Command value valid time (t9)
● S-0-1042, sercos: Topology index
● S-0-1044, sercos: Device Control (C-Dev)
● S-0-1045, sercos: Device Status (S-Dev)
● S-0-1046, sercos: Slave addresses of the device
● S-0-1047, sercos: Maximum Consumer Activation Time
● S-0-1050.x.1, sercos Connection: Connection setup
● S-0-1050.x.2, sercos Connection: Connection number
● S-0-1050.x.3, sercos Connection: Telegram assignment
● S-0-1050.x.4, sercos Connection: Max. length of connection
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 119/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

● S-0-1050.x.5, sercos Connection: Current length of connection


● S-0-1050.x.6, sercos Connection: Configuration list
● S-0-1050.x.7, sercos Connection: Connection class
● S-0-1050.x.8, sercos Connection: Connection control (C-Con)
● S-0-1050.x.9, sercos Connection: State
● S-0-1050.x.10, sercos Connection: Producer cycle time
● S-0-1050.x.11, sercos Connection: Allowed data losses
● S-0-1050.x.12, sercos Connection: Error counter data losses
● S-0-1050.x.20, sercos Connection: IDN allocation of real-time bit
● S-0-1050.x.21, sercos Connection: Bit allocation of real-time bit
● S-0-1051, sercos Connection: Image of connection setups
● S-0-1060.x.1, sercos Connectiontype: Default configuration
● S-0-1060.x.2, sercos Connectiontype: Configuration mask
● S-0-1060.x.3, sercos Connectiontype: Max. quantity of conn. Capability
● S-0-1060.x.4, sercos Connectiontype: Max. Length of Connection
● S-0-1060.x.6, sercos Connectiontype: Configurable IDNs
● S-0-1060.x.7, sercos Connectiontype: Min. processing time
● S-0-1060.x.10, sercos Connectiontype: Minimum producer cycle time
Pertinent diagnostic messages ● A0000 Communication phase 0
● A0001 Communication phase 1
● A0002 Communication phase 2
● A0003 Communication phase 3
● A0008 sercos: NRT-Mode
● E4020 sercos: Ring interruption (FF to LF)
● E4040 sercos: Hot-plug error
● E4041 sercos: HP0 Cycle Time invalid
● E4042 sercos: HP0 MDT length invalid
● E4043 sercos: HP0 AT length invalid
● E4044 sercos: HP0 MTU size invalid
● E4045 sercos: HP0 NRT window invalid
● E4046 sercos: HP supported removed
● E4047 sercos: HP enabled removed
● F4001 Sync telegram failure
● F4002 RTD telegram failure
● F4003 Invalid communication phase shutdown
● F4004 Error during phase progression
● F4005 Error during phase regression
● F4006 Phase switching without ready signal
● F4017 sercos: Incorrect sequence during phase switch
● F4020 sercos: Cable break (L+F to NRT)

5.2.6 EtherCAT®
Brief description
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Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Topology

Fig. 5-9: Engineering options with EtherCAT®


1. Engineering network side (Engineering PC connected to control)
● Using EoE
Note: EtherCAT master has to support and serve EoE within the
EtherCAT network and provides routing into EtherCAT network
● Using ADS/Keba-dll
Note: Only working with Beckhoff and Keba control
● Using 3rd Party control connection
Note: Control has to support and implement 3rd party interface
2. EtherCAT network side (Engineering PC connected to the EtherCAT
network via a coupling device)
Note: Connecting Engineering PC directly to the EtherCAT network is
not supported due to limitations of EtherCAT
● With the support for EoE using an Ethernet Switch Port (e.g.,
EL6601 by Beckhoff)
Note: EtherCAT master has to support and serve EoE within the
EtherCAT network
3. Drive side (Engineering PC directly connected to the drive)
● Optional Engineering port with Economy and Basic IP20 devices
Note: Option not available for IP65 devices
● Engineering port with Advanced drives
4. Control side (IndraWorks running on the control)
● Using EoE
Note: EtherCAT master has to support and serve EoE within the
EtherCAT network and provide an EoE Endpoint within the control
● Using ADS/Keba-dll
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 121/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Note: Only working with Beckhoff and Keba control


● Using 3rd Party control connection
Note: Control has to support and implement 3rd party interface
IndraDrive controllers with MultiEthernet interface (ET) can be operated as
EtherCAT® master communication. Via these modules it is possible to ex‐
change real-time data with an EtherCAT® master. The "Servo Drive Profile
over EtherCAT® (SoE)" is supported on the one hand, which is based on the
drive profile from the SERCOS II specification. In addition, it is possible to op‐
erate the drive via CoE. The drive can then be operated via the DS402 profile
of CiA.
We distinguish the following communication channels:
● Cyclic data channel (process data)
→ Data container for cyclic transmission of useful data (process data) in
real time
● Acyclic data channel (service channel)
→ EtherCAT® mailbox method for acyclic transmission of useful data
(service data)
● Non-real time channel [Ethernet over EtherCAT® (EoE)]
→ Transmission of Ethernet telegrams via an EtherCAT® mailbox meth‐
od [Ethernet over EtherCAT® (EoE)]
General features ● Transmission rate 100 Mbit/s
● Data transmission via Ethernet cable (CAT5e-copper)
● Topology: "Line"
● 16-bit sercos parameters of the drive are accessed via "SoE" protocol
("Servo Drive Profile over EtherCAT®" protocol)
● CANopen objects are accessed via CoE
● With CoE set it is possible to use the following CiA402 operation modes
(see also chapter "Operation modes, field bus profile CiA402", chapter
"Brief description" on page 280):
– Cyclic sync position mode
– Cyclic sync velocity mode
– Cyclic sync torque mode
– Cyclic homing mode
● EtherCAT® mailbox method for parameterization and diagnostics
● Cyclic data exchange of command values and actual values
● Free configuration of telegram contents
● Max. length of the configurable MDT/AT data, 15 IDNs with max. 48
bytes; if bus clock = position clock, the max. length is reduced by half to
24 bytes
● Cycle time: min. 250 µs (multiples of the position cycle time can be set)
● Optional synchronization via "distributed clock synchronization" (exact
adjustment of distributed clocks)
● Synchronization between time command value takes effect and meas‐
urement starting time of the actual values for all drives on a ring when
using Distributed Clocks
● Overall synchronization of all connected drives to the master when us‐
ing Distributed Clocks
122/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

● Non-synchronous operation without synchronization via "Distributed


Clock" is possible
● FSoE is supported
● Configured Station Address is supported
Comparison of ADS - EoE ADS EoE

Yes
Parameter w / r (16 bits only, Yes
alias required)
FWA update No Yes
Transmission rate O +
Openness Beckhoff only Yes
Parameters via control unit Yes Yes
Switch port function in an
IndraDrive master axis.
Solution
As a prerequisite, the control unit
has to support EoE Endpoint.
CoE / SoE SoE only CoE and SoE

ADS Automation Device Specification by Beckhoff


Tab. 5-43: Comparison of ADS - EoE
Hardware requirements The "EtherCAT®" master communication requires the following control sec‐
tion design:

IndraDrive Cs
BASIC HCS01.1E-W00xx-A-0x-B-ET-EC-xx-xx-NN-FW
ADVANCED HCS01.1E-W00xx-A-0x-A-CC-EC-ET-xx-NN-FW
ECONOMY HCS01.1E-W00xx-A-0x-E-S3-EC-EP-xx-NN-FW
IndraDrive Mi
Distributed servo drive KSM02.1B-xxxC-xxN-xx-Hxx-ET-NN-D7-xx-FW
KMS02.1B-Axxx-P-D7-ET-xxx-xx-xx-FW
Distributed drive controller
KMS03.1B-xxxx-P-D7-ET-END-xx-xx-FW
Drive connection box KCU02.1N-ET-ET*-025-NN-N-NN-NN
IndraDrive control sections

Basic control section - single-ax‐ CSB02.1x-ET-EC-xx-xx-xx-NN-FW


is CSB02.5B-ET-EC-xx-xx-xx-NN-FW
Basic control section - double-
CDB02.1B-ET-EC-EC-xx-xx-xx-xx-NN-FW
axis
Economy control section - sin‐
CSE02.1A-S3-EC-NN-L3-NN-FW
gle-axis

Advanced control section - sin‐ CSH02.1B-CC-ET-xx-xx-NN-FW


gle-axis CSH02.5B-ET-xx-xx-xx-NN-xx

* See central standard ZN 41001-021


Tab. 5-44: Control section design for EtherCAT
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 123/395
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Overview of the functional scope

Axis addressing The axis address can be set directly using the control panel of the drive. This
can be done using the so-called Easy Menu, see also "Standard control pan‐
el". Alternatively, the address can be directly changed or displayed via the
parameter"P-0-4089.0.3, Device Address" (alias: P-0-2303). The topology
address of the drive is assigned by the master and displayed in the parame‐
ter "P-0-4089.0.4, Active Device Address" (alias: P-0-2304), and cannot be
changed. With EtherCAT®, this address is used as the "Device Identification
Value / 2nd Address".
Pertinent parameters ● P-0-4089.0.3, Device Address
(alias: P-0-2303)
● P-0-4089.0.4, Active Device Address
(alias: P-0-2304)

● S-0-0001, NC cycle time (TNcyc)


● S-0-0002, sercos cycle time (TScyc)
● S-0-0005, Minimum feedback acquisition time (T4min)
● S-0-0007, Feedback acquisition starting time (T4)
● S-0-0014, Interface status
● S-0-0015, Telegram type parameter
● S-0-0016, Configuration list of AT
● S-0-0024, Configuration list of MDT
● S-0-0029, MDT error counter
● S-0-0097, Mask class 2 diagnostics
● S-0-0098, Mask class 3 diagnostics
● S-0-0134, Master control word
● S-0-0135, Drive status word
● S-0-0185, Length of the configurable data record in the AT
● S-0-0186, Length of the configurable data record in the MDT
● S-0-0187, List of configurable data in the AT
● S-0-0188, List of configurable data in the MDT
● S-0-0301, Allocation of real-time control bit 1
● S-0-0303, Allocation of real-time control bit 2
● S-0-0305, Allocation of real-time status bit 1
● S-0-0307, Allocation of real-time status bit 2
● S-0-0413, Bit number allocation of real-time control bit 1
● S-0-0414, Bit number allocation of real-time control bit 2
● S-0-0415, Bit number allocation of real-time status bit 1
● S-0-0416, Bit number allocation of real-time status bit 2
Pertinent diagnostic messages ● C0101 Invalid parameters (-> S-0-0021)
● C0104 Config. IDN for MDT not configurable
● C0105 Maximum length for MDT exceeded
● C0106 Config. IDNs for AT not configurable
● C0107 Maximum length for AT exceeded
● C0108 Time slot parameter > sercos cycle time
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Overview of the functional scope

● C0112 Set timing not permissible


● C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error
● C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
● C0201 Invalid parameters (->S-0-0423)
● C0299 Configuration changed. Restart
● E4005 No command value input via master communication
● F4002 RTD telegram failure
● F4009 Bus failure

5.2.7 EtherNet/IP(TM) interface


Brief description
Topology

1 Engineering via inactive EtherNet/IPTM port of a node at the


bus
2 Engineering using optional industrial Ethernet switch
3 Engineering using third-party control is not possible
Fig. 5-10: EtherNet/IP(TM) topology
IndraDrive controllers with MultiEthernet interface can be operated as
EtherNet/IPTM master communication. This module can be used to exchange
real-time data with an EtherNet/IPTM scanner.
Real-time data can be transmitted via this interface using an I/O connection
(Class 1 connection).
To achieve high system flexibility, all data are accessible via objects. With
Ethernet/IPTM interfaces, these objects can be addressed via class, instance
and attribute. Some of these objects can be assigned to the I/O connection
as real-time data and thus be cyclically transmitted. There is also the option
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 125/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

of transmitting via "Explicit Message", but no objects defined in the real-time


channel (P-0-4081) may be written by the master via "Explicit Message".
Features ● Transmission rate 100 Mbit/s (full duplex)
● Data transmission via Ethernet cable (CAT5e-copper)
● Topologies: "Star", "line" (with integrated cut through switch)
● Autonegotiation is supported; the transmission rate listed above is re‐
quired
● Profile type is "Generic Device", specified in ODVA 2.0 (Open Device‐
Net Vendors Association)
● EtherNet/IPTM Level 2 server
● Cyclic exchange via "Ethernet/IPTM I/O messaging" (Class 1)
● Acyclic data exchange via "Ethernet/IPTM Unconnected Explicit Messag‐
ing" and "Explicit Messaging" (Class 3)
● The smallest supported cycle time (API → Actual Packet Interval) is
2 ms.
● Configurable cyclic data up to 15 parameters (incl. field bus control word
and field bus status word) in both data directions (max. 48 bytes or
24 words)

● It is recommended that the industrial Ethernet network not


be coupled with a company network (office communica‐
tions). (Alternatively, a Level 3 router can be used to connect
the industrial Ethernet network to a company network.)
● It is recommended that only switches with cut through meth‐
od be used for industrial Ethernet communication.
● It is recommended that a star topology with cable type
AWG22 or shielded cables be used, particularly for cables
that exit the control cabinet and for cables longer than 10
meters.

● Supported field bus profiles:


– 0x0000: "No profile"
– 0xFF82: I/O mode "positioning" with configurable real-time data
– 0xFF92: I/O mode "preset velocity" with configurable real-time data
– 0xFFFD: Freely configurable mode "Neutral operation modes"
– 0xFFFE: Freely configurable mode
Hardware requirements The "Ethernet/IPTM" master communication requires the following control sec‐
tion design:

IndraDrive Cs
BASIC HCS01.1E-W00xx-A-0x-B-ET-EC-xx-xx-NN-FW
ADVANCED HCS01.1E-W00xx-A-0x-A-CC-EC-ET-xx-NN-FW
IndraDrive Mi
Distributed servo drive KSM02.1B-xxxC-xxN-xx-Hxx-ET-NN-D7-xx-FW
KMS02.1B-Axxx-P-D7-ET-xxx-xx-xx-FW
Distributed drive controller
KMS03.1B-xxxx-P-D7-ET-END-xx-xx-FW
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Overview of the functional scope

Drive connection box KCU02.1N-ET-ET*-025-NN-N-NN-NN


IndraDrive control sections

Basic control section - single-ax‐ CSB02.1x-ET-EC-xx-xx-xx-NN-FW


is CSB02.5B-ET-EC-xx-xx-xx-NN-FW
Basic control section - double-
CDB02.1B-ET-EC-EC-xx-xx-xx-xx-NN-FW
axis

Advanced control section - sin‐ CSH02.1B-CC-ET-xx-xx-NN-FW


gle-axis CSH02.5B-ET-xx-xx-xx-NN-xx

* See central standard ZN 41001-021


Tab. 5-45: Control section design for Ethernet/IPTM
Axis addressing With EtherNet/IP the master communication address is an IP address. It is
set in "P-0-4089.0.13, Master communication: IP address" (alias: P-0-2315).

The device address set in "P-0-4089.0.3, Device Address" (alias:


P-0-2303) is applied to the parameter "P-0-4089.0.4, Active
Device Address" (alias: P-0-2304) after the device has been re‐
started. This address is shown on the display and is irrelevant for
the EtherNet/IP communication!
Pertinent parameters ● P-0-4073, Field bus: Diagnostic message
● P-0-4074, Field bus: Data format
● P-0-4075, Field bus: Watchdog
● P-0-4076, Field bus: Process data - updating clock
● P-0-4079, Field bus: Baud rate
● P-0-4088, Master communication: Drive configuration
● P-0-4089.0.2, Master communication: Device name
(alias: P-0-2311)
● P-0-4089.0.10, Master communication: MAC address device
(alias: P-0-2312)
● P-0-4089.0.13, Master communication: IP address
(alias: P-0-2315)
● P-0-4089.0.14, Master communication: Network mask
(alias: P-0-2316)
● P-0-4089.0.15, Master communication: Gateway address
(alias: P-0-2317)
Profile type parameters
Apart from mere communication parameters, parameters are used in con‐
junction with the profile types.
See "Profile types (with field bus interfaces)"
Parameters for extended communication
Additional parameters are used for extended communication.
See the following sections:
● "Configurable signal control word"
● "Configurable signal status word"
● "Multiplex channel"
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Pertinent diagnostic messages ● C0229 Field bus: IDN for cycl. command val. not configurable
● C0230 Field bus: Max. length for cycl. command val. exceeded
● C0231 Field bus: IDN for cycl. actual val. not configurable
● C0232 Field bus: Length for cycl. actual values exceeded
● C0233 Field bus: Tcyc (P-0-4076) incorrect
● C0234 Field bus: P-0-4077 missing for cycl. command values
● C0299 Configuration changed. Restart
● E4005 No command value input via master communication
● E4006 Communication module overload
● E4011 Communication watchdog: Overload of cyclic communication
● F4009 Bus failure
● F4011 Communication watchdog: Overload of cyclic communication

5.2.8 PROFINET®
Brief description
Topology

1 Engineering via inactive PROFINET® port of a node at the bus


2 Engineering using optional industrial Ethernet switch
3 Engineering using third-party control via TCI is not possible
Fig. 5-11: Engineering options with PROFINET®
IndraDrive controllers with MultiEthernet interface (ET) can be operated as
PROFINET® master communication. Via this module it is possible to ex‐
change real-time data with a PROFINET® controller.
The field bus provides data containers in which useful data can be cyclically
transmitted. This section is referred to as cyclic data channel (PROFINET®).
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The cyclic data channel is divided as follows:


● One (optional) device-specific parameter channel for reading and writing
of all parameters via PROFINET®.

The device-specific parameter channel does not fulfill any "real-


time properties"!

● One (optional) safe, axis-specific process data channel (PROFIsafe).

The safe, axis-specific process data channel is not available with


MPx18VRS and above. For configuration, however, the module
"F-Module not used" has to be integrated!

● One axis-specific process data channel (real-time channel) which con‐


tains specified information that can be directly interpreted by the receiv‐
er.

Fig. 5-12: Cyclic data channel overview

To simplify field bus communication, there are PLC function


blocks for different programmable logic controllers (PLCs) availa‐
ble. The function blocks support the basic functionalities of the ax‐
is-specific process data channel and device-specific parameter
channel. The principles applied can be easily used for other
PROFINET® controllers.

Features The PROFINET® device interface with MultiEthernet interface has the follow‐
ing features:
● Ethernet in accordance with IEEE 802.3 and prioritization in accordance
with IEEE 802.1Q
● Transmission rate 100 Mbit/s
● Data transmission via Ethernet cable (CAT5e-copper)
● Topologies: "Star", "line" (with integrated cut through switch)
● Assignment of the IP addresses via DCP protocol (Discovery and Basic
Configuration)
● The smallest supported cycle time (I/O cycle updating time) is 2 ms.

The IO cycle update time is written by the control unit and is the
time cycle in which the process data from the PROFINET network
are applied to the MultiEthernet interface and written in the other
direction.

● Configurable cyclic data up to 15 parameters (incl. field bus control word


and field bus status word) in both data directions (max. 48 bytes or
24 words)
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● Setting options via "P-0-4076, Field bus: Process data - updating clock",
min. 2 ms, max. 65 ms (can be set in steps of 1 ms).

The parameter "P-0-4076, Field bus: Process data - updating


clock" is used to set the update cycle with which the process data
from the MultiEthernet interface are applied to the drive and vice
versa.

In the planning, assembly and commissioning of an installation,


the following guidelines are referred to (designation: PROFINET
trilogy):
● Planning guideline
● Assembly guideline
● Commissioning guideline
The guidelines are made available by the administrative office of
the PNO (PROFIBUS Nutzerorganisation e. V.).

It is recommended that
● the industrial Ethernet network not be coupled with a compa‐
ny network (office communications). (Alternatively, a Level 3
router can be used to connect the industrial Ethernet net‐
work to a company network.)
● only switches with cut through method be used for industrial
Ethernet communication
● a star topology with cable type AWG22 or shielded cables
be used, particularly for cables that exit the control cabinet
and for cables longer than 10 meters

● Additional optional parameter channel in the cyclic channel with up to 16


bytes (8 words)
● LED for diagnosing PROFINET® status (network status)
● LEDs for displaying the link/activity status
● CCA and RT_CLASS_1 are supported
● Diagnostic messages and alarms are not used due to reasons of com‐
patibility with IndraDrive controllers with the PROFIBUS® master com‐
munication module.
● PROFINET® IRT is not supported.
● Operation in PROFINET® IRT networks is not possible
● Supported field bus profiles:
– 0x0000: "No profile" selected
– 0xFF82: I/O mode "positioning" with configurable real-time data
– 0xFF92: I/O mode "preset velocity" with configurable real-time data
– 0xFFFD: Freely configurable mode "Neutral operation modes"
– 0xFFFE: Freely configurable mode
Hardware requirements The "PROFINET®" master communication requires the following control sec‐
tion design:
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IndraDrive Cs
BASIC HCS01.1E-W00xx-A-0x-B-ET-EC-xx-xx-NN-FW
ADVANCED HCS01.1E-W00xx-A-0x-A-CC-EC-ET-xx-NN-FW
IndraDrive Mi
Distributed servo drive KSM02.1B-xxxC-xxN-xx-Hxx-ET-NN-D7-xx-FW
KMS02.1B-Axxx-P-D7-ET-xxx-xx-xx-FW
Distributed drive controller
KMS03.1B-xxxx-P-D7-ET-END-xx-xx-FW
Drive connection box KCU02.1N-ET-ET*-025-NN-N-NN-NN
IndraDrive control sections

Basic control section - single-ax‐ CSB02.1x-ET-EC-xx-xx-xx-NN-FW


is CSB02.5B-ET-EC-xx-xx-xx-NN-FW
Basic control section - double-
CDB02.1B-ET-EC-EC-xx-xx-xx-xx-NN-FW
axis

Advanced control section - sin‐ CSH02.1B-CC-ET-xx-xx-NN-FW


gle-axis CSH02.5B-ET-xx-xx-xx-NN-xx

* See central standard ZN 41001-021


Tab. 5-46: Control section design for MultiEthernet
Axis addressing A node in PROFINET is addressed using the so-called device name. This
name is saved in P-0-4089.0.2 (alias: P-0-2311) and can be changed there.

The device address set in "P-0-4089.0.3, Device Address" (alias:


P-0-2303) is applied to the parameter "P-0-4089.0.4, Active
Device Address" (alias: P-0-2304) after the device has been re‐
started. This address is shown on the display and is irrelevant for
the PROFINET communication!
Pertinent parameters Communication parameters
Specific parameters for communication via PROFINET®:
● P-0-4089.0.11, Master communication: MAC address Port1
(alias: P-0-2313)
● P-0-4089.0.12, Master communication: MAC address Port2
(alias: P-0-2314)
Parameters for general communication via field bus interfaces:
● P-0-4073, Field bus: Diagnostic message
● P-0-4074, Field bus: Data format
● P-0-4075, Field bus: Watchdog
● P-0-4076, Field bus: Process data - updating clock
● P-0-4079, Field bus: Baud rate
● P-0-4083, Parameter channel: Length
● P-0-4083.0.1, Parameter channel: Configuration
● P-0-4088, Master communication: Drive configuration
● P-0-4089.0.2, Master communication: Device name
(alias: P-0-2311)
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● P-0-4089.0.10, Master communication: MAC address device


(alias: P-0-2312)
● P-0-4089.0.13, Master communication: IP address
(alias: P-0-2315)
● P-0-4089.0.14, Master communication: Network mask
(alias: P-0-2316)
● P-0-4089.0.15, Master communication: Gateway address
(alias: P-0-2317)
Profile type parameters
Apart from mere communication parameters, parameters are used in con‐
junction with the profile types.
See "Profile types (with field bus interfaces)"
See also "Engineering/diagnostic interfaces"
Parameters for extended communication
Additional parameters are used for extended communication.
See the following sections:
● "Configurable signal control word"
● "Configurable signal status word"
● "Multiplex channel"
Pertinent diagnostic messages ● C0229 Field bus: IDN for cycl. command val. not configurable
● C0230 Field bus: Max. length for cycl. command val. exceeded
● C0231 Field bus: IDN for cycl. actual val. not configurable
● C0232 Field bus: Length for cycl. actual values exceeded
● C0233 Field bus: Tcyc (P-0-4076) incorrect
● C0234 Field bus: P-0-4077 missing for cycl. command values
● C0299 Configuration changed. Restart
● E4005 No command value input via master communication
● E4006 Communication module overload
● E4011 Communication watchdog: Overload of cyclic communication
● F4009 Bus failure
● F4011 Communication watchdog: Overload of cyclic communication
● F4012 Incorrect I/O length

5.2.9 Ethernet POWERLINK


Brief description
Topology
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Fig. 5-13:
IndraDrive controllers with MultiEthernet interface can be operated with
Ethernet POWERLINK master communication. Real-time data can be ex‐
changed with a Powerlink Managing Nodes via this module.
Features ● Transmission rate 100 Mbit/s (semi-duplex)
● Data transmission via Ethernet cable (CAT5e-copper)
● Topology: "Star", "line" (with integrated cut through switch)
● Depending on the variant that is used and the performance that has
been set, the smallest supported cycle time is 250 µs. Generally, inte‐
gral multiples of the position controller cycle time can be set. Any cycle
time is supported in non-synchronized operation.
● Configurable cyclic data up to a maximum of 15 parameters (incl. pro‐
file-dependent control word and status word) in both data directions
(max. 48 bytes or 24 words)
The mapping of the individual communication objects to P-parameters of the
drive and the mapping of the S- and P-parameters to CANOpen objects is
described in the Parameter Description.
Ethernet POWERLINK addressing Each Ethernet POWERLINK node (MN, CN and router) has an unequivocal
Node ID within an Ethernet POWERLINK segment. The Node ID is config‐
ured via the parameter "P-0-4089.0.3, Device Address" (alias: P-0-2303).
The value that was set is applied as the active Node ID when the drive is
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booted up. The currently active Node ID is displayed via the parameter
"P-0-4089.0.4, Active Device Address" (alias: P-0-2304). If drive controller
has an address selector switch, the setting of the switch is always displayed
in P-0-4089.0.3. The Node IDs 1 to 239 are used for a "Controlled Node".
The Node ID of a CN can be set either using hardware switches or via soft‐
ware configuration.
IP addressing Each Ethernet POWERLINK node has an IPv4 address, a subnet mask and
a default gateway. This IP address is used both for bus addressing and for
mere IP communication in the Basic Ethernet mode.
● IPV4 address
The Ethernet POWERLINK network is a class C network with the ad‐
dress 192.168.100.x
The host ID of the IPv4 address has to be identical to the Node ID of the
node. That is to say the last byte of the IP address has to have the
same value as the Ethernet POWERLINK Node ID.
Host ID value range of the drive: 1-239
192.168.100.POWERLINK Node ID

Fig. 5-14: IPV4 address


Subnet mask The subnet mask of an Ethernet POWERLINK has to be 255.255.255.0.
Default gateway The default gateway has to be the IP address 192.168.100.240, correspond‐
ing to the IP address of the Managing Node in the POWERLINK network.
Pertinent diagnostic messages ● A0004 Initialization
● A0005 Pre-Operational
● A0025 Basic ethernet mode
● A0026 Ready to operate
● C0229 Field bus: IDN for cycl. command val. not configurable
● C0230 Field bus: Max. length for cycl. command val. exceeded
● C0231 Field bus: IDN for cycl. actual val. not configurable
● C0232 Field bus: Length for cycl. actual values exceeded
● C0233 Field bus: Tcyc (P-0-4076) incorrect
● E4005 No command value input via master communication
● E4006 Communication module overload
● E4011 Communication watchdog: Overload of cyclic communication
● F4011 Communication watchdog: Overload of cyclic communication
● F4012 Incorrect I/O length
● C0201 Invalid parameters (->S-0-0423)
● C0299 Configuration changed. Restart
Diagnostics
STATUS/ERROR LED The bicolor BUS LED at the housing of the drive controller (H24) is available
for Ethernet POWERLINK communication diagnostics.
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BUS state LED color LED control

OFF, INITIALISATION, NOT_ACTIVE Green LED off


BASIC_ETHERNET Green LED on, flickering
PRE_OPERATIONAL_1 Green LED on, single flash
PRE_OPERATIONAL_2 Green LED on, double flash
READY_TO_OPERATE Green LED on, triple flash
OPERATIONAL Green LED on
STOPPED Green LED on, flashing
State machine error Red LED on
No error Red LED off

Tab. 5-47: S/E LED blinking codes of HydraulicDrive controller with Ethernet
POWERLINK
These codes comply with the POWERLINK specification.

For commissioning using IndraWorks, observe that the IP ad‐


dress of the device via the master communication is
192.168.100.POWERLINK Node ID (see chapter "Brief descrip‐
tion" on page 131).

Timing
POWERLINK can processes the process data in IndraDrive synchronously or
cyclically.
● Synchronous processing
If synchronous processing is desired, only integral multiple of the posi‐
tion cycle time that was set is possible for the bus.
● Cyclic processing
If it suffices to process the process data cyclically, the synchronous pro‐
cessing can be deactivated. This is parameterized by activating bit 0 in
"P-0-4089.0.5, Master communication: Configuration" (alias: P-0-2318).
POWERLINK cycle times such as 400 µs, 800 µs etc. are then possible.

5.2.10 PROFIBUS-DP
Brief description
IndraDrive controllers with PROFIBUS interface (PB) can be operated as
PROFIBUS slaves in a PROFIBUS installation. Via these PROFIBUS compo‐
nents, it is possible to exchange real-time data with a PROFIBUS-DP master.
Cyclic data channel (PROFIBUS-DP)
The field bus provides data containers in which useful data can be cyclically
transmitted. This section is referred to as cyclic data channel.
The cyclic data channel is divided as follows:
● One (optional) device-specific parameter channel for reading and writing
of all IndraDrive parameters via PROFIBUS-DP.

The device-specific parameter channel does not fulfill any "real-


time properties"!

● One (optional) safe, axis-specific process data channel (PROFIsafe).


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The safe, axis-specific process data channel is not available with


MPx18VRS and above. For configuration, however, the module
"F-Module not used" has to be integrated!

● One axis-specific process data channel (real-time channel) which con‐


tains specified information that can be directly interpreted by the receiv‐
er.

Fig. 5-15: Cyclic data channel overview

To simplify field bus communication, Rexroth makes available


PLC function blocks for different programmable logic controllers
(PLCs). The function blocks support the basic functionalities of
the axis-specific process data channel and device-specific param‐
eter channel. The principles applied can be easily used for other
field bus masters.

Features The slave PROFIBUS-DP interface with PROFIBUS-Interface (PB) master


communication module has the following features:
● RS485 interfaces according to IEC 61158-2 are supported
● All data rates according to IEC 61158-2 are supported, with exclusive
use of PROFIBUS-DP (9.6 kBaud, 19.2 kBaud, 45.45 kBaud,
93.75 kBaud, 187.5 kBaud, 500 kBaud,1.5 MBaud, 3 MBaud, 6 MBaud,
12 Mbaud)
● Automatic baud rate detection
● Configurable cyclic data up to 15 parameters (incl. field bus control word
and field bus status word) in both data directions (max. 48 bytes or
24 words)
● Setting options for P-0-4076: min. 2 ms, max. 65 ms (can be set in steps
of 1 ms)

The parameter "P-0-4076 Field bus: Process data - updating


clock" is used to set the update cycle with which the process data
from the PROFIBUS interface are applied to the drive and from
the drive.

● Additional optional parameter channel in the cyclic channel with up to 16


bytes (8 words)
● Monitoring of the cyclic data exchange (watchdog function)
● LED for diagnosing the PROFIBUS interface
● Supported DPV0 services:
– Slave_Diag (read diagnostic data)
– Get_Cfg (read configuration data)
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– Set_Prm (transmit parameterization data)


– Chk_Cfg (check configuration data)
– Data Exchange (transfer I/O data)
– Global Control (synchronization)
– RD_Outp (read output data)
– RD_Inp (read input data)
● Supported DPV1 Class 1 services
– DDLM_Initiate (establishment of connection)
– DDLM_Read (acyclic read access)
– DDLM_Write (acyclic write access)
– DDLM_Abort (abortion of connection)
– DDLM_Idle (connection monitoring)
● Up to two DPV1 class 2 connections are supported
● TCI (Tool Calling Interface) is supported
● Supported field bus profiles:
– 0x0000: "No profile selected"
– 0xFF82: I/O mode "positioning" with configurable real-time data
– 0xFF92: I/O mode "preset velocity" with configurable real-time data
– 0xFFFD: Freely configurable mode "Neutral operation modes"
– 0xFFFE: Freely configurable mode
Hardware requirements The "PROFIBUS-DP" master communication requires the following device
design:

IndraDrive Cs
BASIC HCS01.1E-W00xx-A-0x-B-ET-EC-PB-xx-NN-FW
ADVANCED HCS01.1E-W00xx-A-0x-A-CC-EC-PB-xx-NN-FW
IndraDrive control sections

Basic control section - single-ax‐ CSB02.1x-ET-EC-PB-xx-xx-NN-FW


is CSB02.5B-ET-EC-PB-xx-xx-NN-xx
Basic control section - double-
CDB02.1B-ET-EC-EC-PB-xx-xx-xx-NN-FW
axis

Advanced control section - sin‐ CSH02.1B-CC-EC-PB-xx-xx-NN-FW


gle-axis CSH02.5B-CC-EC-PB-xx-xx-NN-xx

Tab. 5-48: Control section design for PROFIBUS

In the case of devices with PROFIBUS option, it is only possible


to change between inactive master communication and
PROFIBUS master communication. Switching to sercos, Ether‐
CAT, EtherNet/IP or PROFINET is impossible.
Axis addressing The axis address can be set directly using the display of the drive. This can
be done using the so-called Easy menu.
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Fig. 5-16: Submenu for "Slave___" "_Addresss"


Alternatively, the address can be directly changed or displayed using the pa‐
rameter "S-0-1040, Drive address of master communication".
The axis address is always displayed in the left side of the standard display
of the control panel.
Pertinent parameters Communication parameters
Specific parameters for communication via PROFIBUS-DP:
● P-0-4069, Field bus: Module diagnosis
Parameters for general communication via field bus interfaces:
● P-0-4073, Field bus: Diagnostic message
● P-0-4074, Field bus: Data format
● P-0-4075, Field bus: Watchdog
● P-0-4076, Field bus: Process data - updating clock
● P-0-4079, Field bus: Baud rate
● P-0-4083, Parameter channel: Length
● P-0-4083.0.1, Parameter channel: Configuration
Profile type parameters
Apart from mere communication parameters, parameters are used in con‐
junction with the profile types.
See "Profile types (with field bus interfaces)"
Parameters for extended communication
Additional parameters are used for extended communication.
See the following sections:
● "Configurable signal control word"
● "Configurable signal status word"
● "Multiplex channel"
Pertinent diagnostic messages ● C0229 Field bus: IDN for cycl. command val. not configurable
● C0230 Field bus: Max. length for cycl. command val. exceeded
● C0231 Field bus: IDN for cycl. actual val. not configurable
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● C0232 Field bus: Length for cycl. actual values exceeded


● C0233 Field bus: Tcyc (P-0-4076) incorrect
● C0234 Field bus: P-0-4077 missing for cycl. command values
● E4005 No command value input via master communication
● F4009 Bus failure
● F4012 Incorrect I/O length

5.2.11 CANopen-based communication


General information

Communication Objects (0x1000 to 0x1FFF)


The communication objects are described in the CANopen standard DS301.
Within the CANopen communication, these objects have one of the following
functions:
● Access to drive parameters
● Constants
● Read-only objects
The table below contains an overview of the objects specified for CANopen
communication:

Index Subindex/ Description Parameters


SubNumber

0x1000 0x00 ParameterName = Device Type 0x00FF0192


ObjectType = 0x7
DataType = 0x7
DefaultValue = 0x00000192
AccessType = ro
0x1001 0x00 ParameterName = Error Register
ObjectType = 0x7
DataType = 0x5
AccessType = ro
0x1018 5 ParameterName = Identity Object
ObjectType = 0x9
0x00 ParameterName = Number Of Entries
DataType = 0x5
DefaultValue = 4
AccessType = ro
0x01 ParameterName = Vendor ID 36
DataType = 0x7
DefaultValue = 0x24
AccessType = ro
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Index Subindex/ Description Parameters


SubNumber
0x02 ParameterName = Product Code 4
DataType = 0x7
DefaultValue = 0x4
AccessType = ro
0x03 ParameterName = Revision Number P-0-1509: El‐
DataType = 0x7 ement 5

AccessType = ro (release)

0x04 ParameterName = Serial Number P-0-1509: El‐


DataType = 0x7 ement 3

AccessType = ro (serial no.)

Tab. 5-49: Specified CANopen Objects

Other communication objects of CANopen Interface are listed in


the relevant EDS file.

Manufacturer-specific objects (0x2000 to 0x3FFF)


Manufacturer-specific objects All parameters of the drive can be reached via the manufacturer-specific ob‐
jects. The S-parameters are addressed via the objects 0x2000 to 0x2FFF,
the P-parameters via the objects 0x3000 to 0x3FFF. The manufacturer-spe‐
cific objects have the following structure:

Subindex Description

0 Number of parameter sets (1 or 8)


1 Operating data set 0
2 Operating data set 1 (if available)
3 Operating data set 2 (if available)
4 Operating data set 3 (if available)
5 Operating data set 4 (if available)
6 Operating data set 5 (if available)
7 Operating data set 6 (if available)
8 Operating data set 7 (if available)
10 Index of list pointer
11 List element to which element 10 points (only for list parameter)
12...18 List element to which element 10 points (if 8 parameter sets available);
only for list parameter
21 Name of parameter
22…28 Name of parameter (if 8 parameter sets available)
31 Attribute of parameter
32…38 Attribute of parameter (if 8 parameter sets available)
41 Unit of parameter
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Subindex Description
42…48 Unit of parameter (if 8 parameter sets available)
51 Minimum value of parameter
52…58 Minimum value of parameter (if 8 parameter sets available)
61 Maximum value of parameter
62…68 Maximum value of parameter (if 8 parameter sets available)
71 Maximum length of list parameter
72…78 Maximum length of list parameter (if 8 parameter sets available)
81 Actual length of list parameter
82…88 Actual length of list parameter (if 8 parameter sets available)

Tab. 5-50: Structure of manufacturer-specific objects


List access The complete list of a list parameter can be read or written by accessing the
operating data of the parameter.
To access individual list elements, it is possible to set a list index (subindex
10) and access the respective list element of the list index via subindex 11 (to
subindex 18). With each access via subindex 11 (to subindex 18), the list in‐
dex is incremented by one element. This allows a continuous part of a list to
be processed in the case of repeated access to subindex 11 (to subindex
18).
With one of the following actions, the list index is reset to the first element:
● Change of parameter set
● Change of parameter
● Abortion of connection
For each list element access which does not start from the first element, it is
therefore necessary to set the list index.
If the length of the list has to be changed, this can be corrected by changing
the actual length of the list parameter (subindex 81…88).
The maximum list length can be read via the subindices 71…78.
With one of the following actions, the parameter value is stored:
● Writing to last element
● Change to a different parameter
● Change of parameter set
● Reading the same parameter
● Abortion of connection
The changes are discarded when the control voltage fails.

5.2.12 Analog interface


Brief description
Overview Apart from the digital master communication interfaces (sercos, PROFIBUS,
…), the drive controllers of the IndraDrive range provide an interface for ana‐
log master communication (analog interface). This allows an analog com‐
mand value to be assigned to a drive parameter (e.g., "S-0-0036, Velocity
command value").
The figures below illustrate the structure of drive solutions with analog inter‐
face and open-loop or closed-loop operation.
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Fig. 5-17: Open-loop operation with analog interface (with optional position
feedback to the control unit)

Fig. 5-18: Closed-loop operation with analog interface (with analog command
value input and SSI emulation)
This section describes the basic functions of the analog interface and con‐
tains notes on commissioning and parameterization. The single function
used, "Analog inputs", is described separately.
See also "Analog inputs"
Features The analog interface is an interface for master communication with analog
command values and digital inputs/outputs (drive enable, Drive Halt, …).
The analog interface is configured via the parameter "P-0-2945,
Configuration of analog mode".
Features of the analog inputs:
● Analog inputs (14 bit) which can be assigned to parameters, with
smoothing to be set (number of analog inputs depending on control sec‐
tion design)
● Sampling of the analog inputs in the position controller clock Tposition (see
also "Performance data")
Features of the analog assignment:
● Two assignments to parameters are possible; offset and scaling of the
analog input can be set for each assignment
● Sampling rates for analog input assignment:
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– Assignment channel A → assignment in position controller clock


Tposition
– Assignment channel B → assignment in clock of 2 ms
– Assignment channel C → assignment in clock of 2 ms
Features of the digital inputs/outputs:
● Digital control and status information determined via configuration of the
digital inputs of the control section:
– Digital control inputs for analog master communication:
– "Drive enable" and "Drive Halt" signals
– Zero switch, limit switch (+/-); clearing errors and E-Stop
– Digital status outputs for analog master communication:
– Ready and warning output
– Relay output for readiness for operation
Availability All drive controllers except for KSM02/KMS02 and KMS03 provide the analog
mode option. For this purpose, the master communication has to be deactiva‐
ted using "P-0-4089.0.1, Master communication: Protocol" (alias: P-0-2310).
The Multi-Ethernet interface can still be used for engineering and diagnostic
purposes.
Pertinent parameters Control and status parameters:
● P-0-0115, Device control: Status word
● P-0-0116, Device control: Control word
● P-0-2945, Configuration of analog mode
● P-0-4028, Device control word
Digital inputs/outputs:
● P-0-0300, Digital inputs, assignment list
● P-0-0301, Digital inputs, bit numbers
● P-0-0303, Digital inputs, input image of device
● P-0-0304, Digital outputs, output image of device
● P-0-0306, Digital inputs, assignment connector and pin
● P-0-0307, Digital inputs, input image sub-device
● P-0-0310, Digital outputs, assignment list
● P-0-0311, Digital outputs, bit numbers
● P-0-0312, Digital outputs, assignment sub-device
● P-0-0313, Digital outputs, output image sub-device
● P-0-0316, Digital outputs, assignment connector and pin
Analog inputs:
● P-0-0210, Analog input 1
● P-0-0212, Analog input, list of assignable parameters
● P-0-0213, Analog input, assignment A, target parameter
● P-0-0214, Analog input, assignment A, scaling
● P-0-0215, Analog input, assignment A, signal value at 0
● P-0-0216, Analog input, assignment A, dead zone
● P-0-0217, Analog input 1, time constant input filter
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● P-0-0218, Analog input, control parameter


● P-0-0219, Analog input, maximum value for adjustment
● P-0-0220, C2800 Analog input adjustment command
● P-0-0236, Analog input, assignment B, target parameter
● P-0-0237, Analog input, assignment B, scaling
● P-0-0238, Analog input, assignment B, signal value at 0
● P-0-0239, Analog input, assignment B, dead zone
● P-0-3901, Adjustment values of control section
Encoder emulation:
● P-0-0900, Encoder emulation signal selection list
● P-0-0901.x.1, Encoder emulation signal selection
● P-0-0901.x.2, Encoder emulation control parameter
● P-0-0901.x.3, Encoder emulation resolution
● P-0-0901.x.4, Encoder emulation zero pulse offset

5.2.13 RIL_ModbusTCP
The field bus protocol "Modbus TCP" is used to exchange data between
Ethernet devices which support the Modbus protocol.
In this case, the drive-internal PLC assumes the role of the "Modbus TCP"
server (master) to which the "Modbus TCP" clients (slaves) can connect.
Using the function blocks contained in the "RIL_ModbusTCP" library, both a
"Modbus TCP" server and a "Modbus TCP" client can be implemented.
The library is supported by several targets and therefore described in the
"Basic Libraries, IndraLogic 2G" documentation.

5.3 Motor, drive mechanics, measuring systems


WARNING Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
● Keep free and clear of the ranges of motion of machines and moving
machine parts.
● Prevent personnel from accidentally entering the machine’s range of
motion (e.g., by safety fence, safety guard, protective covering, light bar‐
rier).
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● In addition, observe the safety message "Protection Against Dangerous
Movements" in the chapter "Safety Instructions for Electric Drives and
Controls".

5.3.1 General information on motor operation with IndraDrive


Basics on the motors to be controlled
Brief description
The controllers of the IndraDrive range allow both synchronous motors, asyn‐
chronous motors and reluctance motors to be controlled.
Types of construction The following types of construction are possible:
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● Rotary motors (asynchronous, synchronous, synchronous with reluc‐


tance, reluctance motors)
● Linear motors (synchronous only)
Both types of construction can be used in housing design (motor with an out‐
put shaft that includes the bearing) or in kit design (stator and rotor as individ‐
ual components).
Thermal monitoring The motors controlled by IndraDrive are protected against thermal damage.
This is done by evaluating a motor-side temperature sensor and using a firm‐
ware-side motor temperature model.
Particularly the motor temperature model allows motors in the case of high
overload and also motors without a temperature sensor to be thermally pro‐
tected.
For details, see chapter "Motor temperature monitoring".
Diagnostic motor operation data The firmware provides the option to collect dynamic operating data of the mo‐
tor and store them (operating hours counter, thermal and mechanical ope‐
rating data, operational performance). The data are stored in the encoder da‐
ta memory (if available), otherwise in the parameter memory.
Adjusting mains voltage / motor Motors whose winding insulation is not suited for the maximum nominal DC
bus voltage of DC750V, can be protected against inadmissibly high voltage
by specifying the maximum DC bus voltage allowed for these motor types.
The braking resistor threshold is adjusted to the value of this parameter and
the DC bus voltage is limited to this value ("output stage locked"). If the DC
bus voltage to be expected is higher than the one allowed for the motor, you
must check whether the DC bus voltage can be dropped to a value allowed
for the motor by reducing the mains voltage.
Adjusting motor/controller The IndraDrive controllers are adjusted to the motor to be controlled by pro‐
viding or inputting the motor-specific data.
● In the case of Rexroth motors, this can be done without any problem,
because the manufacturer provides a specific data set for adjusting
each motor type. The data are documented by the manufacturer as pa‐
rameter values, stored and made available in motor-specific parame‐
ters.

Rexroth motors, by motor-specific parameter values made availa‐


ble and temperature evaluation adjusted in an optimum way,
guarantee easy commissioning, full output performance and high
operational safety!

● In the case of third-party motors, it is necessary to check, by means of


the motor data and the data of the possibly available motor encoder,
whether they are basically suited for operation with IndraDrive. The pa‐
rameter values for adjusting the controller have to be specifically deter‐
mined for each motor.

For series applications, the motor-specific data, motor control pa‐


rameters, commutation offset, where applicable, and application-
specific data of third-party motors with the appropriate encoder
data memory can be stored in the motor encoder memory.

Motor holding brakes IndraDrive allows controlling and monitoring holding brakes that are mechani‐
cally connected to the motor:
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● Electrically releasing brakes (self-holding)


● Electrically clamping brakes (self-releasing)
Motor fan control In combination with temperature-measuring temperature sensors (KTY84,
PT1000, K227), the motor fan can be controlled in a temperature-dependent
way (with MPx20V06 and above). When the motor temperature has reached
a threshold value to be set, a signal is output that switches on the motor fan:
● Digital signal for relay- or contactor-switched motor fans
● Analog signal as the command value for frequency converter controlled
motor fans
The motor fan is switched off or stopped with a hysteresis of 10K below the
switch-on temperature.
Hardware data For the electrical connection of the motors to the controller, see the Project
Planning Manuals of the IndraDrive controllers. A complete connection dia‐
gram for the use of Rexroth motors is contained in the respective Project
Planning Manual.
To use the temperature-dependent fan control, the required outputs (digital or
analog) have to exist and be available for this purpose.
Pertinent parameters Motor parameters:
● S-0-0109, Motor peak current
● S-0-0111, Motor current at standstill
● S-0-0113, Maximum motor speed
● S-0-0141, Motor type
● S-0-0533, Nominal torque/force of motor
● S-0-0534, Maximum torque/force of motor
● P-0-0018, Number of pole pairs/pole pair distance
● P-0-0051, Torque/force constant
● P-0-0113, Bipolar velocity limit value of motor
● P-0-0510, Rotor inertia
● P-0-0640, Cooling type
● P-0-0853, Max. DC bus voltage, motor
● P-0-4014, Type of construction of motor
● P-0-4044, Phase inductance of preconnected choke
● P-0-4048, Stator resistance
Synchronous motor parameters:
● P-0-4016, Direct-axis inductance of motor
● P-0-4017, Quadrature-axis inductance of motor
● P-0-4002, Charact. of quadrature-axis induct. of motor, inductances
● P-0-4003, Charact. of quadrature-axis inductance of motor, currents
● P-0-4005, Flux-generating current, limit value
● P-0-4013, Current limit value of demagnetization
● P-0-3940, Motor torque/force at nominal current when using reluctance
● P-0-3941, Motor torque/force at maximum current when using
reluctance
● P-0-3942, Reluctance angle at nominal motor current
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● P-0-3943, Reluctance angle at maximum motor current


Asynchronous motor parameters:
● P-0-0532, Premagnetization factor
● P-0-4004, Magnetizing current
● P-0-0529, Scaling of stall current limit
● P-0-0530, Slip increase
● P-0-4032, Motor type plate data
● P-0-4036, Rated motor speed
● P-0-4039, Stator leakage inductance
● P-0-4040, Rotor leakage inductance
● P-0-4041, Motor magnetizing inductance
● P-0-4042, Characteristic of motor magnetizing inductance
● P-0-4043, Rotor time constant
Field-weakening range parameters:
● P-0-0533, Voltage loop proportional gain
● P-0-0534, Voltage loop integral action time
● P-0-0535, Motor voltage at no load
● P-0-0536, Maximum motor voltage
Other motor-relevant parameters In connection with the motor, there are other important parameters of the fol‐
lowing parameter groups:
● Measuring system parameters
● Motor holding brake parameters
● Temperature sensor parameters
● Motor temperature model parameters
● Default control loop parameters
Motor temperature monitoring
Brief description
The motors controlled by IndraDrive are protected against thermal damage.
This is done by evaluating a motor-side temperature sensor and using a firm‐
ware-side motor temperature model. The drives can evaluate the following
temperature sensors:
● PTC thermistor KTY84 (temperature measurement)
● PTC thermistor PT1000 (temperature measurement)
● Thermal switches SNM130DK and SNM150DK (switching performance)
● NTC thermistor K227 (temperature measurement)
In addition, it is possible to evaluate temperature sensors not listed above,
but their specific resistance characteristics have to be entered manually.
A three-phase a.c. motor is heated up by:
● Operation under load that torque-proportionally generates current and
causes ohmic losses in den motor windings.
● No-load operation, magnetic reversal losses are torque-proportionally
generated in the rotor and laminated stator cores.
A temperature sensor installed in the motor windings detects
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● current-dependently caused motor temperature rise in the nominal load


range, immediately
● merely speed-dependently caused temperature rise in the rotor and
laminated stator cores, but only in the case of a considerable tempera‐
ture gradient
Warning against thermal switch-off It the motor temperature can be measured using a temperature sensor, it is
monitored for the value range allowed for the motor. When the motor temper‐
ature has reached the allowed maximum value, an error reaction is triggered
and the motor is ultimately switched off with an error message. Before the
motor is switched off due to thermal reasons, a warning is output above a
temperature threshold so that the control master can recognize that switch-off
is imminent and reduce the motor load, if necessary.
Reducing the warning and shut‐ Due to the rotor temperature rise of MS2N synchronous motors rotating in
down temperature of MS2N mo‐ no-load operation and the temperature sensor installed in the stator, or in the
tors motor winding, the warning temperature threshold and the shutdown temper‐
ature are reduced:
● The reduction compensates the temperature gradient between the rotor
and the stator-side temperature sensor.
● The reduction increases with the average operating speed of the motor.
Motor temperature model Notably in overload motor operation the temperature measurement by the
temperature sensor is prone to errors though, because the thermal winding-
temperature sensor contact resistance can only measure the temperature de‐
veloped in the winding with a big delay compared to its development.
If the motor has stopped or turns very slowly, the rotor risks remaining in a
position opposite the stator that can permanently cause a maximum current
amplitude in a motor phase. This heats up the motor much more in the affec‐
ted winding than in the other windings. Thanks to the temperature model cal‐
culation, the motor current also in this case is limited to the allowed continu‐
ous current in due time!
The motor temperature model also allows motors without a temperature sen‐
sor to be thermally protected.
Pertinent parameters ● S-0-0201, Motor warning temperature
● S-0-0204, Motor shutdown temperature
● S-0-0383, Motor temperature
● P-0-0512, Temperature sensor
● P-0-0513, Temperature sensor characteristic
● P-0-3060.0.3, Speed-dependent motor shutdown temperature reduction
● P-0-3060.0.4, Motor mounting situation
● P-0-3060.0.5, Motor shutdown temperature reduction/1000rpm
Pertinent diagnostic messages ● E2021 Motor temperature outside of measuring range
● E2051 Motor overtemp. prewarning
● F2019 Motor overtemperature shutdown
● F2021 Motor temperature monitor defective
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5.3.2 Rexroth motors


Basics on Rexroth motors
Brief description
Classification Rexroth's "Electric Drives and Controls" technology field offers a wide range
of motors for equipping machines and installations with drives.
Due to their types of construction, Rexroth electric motors can be divided in‐
to:
● Housing motors with output shaft and flange or mounting supports
● Kit motors to be installed in machines and installations; consisting of in‐
dividual components that are mounted to a moving and a static part of
the mechanical system
Adjusting motor/controller The controllers can be adjusted to Rexroth motors without any problem be‐
cause the manufacturer provides the respective data set for each motor type.
These data are available as parameter values.
● In the case of housing motors with data memory in the motor encoder,
the parameter values are delivered as an integral part of the motor. At
the initial commissioning they are automatically loaded to the controller.
● In the case of kit motors (individual components) and housing motors
without data memory in the motor encoder, the respective motor param‐
eters are not supplied with the motor. They can be easily loaded to the
controller, however, from a database in the "IndraWorks Ds/D/MLD"
commissioning tool.
The motor parameter values determined by the manufacturer guarantee that
the motor can be loaded in accordance with its operating characteristic, if the
required current and the corresponding power are provided by controller and
supply unit.
Thermal motor monitoring Rexroth motors are thermally monitored by the controller and protected
against overheating. For this purpose, the current motor temperature is
measured by temperature sensors installed in the motor winding. Simultane‐
ously, the thermal load is calculated using a temperature model. Depending
on temperature thresholds that can be set, the controller generates a warning
or switches the motor off.

Rexroth motors, by motor parameters made available and tem‐


perature evaluation adjusted in an optimum way, guarantee easy
commissioning, full output performance and high operational
safety!
Measuring system As a standard, Rexroth housing motors are equipped with a position measur‐
ing system. The individual motor series have different measuring systems
which allows providing cost-efficient motors depending on the application.
The following measuring systems of Rexroth housing motors are supported
by this firmware
● Encoders with sine signal and HIPERFACE® interface (1 Vpp)
● Encoders with sine signals (1 Vpp) and EnDat2.1 interface
● Encoders with sine signals (1 Vpp)
● Safety4Wire encoders
● Encoders of MSM motors with digital interfaces
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All encoder systems supported by this firmware and suitable on the motor
side can be used together with Rexroth kit motors (see chapter 5.3.7 "Sup‐
ported measuring systems" on page 177).
Pertinent parameters The "type plate" memory range contains the parameters listed below, among
others. The parameters, which if applicable are converted depending on the
scaling, are automatically copied to the parameters active for control (see
"Pertinent parameters" in chapter "Basics on the motors to be controlled" on
page 143).
General motor parameters:
● P-0-2109, Motor peak current, type plate
● P-0-2111, Motor current at standstill, type plate
● P-0-2113, Maximum velocity of motor, type plate
● P-0-2141, Motor type, type plate
● P-0-3000, Module code of motor, type plate
● P-0-3002, Number of pole pairs/pole pair distance, type plate
● P-0-3003, Rotor inertia, type plate
● P-0-3005, Torque/force constant, type plate
● P-0-3007, Stator resistance, type plate
● P-0-3008, Commutation offset, type plate
Synchronous motor parameters
● P-0-3008, Commutation offset, type plate
● P-0-3015, Flux-generating current, limit value, type plate
● P-0-3016, Direct-axis inductance of motor, type plate
● P-0-3017, Quadrature-axis inductance of motor, type plate
● P-0-3018, Charact. quadr.-axis induct. of motor, induct., type plate
● P-0-3019, Charact. quadr.-axis induct. of motor, currents, type plate
● P-0-3023, Current limit value of demagnetization, type plate
● P-0-3044, Motor torque at nominal current with reluctance, type plate
● P-0-3045, Motor torque at maximum current with reluctance, type plate
● P-0-3046, Reluctance angle at nominal motor current, type plate
● P-0-3047, Reluctance angle at maximum motor current, type plate
● P-0-3048, Motor control configuration, type plate
Asynchronous motor parameters
● P-0-3032, Premagnetization factor, type plate
● P-0-3014, Magnetizing current, type plate
● P-0-3029, Scaling of stall current limit, type plate
● P-0-3039, Stator leakage inductance, type plate
● P-0-3040, Rotor leakage inductance, type plate
● P-0-3041, Motor magnetizing inductance, type plate
● P-0-3042, Characteristic of motor magnetizing inductance, type plate
● P-0-3043, Rotor time constant, type plate
Field weakening range parameters
● P-0-3033, Voltage loop proportional gain, type plate
● P-0-3034, Voltage loop intergral action time, type plate
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● P-0-3035, Motor voltage at no load, type plate


● P-0-3036, Maximum motor voltage, type plate
Only for absolute encoders (multi-turn):
● P-0-1002, Absolute encoder offset 1, encoder memory
Parameters for motor holding brake (if available):
● P-0-3010, Torque of motor holding brake, type plate
● P-0-3011, Holding brake current, type plate
● P-0-2206, Drive On delay time, type plate
● P-0-2207, Drive Off delay time, type plate
Default control loop parameters:
● P-0-2100, Velocity loop proportional gain, type plate
● P-0-2101, Velocity loop integral-action time, type plate
● P-0-2104, Position loop Kv-factor, type plate
● P-0-2106, Current loop proportional gain 1, type plate
● P-0-2107, Current loop integral-action time 1, type plate
● P-0-3004, Speed controller smoothing time constant, type plate

At a command, the default control loop parameters and, where re‐


quired, the delay times for the holding brake (P-0-2206, P-0-2207)
can be loaded to the drive controller. They are useful start values
for further optimization.

Pertinent diagnostic messages ● C0700 Load defaults proced. command (motor-spec. controller val.)
● C0702 Default parameters not available
● C0703 Default parameters invalid
● C0704 Parameters not copyable
● C0706 Error when reading the controller parameters
● F2008 RL The motor type has changed.
● F2104 Commutation offset invalid

Rexroth housing motors


Rexroth housing motors with encoder data memory
Motor series
The following Rexroth housing motors that are supported by this firmware are
equipped with an encoder data memory:
● MSK, MSM
● MAD, MAF
Brief description
Rexroth motors with encoder data memory provide the highest convenience
for commissioning, because all data for motor control come "on board" in the
motor encoder and are automatically activated. Thanks to the continuing de‐
velopment of the motor properties and firmware functions, the current motor
ranges have different encoder data memory structure versions that support
extended functions, where applicable:
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Encoder memory
Motor version P-0-3100 Comment

4.1 0x0401 Standard


4.2 0x0402 IndraDrive Mi
4.3 0x0403 4.1 + Diagnostic data of motor operation
MSK, MAD, MAF, KSM
4.4 0x0404 4.3 + Field weakening
4.5 0x0405 4.4 + Torque constant correction
4.6 0x0406 4.5 + MSK133 reluctance utilization
MSM 5.1 0x0501 Standard
SBC (Parker) 6.1 0x0601 Standard
MS2N with encoder 0x0406
4.6 and 7.1 4.5 + MSK133 Standard reluctance utilization
performance A 0x0701
MS2N with encoder
7.1 0x0701 Standard
performance C

Tab. 5-51: Versions and properties of encoder memory integrated in motors


The improved encoder memory version 7 is used for the new MS2N motor
range with MPx20 and above. Its data structure is more transparent for the
user and compared to the previous encoder memory versions it can be used
with a higher flexibility for future motor functions:
Structure of the encoder memory parameters depending on the upload to the
device:
● Parameters loaded during boot-up or during the run-up to OM:
– P-0-3071, Identification data, type plate (compact parameter)
– P-0-3072, Motor: Static type data, type plate(compact parameter)
– Diagnostic motor data with
– P-0-3051, Encoder memory, operating hours counter, motor
– P-0-3052, Encoder memory, thermal operating data, motor
– P-0-3053, Encoder memory, mechanical operating data,
motor
– P-0-3075, Application-specific data, type plate(compact parameter)
● Parameters only loaded when "loading the control loop default values
(RL)":
– "P-0-3073, Motor: Control loop default values, type plate" (compact
parameter), it additionally contains the new parameter "P-0-3945,
Motor control configuration", as well as bit 0 and bit 2 of "P-0-3009,
Holding brake control word, type plate".
The so-called "compact parameters" are also new. In contrast to the fixed da‐
ta structure of older encoder memory versions, they can be flexibly config‐
ured with data.
MPx20 allows data to be written to the motor encoder data memory with the
master password having been set.
Pertinent parameters See "Pertinent parameters" in the section "Basics on Rexroth motors"
In addition to the parameters listed above there are other parameters for the
data transfer from the encoder data memory to the parameter memory of the
controller (administration parameters that users cannot interpret, the number
of which depends on the number of encoder interfaces present):
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● P-0-1031, Content of encoder memory optional slot 1


● P-0-1032, Content of encoder memory optional slot 2
● P-0-1033, Content of encoder memory optional slot 3
● P-0-1034, Content of encoder memory optional slot 4
● P-0-1035, Content of encoder memory optional slot 5
● P-0-1036, Content of encoder memory optional slot 6
Pertinent diagnostic messages See "Pertinent diagnostic messages" in the section "Basics on Rexroth mo‐
tors"
Rexroth housing motors without encoder data memory
Motor series
The following Rexroth housing motor supported by this firmware does not
have an encoder data memory:
● MAL
Brief description
See section "Basics on Rexroth motors"
Pertinent parameters See "Pertinent parameters" in the section "Basics on Rexroth motors"
Pertinent diagnostic messages See "Pertinent diagnostic messages" in the section "Basics on Rexroth mo‐
tors"
For further details, see section "Basics on Rexroth motors"
Rexroth kit motors
General information
Kit motors consist of individual components that are mounted to a moving
and a static part of the machine's mechanical system and functionally put to‐
gether to form a motor.
A kit motor consists of the following components:
● Electrically active part with thermo sensor
● Electrically passive part
● Measuring system
● Bearing
The electrical parts of the kit motor are supplied by Rexroth, the measuring
system and the bearing are provided on the machine side.
Rexroth kit motors are manufactured according to the functional principles
associated with "asynchronous motors" or "synchronous motors". With regard
to control, the functional principles have different requirements:
● In the case of synchronous motors, the current in the windings of the
stator must have a fixed allocation to the permanent magnetic field of
the rotor so that the maximum torque or the maximum force is gener‐
ated.
● In the case of asynchronous motors there is no fixed allocation between
stator and rotor required in order to generate the maximum torque or the
maximum force.
Rexroth kit motors, synchronous
Brief description
The following Rexroth kit motors are manufactured according to the function‐
al principle associated with "synchronous motors":
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● Linear motors MLF and MCL


● Rotary motors MBS and MBT
As the motor is assembled in the machine, stator, rotor and measuring sys‐
tem can only be put together on site. The electric-magnetic-mechanical allo‐
cation of the synchronous motor is therefore only to be made on site. This is
done by determining and setting the commutation offset.

The measuring system should be implemented with high resolu‐


tion and as a motor encoder to be evaluated in absolute form (see
also "Absolute measuring systems"). If it is necessary to use an
incremental measuring system, the use of encoders with square-
wave signals should be avoided!

Determining the commutation off‐ The commutation offset can be determined with different methods. The meth‐
set od is chosen in accordance with the axis geometry, the practicability and the
success of the respective method depending on the drive mechanics:
● Measuring method for motor encoders that can be evaluated in absolute
form
→ Distance measurement, currentless (only possible for linear Rexroth
kit motors)
● Saturation method (axis needs to be blocked or at standstill)
→ With current (possible with all types of construction in combination
with motor encoders that can be evaluated in absolute form or with rela‐
tive motor encoders)
● Sine-wave method (requires unrestricted movement of axis)
→ With current (possible with all types of construction in combination
with motor encoders that can be evaluated in absolute form or with rela‐
tive motor encoders)

In the case of absolute measuring systems, the commutation off‐


set only has to be determined once (at initial commissioning), in
the case of incremental measuring systems this has to be done
each time the drive is switched on again!

For the description of the methods for commutation setting, see "Drive con‐
trol: Commutation setting"
Pertinent parameters See "Pertinent parameters" in the section "Basics on Rexroth motors"
Pertinent diagnostic messages See "Pertinent diagnostic messages" in the section "Basics on Rexroth mo‐
tors"
For further information, see section "Basics on Rexroth motors"
Rexroth kit motors, asynchronous
Brief description
The following Rexroth kit motors are manufactured according to the function‐
al principle associated with "asynchronous motors":
● Rotary motors 1 MB
As the motor is assembled in the machine, stator, rotor and measuring sys‐
tem can only be put together on site. After loading the specific parameter val‐
ues for motor and measuring system, the assembled motor can be put into
operation independent of rotor position and allocation of the measuring sys‐
tem.
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The measuring system should be implemented with high resolu‐


tion! Avoid using encoders with square-wave signals!

Pertinent parameters See "Pertinent parameters" in the section "Basics on Rexroth motors"
Pertinent diagnostic messages See "Pertinent diagnostic messages" in the section "Basics on Rexroth mo‐
tors"
For further information, see section "Basics on Rexroth motors"

5.3.3 Third-party motors at IndraDrive controllers


General information on third-party motors
Today, machine axes are mainly moved with electric drives. Standard motors
are used in most cases, as this is the most cost-efficient solution.
Special requirements Due to special requirements on machine axes, design or safety-related as‐
pects, it may be necessary for the machine manufacturer to use a motor de‐
sign diverging from the standard.
Motor designs not included in For these cases, the drive supplier is requested to provide, apart from the de‐
product range liverable standard drive consisting of (standard) motor, controller, cable and,
if required, machine control unit, drives with motors that are not included in
their own product range due to the special design.
With Rexroth controllers of the IndraDrive range, it is also possible to control
third-party motors.
Checking whether third-party mo‐ To successfully and fail-safely control a third-party motor, it is necessary to
tors can be controlled check beforehand
● whether the third-party motor to be controlled meets the requirements of
the controller
● whether the third-party motor has the required minimum inductance
● whether the mounted position measuring system can be evaluated by
the controller or which position measuring system can be selected for kit
motors
● whether the motor can be protected against inadmissible temperature
rise in the case of overload
● which controller, including supply, is suitable due to the motor power to
be delivered
How to do project planning? The requirements relevant in the system combination are documented in the
Project Planning Manual of the drive system.
The filled out "Forms for required manufacturer-side motor data" have to be
made available for the motor suitability test!

See documentation "Rexroth IndraDrive – Drive System, Project Plan‐


ning Manual" (DOK-INDRV*-SYSTEM*****-PR**-EN-P; mat. no.:
R911309636)!
How to commission? First, the motor parameter values have to be determined (see section "Deter‐
mining the parameter values for motor and motor control"). The parameter
values of motor control are calculated by means of a command internally in
the firmware.
The determined motor parameter values have to be documented in the forms
included in the "Forms for parameter values" section.
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5.3.4 Motor holding brake


Brief description
Motor holding brakes are used to hold axes with drive enable having been
switched off. This is particularly important for non-equilibrated, vertical axes.
With IndraDrive controllers it is possible to control and monitor motor holding
brakes in a wear-resistant way.
The following motor holding brake types are possible:
● Electrically releasing brakes (self-holding) for servo drives
● Electrically clamping brakes (self-releasing) for main drives
The motor holding brake can be directly mounted on the motor shaft, e.g. in
the case of Rexroth housing motors, or directly connected to the mechanical
axis system, e.g. in the case of linear kit motors.
IndraDrive controllers include application-specific control of the holding brake
in order to minimize wear of the brake in the case of error. The following two
functional principles of holding brake control are supported:
● Control of holding brake for servo drives
● Control of holding brake for main drives
Monitoring the brake current
Brief description
Fields of application

Base package of all firmware variants in open-loop and closed-


loop characteristic

Monitoring for wire break, brake current and short circuit is only
available with HCS01 devices!

Background Particularly with vertical servo axes, the reliable function of a holding brake is
fundamentally important to the operational safety of a machine. Using the
"function check of the motor holding brake", the holding brake can be
checked for wear and corrosion. It is up to the user, however, to use this
function check or not.
Even with a cyclical function check, wire break occurring in the meantime
would cause the brake to be accidentally applied and possibly destroyed be‐
fore the malfunction could be recognized by the next function check. Between
the function check intervals, the monitoring of the brake current, which is al‐
ways active, detects faults with the holding brake control and signals them
immediately.
Overview of functions
Operating principle The controller monitors the current that flows through the terminals on the
controller side to operate the brake. The brake current monitoring recognizes
these states:
● Wire break (brake current less than 100 mA)
● Brake current ok
● Short circuit
In the case of "wire break" and "short circuit", the error message "F2068,
Brake error" is generated. Monitoring is active as soon as an existing holding
brake is entered in "P-0-0525, Holding brake control word".
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The wire break monitoring can be deactivated, e.g. due to brake


control via relays.
The status of the holding brake current monitoring is displayed in "P-0-0539,
Holding brake status word"; with IndraDrive Cs, the measured holding brake
current is displayed in "P-0-0527, Actual holding brake current".

For HCQ, holding break current output is not possible!

Hardware requirements
The "brake current monitoring" function does not require any specific hard‐
ware!
For Rexroth motors with encoder data memory, the presence of a motor hold‐
ing brake is automatically recognized; brake current monitoring is automati‐
cally activated. For third-party motors and motors with an external holding
brake, the existence of a holding brake must be entered in the holding brake
control word for activating the function.
Pertinent parameters
● P-0-0525, Holding brake control word
● P-0-0539, Holding brake status word
● P-0-0527, Actual holding brake current
Pertinent diagnostic messages
● F2068, Brake error
Operating behavior of the motor holding brake
Brief description
Motor holding brakes are used to hold axes with drive enable having been
switched off. This is particularly important for non-equilibrated vertical axes.
With IndraDrive controllers it is possible to control and monitor motor holding
brakes in a wear-resistant way.

NOTICE Holding brakes at Rexroth motors normally


are not designed for decelerating when in op‐
eration. Increased wear caused by decelera‐
tion in operation can destroy the holding
brake at an early stage!

The following motor holding brake types are possible:


● Electrically releasing brakes (self-holding) for servo drives
● Electrically clamping brakes (self-releasing) for main drives
The motor holding brake can be directly mounted on the motor shaft, e.g. in
the case of Rexroth housing motors, or directly connected to the mechanical
axis system, e.g. in the case of linear kit motors.
IndraDrive controllers include application-specific controls of the holding
brake in order to minimize wear of the brake in the case of error. The follow‐
ing two functional principles of holding brake control are supported:
● Control of holding brake for servo drives
● Control of holding brake for main drives
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Control of the holding brake is linked with drive enable, considering clamping
and releasing delays. In special cases it may be appropriate to avoid this pro‐
grammed link and release or apply the holding brake independently. This,
too, is possible with IndraDrive!

To impede axis motion, the motor winding short circuit can be ac‐
tivated or maintained for synchronous motors already deceler‐
ated. The operating principle, however, does not totally correlate
with the operating principle of a motor holding brake, but the mo‐
tion-impeding function can be advantageously used at machine
axes, where applicable.

Hardware requirements The motor holding brake is controlled via a controller-internal relay contact.
Power supply is realized by the controller via the 24V control voltage. The
holding brake has to be suited for the voltage that is output, the holding brake
current should not exceed the allowed maximum value of the respective de‐
vice (see documentation "Supply Units and Power Sections; Project Planning
Manual for Controllers"); if necessary, the holding brake has to be controlled
separately.

The optionally available holding brakes for Rexroth motors can be


directly controlled via the drive controller!

Pertinent parameters ● S-0-0206, Drive on delay time


● S-0-0207, Drive off delay time
● S-0-0273, Maximum drive off delay time
● P-0-0525, Holding brake control word
● P-0-0539, Holding brake status word
● P-0-0540, Torque of holding brake
● P-0-0542, C2000 Command Release holding brake
● P-0-0543, C3800 Command Apply holding brake
Pertinent diagnostic messages ● C2000 Command Release motor holding brake
● C2001 Command not enabled
● C3800 Command Apply motor holding brake
● F6024 Maximum braking time exceeded
Function check of holding brake, drive-controlled
Brief description
If the braking torque of holding brakes is too low due to wear and corrosion,
this can interrupt the service and endanger safety in machines and installa‐
tions. IndraDrive controllers have the advantage of monitoring the effective‐
ness of the holding brake upon a command of the control master and record‐
ing the monitoring intervals.
This allows a cyclic brake check to be performed in accordance with
EN-13849-1, Cat. 2, or the dynamization/check of one of two redundant hold‐
ing systems to be performed in accordance with EN-13849-1, Cat. 3.
Requirements The function check is only possible in the case of motor control with motor
encoder, not for sensorless motors! The holding brake must be controlled by
the drive controller (if necessary via relay, if the required brake current cannot
be supplied via the drive controller).
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Application The function check can also be carried out for an axis-side, external braking
device, if it is controlled by the drive controller. The measuring system used
for the function check (motor encoder or external encoder) has to be connec‐
ted stiffly and in a backlash-free way to the holding brake. Tolerated motion
range with the holding brake applied:
● Rotary motor: Max. 2° of a motor revolution (360°)
● Linear motor: Max. 1/180 of a pole pair distance (in mm)
In the case of corrosion, the effectiveness of the holding brake can be rees‐
tablished by a drive-controlled "resurfacing procedure".
Pertinent parameters ● P-0-0525, Holding brake control word
● P-0-0539, Holding brake status word
● P-0-0540, Torque of holding brake
● P-0-0541, C2100 Holding system check command
● P-0-0544, C3900 Command Holding brake resurfacing
● P-0-0545, Test torque for releasing holding system
● P-0-0546, Starting torque for releasing holding system
● P-0-0547, Nominal load of holding system
● P-0-0549, Oper. hours control sec. at last succ. holding system check
● P-0-0550, Time interval holding system check
● P-0-0554, Current torque value of the motor holding brake
● S-0-0084, Torque/force feedback value
● S-0-0135, Drive status word
Pertinent diagnostic messages ● C2100 Command Holding system check
● C2101 Holding system check only possible with drive enable
● C2103 Holding brake: Torque too low
● C2104 Command execution impossible
● C2105 Load of holding system greater than test torque
● C2106 Test torque of holding system not reached
● C3900 Command Holding brake resurfacing
● C3901 Resurfacing of holding brake only possible with drive enable
● C3902 Error during resurfacing of holding brake
● C3903 Command execution impossible
● E3115 Prewarning, end of brake check time interval
● F3115 Brake check time interval exceeded

5.3.5 Motor fan control


Brief description
For energy-efficient motor operation, IndraDrive controllers can switch on and
off a possibly existing motor fan, depending on the motor temperature rise. In
the case of high-performance controllers, an analog voltage signal is output
proportionally to the motor temperature rise. This voltage signal can be used
to control the motor fan speed.
If it is impossible to measure the motor temperature, the motor load is never‐
theless determined using the firmware-side temperature model, and the mo‐
tor fan can thus be controlled in an energy-efficient way.
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In the following cases, for example, the motor temperature cannot be meas‐
ured:
● No temperature sensor has been installed in the motor.
● The existing temperature sensor has switching characteristic.
Hardware data To switch the motor fan on and off, a digital signal is generated that can be
used via a digital output, for example. For this purpose, an unassigned digital
output of the control section has to be assigned.
The HMU05 power section provides an analog output DC0...10V for variable-
speed motor fan control.
Pertinent parameters ● S-0-0201, Motor warning temperature
● P-0-3060.0.1, Motor fan switch-on temperature
● P-0-3061, Status of motor fan control
● P-0-0468, Prewarning threshold of therm. motor load
● P-0-0512, Temperature sensor

5.3.6 Measuring systems, general information


Basics on measuring systems, resolution
Brief description
Control loops and measuring sys‐ Operating drives in the closed control loop requires measuring systems in or‐
tems der to metrologically acquire the current state of the physical value to be con‐
trolled, the so-called actual value.
We distinguish the following drive control loops:
● Torque/force control loop
→ Actual value by evaluating the current measuring system and convert‐
ing the value
● Velocity control loop
→ Actual value by evaluating the position measurement system and
time-derivation
● Position control loop
→ Actual value by evaluating the position measurement system
The actual value of the torque/force control loop is generated by means of
the internal current measurement. The measuring system is inaccessible for
the user and has a fixed configuration.
Position measurement options For acquiring the actual values of the velocity and position control loop there
are position measuring systems available that provide the user with configu‐
ration options. Position measurement can be carried out:
● At the motor only (measured via encoder 1/motor encoder)
- or -
● Both at the motor and at the drive mechanics (measured via encoder 1/
motor encoder and encoder 2)

In the case of field-oriented motor control (FOC), a motor encoder


is always required, the measurement at the load is optional; thus,
the encoder at the load is called "optional encoder" or "external
encoder".
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● Both at the axis mechanics input (encoder 1) and at the load (encoder
2). At the motor in the case of electro-hydraulic applications (functional
package "Sytronix")

In electro-hydraulic applications (functional package "Sytronix"),


the electric motor and other hydraulic components (pump, hy‐
draulic motor, cylinder) together are called "actuator". The actua‐
tor drives the axis mechanics. Position measurement is possible
at the actuator output (encoder 1) or at the load (encoder 2), the
motor encoder generally is only used for velocity measurement
(motor speed)!

Types of position measuring sys‐ Position measuring systems are available for the different kinds of motion in
tems adapted types of construction:
● Rotary encoders
● Linear encoders
With the appropriate signal specification, encoders in both types of construc‐
tion can be evaluated by IndraDrive controllers.
Position feedback value represen‐ The position information of the encoder may take the form of
tation
● analog voltage signals with sine-shaped curve at constant velocity or
square-shaped curve and 90° phase offset ("analog encoders"; meas‐
urement free of delay, but can only be evaluated in relative form)
● digital encoder signal with defined number of increments per single en‐
coder revolution ("single-turn"), multiple encoder revolution ("multi-turn")
or measuring distance and a serial transmission protocol ("digital encod‐
ers"; absolute actual position values in a limited distance or angle
range).
● combination of analog voltage signals and digital encoder signal ("com‐
bined encoders"; absolute initial position value detection by digital en‐
coder signal in relation to "single-" or "multi-turn range" or measuring
distance)
Evaluating position measurement The encoder evaluation uses a specific method allowing encoders in the fu‐
ture to be evaluated simultaneously by multiple drives. The physical informa‐
tion directly provided by the position encoder is converted to the standardized
SIII Encoder Profile. Via the Sercos master communication level or in the
CCD group, the standardized position feedback values and encoder status
information are thus available to each connected drive for evaluation!
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Fig. 5-19: Principle of encoder evaluation based on Sercos, for an encoder


connected to a device interface
Basic encoder evaluation Using the Basic encoder evaluation (ENCB), the position information of a
physical encoder is converted to the standardized SIII Encoder Profile. The
evaluation is related to the encoder interface or the encoder slot. Encoder-re‐
lated position or velocity feedback values and status information can be
made available on the SIII master communication or CCD level and can be
used by other controllers.
The Basic encoder evaluation provides the following data regarding the con‐
nected encoder:
● Physical actual position, encoder-based
● Position resolution
● Encoder status, error codes
● Absolute position range
● Overflow threshold for position values
● Cycle time for encoder output data
The Basic encoder evaluation has to be informed of the physical data of the
connected encoder:
● Phys. Encoder type
● Phys. encoder properties, like rotary encoder or linear encoder
● Phys. encoder resolution, analog and/or digital
● If necessary, distance-coded reference offsets A and B (see also chap‐
ter "Distance-coded reference marks cannot yet be used" on page 20)
● Where applicable, transmission protocol configuration in the case of a
digital encoder
Extended encoder evaluation The Extended encoder evaluation (ENCE) is the axis-related evaluation of
encoder-related position feedback values and status information. The data
can come from a Basic encoder evaluation in the same controller or have
been transmitted by the Sercos master communication or CCD level. The Ex‐
tended encoder evaluation works with the usual scalings and references:
● Motor or load reference
● Rotary or linear scaling (mapping of motor - load mechanical transmis‐
sion)
● SI units or others
The follwoing functions are available as Extended encoder evaluation:
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● Motor encoder
● Position control encoder (encoder 2 or encoder 1)
● Measuring encoder
The Basic encoder evaluation data of an encoder are assigned to each func‐
tion by selecting an encoder interface or, if applicable, the master communi‐
cation or CCD interface.
ENCB - ENCE parameter struc‐ The parameter structure of the Basic encoder evaluation and of the Extended
ture encoder evaluation input is as follows:

Encoder evaluation ENCB ENCE

Current data, feedback values S-0-0600.x.y => S-0-0610.x.y


Output data configuration S-0-0601.x.y => S-0-0611.x.y
Physical encoder configuration S-0-0602.x.y
Instanciated parameters S-0-????.x.y: "x": structure instance index; "y": structure element number
Index "x" with ENCB (slot-related): Index "x" with ENCE (function-rela‐
1: X4 (opt. 1, preferred slot encoder ted):
1/mot. encoder 1: Encoder 1/motor encoder
2: X8 (opt. 2) 2: Encoder 2
(etc., see below) 3: Measuring encoder
4: Motor encoder (cplx. actuator)

Index "x": Significance differs with ENCB and ENCE parameters, see ta‐
ble above!
ENCB Encoder Basic evaluation (interface- or slot-related)
ENCE Encoder Extended evaluation (function-related: motor encoder,
position control encoder (encoder 2) or measuring encoder)
Tab. 5-52: ENCB configuration and ENCB output data, as well as ENCE input
data, parameter structure

The IDN of the ENCE input data correspond to those of the ENCB
output data, but the numbering is increased by +10!
Precision, resolution The precision of the position measurement depends on:
● The resolution of the measuring system [e.g., division periods (DP)/
revolution or DP in µm (linear encoders) for analog encoders; incre‐
ments/revolution or increments per measuring distance (linear encod‐
ers) for digital encoders]
● The absolute encoder precision
● The digitalization quality of analog encoder signals
Monitoring functions Correct position information is of fundamental importance for reliable drive
behavior and motion according to contour. The encoder signals are therefore
monitored for validity and compliance with the allowed tolerances.
In addition, it is possible to monitor drives with an encoder that can be evalu‐
ated in absolute form for compliance with the position when switching on
compared to the last time the drive was switched off.
Furthermore, it is possible to monitor the compliance of the actual position
values, if another encoder (encoder 2) is arranged at the axis mechanics in
addition to the encoder 1/motor encoder.
See also "Monitoring the measuring systems"
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Hardware requirements The Basic encoder evaluation data of an encoder are assigned to the respec‐
tive function by selecting an encoder interface
Optional interfaces are available to connect the measuring systems to the
controller or control section. Using the parameters "P-0-0077, Assignment of
encoder 1->interface" (depending on "P-0-0560, Configuration of actuator")
and "P-0-0078, Assignment of encoder 2->interface", it is possible to set the
interface of which the position data are assigned to the respective function.

See also documentations "Rexroth IndraDrive Cs, Drive Systems" and


"Rexroth IndraDrive HCQ, Drive Systems"

The following points apply to the parameters P-0-0077 or


P-0-0080 and P-0-0078:
● For motors with motor encoder data memory, the value for
parameter P-0-0077 or P-0-0080 is automatically set correct‐
ly.
● For motors without motor encoder data memory (e.g.,
Rexroth kit motors),the value for parameter P-0-0077 or
P-0-0080 has to be set manually.
● In the case of an optional position control encoder (encoder
2), the value for parameter P-0-0078 has to be set manually,
too.

Pertinent parameters ● S-0-0051, Position feedback value of encoder 1


● S-0-0053, Position feedback value of encoder 2
● S-0-0115, Encoder 2, type of position encoder
● S-0-0277, Encoder 1, type of position encoder
● S-0-0278, Maximum travel range
● P-0-0129, Internal position data format
Physical configuration of Basic encoder evaluation

IDN Name

S-0-0602.x.1 Phys. Encoder type


S-0-0602.x.2 Phys. Encoder properties
S-0-0602.x.3 Phys. Encoder resolution (analog)
S-0-0602.x.4 Phys. Encoder resolution (digital)
S-0-0602.x.5 Phys. distance-coded reference offset A
S-0-0602.x.6 Phys. distance-coded reference offset B
S-0-0602.x.7 Phys. Encoder protocol configuration
S-0-0602.x.8 Phys. max. initialization speed
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IDN Name
S-0-0602.x.136 Phys. encoder evaluation configuration
The placeholder "x" (structure index) is the number of the device interface to which
the encoder is connected:
● 1: X4 (single-axis device), X4.1 (double-axis and multi-axis device)
● 2: X8 (single-axis device), X4.2 (double-axis and multi-axis device)
● 3: X8.1 (double-axis device), X4.3 (multi-axis device)
● 4: X10 (single-axis device), X4.4 (multi-axis device)
● 5: X8 (multi-axis device)
● 6: X8.2 (double-axis device)

Output data of Basic encoder evaluation

IDN Name

S-0-0600.x.1 Encoder status


S-0-0600.x.2 Position
S-0-0600.x.10 Marker position
The placeholder "x" (structure index) is the number of the device interface to which
the encoder is connected:
● 1: X4 (single-axis device), X4.1 (double-axis and multi-axis device)
● 2: X8 (single-axis device), X4.2 (double-axis and multi-axis device)
● 3: X8.1 (double-axis device), X4.3 (multi-axis device)
● 4: X10 (single-axis device), X4.4 (multi-axis device)
● 5: X8 (multi-axis device)
● 6: X8.2 (double-axis device)

Parameters for configuring the Basic encoder evaluation

IDN Name

S-0-0601.x.1 Encoder data out configuration


S-0-0601.x.2 Resolution of position
S-0-0601.x.6 Absolute position range
S-0-0601.x.10 Overflow threshold position
S-0-0601.x.11 Encoder available data out
S-0-0601.x.12 Encoder refresh time data out
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IDN Name
S-0-0601.x.136 Multi-encoder interface configuration
The placeholder "x" (structure index) is the number of the device interface to which
the encoder is connected:
● 1: X4 (single-axis device), X4.1 (double-axis and multi-axis device)
● 2: X8 (single-axis device), X4.2 (double-axis and multi-axis device)
● 3: X8.1 (double-axis device), X4.3 (multi-axis device)
● 4: X10 (single-axis device), X4.4 (multi-axis device)
● 5: X8 (multi-axis device)
● 6: X8.2 (double-axis device)

Extended input parameters for the Basic encoder output data

IDN Name

S-0-0610.x.1 Encoder status


S-0-0610.x.2 Position unscaled (input)
S-0-0610.x.10 Marker position
The number of the function is assigned to the placeholder "x" (structure index) (en‐
coder 1/motor encoder: "1"; encoder 2: "2"; measuring encoder: "3"; motor encoder
(with a complex actuator): "4")

Extended input parameters for encoder data configuration

IDN Name

S-0-0611.x.2 Resolution position (input)


S-0-0611.x.6 Absolute position range (input)
S-0-0611.x.10 Overflow threshold position (input)
S-0-0611.x.12 Encoder refresh time data out (input)
S-0-0611.x.136 Serial number of encoder
The number of the function is assigned to the placeholder "x" (structure index) (en‐
coder 1/motor encoder: "1"; encoder 2: "2"; measuring encoder: "3"; motor encoder
(with a complex actuator): "4")

Monitoring the measuring systems


Brief description
Monitoring the encoder signals Correct position information is the prerequisite for reliable drive behavior and
motion according to contour. In order to guarantee best possible position
evaluation the encoder signals are therefore monitored for validity and com‐
pliance with the allowed tolerances.
Monitoring the encoder signals allows detecting faulty states, such as:
● Encoder is dirty
● Noise injection in the case of inappropriate wire routing or wire design
● Exceeding the max. allowed encoder velocity (limit frequency of the en‐
coder signals)
● Wire break or short circuit on wire
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Monitoring the axis position when In addition it is possible to monitor drives with an encoder that can be evalu‐
switching on ated in absolute form for compliance with the position when switching on
compared to the last time the drive was switched off. This allows detecting,
for example, whether a vertical axis moved down after the machine was
switched off or whether an axis was moved away from the position it had
when the machine stopped.
Monitoring mechanical transfer el‐ It is also possible to monitor the difference between the actual position values
ements of motor encoder and external encoder, as well as the percentage of slip.
This allows, for example, detecting elasticity or slip due to wear in mechanical
transfer elements between motor and axis at an early stage.
Monitoring the position data refer‐ If the loss of the position data reference of absolute encoders (motor encoder
ence or optional encoder) is detected due to changes in parameter values, e.g. of
the drive mechanics, the drive will signal this faulty state.
Pertinent parameters ● S-0-0391, Monitoring window feedback 2
● P-0-0095, Absolute encoder monitoring window, encoder 1
● P-0-0096, Absolute encoder monitoring window, encoder 2
● P-0-0177, Encoder 1, absoute encoder buffer
● P-0-0178, Encoder 2, absoute encoder buffer
● P-0-0185, Encoder 2 control word
● P-0-0242, Current actual slip value
● P-0-0243, Maximum occurred actual slip value
● P-0-0244, Monitoring window of slip
● P-0-0391, Actual position value difference encoder1 - encoder2
Pertinent diagnostic messages ● E2074 Encoder 1: Encoder signals disturbed
● E2075 Encoder 2: Encoder signals disturbed
● F2036 Excessive position feedback difference
● F2042 Encoder 2: Encoder signals incorrect
● F2048 Low battery voltage
● F2074 Actual pos. value 1 outside absolute encoder window
● F2075 Actual pos. value 2 outside absolute encoder window
● F2174 Loss of encoder 1 reference
● F2175 Loss of encoder 2 reference
● F8022 Enc. 1: Enc. signals incorr. (can be cleared in ph. 2)
Absolute measuring systems
Brief description
Evaluating position measurement Depending on their design and the mechanical arrangement at the axis, posi‐
tion encoders can be evaluated by IndraDrive controllers as
● relative encoders (incremental encoders)
or as
● absolute encoders (absolute value encoders)
if they have an appropriate signal specification.
Both Rexroth position encoders and motor encoders of Rexroth housing mo‐
tors are available in one of the two designs:
● Single-turn encoders (absolute actual position values over one encoder
shaft revolution)
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Overview of the functional scope

● Multi-turn encoders (absolute actual position values over 4096 encoder


shaft revolutions).
These encoders can be evaluated as absolute encoders if the travel range of
the axis can be represented within the absolute actual position value range of
the encoder:
● In the case of single-turn encoders within one encoder shaft revolution
● In the case of multi-turn encoders within 4096 encoder shaft revolutions
Encoders of Rexroth housing mo‐ As a standard, Rexroth housing motors are equipped with a position measur‐
tors ing system. The individual motor series have different measuring systems
which allows offering cost-efficient motors depending on the application.
The following measuring systems are supported by this firmware:
● Motor encoder option S1, S3 or M1, M3: HIPERFACE® encoders, sin‐
gle- or multi-turn type for MSK motors
● Motor encoder performance A and B for MS2N motors (HIPERFACE®
encoders as single- or multi-turn type)
Motor encoder performance C for MS2N motors (Safety4Wire encoder
as single- or multi-turn type)
● Motor encoder option S2 or M2: EnDat2.1 encoders, single- or multi-turn
type for MSK, MAD, MAF motors
Absolute encoders for kit motors For kit motors or directly at the load, the following measuring systems to be
and external encoders evaluated in absolute form can be used:
● EnDat2.1 encoders (Heidenhain)
● EnDat2.2 encoders (Heidenhain)

Multi-turn function via battery backup is not supported with EnDat.

● HIPERFACE® encoders (Stegmann)


● SSI encoders (with appropriate SSI signal specification)
● Combined encoders for SSI (with appropriate SSI signal specification
and 1Vpp SinCos signals)
● Safety4Wire encoder (Hengstler)
Establishing axis-related absolute The actual position values of an absolute encoder first only relate to the en‐
position coder itself. Due to the mostly undefined mounting situation of the encoder to
motor or load, it is necessary to determine the position offset between encod‐
er and axis zero point once at the initial commissioning (see also "Establish‐
ing the position data reference: Establishing position data reference for abso‐
lute measuring systems").
Hardware requirements For the position and homing signal specification of digital transmission proto‐
cols of third-party encoders, see chapter "Supported measuring systems".
Pertinent parameters ● S-0-0115, Encoder 2, type of position encoder
● S-0-0277, Encoder 1, type of position encoder
● S-0-0278, Maximum travel range
● S-0-0378, Absolute encoder range, encoder 1
● S-0-0379, Absolute encoder range, encoder 2
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Relative measuring systems


Brief description
Evaluating position measurement IndraDrive controllers can evaluate the signals of both absolute and relative
measuring systems, if the encoder signals comply with the applicable specifi‐
cations.
The disadvantages of relative encoders as opposed to encoders that can be
evaluated in absolute form are as follows:
● Axes with relative position encoder have to go through a homing proce‐
dure after switching on to establish the position data reference to the ax‐
is so that they can be operated in position control.
● Relative encoders are unsuitable as motor encoders for synchronous
motors because each time the drive is restarted it has to go through a
procedure for setting the commutation offset. Therefore, synchronous
motors are not immediately ready for operation!
The advantages of relative encoders as opposed to encoders that can be
evaluated in absolute form are as follows:
● Longer travel distances are possible for linear encoders.
● According to experience, the costs of the encoder are lower given equal
absolute precision and number of lines or division period length.
Aspects of use Due to the above disadvantages, relative measuring systems are not used as
motor encoders for synchronous Rexroth housing motors. For asynchronous
motors, there aren't any disadvantages when using relative motor encoders.
For kit motors, it can be necessary, however, to use relative encoders as mo‐
tor encoders if absolute encoders of the required design are not available:
● Great encoder lengths for long travel distances in the case of linear mo‐
tors
● Hollow-shaft encoders with special drill diameters or encoders for high
maximum speeds in the case of rotary kit motors
Establishing axis-related absolute The actual position values of relative encoders first do not have any position
position reference. In any axis position the actual position value of the respective rela‐
tive encoder, when switching the drive on, is written with the so-called initial
position value, if no other encoder being in reference has been connected.
The position data reference to the axis is established by either
● moving to a defined axis position with reproducible precision
- or -
● detecting a defined axis position by "passing" two distance-coded refer‐
ence marks of the encoder, see also chapter "Distance-coded reference
marks cannot yet be used" on page 20.
At a defined position, the actual position value of the encoder to be homed is
written with the corresponding absolute value of the axis (see chapter "Estab‐
lishing the position data reference": "Establishing position data reference for
relative measuring systems").
Hardware requirements For the specifications of position and reference signals, see chapter "Suppor‐
ted measuring systems".
Pertinent parameters ● S-0-0115, Encoder 2, type of position encoder
● S-0-0116, Resolution of feedback 1
● S-0-0117, Resolution of feedback 2
● S-0-0165, Distance-coded reference offset A
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● S-0-0166, Distance-coded reference offset B


● S-0-0277, Encoder 1, type of position encoder
● S-0-0440, Marker position feedback 1
● S-0-0441, Marker position feedback 2
● S-0-0442, Counter marker position feedback 1
● S-0-0443, Counter marker position feedback 2
● P-0-0019, Initial position value
Establishing the position data reference
General information on establishing the position data reference
Brief description
During the initial commissioning of a drive, the actual position values trans‐
mitted by the measuring systems do not yet have any reference to the ma‐
chine axis. This applies to
● Relative measuring systems
● Absolute measuring systems
For more detailed information on relative and absolute evaluation of measur‐
ing systems, see "Absolute measuring systems"
Relative measuring systems The position data reference of a relative measuring system to the axis has to
be reestablished after each time the drive is switched on or after the position
data reference is lost. For this purpose, it is necessary to move to a defined
axis position and set the actual position value to an axis-related value at a
defined position (exception: For relative encoders with distance-coded refer‐
ence marks, movement is only required over two marks!)

The evaluation of distance-coded reference marks is not yet sup‐


ported in this firmware release of MPx20 and below!
Absolute measuring systems The position data reference of an absolute measuring system to the axis has
to be established once during initial commissioning, after replacing the motor
or encoder (motor encoder or external encoder) and changes in the drive me‐
chanics. The position data reference still is maintained and the actual position
values are axis-related immediately after the drive is switched on.
Establishing the position data ref‐ For establishing the position data reference in a drive-controlled way, the po‐
erence, drive-controlled sition data reference is automatically established by the drive by master-side
triggering of a command. The procedure depends on the type of measuring
system:
● In the case of a relative measuring system without distance-coded refer‐
ence marks, the axis moves to the reference point or to a dedicated
point and then automatically switches to axis-related actual position val‐
ues.
● In the case of a relative measuring system with distance-coded refer‐
ence marks (see also chapter "Distance-coded reference marks cannot
yet be used" on page 20), the axis moves between two reference marks
and then automatically switches to axis-related actual position values.
● In the case of an absolute measuring system, the automatic switching to
the axis-related actual position value is carried out with the axis in
standstill.
The presettings for establishing the position data reference are made via as‐
signed parameters.
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Establishing the position data ref‐ For establishing the position data reference in an NC-controlled way, the
erence, NC-controlled drive makes available three commands to the master. The master has to
generate the travel motion for searching the marker:
● The master starts the "NC-controlled homing" command and, for
searching the reference point or dedicated point, must move the axis by
inputting command values.
● To calculate the offset and switch to axis-related actual position values,
it is necessary to start further commands.
The presettings for establishing the position data reference are made via as‐
signed parameters.
Displaying the position data refer‐ A position status parameter shows whether the position data reference of a
ence measuring system evaluated by the controller has been established.
Motor encoders and external en‐ In addition to the motor encoder, an external (optional) encoder can be avail‐
coders able. Both encoders, in any combination of relative and absolute measuring
systems, can
● have position data reference to the axis independently of each other
(both encoders have different actual position values)
- or -
● have position data reference to the axis depending on each other (both
encoders have the same actual position values).
This is configured via parameters and realized with the commands for estab‐
lishing the position data reference.
Actual position value offset The difference of the actual position value before and after establishing the
position data reference is displayed, related to the motor encoder or external
encoder, in one parameter respectively.
See also the following sections:
● "Establishing position data reference for absolute measuring systems"
● "Establishing position data reference for relative measuring systems"

Pertinent parameters ● S-0-0115, Encoder 2, type of position encoder


● S-0-0175, Offset of position feedback value of encoder 1
● S-0-0176, Offset of position feedback value of encoder 2
● S-0-0277, Encoder 1, type of position encoder
● S-0-0403, Position feedback value status
Establishing position data reference for absolute measuring systems
Brief description

Base package of all variants in closed-loop characteristic.

See also the section "General information on establishing the position data
reference"
The position data reference of an absolute measuring system to the axis has
to be established once during initial commissioning, after replacing the motor
or encoder (motor encoder or external encoder) and changes in the drive me‐
chanics.
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Establishing position data refer‐ In the case of measuring systems to be evaluated in absolute form, the posi‐
ence using drive commands tion data reference can be automatically established by the drive by starting
the command
● "C0300 Set absolute position procedure command"
- or -
● "C0600 Drive-controlled homing procedure command".
The position data reference once established is maintained until one of the
two commands is started again. The actual position values therefore are axis-
related ("homed") immediately after the drive is switched on.
Motor encoder and external en‐ If two absolute measuring systems have been connected to the controller, the
coder position data reference can be separately established for both measuring
systems. If the position data reference was only set for one of the measuring
systems, both actual position values are equal at the position at which the po‐
sition data reference was established.

If the position data reference was only set for one encoder, the
actual position values of both encoders remain equal as long as
drive mechanics and encoder systems are mechanically connec‐
ted without slip (slip control is possible!).
"Set absolute position" command It is recommended to start the "set absolute position" command when the ax‐
is is in standstill without drive enable. In the cases in which the axis, for es‐
tablishing the position data reference, is to be brought to a defined position
on the master side and be held in this position by the drive, "set absolute po‐
sition" can also be executed with the active drive.
"Drive-controlled homing proce‐ When the command "C0600 Drive-controlled homing procedure command" is
dure" command started without an existing reference, the drive moves the axis independently
as defined in parameter "S-0-0147, Homing parameter" and establishes the
position data reference. If the drive's position system already has a reference
when the command "C0600 Drive-controlled homing procedure command" is
started, the reference point already determined is approached and the com‐
manded is acknowledged positively.
For absolute encoders, the "drive-controlled homing procedure" command
can be advantageously used after loss of position data reference after:
● Encoder replacement in conjunction with a home switch or
● Encoder error with peripheral causes in the case of modulo-scaled axes
(e.g. encoder cable damage).

"Active drive" means the drive that is in control. Drive enable (AF)
has been set.
Assigning the axis-related actual By starting the "set absolute position" command, the previous actual position
position value with "set absolute value of an encoder at a dedicated position of the axis is set to a new value.
position" This value is the current axis position related to the coordinate system of the
machine.
The dedicated position is defined by:
● The current axis position
- or -
● the positioning of the axis at a "striking" axis position (e.g. value "0").
The required assignments and configurations for "setting absolute position"
are made via parameter settings.
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Assigning the axis-related actual By starting the "drive-controlled homing procedure" command, the previous
position value with "drive-control‐ actual position value of an encoder at a dedicated position of the axis is set
led homing procedure" to a new value. This value is the current axis position related to the coordi‐
nate system of the machine.
The required assignments and configurations for the "drive-controlled homing
procedure" are made using parameter settings (see the information regarding
"Drive-controlled homing procedure" in the section "Establishing position data
reference for relative measuring systems").
Pertinent parameters ● S-0-0052, Reference distance of encoder 1
● S-0-0054, Reference distance of encoder 2
● S-0-0148, C0600 Drive-controlled homing procedure command
● S-0-0447, C0300 Set absolute position procedure command
● S-0-0448, Set absolute position control
● P-0-0177, Encoder 1, absoute encoder buffer
● P-0-0178, Encoder 2, absoute encoder buffer
● P-0-1002, Absolute encoder offset 1, encoder memory
● P-0-1012, Absolute encoder offset 2, encoder memory
Pertinent diagnostic messages ● C0300 Set absolute position procedure command
● C0301 Measuring system unavailable
● C0302 Absolute evaluation of measuring system impossible
● C0303 Absolute encoder offset cannot be saved
● C0304 Command cannot be executed under drive enable
● C0600 Drive-controlled homing procedure command
● C0601 Homing only possible with drive enable
● C0602 Distance home switch - reference mark erroneous
● C0603 Homing impossible with optional encoder
● C0606 Reference mark not detected
● C0607 Reference cam input not assigned
● C0608 Pos. stop a. HW lim. switch not allowed f. modulo axes
● C0609 Different travel directions parameterized
● C0610 Absolute encoder offset could not be saved
Establishing position data reference for relative measuring systems
(homing)
Brief description

Base package of all firmware variants in closed loop characteris‐


tic.

See also the section "General information on establishing the position data
reference"
Actual position value of relative After the drive has been switched on, the actual position values signaled by
measuring systems when switch‐ relative measuring systems do not yet have any reference to the machine ax‐
ing on is. Measuring systems can be installed at the motor (motor encoder) and di‐
rectly at the load (external or optional encoder).
For information on encoder arrangement and drive mechanics, see also
"Drive mechanics and measuring system arrangement"
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The position data reference of relative measuring systems to the axis has to
be established again each time after the drive was switched on or after all
procedures that cause the position data reference to get lost (homing proce‐
dure).
Establishing the position data ref‐ After start of the respective command by the master, the drive can automati‐
erence, drive-controlled cally establish the position data reference.
To do this, the drive moves the axis until the controller can detect a dedicated
point. The actual position values then are automatically switched to axis ref‐
erence. The presettings for the sequence for establishing the position data
reference are made via assigned parameters.
Establishing the position data ref‐ As an alternative to establishing the position data reference in a drive-control‐
erence, NC-controlled led way, the NC ("master") can control the homing procedure.
In this case, the master inputs the command values for moving the axis to the
dedicated point and controls the homing procedure via commands and as‐
signed parameters.
The NC-controlled homing procedure can be advantageous for drives with a
rigid mechanical connection (e.g. for Gantry axes), because the master can
input coordinated command values for the drives for the homing motion.
Dedicated point for establishing The dedicated point for establishing the position data reference, in the case
the position data reference of linear axes, is at one end of the travel range. This allows finding the dedi‐
cated point from any axis position (situation when switched on) by moving in
a defined direction. Rotary axes do not have an axis end position, the dedica‐
ted point is at a defined position within the travel range.
Reference mark for relative meas‐ The precision with which this dedicated point is detected considerably influ‐
uring systems ences the absolute precision of the axis. Apart from the signals for position
detection, relative measuring systems therefore also provide a signal for ex‐
act determination of a dedicated point. This signal is called "reference mark".
Depending on their type, relative measuring systems have one or several ref‐
erence marks over the range of measurement.
Reference mark and home switch Especially in the case of rotary measuring systems (e.g. motor encoder) at
axes moved in a linear way, the reference mark of the encoder can occur
several times over the entire travel range. In this case it is required, by axis-
side activation of a switch contact at the end of the travel range, to identify
one reference mark signal. This defines an unequivocal dedicated point that
can be found with reproducible precision. This switch contact is called "home
switch". A possibly available travel range limit switch can be used like a home
switch, too.
In addition, a reference mark signal can be identified by detecting axis block‐
ing when positive stop at the end of the axis has been reached.
Independent of the number of reference marks over the travel range, an axis-
side additional device (home switch or travel range limit switches or positive
stop) is necessary for linear axes for detecting the axis end position!
If only one reference mark occurs over the travel range in the case of rotary
axes, the home switch in most cases is not required!
Dedicated point and reference The dedicated point identified by an encoder reference mark and, if necessa‐
point of an axis ry, by a home switch, in most cases is not identical to the reference point of
the axis. The distance between reference point and zero point normally is de‐
termined on the machine side. Especially in the case of series machines, this
distance should be equal for axes of the same kind. The position of the dedi‐
cated point, however, is influenced by the kind of encoder arrangement and
therefore differs from axis to axis.
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Reference offset The position difference between dedicated point and reference point of the
axis can be compensated by an offset value (reference offset).
See also the section "General information on establishing the position data
reference"

The initial speed of the operation mode can be limited, for one ax‐
is with safety technology, to an additional speed value [product
from "SMO: active speed threshold" (P-0-3238) and "SMO: evalu‐
ation factor speed limit "(P-0-3218)] when activated in the param‐
eter "SMO: Configuration support functions" (P-0-3219), see also
the separate documentation "Rexroth IndraDrive, Integrated Safe‐
ty Technology "Safe Motion" (as of MPx-18)" (DOK-INDRV*-
SI3*SMO-VRS-AP**-EN-P; Mat. No. R911338920), chapter "Ad‐
ditional and auxiliary functions".

Pertinent parameters Parameters for relative measuring systems:


● S-0-0041, Homing velocity
● S-0-0042, Homing acceleration
● S-0-0052, Reference distance of encoder 1
● S-0-0054, Reference distance of encoder 2
● S-0-0108, Feedrate override
● S-0-0147, Homing parameter
● S-0-0148, C0600 Drive-controlled homing procedure command
● S-0-0150, Reference offset of encoder 1
● S-0-0151, Reference offset of encoder 2
● S-0-0173, Marker position A
● S-0-0174, Marker position B
● S-0-0191, C1500 Cancel reference point procedure command
● S-0-0298, Reference cam shift
● S-0-0299, Home switch offset
● S-0-0349, Bipolar jerk limit
● S-0-0400, Home switch
● S-0-0403, Position feedback value status
● P-0-0153, Optimum distance home switch-reference mark
Parameters for NC-controlled homing:
● S-0-0146 C4300 NC-controlled homing procedure command
● S-0-0171, C4400 Calculate displacement procedure command
● S-0-0172, C4500 Displacement to referenced system procedure
command
● S-0-0175, Offset of position feedback value of encoder 1
● S-0-0176, Offset of position feedback value of encoder 2
● S-0-0404, Position command value status
● S-0-0407, Homing enable
● S-0-0408, Reference marker pulse registered
Parameters for relative measuring systems, distance-coded (see also chapter
"Distance-coded reference marks cannot yet be used" on page 20):
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● S-0-0165, Distance-coded reference offset A


● S-0-0166, Distance-coded reference offset B
● S-0-0177, Absolute offset encoder 1
● S-0-0178, Absolute offset encoder 2
Parameters for homing at travel range limit switches:
● S-0-0532, Travel range limit parameter
(Alias: P-0-0090, Travel range limit parameter)
● P-0-0222, Travel range limit switch inputs
Parameters for homing at positive stop:
● S-0-0082, Torque/force limit value positive
● S-0-0083, Torque/force limit value negative
● S-0-0092, Bipolar torque/force limit value
● S-0-0124, Standstill window
● S-0-0331, Status "n_feedback = 0"
● S-0-0333, Status "T >= Tx"
● S-0-0530, Clamping torque
Pertinent diagnostic messages Diagnostic messages for drive-controlled homing:
● C0600 Drive-controlled homing procedure command
● C0601 Homing only possible with drive enable
● C0602 Distance home switch - reference mark erroneous
● C0606 Reference mark not detected
● C0607 Reference cam input not assigned
Diagnostic messages for NC-controlled homing:
● C4302 Distance home switch - reference mark erroneous
● C4304 Homing impossible with absolute encoder
● C4306 Reference mark not detected
● C4307 Reference cam input not assigned
● C4308 Pos. stop a. HW lim. switch not allowed f. modulo axes
● C4400 Calculate displacement procedure command
Drive-controlled homing
Brief description
Basic sequence of "search for After "S-0-0148, C0600 Drive-controlled homing procedure command" has
dedicated point" been activated, the drive for searching the dedicated point moves the axis ac‐
cording to the reference travel direction set in "S-0-0147, Homing parameter".
When the controller has detected the position of the dedicated point, e.g. by
reference mark detection of the encoder selected in S-0-0147, the position
data reference of the actual position values to the axis can be established.
Determining the homing appropriate procedure for the existing axis type (set‐
tings in S-0-0147) ensures that during the search for the dedicated point the
axis only moves within the allowed travel range!
For information on the actual position value after establishing the position da‐
ta reference for motor encoder and external encoder, see the section "Gener‐
al information on establishing the position data reference"
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NC-controlled homing
Brief description
Sequence of NC-controlled hom‐ For NC-controlled homing the master (NC control unit) controls the homing
ing motion for searching the dedicated point of the axis. To do this, the master
activates the parameter
● S-0-0146, C4300 NC-controlled homing procedure command
and presets the command value for axis motion, according to the active oper‐
ation mode.
When the drive has detected the dedicated point, it informs the master of this
fact and stores the position of the dedicated point. The master then com‐
pletes the execution of command C4300 and afterwards activates the param‐
eter
● S-0-0171, C4400 Calculate displacement procedure command.
The required displacement of the actual position values is now calculated in
the drive controller, in order to establish the reference of the actual position
value to the axis zero point.
When the displacement required for establishing the position data reference
has been determined, the master completes the execution of command
C4400 and then activates the parameter
● S-0-0172, C4500 Displacement to referenced system procedure
command.
Drive-internally the actual position value now is changed by the calculated
absolute displacement value and thereby the reference of the actual position
value to the axis zero point is established. The master has to adjust its com‐
mand value input to the changed actual position value, before it completes
the NC-controlled homing procedure by deactivating command C4500.
Shifting the position data reference for absolute/relative measuring
systems (shift coordinate system procedure)
Brief description
Fields of application

Base package of all firmware variants in open-loop and closed-


loop characteristic

The existing position data reference of the measuring systems to the axis can
be shifted if the respective command was activated by the master. It is possi‐
ble to shift the data reference in standstill or while the axis is moving. This
does not affect the position reference of the axis because it is only the actual
position values output for the master that are displayed in "shifted" form. In‐
ternally the original ("non-shifted") position data reference is maintained.
Shifting the position data reference affects the motor encoder and, if availa‐
ble, the external encoder, independent of which encoder is the active encod‐
er for position control. If different actual position values are valid for the en‐
coders (both encoders possibly have position data reference independent of
each other), the actual position values of both measuring systems are shifted
by the same difference.
Pertinent parameters ● S-0-0197, C3300 Set coordinate system procedure command
● S-0-0198, Initial coordinate value
● S-0-0199, C3400 Shift coordinate system procedure command
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● S-0-0275, Coordinate offset value


● S-0-0283, Current coordinate offset
Pertinent diagnostic messages ● C3300 Set coordinate system procedure command
● C3400 Shift coordinate system procedure command
● C0600 Drive-controlled homing procedure command
Detecting the marker position
Brief description

Base package of all firmware variants in closed loop characteris‐


tic.

With the "detect marker position" function, which is activated via the corre‐
sponding command, it is possible to check whether the reference mark of an
incremental measuring system is detected without error.

A possibly available home switch is not evaluated with this func‐


tion!

Pertinent parameters ● S-0-0173, Marker position A


● P-0-0014, C1400 Command Get marker position
Pertinent diagnostic messages ● C1400 Command Get marker position

5.3.7 Supported measuring systems


Analog encoders
Brief description
The term "analog encoders" describes position measuring systems that...
● display actual position values by two different analog voltage signals
and
● have no data memory.
The two voltage signals are generated by a sensor unit in interaction with a
material measure. The material measure is the division of the measuring
range into equal sections called "division periods (DP)".
Over the distance of a division period, two similar signal curves with an offset
of 90° are generated within a defined voltage value range and cyclically re‐
peated in all division periods.
The material measure type determines the absolute and relative precision of
the position encoder. The required number of division periods is joined over
the position measuring range to be represented by measurement.
The division period ia also called
● "line" (cf. number of lines of a rotary position encoder) or
● "cycle" (cf. number of cycles of a rotary position encoder)
The precision of a position measuring system is significantly determined by:
● Number of division periods per position measuring range (resolution)
● Linearity of the measured position values over one line (cycle) and over
the entire position measuring range
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The number of lines or cycles per revolution is specified for rotary


position encoders, the length of a division period for linear encod‐
ers.

Analog position measuring systems typically can only be evaluated in relative


form. Absolute position measurement is only possible over one division peri‐
od, the position measuring range, however, always covers many division pe‐
riods. Therefore, absolute evaluation over the position measuring range is im‐
possible! As an aid for establishing the position data reference to the drive
mechanics, analog measuring systems for the most part come with reference
signals ("reference marks"). Usual reference mark designs that IndraDrive
can evaluate:
● One reference mark per revolution (rot. encoder) or position measuring
range (linear encoder)
● Multiple equidistant reference marks over the position measuring range
(linear encoder)
● Multiple distance-coded reference marks per revolution (rot. encoder) or
position measuring range (linear encoder), see also chapter "Distance-
coded reference marks cannot yet be used" on page 20
The reference marks have a fixed mechanical relation to the material meas‐
ure (encoder shaft for rotary encoders or linear scale for linear encoders)
The electrical encoder signals are read by the encoder interface in the veloci‐
ty controller clock and immediately used to determine the actual position val‐
ues.
The analog position measuring systems supported by IndraDrive are:
● Encoders with sine signals with differential voltage value range 1Vpp
(Heidenhain standard)
● Encoders with square-wave signals 5VTTL
● Resolver encoders (with MPx20V06 and above)
In the "Basic encoder evaluation", the analog electrical encoder signals are
converted to evaluable encoder-related position and status information with‐
out any relevant delay (see chapter "Basics on the motors to be controlled"
on page 143). These pieces of information are immediately available via the
master communication level, particularly for motor control. Due to their high
resolution (AD conversion), encoders with sine signals are basically suited
very well for motor control, e.g. for asynchronous motors. For the immediate
operability of synchronous motors, it is necessary, however, to detect the po‐
sition of the magnets to the windings before motor control is activated, but
this is impossible due to the merely relative position measurement. Combined
encoders have therefore performed well in controlling synchronous motors.
Combined encoders combine absolute position detection with analog signals
that can only be evaluated in relative form (see also chapter "Combined en‐
coders", chapter "Brief description " on page 180).
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For maximum force generation, synchronous motor control re‐


quires the current in the windings to be suitably assigned to the
permanent magnetic field of the motor. This is achieved by the
motor-specific commutation offset value. This value is determined
during the initial commissioning of the motor and stored in the
motor encoder or in the axis parameter set. The motor-specific
commutation offset value only enables the synchronous motor to
be immediately operational, if the position of the magnets to the
windings was determinded before motor control had been activa‐
ted!

Special case resolver encoder The resolver encoder uses the transformer principle for position detection. It
consists of two windings with an offset of 90°, both windings have the same
number of pole pairs (one or multiple pole pairs). If a resolver encoder is
used as motor control encoder and the same number of pole pairs is selected
for the resolver encoder and the synchronous motor, the position of the mag‐
nets to the windings is always detected correctly. The synchronous motor is
immediately operational, if the motor-specific commutation offset value is
known.

As a motor encoder, a resolver encoder has the property of "com‐


mutation encoder", if the number of pole pairs is advantageously
selected (same number of pole pairs as the motor or number of
pole pairs "1")!

Digital encoders
Brief description, fields of application
Digital encoders provide absolute position information within the absolute
measuring range of the respective encoder. The signal transmission is serial.
The main field of application of serial encoders in electric drive technology is
the position control loop; the advantage of the absolute position information
outweighs the basic disadvantage of a delay required to make actual values
available due to the serial transmission of the absolute position. In many ap‐
plications, particularly with master-side cycle times in the range of millisec‐
onds, the quality of the actual position values made available by serial encod‐
ers is perfectly sufficient.
The digital actual position values are cyclically transmitted by a serial proto‐
col. The serial protocol can also contain information on the encoder status
and on error states detected on the encoder side, or other data. In most ca‐
ses, digital encoders have a data memory containing the relevant data of its
own encoder required for operation. In addition, a memory range for user-
side data (OEM range) can be used with some encoder types.
Types of design
Rotary digital encoders:
● One encoder revolution is represented with an encoder-specific number
of "single-turn" bits (position resolution in incr./revolution).
● The number of encoder revolutions is represented with the "multi-turn"
bits (absolute measuring range of encoder).
Linear digital encoders:
● Due to the encoder-specific number of position bits, the length of the
measuring range is represented (absolute measuring range with resolu‐
tion in mm/incr.)
IndraDrive supports the following digital position measuring systems:
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● Encoders with EnDat2.2 interface


● Encoders with SSI interface
● Encoders with Panasonic interface (motor encoder of MSM motors)
● Encoders with Safety4Wire interface (motor encoder option of MS2N
motors)
In the "Basic encoder evaluation", the electrical encoder signals are conver‐
ted to evaluable encoder-related position and status information (see chapter
"Basics on measuring systems, resolution"). These pieces of information are
available via the master communication level for controlling the axis drives.
Due to the absolute position measurement, it is possible to immediately de‐
tect the position of the magnets to the motor windings for controlling synchro‐
nous motors, high-quality motor control, however, requires actual position
values that are as free of delay as possible. The following encoders have
therefore performed well in controlling synchronous motors:
● Combined encoders that combine absolute digtital-serial position detec‐
tion with analog signals that can be evaluated without a delay (see
chapter "Combined encoders").
● Digital encoders only if a very high data transmission speed is possible
(e.g., EnDat2.2).
Combined encoders
Brief description
High-quality motor control requires actual position values that are free of de‐
lay. In the "Basic encoder evaluation", signals of analog encoders are conver‐
ted without any relevant delay to encoder-related, relative position informa‐
tion that can be evaluated in control tasks.
For the immediate operability of synchronous motors, it is furthermore neces‐
sary to detect the position of the magnets to the windings before motor con‐
trol is activated, but this is generally impossible with anaolg encoders.
Combined encoders have therefore performed well in controlling synchro‐
nous motors. Combined encoders combine analog signals that can be evalu‐
ated in relative form with absolute, digital-serial position detection.
Combining a digital-serial encoder (see chapter "Digital encoders") with an
analog encoder (see chapter "Analog encoders") is a cost-efficient solution
for absolute measuring systems (e.g., "combined encoder for SSI") for syn‐
chonous motor control that uses standardized components. In this case, the
absolute value of the SSI encoder is used for the commutation angle, the an‐
alog signals (e.g., encoder with sine signals, 1 Vpp) are used for motor con‐
trol.
IndraDrive supports the folloiwng combined encoders:
● Encoders with EnDat 2.1 interface
● Encoders with HIPERFACE interface
● Analog encoders with SSI interface ("combined encoders for SSI")
The following combined encoders are not yet supported (see also chapter
4.2 "Incompatible functions and functional changes " on page 19):
● Analog encoders with digital Hall sensors
● Analog encoders with analog Hall sensors
Absolute measuring systems Encoders with EnDat 2.1, HIPERFACE and SSI interface provide a range of
absolute position detection:
● One revolution in the case of single-turn encoders
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● An encoder-specific number of revolutions in the case of multi-turn en‐


coders
● The absolute encoder range that can be digitally displayed in the case
of linear encoders

The absolute actual position values are cyclically transmitted by a


serial protocol. The serial protocol can also contain information on
the encoder status and on error states detected on the encoder
side. EnDat2.1 and Hiperface encoders (type ID: FFh) have a da‐
ta memory containing the relevant data of its own encoder re‐
quired for operation. In addition, an OEM range can be used for
user-side data.

Relative measuring systems with Analog encoders with additional Hall sensors (digital oder analog) do not pro‐
Hall sensors vide absolute but only relative position measurement, but notably with linear
Rexroth motors they can detect the position of the magnets to the windings
before motor control is activated. This allows the suitable commutation angle
for synchronous motor control to be immediately provided. The Hall sensors
only take effect as "commutation encoders".

The evaluation of an analog enoder with additional analog or digi‐


tal Hall sensors is not yet supported!
Types of design

Encoder desig‐ Required number of Mechanical de‐


Components
nation encoder interfaces sign

Combined on manufacturer-side (1Vpp, EnDat), order code:


EnDat 2.1 1 Rotar, linear
EnDat01, EnDat02 (not EnDat21!)
Combined on manufacturer-side (1Vpp, HIPERFACE), type
Hiperface 1 Rotar, linear
ID: FFh
Combined en‐ Combined on manufacturer-side (1Vpp, SSI), SICK/STEG‐
1 Rotar, linear
coder for SSI MANN
Analog encoder
Motor MCP...-L0.... (dig. HS), SHL03, encoder with 1Vpp (or
with digital Hall 1 Linear only
5VTTL)
sensors
Motor MCP...-L1.... (anal. HS), encoder with 1Vpp (or
Analog encoder 5VTTL)
with analog Hall 2 Linear only
sensors Motor MLF, SHL02 (anal. HS), encoder with 1Vpp (or
5VTTL)

SHL03 Rexroth Hall sensor adapter box for digital Hall sensors
MCP...-L0... Primary part of a Rexroth MCL motor (ironless) with "digital
Hall unit" option
MCP...-L1... Primary part of a Rexroth MCL motor (ironless) with "analog
Hall unit" option
MLF Linear Rexroth kit motor
SHL02 Rexroth Hall sensor box
Tab. 5-53: Overview of encoder interface assignment, designs and components
regarding combined encoders
In the "Basic encoder evaluation", the electrical encoder signals are conver‐
ted to evaluable encoder-related position and status information (see chapter
"Basics on measuring systems, resolution", "Precision, resolution" on page
162). These pieces of information are available to the axis drives via the mas‐
ter communication level for motor and axis control.
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5.3.8 Drive mechanics and measuring system arrangement


Brief description
Workpiece processing and material molding require energy that the main
drive makes available for a machine. Flexible production also requires auxili‐
ary or servo drives allowing tools to take action in the production process. Ba‐
sically, a drive consistis of an axis mechanics to which an active torque/force
source (e.g., an electric motor, generally speaking: an actuator) is connected.
The entire energy transmission line is called drive mechanics:

Fig. 5-20: Schematic diagram of a drive


Actuator
Energy source of the drive mechanics, generates torque/force or pressure
and hereby provides for the required motion of the axis mechanics.
The following actuators are normally used:
● Electric motor
● Hydraulic motor or hydraulic cylinder
● Sytronic unit (electric motor, pump, hydraulic motor or hydraulic cylin‐
der)
Due to their transmission behavior, two types of actuators are distinguished:
● "Simple actuator": Linear transmission behavior (electric motor directly
drives the axis mechanics)
● "Complex actuator": Non-linear transmission behavior (electric motor
drives the axis mechanics via non-linear transmission elements)

The "simple actuator" corresponds to the servo or main drive mo‐


tor that drives an axis mechanics. "Complex actuator" refers to an
axis mechanics driven by a sytronic unit of electric motor, pump,
hydraulic motor or hydraulic cylinder that has a non-linear trans‐
mission behavior.

The distinction between "simple" and "complex" actuators has consequences


for the arrangement of the measuring systems within the drive mechanics.
Complex actuators are only supported in the functional firmware package
"Sytronix". The other functional firmware packages work like the in the previ‐
ous firmware versions, "simple" actuator = electric motor!
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Fig. 5-21: Comparing a simple actuator to a complex actuator


Measuring systems/control encod‐
ers
The measuring systems of the drive mechanics are used for different control
tasks:
● Motor encoder for velocity control
● Encoder 1 and encoder 2 for position control, encoder 1 on the actuator
output side, encoder 2 on the load side
If the drive mechanics contains a simple actuator, position control can be per‐
formed with the motor encoder (= encoder 1) or, if necessary, with a load-
side measuring system (encoder 2); motor control and the velocity control of
the actuator (= motor) is generally performed via the motor encoder (= encod‐
er 1). If the drive mechanics contains a complex actuator, position control can
be performed with encoder 1, the motor encoder in this case is only used for
motor control and for the velocity control of the actuator.
Motor encoder High-precision motor control requires a position measuring system that
measures the current rotor position or the position of the moving part as op‐
posed to the static part of the motor.
This position measurement is required for the
● Current control loop
● Velocity control loop
● Position control loop, if applicable
The precision and resolution of the position measurement is decisive for the
quality of the actual values, especially in the velocity and position control
loop.
Position control encoder Depending on the mechanical properties of the drive system between the
motor output shaft and the load or the actuator output shaft, it may be neces‐
sary to close the position control loop via a separate position encoder if a mo‐
tor encoder cannot correctly represent the position at the axis mechanics:
● Axis mechanics with slip
● Gear backlash or a low degree of stiffness in the axis mechanics, etc.
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● Non-linear actuator behavior between motor and actuator output shaft


The position control encoder can also be used as a measuring wheel encod‐
er (frictionally engaged on the transported material).
See "Measuring wheel mode"
For information on encoder evaluation and encoder monitoring see also "Ba‐
sics on measuring systems, resolution" and "Monitoring the measuring sys‐
tems"
Motor encoders with gearbox Especially with rotary kit motors, it is sometimes impossible to connect the
motor encoder directly to the motor shaft. IndraDrive provides the possibility
to evaluate a motor encoder connected via a gearbox.

With synchronous motors in combination with a motor encoder


which can be evaluated in absolute form, the advantage of setting
the commutation offset only once (see above) can only be used
with an encoder gearbox with i = "1" or when there is no encoder
gearbox available.
With MPx16V04 and above:
In two special cases, however, for synchronous motors with en‐
coder gear and a motor that can be evaluated in absolute form
(rotary encoders only) the commutation setting is performed only
during initial commissioning. Then, when the drive is switched on
again, it is immediately ready for operation; automatic commuta‐
tion setting for initial drive enabling (AF) is not required, so it is
not performed in the following cases:
Case 1, Single-turn (or multi-turn) encoder:
- if an n-fold motor revolution (n is an integer) yields exactly one
encoder revolution
Case 2, Multi-turn encoder:
- if exactly one motor revolution yields an m-fold encoder revolu‐
tion (m is an integer)
Arrangement options of measuring The figure below shows an overview of arrangement options of measuring
systems systems with a drive mechanics exemplarily driven by a motor (= simple ac‐
tuator).
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1) S-0-0051 or S-0-0053, depending on scaling (S-0-0076)


S-0-0051 Position feedback value of encoder 1
S-0-0053 Position feedback value of encoder 2
S-0-0076 Position data scaling type
S-0-0115 Encoder 2, type of position encoder
S-0-0121 Input revolutions of load gear
S-0-0122 Output revolutions of load gear
S-0-0123 Feed constant
S-0-0277 Encoder 1, type of position encoder
P-0-0121 Encoder 1, gear turns, mechanical system side
P-0-0122 Encoder 1, gear turns, encoder side
P-0-0124 Encoder 2, gear turns, mechanical system side
P-0-0125 Encoder 2, gear turns, encoder side
P-0-0123 Encoder 2 feed constantV
P-0-0185 Encoder 2 control word
Fig. 5-22: Overview of arrangement options of drive mechanics and measuring
systems with a simple actuator (= motor)

With a complex actuator, the actuator output shaft takes effect on


encoder 1, the motor encoder, however, remains related to the
motor output shaft (see fig. 5-21 "Comparing a simple actuator to
a complex actuator" on page 183).

Hardware requirements For connecting the measuring systems to the controller, there are 2 optional
interfaces available. Writing the parameters "P-0-0077, Assignment of
encoder 1->interface" and "P-0-0078, Assignment of encoder 2->interface"
defines the interface to which the respective encoder is connected.
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Pertinent parameters ● S-0-0115, Encoder 2, type of position encoder


● S-0-0121, Input revolutions of load gear
● S-0-0122, Output revolutions of load gear
● S-0-0123, Feed constant
● S-0-0277, Encoder 1, type of position encoder
● P-0-0121, Encoder 1, gear turns, mechanical system side
● P-0-0122, Encoder 1, gear turns, encoder side
● P-0-0123, Encoder 2 feed constant
● P-0-0124, Encoder 2, gear turns, mechanical system side
● P-0-0125, Encoder 2, gear turns, encoder side
● P-0-0185, Encoder 2 control word

5.3.9 Scaling of physical data


Brief description
The controller via data maps the drive to an internal mathematical model. The
status variables of the drive are determined on the basis of the following
measurements:
● Position measurement
● Current measurement
● Temperature measurement
● Analog input measurement
The measured values collected in this way are converted into physical data:
● Position, velocity, acceleration and jerk data
● Current data, torque and force data
● Temperature data and load data
● Pressure and flow rate data (with functional package Sytronix only)
The master transmits command values to the drive that are used by the con‐
troller for transforming them at the motor output shaft or mechanical axis sys‐
tem. The drive in return registers and transmits actual values, signals ope‐
rating and command states and, if necessary, generates error messages and
warnings.
Communication between drive and master also takes place by exchanging
data.
Scaling An operating data (numerical value) can only be evaluated as a physical val‐
ue, when the numerical value is connected to a physical unit and the position
of the decimal point (decimal places). The data thereby is "scaled" in a quali‐
tative and quantitative way.
Parameters All data are stored in parameters and transmitted as parameter values (for
explanations regarding parameters see "Parameters, basics"). The scaling of
the parameters containing data of the following physical values can be de‐
fined by the customer:
● Position
● Velocity
● Acceleration
● Torque/force
● Temperature
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● Pressure and flow rate


Preferred scaling/parameter scal‐ To simplify the scaling definition so-called "preferred scalings" were prede‐
ing fined. Physical data, however, can also be exchanged in the control-internal
format, i.e. without specific reference to physical units. For this purpose, the
scaling for certain data can be freely set ("parameter scaling").
Linear and rotary Data Depending on the kind of motion of motor or load, the data can be displayed
as follows:
● In linear form (linear axis or motor motion)
- or -
● In rotary form (rotary axis or motor motion)
Motor reference/load reference In the drive firmware there are mechanical transfer elements between motor
and load mapped by means of mathematical models. The physical data can
thereby be referred to
● the point where the load takes effect (load-side data reference)
- or -
● the point where the force is input (motor-side data reference).
Absolute/modulo evaluation For technical reasons, the value range of the position data the controller can
display is limited.
For axes with limited travel range (e.g. linear axes), the current axis position
within the controller-side value range can be unambiguously displayed (see
"Basics on measuring systems, resolution").
For axes with an unlimited travel range (e.g. rotary axes), it is useful to limit
the infinite value range of the position data to a finite value. With continuous
motion, the value range is recurrently run from minimum to maximum value
("modulo" evaluation of the actual position value).
Pertinent parameters ● S-0-0043, Velocity polarity parameter
● S-0-0044, Velocity data scaling type
● S-0-0045, Velocity data scaling factor
● S-0-0046, Velocity data scaling exponent
● S-0-0055, Position polarities
● S-0-0076, Position data scaling type
● S-0-0077, Linear position data scaling factor
● S-0-0078, Linear position data scaling exponent
● S-0-0079, Rotational position resolution
● S-0-0085, Torque/force polarity parameter
● S-0-0086, Torque/force data scaling type
● S-0-0093, Torque/force data scaling factor
● S-0-0094, Torque/force data scaling exponent
● S-0-0103, Modulo value
● S-0-0121, Input revolutions of load gear
● S-0-0122, Output revolutions of load gear
● S-0-0123, Feed constant
● S-0-0160, Acceleration data scaling type
● S-0-0161, Acceleration data scaling factor
● S-0-0162, Acceleration data scaling exponent
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● S-0-0208, Temperature data scaling type


The following parameters are only available for the functional package Sytro‐
nix:
● S-0-0805, Pressure polarity parameter
● S-0-0806, Pressure data scaling type
● S-0-0807, Pressure data scaling factor
● S-0-0808, Pressure data scaling exponent
● S-0-0845, Flow data scaling type
● S-0-0846, Flow data scaling factor
● S-0-0847, Flow data scaling exponent
● S-0-0848, Flow polarities

5.4 Drive control


WARNING Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
● Keep free and clear of the ranges of motion of machines and moving
machine parts.
● Prevent personnel from accidentally entering the machine’s range of
motion (e.g., by safety fence, safety guard, protective covering, light bar‐
rier).
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● In addition, observe the safety message "Protection Against Dangerous
Movements" in the chapter "Safety Instructions for Electric Drives and
Controls".

5.4.1 Overview of drive control


Brief description
Basic principles and terms
The IndraDrive firmware supports the following two basic principles of motor
control:
● Open-loop axis control or open-loop operation(V/Hz [U/f] control)
→ Open-loop-controlled operation without encoder information
● Closed-loop axis control or closed-loop operation (different control meth‐
ods)
– With encoder feedback
→ Closed-loop-controlled operation (position, velocity and current)
– Without encoder feedback
→ Closed-loop-controlled operation with motor model (velocity and
current)

When selecting the functional packages, take the desired method


of control into account as you have to choose between open-loop
and closed-loop base package!
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Operation mode /
command value Functional princi‐ Encoder Required base
adjustment Control mode ple of motor available package Method of control

V/Hz (U/f) control Yes Closed-loop Not relevant


with command
Voltage-controlled No Open-loop V/Hz (U/f) control
value adjustment Asynchronous
operation
of the velocity
control
Yes Closed-loop FOC control
Asynchronous
Torque/force con‐ Field-oriented cur‐ No -- No method available
trol rent control Yes Closed-loop FOC control
Synchronous
No -- No method available
Yes Closed-loop FOC control
Asynchronous
Velocity control / No Open-loop FXC control1)
velocity synchro‐ Velocity control
nization Yes Closed-loop FOC control
Synchronous
No Closed-loop FOCsl control
Position control, Yes Closed-loop FOC control
drive-controlled Asynchronous
No Closed-loop FXC control 2)
positioning, posi‐
tioning block Position control Yes Closed-loop FOC control
mode, phase syn‐
Synchronous No Closed-loop FOCsl control
chronization, elec‐
tronic Cam

1) Although the „Open-Loop“ functional base package of the firm‐


ware is required, the drive control works in closed-loop opera‐
tion.
2) Only with external encoder
Tab. 5-54: Overview: Operation modes and available control methods
See also the section "Overview of functions/functional packages"
Principles of drive control
Overview of open-loop axis control
Open-loop axis control (or "open-loop operation") allows open-loop-controlled
operation of the drive without motor encoder (V/Hz [U/f] control).
The primary operation mode "velocity control" is configured, but only the
command value processing specific to this operation mode takes effect.
Closed-loop control (position and velocity) and functions and operation
modes depending thereof are not possible.
See "Voltage-controlled open-loop operation (V/Hz [U/f] Control)"
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Fig. 5-23: Principle of open-loop drive control (open-loop operation)


See also the section "Closed-loop axis control (closed-loop operation)" and
section "Overview of functions/functional packages"
Overview of closed-loop axis control

The base package "Closed-Loop" also contains the functions of


the base package "Open-Loop".

Closed-loop axis control (or "closed-loop operation") allows closed-loop-con‐


trolled operation of the drive; two principles of drive control are distinguished:
● Operation with encoder
The velocity control loop and the position control loop are closed by
means of the encoder feedback so that the following operation modes
are supported by field-oriented current control with encoder feedback:
– Velocity control
– Position control with cyclic command value input
– Positioning modes (drive-controlled positioning, positioning block
mode)
– Synchronization modes
● Sensorless operation
The velocity control loop is closed by means of a motor model (monitor)
so that field-oriented current control without encoder feedback supports
sensorless velocity control.
See the section "Field-oriented current control"
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Fig. 5-24: Principle of closed-loop drive control (closed-loop operation)


See also the section "Open-loop axis control (open-loop operation)"
See also the section "Overview of functions/functional packages"
Control loop structure
General information
The drive controller has a so-called cascade structure, i.e. the individual con‐
trollers (position, velocity and current) are interconnected in cascaded form.
Depending on the active operation mode, only the torque/force control loop,
the torque/force control loop and the velocity control loop or, in addition to
these two control loops, the position control loop are closed in the drive.
Torque/force control The "torque/force control" mode actually is not torque or force control but cur‐
rent control. Therefore, only the current control loop is closed in the drive.
See also "Torque/force control"
Velocity control In the "velocity control" mode, the velocity control loop, apart form the current
control loop, is closed in the drive, too.
See also "Velocity control"
Position control For the following position control modes, the position control loop, apart from
the current and velocity control loops, is closed internally (in the drive):
● Position control with cyclic command value input
● Drive-internal interpolation
● Positioning modes (drive-controlled positioning, positioning block mode)
See also description of the respective operation mode
The figures in the following two paragraphs contain an overview of the struc‐
ture and the interaction of the control loops (distinguished according to the il‐
lustration of the setting parameters and the display parameters).
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Control loop structure with setting parameters

TA Sampling times (see table in the section "Features of the con‐


trol loops")
Fig. 5-25: Overall structure of the control loops with points at which the setting
parameters take effect (example for field-oriented control with encod‐
er)
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Control loop structure with display parameters

TA Sampling times (see table in the section "Features of the con‐


trol loops")
Fig. 5-26: Overall structure of the control loops with display parameters (exam‐
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ple)
Features of the control loops
Performance (controller cycle times)
The internal controller cycle times (current, velocity and position) depend on
the following conditions and parameters:
● Activation of functional packages
● P-0-0001, Switching frequency of the power output stage
● P-0-0556, Config word of axis controller (bit 2)
Depending on these factors, the following cycle and switching times can be
achieved:

MPE MPB MPM

PWM switching frequency Max. 8 kHz Max. 16 kHz Max. 8 kHz


Position controller clock (TA_position) 1000 µs 250 µs 500 µs

Velocity controller clock (TA_velocity) 500 µs 125 µs 250 µs

Current controller clock (TA_current) 125 µs 62.5 µs 125 µs

Tab. 5-55: Cycle and switching times to be achieved with IndraDrive

All performance data are summarized under "System overview:


Performance data".

Current controller
The current controller is characterized by the following features:
● PI controller for d-axis and q-axis of the field-oriented d-q- coordinate
system (S-0-0106, S-0-0107)
● Inductance feedforward for decoupling d-axis and q-axis (P-0-4017,
P-0-4016) for synchronous motors
● Inductance characteristic for adjusting the current controller parameters
in the case of saturation phenomena
● Precontrol of e.m.f.
Velocity controller
The velocity controller is characterized by the following features:
● PI controller that can be set via the following parameters: "S-0-0100,
Velocity loop proportional gain" S-0-0101, Velocity loop integral action
time
● Standardization of the output value at the velocity controller to New‐
ton (N) or Newton meter (Nm); therefore, depending on the motor type,
the following unit results for the parameter "S-0-0100, Velocity loop
proportional gain":
– Rotary motor → Nm * s/rad
– Linear motor → N * min/mm
● Filter options for filtering encoder noise and resonance frequencies are
available
– One first order filter (first order low-pass), can be parameterized via
P-0-0004
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– Four second order filters (second order low-pass, band-stop filter,


second order filter), can be activated via P-0-1120 with the setting
parameters (P-0-1121), P-0-1122, P-0-1123, P-0-1140, P-0-1141,
P-0-1143

For the MPE firmware variant, only two 2nd order filters are avail‐
able.

● Acceleration feedforward can be set in parameter "P-0-1126 Velocity


control loop: Acceleration feedforward"
● Option to mix the actual velocity value used for control from the actual
value of the motor-side and load-side encoder using a "mix factor"
"P-0-1119 Velocity mix factor feedback 1 & 2"
● Limitation of command acceleration (change in velocity command value)
in velocity control by setting in parameter "S-0-0138, Bipolar
acceleration limit value"
● Limitation of the command velocity using parameters
– S-0-0113, Maximum motor speed
– S-0-0038, Positive velocity limit value
– S-0-0039, Negative velocity limit value
– S-0-0091, Bipolar velocity limit value
– P-0-0113, Bipolar velocity limit value of motor
See also "Velocity controller (with the respective filters)"
Position controller
The position controller is characterized by the following features:
● P-controller, can be set via "S-0-0104, Position loop Kv-factor"
● Velocity feedforward (degree of feedforward) can be set in parameter
"P-0-0040, Velocity feedforward evaluation" (0 %…100 %)
● Acceleration feedforward can be set in parameter S-0-0348
● For control, the actual value of the motor encoder or of the optional en‐
coder can be used as the actual position value. It is possible, however,
to use both actual position values for position control ("hybrid actual po‐
sition value").
See also "Position controller (with respective feedforward functions and ac‐
tual value adjustment)"
General notes on commissioning and application
Additive command values and options for accessing outer control
loops
In closed-loop operation, it is possible to add command values in addition to
the command values available in the control loop. Depending on the active
operation mode, the following parameters are available to do this:

Operation mode S-0-0081 S-0-0037 P-0-0690 P-0-0059 S-0-0048 P-0-0691

V/Hz (U/f) control (command value processing


-- -- -- -- -- --
in velocity control)
Torque/force control ■ -- -- -- -- --
Velocity control / velocity synchronization ■ ■ ■ -- -- --
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Operation mode S-0-0081 S-0-0037 P-0-0690 P-0-0059 S-0-0048 P-0-0691


Position control ■ ■ ■ ■ -- --
Drive-internal interpolation ■ ■ ■ ■ -- --
Drive-controlled positioning ■ ■ ■ ■ -- --
Positioning block mode ■ ■ ■ ■ -- --
Position synchronization
● Phase synchronization
■ ■ ■ -- ■ ■
● Electronic cam
● MotionProfile

S-0-0081 Additive torque/force command value


S-0-0037 Additive velocity command value
P-0-0059 Additive position command value, controller
S-0-0048 Additive position command value
P-0-0690 Additive velocity command value, process loop
P-0-0691 Additive position command value, process loop
Tab. 5-56: Additive command values depending on the operation mode
In closed-loop operation, it is possible to access the outer control loops from
a higher-level operation mode. The access options to the individual control
loops are illustrated in the following example:
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S-0-0037 Additive velocity command value


S-0-0047 Position command value
S-0-0081 Additive torque/force command value
S-0-0100 Velocity loop proportional gain
S-0-0101 Velocity loop integral action time
S-0-0104 Position loop Kv-factor
P-0-0059 Additive position command value, controller
Fig. 5-27: Structural overview including access options (example for operation
mode "position control with cyclic command value input")
Notes on commissioning of the control loop setting
The control loop settings in a digital drive controller are very important for the
features of the servo axis.
To optimize the control loop setting, application-specific controller parameters
are available for all digital Rexroth drives.
Order of Manual Control Loop Set‐ Due to the cascade structure of the control loops, it is necessary to parame‐
ting terize them "from the inside to the outside". The resulting order for setting the
control loops is as follows:
1. Current control loop
For Rexroth motors with motor encoder data memory (MSK and MKE
series), the optimization of the current controller is not required, as the
respective parameter values (S-0-0106 and S-0-0107) are read from the
motor encoder data memory.
For all Rexroth motors without motor encoder data memory (e.g. linear
motors), the parameter settings can be taken from a central motor data‐
base via the "IndraWorks Ds/D/MLD" commissioning tool.
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The commissioning of third-party motors (including control loop settings)


is described in the respective sections on third-party motors in this docu‐
mentation (see "Third-Party Motors at IndraDrive Controllers").
2. Velocity control loop
The settings of the velocity controller (S-0-0100 and S-0-0101) with the
respective filters (P-0-0004 and P-0-1120, P-0-1121, P-0-1122,
P-0-1123, P-0-1140, P-0-1141, P-0-1142, P-0-1143) on the one hand
depend on the motor parameters (inertia and torque/force constant), on
the other hand they strongly depend on the mechanical properties (load
inertia/mass, friction, rigidity of the connection, ...). Therefore, manual or
automatic optimization is often necessary.
3. Position control loop
In general, the position control loop only has to be adjusted to the dy‐
namics of the outer velocity controller, as well as to the kind of preset
command values (jerk, acceleration and interpolation procedure).
Default settings in the motor encoder data memory [load defaults pro‐
cedure (motor-spec. controller values)]
"Load defaults procedure (motor- For all Rexroth motors of the series with motor encoder data memory (e.g.,
spec. controller values)" command MKE, MSK and possibly MAD and MAF), the basic settings for the controllers
are saved and can be loaded to the drive by executing the "load defaults pro‐
cedure" command (S-0-0262).
The parameter "S-0-0262, C07_x Load defaults procedure command" can be
activated in two ways:
● Automatically when running up the drive by recognizing that the motor
type (cf. parameter S-0-0141) has changed. The display then reads
"RL" and the "load defaults procedure" command is internally started by
pressing the "Esc" key on the control panel, unless this was deactivated
in "P-0-0556, Config word of axis controller".
● Starting the command by writing "11b" to parameter S-0-0262.
See also "Loading, storing and saving parameters"

To start the "load defaults procedure" command, the value "0"


(default setting) has to have been set in the parameter "P-0-4090,
Configuration for loading default values".

When the motor default values are loaded, the following control loop parame‐
ters are set to their default values optimized for the respective motor:
● S-0-0100, Velocity loop proportional gain
● S-0-0101, Velocity loop integral action time
● S-0-0104, Position loop Kv-factor
● S-0-0106, Current loop proportional gain 1
● S-0-0107, Current loop integral action time 1
● P-0-0004, Velocity loop smoothing time constant

The default settings for the current control loop (cf. S-0-0106 and
S-0-0107) are automatically adjusted to the currently parameter‐
ized PWM frequency (cf. P-0-0001) and performance setting (cf.
P-0-0556)!
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In addition, the following control loop parameter is set to the firmware-side


default value when the motor default values are loaded, although no default
value has been stored for it in the motor data memory:
● S-0-0348, Acceleration feedforward gain

In the majority of cases, the controller settings stored in the motor


encoder data memory provide a useful and reliable control loop
setting. In exceptional cases, however, it may be necessary to
make the settings with regard to the specific application.

5.4.2 Motor control


General information on motor control
Overview of motor control methods
Classification of motor control methods
There are different methods available to control the motor; the main differ‐
ence between these methods is the fact whether a motor encoder is required
or not.
Motor control with motor encoder Motor control with position feedback via a motor encoder (field-oriented cur‐
rent control → FOC) is the highest-quality method of motor control providing
the best control performance. It can be used for synchronous and asynchro‐
nous motors and, within the precision and performance of motor and control‐
ler determined by the hardware, allows unrestricted motor operation in the
following operation modes:
● Position control modes
● Velocity control
● Torque/force control
Motor control without motor en‐ For sensorless motor control, there are different model-based methods avail‐
coder able for synchronous and asynchronous motors.
● For asynchronous motors:
– Voltage-controlled open-loop operation (V/Hz [U/f] control)
– Flux-controlled operation (FXC)
● For synchronous motors:
– Flux-controlled operation (FXC)
Regarding the possible operation modes when using these methods, observe
the following restrictions:
● Position control modes (positioning) are possible with sensorless syn‐
chronous and asynchronous motors in flux-controlled operation (FXC) in
connection with an external encoder. In these cases, generally take the
performance losses into account!
● Velocity control, too, can only be used with performance losses!

Torque/force control cannot be used for motor control without mo‐


tor encoder!
Motor control method and func‐ Make sure that the requirements regarding functional principle of motor and
tional principle of motor motor encoder have been fulfilled for the specified motor control mode. The
table below contains an overview for selecting the method.
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Motor encod‐ Functional princi‐ Motor control


Specific information for use Possible operation modes
er? ple of motor method

Synchronous mo‐ Position control modes


with tor Parallel operation of linear motors
FOC Velocity control
Motor encoder Asynchronous MLF is possible!
motor Torque/force control

Position control modes


FXC Only single-motor operation!
without Asynchronous Velocity control
Motor encoder motor
V/Hz (U/f) con‐ Parallel operation of motors is possi‐
Velocity control
trol ble!
without Synchronous mo‐ Position control modes
FXC Only single-motor operation!
Motor encoder tor Velocity control

Tab. 5-57: Overview of motor operation with and without motor encoder
See also "Overview of drive control"

Field-oriented current control with motor encoder (FOC)


Features and use Field-oriented current control with position feedback via motor encoder (FOC)
is characterized by the following features:
● Highest-quality method of motor control
→ To be used when there are high demands on the quality of control
and the dynamic response!
● Can be used for synchronous and asynchronous motors
Operation modes with FOC Within the hardware-side precision and performance of motor and controller,
field-oriented current control with position feedback via motor encoder allows
unrestricted motor operation in the following operation modes:
● Position control modes
● Velocity control
● Torque/force control
See the main section "Field-oriented current control (FOC control)"
Model-based current control without motor encoder (FXC)
Features and use Model-based current control without motor encoder is characterized by the
following features:
● Cost-saving motors, compared to the FOC method, can be used, as no
motor encoder is required (however, performance losses)
● Flux-controlled method (FXC) can be used without motor-specific re‐
strictions
Operation modes with FXC Current control without motor encoder allows using the following operation
modes:
● Velocity control (only suited for single motors, parallel operation of mo‐
tors is not possible)
● Position control modes possible with external encoder

Torque/force control cannot be used for sensorless (model-


based) motor control!
See the main section "Sensorless motor operation, flux-controlled (FXC con‐
trol)"
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Voltage-controlled open-loop operation (V/Hz [U/f] control)


Features and use Voltage-controlled motor operation without motor encoder is characterized by
the following features:
● Cost-saving motors, compared to the FOC method, can be used, as no
motor encoder is required (however, performance losses)
● Can only be used for asynchronous motors
● Linear or square V/Hz (U/f) characteristic can be selected
Operation mode with V/Hz (U/f) For voltage-controlled operation without motor encoder, only the "velocity
control control" mode with the following features can be used:
● Parallel operation of motors is possible
● Adjustment of motor control to velocity-proportional increase in load
(e.g. with fans) by adjusted ("square") V/Hz (U/f) characteristic to reduce
the motor losses
● Performance losses compared to velocity control with motor encoder

Torque/force control and position control modes cannot be used


for voltage-controlled operation without motor encoder!

See the main section "Voltage-controlled open-loop operation (V/Hz [U/f]


control)"
Notes on how to select the motor control method
Motor control performance The performance of motor control significantly depends on the type of control
section including the corresponding firmware, as well as on the PWM fre‐
quency of the power output stage which has been set.

An overview of the performance to be achieved and the clock


rates depending on control section design and parameter settings
is contained in the section "Performance data".

Selection criteria The following criteria have to be taken into account when selecting the appro‐
priate motor control method:

Motor encoder Parallel connection of


Motor type Motor control method Notes on use
available? motors?

For standard applications


with medium demands on
No No
quality of control and dy‐
namic response
Synchronous motor FOC
For standard applications
Rotary: No with high demands on quali‐
Yes
Linear: Yes 1) ty of control and dynamic
response
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Motor encoder Parallel connection of


Motor type Motor control method Notes on use
available? motors?
For standard applications
with medium demands on
No FXC
quality of control and dy‐
namic response
No
For standard applications
with low demands on quality
Asynchronous motor Yes V/Hz (U/f) control
of control and dynamic re‐
sponse
For standard applications
with high demands on quali‐
Yes No FOC
ty of control and dynamic
response

1) Observe mechanical orientation according to motor data


Tab. 5-58: Basic selection criteria for the motor control method
See also "Overview of drive control"
Operating properties for controlling Observe the following differences for controlling synchronous motors in oper‐
synchronous motors ation with and without motor encoder:

Motor characteristic FOC FXC

Basic speed range Yes Yes


Speed working ranges
Field weakening range Yes Yes
Torque/force control Yes No

Velocity control (incl. syn‐ Yes


Yes
chronization) (with restrictions)
Supported operation modes
Yes
Position control/positioning
Yes (with restrictions, external en‐
(incl. synchronization)
coder required)
Torque limitation Yes Yes
Maximum torque High Medium
Dynamics High Medium to high
High

Running smoothness/speed quality (depending on measuring sys‐ Medium to high


tem, motor type, mechanical
system)
Torque ripple Low (< ± 5%) Medium to high
Required precision of the motor parameters Low Medium to high
Robustness High Medium
Sensitivity against disturbances Low Medium
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Motor characteristic FOC FXC


Absolute encoder: In PM +
OM Depending on load-side en‐
Validity (availability) of the position information
coder type used
Relative encoder: In OM

PM Parameter mode
OM Operating mode
Tab. 5-59: Comparison of sensorless motor control and motor control with en‐
coder for synchronous motors
Operating properties for controlling Observe the following differences for controlling asynchronous motors as re‐
asynchronous motors gards operation with and without encoder:

Motor characteristic FOC FXC V/Hz (U/f) control

Basic speed range Yes Yes Yes


Speed working ranges
Field weakening range Yes Yes Yes
Torque/force control Yes No No

Velocity control (incl. syn‐ Yes Yes


Supported operation Yes
chronization) (with restrictions) (with restrictions)
modes
Position control/positioning Only with external
Yes No
(incl. synchronization) position encoder
Yes No
Torque limitation Yes (only stall protection
controller)
Maximum torque High Medium Low
Dynamics High Medium Low
High

Running smoothness/speed quality (depending on measur‐ Medium Low


ing system, motor type,
mechanical system)
Torque ripple Low (< ± 5%) High High
Low High, if high perform‐
Required precision of the motor parameters Low ance has to be
reached
Robustness High Medium Low
Sensitivity against disturbances Low High High
Absolute encoder:
In PM + OM Depending on
Validity (availability) of the position information load-side encoder Not available
Relative Encoder: type used
In OM only

PM Parameter mode
OM Operating mode
Tab. 5-60: Comparison of sensorless motor control and motor control with en‐
coder for asynchronous motors
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Motor control frequency


Brief description
General information The speed of three-phase a.c. motors depends on the frequency of the volt‐
age applied at the motor. The maximum possible frequency of the motor volt‐
age provided by the controller depends on the PWM frequency with which the
power output stage is controlled (clocked).

PWM frequency in Hz Max. motor control frequency in Hz

Value in P-0-0001 Static PWM*) Dynamic PWM

2000 200 --
4000 400 665
8000 800 1330
12000 1200 2000
16000 1600 2660

*) See also "Supply Units and Power Sections, Project Planning


Manual"
Tab. 5-61: PWM frequency settings and maximum motor control frequency with
static and dynamic PWM
Information on sizing
The required PWM frequency has to be observed when selecting
the controller because the continuous controller current is affec‐
ted by the PWM frequency setting:
● Due to continuous controller current, select the lowest possi‐
ble PWM frequency
● Due to motor control frequency, select a PWM frequency
that is only as high as necessary
Advantageous behavior Due to the continuous current reduction with PWM frequencies greater than
4 kHz, the controller can set the most advantageous PWM frequency auto‐
matically depending on the required motor control frequency.
Availability Depending on the control section design, the following PWM frequencies are
available:

Device/firmware Dynam. PWM or


Available
and/or vel.-dep. most advanta‐
PWM frequencies / Hz
Control section/firmware geous PWM

IndraDrive Cs with MPE


4000 No
firmware
8000 No
CDB02.1 with MPM FWA

2000 No
IndraDrive Cs with
4000 Yes*)
MPB/MPC firmware
8000 Yes
CSB02.1 with MPB FWA
12000 Yes
CSH02.x with MPC FWA
16000 Yes

*) Not for MPB with "Advanced" performance


Tab. 5-62: Hardware and firmware dependencies of the PWM frequency
Pertinent parameters ● P-0-0001, Switching frequency of the power output stage
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● P-0-0045, Control word of current controller


Pertinent diagnostic messages The switching of the PWM frequency is displayed in the respective bit of
"P-0-0046, Status word of current controller".
Voltage-controlled open-loop operation (V/Hz [U/f] control)
Brief description

Base package of all firmware variants in closed-loop characteris‐


tic

The drive function "voltage-controlled open-loop operation of asynchronous


motors without encoder in V/Hz (U/f) control" is made available in the "open-
loop" base package in the "velocity control" mode. When the expansion pack‐
age "synchronization" has been enabled, the operation mode "velocity syn‐
chronization with real/virtual master axis" is additionally available.

Fig. 5-28: Principle of V/Hz (U/f) control


V/Hz (U/f) motor control is characterized by the following features or core
functions:
Features ● Monitoring and limitation of the maximum stator frequency slope that re‐
sults from the command velocity change
● Stall protection controller (PI controller that can be optionally activated
to prevent breakdown of the machine when the torque limits are at‐
tained)
● Slip compensation (feedforward of estimated slip of the machine by
means of slip compensation factor)
● Calculation of output voltage using a V/Hz (U/f) characteristic based on
motor model data
● Subsequent trimming of magnetization via premagnetization factor, as
well as linear or square characteristic to be selected
● IxR boost (adjustable load-dependent feedforward of the output voltage
due to the voltage drop on the motor winding resistance)
● Oscillation damping (adjustable load-dependent feedforward to prevent
velocity oscillations in the partial load and idling ranges)
● D.C. braking to reach standstill more quickly
● User-side torque/force limitation via enabled stall protection controller
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● Velocity search mode of a coasting machine after switching drive enable


on (can be set for the preset rotational direction or both rotational direc‐
tions)
Pertinent parameters ● S-0-0040, Velocity feedback value of encoder 1
● S-0-0106, Current loop proportional gain 1
● S-0-0107, Current loop integral action time 1
● P-0-0043, Torque-generating current, actual value
● P-0-0044, Flux-generating current, actual value
● P-0-0045, Control word of current controller
● P-0-0046, Status word of current controller
● P-0-0048, Effective velocity command value
● P-0-0063, Torque-generating voltage, actual value
● P-0-0064, Flux-generating voltage, actual value
● P-0-0065, Absolute voltage value, actual value
● P-0-0440, Actual output current value (absolute value)
● P-0-0442, Actual value torque limit positive (stationary)
● P-0-0443, Actual value torque limit negative (stationary)
● P-0-0532, Premagnetization factor
● P-0-0556, Config word of axis controller
● P-0-0568, Voltage boost
● P-0-0569, Maximum stator frequency slope
● P-0-0570, Stall protection loop proportional gain
● P-0-0571, Stall protection loop integral action time
● P-0-0572, Slip compensation factor
● P-0-0573, IxR boost factor
● P-0-0574, Oscillation damping factor
● P-0-0575, Search mode: Search current factor
● P-0-0576, Search mode: Finding point slip factor
● P-0-0577, Square characteristic: Lowering factor
● P-0-0578, Current for deceleration, absolute value
● P-0-0579, Current for deceleration, time period
● P-0-4036, Rated motor speed
● P-0-4046, Effective peak current
Pertinent diagnostic messages ● E8040 Torque/force actual value limit active
● E8041 Current limit active
● E8260 Torque/force command value limit active
Field-oriented current control (FOC control)
Brief description

Base package of all firmware variants in closed-loop characteris‐


tic
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The current controller was preset for all Rexroth motors and the
parameter values have been stored in the motor encoder data
memory or in the commissioning tool ("IndraWorks Ds/D/MLD",
"DriveTop").
For information regarding the commissioning of the current con‐
troller for third-party motors, see "Third-party motors at IndraDrive
controllers"!

Principle of field-oriented current In the case of field-oriented current control, the internal control task consists
control in generating the transformed currents Id and Iq in controlled form:
● Id (flux-generating current) → PI controller for Id
● Iq (torque-generating current) → PI controller for Iq
The figure below illustrates the principle of field-oriented current control for
operation with motor encoder:

v-ctrl Velocity controller


I-ctrl Current controller
Fig. 5-29: Simplified schematic diagram for field-oriented current control with
higher-level velocity control
Working ranges Field-oriented current control of asynchronous and synchronous motors al‐
lows operation in the entire speed range.
The speed range is divided into the following working ranges:
● Basic speed range → constant torque
● Field weakening range 1 → constant power
● Field weakening range 2 → power limit range
General features Field-oriented current control has the following general features:
● Control of the motor current according to the principle of field orienta‐
tion, i.e. separate control of the torque-generating current and the flux-
generating current
● Compensation of the cross coupling of the d-axis and q-axis to increase
dynamics
● Voltage controller for operation in the field weakening range
● Activation of the optimum current controller proportional gain value, de‐
pending on the current PWM frequency when loading the default values
(motor-specific controller val.)
Features of synchronous motor In the case of synchronous motors, field-oriented current control additionally
control has the following features:
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● Limitation of the Iq command value at the voltage limit for protection


against too little control margin
● Utilization of the reluctance effect to increase the available torque in the
basic speed range
● Support of synchronous motors with reluctance torque, i.e. motors with
significantly different inductances in the d and q axes
Features of asynchronous motor In the case of asynchronous motors, field-oriented current control has the fol‐
control lowing features in addition to the general features:
● Optimum torque linearity, even in the field weakening range, by:
– Permanent correction of the torque constant and the slip factor by
means of the currently calculated rotor flux
– Rotor flux model taking temperature and saturation behavior of the
magnetizing inductance into account
● Improved dynamic behavior by:
– Voltage- and load-dependent flux feedforward
– Voltage controller for correcting the flux feedforward
– Flux controller for dynamically generating the rotor flux
● Possibility of reducing the magnetizing current for low-loss operation at
no load or in partial load range
Pertinent parameters Current controller setting:
● S-0-0106, Current loop proportional gain 1
● S-0-0107, Current loop integral action time 1
● P-0-0001, Switching frequency of the power output stage
● P-0-0045, Control word of current controller
● P-0-3945, Motor control configuration
● P-0-4002, Charact. of quadrature-axis induct. of motor, inductances
● P-0-4003, Charact. of quadrature-axis inductance of motor, currents
Voltage controller setting:
● P-0-0533, Voltage loop proportional gain
● P-0-0534, Voltage loop integral action time
● P-0-0535, Motor voltage at no load
● P-0-0536, Maximum motor voltage
Rotor flux control for asynchronous motors:
● P-0-0528, Flux control loop proportional gain
● P-0-0529, Scaling of stall current limit
● P-0-0530, Slip increase
● P-0-0532, Premagnetization factor
Power monitoring:
● S-0-0158, Power threshold Px
● S-0-0337, Status "P >= Px"
● S-0-0382, DC bus power
Display parameters:
● S-0-0380, DC bus voltage
● P-0-0046, Status word of current controller
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● P-0-0063, Torque-generating voltage, actual value


● P-0-0064, Flux-generating voltage, actual value
● P-0-0065, Absolute voltage value, actual value
Pertinent diagnostic messages ● C0132 Invalid settings for controller cycle times
● E8025 Overvoltage in power section
● E8028 Overcurrent in power section
● F2077 Current measurement trim wrong
● F8060 Overcurrent in power section
Sensorless motor operation, flux-controlled (FXC control)
Brief description

Base package of all firmware variants in open-loop and closed-


loop characteristic, except MPE-20VRS.

For asynchronous and synchronous motors, flux-controlled, sensorless motor


operation is available in the base packages "open-loop" and "closed-loop" of
the mentioned firmware variants and can be used in the "velocity control"
mode and in position-controlled operation modes which use position encod‐
er 2 (external encoder).
When using the firmware expansion package "synchronization", it is also pos‐
sible to run the operation mode "velocity synchronization with real/virtual
master axis".

Fig. 5-30: Principle of sensorless, flux-controlled motor operation


Features ● Limitation of the maximum stator frequency slope that results from the
command velocity change
● "Stable" motor operation
→ To maintain the maximum possible torque
● Slip compensation for asynchronous motors (estimated motor slip taken
into account for calculating actual velocity value)
→ To minimize the stationary speed deviations, due to slip, from the
command value when the asynchronous motor is loaded
● Motor speed does not tend to oscillation in operation at partial load and
no-load operation
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● Velocity search mode of a coasting asynchronous motor after switching


drive enable on
● Possibility of taking user-side torque/force limitation into account
Pertinent parameters Motor control parameters of sensorless, flux-controlled motor operation:
● P-0-4033, C3200 Command Calculate motor data
● P-0-0532, Premagnetization factor
● P-0-0565, C3600 Command Motor data identification
● P-0-0578, Current for deceleration, absolute value
● P-0-0579, Current for deceleration, time period
● P-0-0580, Motor frequency
● P-0-0594, FXC: Total flux loop integral action time
● P-0-0595, Frequency loop proportional gain (FXC)
● P-0-0596, FXC: Frequency loop scaling factor of inertia
● P-0-0597, FXC: Current loop proportional gain
● P-0-0598, FXC: Current loop integral action time
● P-0-0599, FXC: Slip frequency filter time constant
● P-0-0600, Rated slip frequency
● P-0-0602, FXC: Minimum no-load current
Motor data parameters:
● P-0-0510, Rotor inertia
● P-0-4004, Magnetizing current
● P-0-4032, Motor type plate data
Axis data parameters:
● P-0-4010, Load inertia
Control parameters:
● P-0-0045, Control word of current controller
● P-0-0601, Configuration motor data identification
Automatic setting of motor control
Brief description

Base package of all firmware variants in open-loop and closed-


loop characteristic

For operating motors, it is necessary to collect the values for motor parame‐
ters (resistance values, inductances, ...), in order to determine the motor con‐
trol parameters (flux controller, voltage controller, current controller, ...) with
these values.
Depending on the manufacturer and type of the motor to be controlled, the
values for motor parameters and motor control parameters are made availa‐
ble to the drive controller in different ways.
Rexroth motors For Rexroth motors, the values for the motor and motor control parameters
are optimized and made available by the manufacturer. The automatic setting
of the motor control parameters by the drive firmware is not required and not
allowed for Rexroth motors!
● For motors with motor encoder data memory:
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→ Parameters loaded automatically when drive is switched on, see "De‐


fault settings in the motor encoder data memory ("loading default val‐
ues")"
● For motors without motor encoder data memory:
– Parameters loaded via the "IndraWorks Ds/D/MLD" commissioning
tool from the motor data base (DriveBase)
- or -
– Individual parameters manually written via the Engineering Port or
the master communication interface by means of a motor parame‐
ter list.
Third-party motors For third-party motors, the drive firmware possesses commands by means of
which the values for the motor and motor control parameters are generated
depending on the available output data and the functional principle of the mo‐
tor.
The following commands are available for calculating values for the motor
and motor control parameters:
● C3200 Command Calculate motor data:
1. Calculating the motor parameter values for asynchronous motors
from the data on the type plate.
2. Calculating the values to be set for the motor control parameters.
● C3600 Command Motor data identification:
1. Identifying (or optimizing) the motor parameter values.
Note: Appropriate start values already have to be available!
2. Calculating the values of the motor control parameters.
● C4600 Command Calculate motor control parameters:
Calculating the values of the motor control parameters from the motor
parameters for synchronous motors and, if necessary, for asynchronous
motors (after manual input of motor data in motor parameters)

The prerequisite is the form "Manufacturer-side data for synchro‐


nous motors" or "Manufacturer-side data of asynchronous mo‐
tors" to be filled out by the motor manufacturer; it can be found in
the section "Third-party motors at IndraDrive controllers"!

Overview The figure below illustrates an overview of the possibilities of determining the
motor and motor control parameters for motors without motor encoder data
memory:
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P-0-4032 Motor type plate data


Fig. 5-31: Determining motor and motor control parameters for motors without
motor encoder data memory

In addition to collecting or determining the motor and motor con‐


trol parameters, further data on measuring system, temperature
sensor, motor temperature model, motor holding brake and, if
necessary, position and velocity controllers are required.
See "Closed-loop axis control (closed-loop operation)"
See the "Notes on commissioning" in the section "Third-party mo‐
tors at IndraDrive controllers"

Pertinent parameters ● P-0-0565, C3600 Command Motor data identification


● P-0-0566, C4600 Command Calculate motor control parameters
● P-0-4032, Motor type plate data
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● P-0-4033, C3200 Command Calculate motor data


Pertinent diagnostic messages ● C3200 Command Calculate motor data
● C3201 Incorrect input for current
● C3202 Incorrect input for voltage
● C3203 Incorrect input for frequency
● C3204 Incorrect input for speed
● C3205 Incorrect input for power factor
● C3206 Incorrect input for power
● C3207 Type plate list incomplete
● C3208 Error when writing parameters (->S-0-0423)
● C3209 Command execution impossible
● C3600 Command Motor data identification
● C3601 Motor not or not correctly connected
● C3602 Determined values invalid
● C3603 Device current limit too low
● C3604 Error when writing parameters (->S-0-0423)
● C3605 Motor turning
● C3606 Type of construction of motor not allowed
● C3607 Motor revolution/motion impeded
● C3608 Incorrect motor phases or rotational direction of encoder
● C3609 Incorrect number of pole pairs or number of encoder lines
● C3610 No encoder: Validation check impossible
● C3611 Test velocity not reached
● C3612 Command execution impossible
● C4600 Command Calculate motor control parameters
● C4601 Error when writing parameters (->S-0-0423)

5.4.3 Open-loop axis control (open-loop operation)


Brief description
In sensorless operation (open-loop operation), the velocity control loop is not
closed in the drive, but the drive is operated in a velocity-controlled way (with‐
out feedback) via open-loop V/Hz (U/f) control.

The method of open-loop/closed-loop motor control is selected


via the relevant bits of "P-0-0045, Control word of current
controller".

See also the section "Motor control"


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Fig. 5-32: Principle of drive control in open-loop operation


Features The open-loop velocity control has the following features:
● Fine interpolation of the velocity command value (can be switched off)
● Monitoring of the velocity control loop is possible (can be switched off
via P-0-0556; bit 1)
● Parameterizable filtering of the actual velocity value
● Additive velocity command value (S-0-0037)
● Display of the resulting command value (in P-0-0048)
● Monitoring and limitation of the maximum stator frequency slope that re‐
sults from the command velocity change
● Stall protection controller (PI controller that can be optionally activated
to prevent breakdown of the machine when the torque limits are at‐
tained)
● Slip compensation (feedforward of estimated slip of the machine by
means of rotor time constant and slip compensation factor)
● Calculation of output voltage by means of a V/Hz (U/f) characteristic
based on motor model data
● Subsequent trimming of magnetization via premagnetization factor (line‐
ar or square characteristic to be selected)
● IxR boost (adjustable load-dependent feedforward of the output voltage
due to the voltage drop on the motor winding resistance)
● Oscillation damping (adjustable load-dependent feedforward to prevent
velocity oscillations in the partial load and idling ranges)
● Current limitation controller to protect the output stage
● Velocity search mode of a coasting machine after switching drive enable
on (can be set for one or both rotational directions)
Pertinent parameters ● S-0-0037, Additive velocity command value
● S-0-0040, Velocity feedback value of encoder 1
● S-0-0091, Bipolar velocity limit value
● P-0-0048, Effective velocity command value
● P-0-0049, Effective torque/force command value
● P-0-0555, axis controller messages
● P-0-0556, Config word of axis controller
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Pertinent diagnostic messages ● F8079 Velocity limit value exceeded (S-0-0091)

5.4.4 Closed-loop axis control (closed-loop operation)


General information on closed-loop axis control
Control loop structure
The drive controller has a so-called cascade structure, i.e. the individual con‐
trollers (position, velocity and current) are interconnected. Depending on the
active operation mode, there are different controller structures with different
points of input and paths of the command values. Depending on the active
operation mode, only the torque control loop, the torque control loop and the
velocity control loop or, in addition to these two control loops the position con‐
trol loop can be closed in the drive.
The structure and the interaction of the control loops are shown in two figures
in the section "Overview of drive control" (see "Control loop structure with
setting parameters" or "Control loop structure with display parameters").
Features of the control loops
To simplify the parameterization of the control loops and to increase the per‐
formance, a number of standardizations and structural changes have been
carried out.
Current controller, velocity controller and position controller are described in
the section "Performance (controller cycle times)" (see "Overview of drive
control, features of the control loops").
Possibilities of accessing outer control loops
In closed-loop operation, it is possible to add command values in addition to
the command values available in the control loop. In closed-loop operation, it
is possible to access the outer control loops from a higher-level operation
mode (see "Additive command values and options for accessing outer control
loops").
Command value processing depending on operation mode
Position control For the following operation modes, the position control loop is closed internal‐
ly (in the drive) in addition to the velocity and current control loops:
● Position control with cyclic command value input
● Drive-internal interpolation
● Positioning modes (drive-controlled positioning, positioning block mode)
See also description of the respective operation mode.
Velocity control In the "velocity control" mode, the velocity control loop, apart form the current
control loop, is closed in the drive, too.
See also "Velocity control"
Torque/force control The "torque/force control" mode actually isn't torque or force control but cur‐
rent control. Therefore, only the current control loop is closed in the drive.
See also "Torque/force control"
Notes on commissioning for control loop setting
The control loop settings in a digital drive controller are very important for the
features of the servo axis.
To optimize the control loop setting, application-specific controller parameters
are available for all digital Rexroth drives.
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Order of Manual Control Loop Set‐ Due to the cascade structure of the control loops, it is necessary to parame‐
ting terize them "from the inside to the outside". The resulting order for setting the
control loops is as follows:
1. Current control loop
For Rexroth motors with motor encoder data memory (MSK and MKE
series), the optimization of the current controller is not required, as the
respective parameter values (S-0-0106 and S-0-0107) are read from the
motor encoder data memory.
For all Rexroth motors without motor encoder data memory (e.g. linear
motors), the parameter settings can be taken from a central motor data‐
base via the "IndraWorks Ds/D/MLD" commissioning tool.
The commissioning of third-party motors (including control loop settings)
is described in the respective sections on third-party motors in this docu‐
mentation (see "Third-Party Motors at IndraDrive Controllers").
2. Velocity control loop
The settings of the velocity controller (S-0-0100 and S-0-0101) with the
respective filters (P-0-0004 and P-0-1120, P-0-1121, P-0-1122,
P-0-1123, P-0-1140, P-0-1141, P-0-1142, P-0-1143) on the one hand
depend on the motor parameters (inertia and torque/force constant), on
the other hand they strongly depend on the mechanical properties (load
inertia/mass, friction, rigidity of the connection, ...). Therefore, manual or
automatic optimization is often necessary.
3. Position control loop
In general, the position control loop only has to be adjusted to the dy‐
namics of the outer velocity controller, as well as to the kind of preset
command values (jerk, acceleration and interpolation procedure).
Default settings in the motor encoder data memory ("load motor de‐
fault values")
"Load motor default values" com‐ For all Rexroth motors of the series with motor encoder data memory (e.g.,
mand MKE, MSK and possibly MAD and MAF), the basic settings for the controllers
are saved and can be loaded to the drive by executing the "load motor de‐
fault values" command (S-0-0262).
The parameter "S-0-0262, C07_x Load defaults procedure command" can be
activated in two ways:
● Automatically when running up the drive by recognizing that the motor
type (cf. parameter S-0-0141) has changed. The display then reads
"RL" and by pressing the "Esc" key on the control panel, the "load motor
default values" command is internally started unless this was deactiva‐
ted in "P-0-0556, Config word of axis controller".
● Starting the command by writing "11b" to parameter S-0-0262.
See also "Loading, storing and saving parameters"

To start the "load motor default values" command, the value "0"
(default setting) has to have been set in the parameter "P-0-4090,
Configuration for loading default values".

When the motor default values are loaded, the following control loop parame‐
ters are set to their default values optimized for the respective motor:
● S-0-0100, Velocity loop proportional gain
● S-0-0101, Velocity loop integral action time
● S-0-0104, Position loop Kv-factor
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● S-0-0106, Current loop proportional gain 1


● S-0-0107, Current loop integral action time 1
● P-0-0004, Velocity loop smoothing time constant

The default settings for the current control loop (cf. S-0-0106 and
S-0-0107) are automatically adjusted to the currently parameter‐
ized PWM frequency (cf. P-0-0001) and performance setting (cf.
P-0-0556)!

In addition, when the motor default values are loaded, the following control
loop parameter is set to the firmware-side default value even though no de‐
fault value has been stored in the motor data memory for this parameter.
● S-0-0348, Acceleration feedforward gain

In the majority of cases, the controller settings stored in the motor


encoder data memory provide a useful and reliable control loop
setting. In exceptional cases, however, it may be necessary to
make the settings with regard to the specific application.

Automatic setting of closed-loop axis control


Brief description
To facilitate drive parameterization, the IndraDrive firmware provides auto‐
matic axis control setting in closed-loop operation.
● Together, the settings of axis control and the drive mechanics (e.g. stiff‐
ness/elasticity and load inertia/load mass) determine the control loop dy‐
namics to be achieved.
● The required control loop dynamics depends on the application type
(such as machine tool and handling axis).
● It allows setting the control loop parameters in such a way that they are
adjusted to the application type and the axis structure (e.g., direct con‐
nection and drive with gearbox/toothed wheel), as well as to the me‐
chanical properties of the axis.
Features The function has the following features:
● The function is started with the command "P-0-0162, C1800 Command
Drive optimization/command value box" and controlled with the parame‐
ter "P-0-0165, Drive optimization, control word"
● Once the function was started with the command "C1800 Command
Drive optimization/command value box", it can be subsequently started
using the display.
● With the start of the function, switching to a drive-internal operation
mode takes place and the drive makes itself independent of the control
unit.
● The result of the control loop setting (achieved control loop dynamics)
can be influenced via "P-0-0163, Damping factor for autom. controller
setting" und "P-0-0164, Application for autom. controller setting".
● Via "P-0-0165, Drive optimization, control word" it is possible, by select‐
ing the corresponding bit, to activate the respective subfunction of the
automatic setting of axis control:
– Calculation of velocity and/or position controller parameters (drive
does not move)
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– Optimization of velocity and/or position controller parameters (drive


moves)
– Determination of acceleration feedforward (drive does not move)
– Determination of load inertia (drive moves)
– Determination of maximum acceleration (drive does not move)

Depending on the settings in "P-0-0165, Drive optimization,


control word", it is necessary to move the drive to carry out the
automatic setting of axis control. The drive moves when the load
inertia is determined and when the velocity and position control
loops are optimized.

● If motion is not required, the command can already be started in phase


4 (bb: drive ready for operation).
● If motion is required, drive enable (AF) is necessary to start the com‐
mand.
– The type of motion, oscillating motion or motion in one direction,
and, if applicable, the direction of motion, positive or negative di‐
rection, are automatically determined from the processing format,
absolute or modulo format, of the position data, "S-0-0076, Position
data scaling type" (bit 7) and the "S-0-0393, Command value
mode".
– The travel range is defined either by inputting position limits or a
travel distance.

When the IndraWorks engineering tool (13V06 and above) is


used to control the function, further features are available:
● Automatic determination of the mechanical properties of an‐
tiresonance and resonance frequencies:
"P-0-0181, Drive optimization: Antiresonance frequency"
"P-0-0182, Drive optimization: Resonance frequency"
● Automatic setting of the speed control loop filters depending
on the antiresonance and resonance frequencies

Fig. 5-33: IndraWorks start dialog "Automatic setting of axis control"


Pertinent parameters ● P-0-0161, Drive optimization: Periodic time
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● P-0-0162, C1800 Command Drive optimization/command value box


● P-0-0163, Damping factor for autom. controller setting
● P-0-0164, Application for autom. controller setting
● P-0-0165, Drive optimization, control word
● P-0-0166, Drive optimization, end position negative
● P-0-0167, Drive optimization, end position positive
● P-0-0168, Maximum acceleration to be parameterized
● P-0-0169, Drive optimization, travel distance
● P-0-0170, Drive optimization, acceleration
● P-0-0171, Drive optimization, velocity
● P-0-0181, Drive optimization: Antiresonance frequency
● P-0-0182, Drive optimization: Resonance frequency
Pertinent diagnostic messages ● C1800 Command Drive optimization/command value box
● C1801 Start requires drive enable
● C1802 No useful motor data
● C1803 Inertia detection failed
● C1804 Automatic controller setting failed
● C1805 Travel range invalid
● C1806 Travel range exceeded
● C1807 Determining travel range only via travel distance
● C1808 Drive not homed
● E2049 Positioning velocity >= limit value (S-0-0091)
● E2055 Feedrate override S-0-0108 = 0
Velocity controller (with the respective filters)
Brief description
In closed-loop operation, in addition to the field-oriented current controller,
the velocity control loop is also closed in the drive by means of the drive soft‐
ware (PI cascade structure).
The closed-loop operation (current and velocity) can be carried for all types of
motors with encoder and for asynchronous motors without encoder.

The motor control type is selected via "P-0-0045, Control word of


current controller" (bit 14,15).
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Overview of the functional scope

Fig. 5-34: Structure of the velocity controller

The following description is restricted to the velocity controller in‐


cluding the respective options of filtration and feedforward. The
processing of the velocity command value is described within the
"velocity control" mode.

Features ● Digital PI controller with anti-windup function, can be set by means of


the following parameters:
– S-0-0100, Velocity loop proportional gain
– S-0-0101, Velocity loop integral action time
● Setting can be carried out by
– Executing the "load defaults procedure (motor-spec. controller val‐
ues)" function once
- or -
– Manual optimization (see description below)
- or -
– Automatic parameterization of the axis controller (see "Automatic
setting of closed-loop axis control").
● Depending on the control performance which has been set, the cycle
time TA_velocity is used for velocity controller calculations (see "Perform‐
ance data").
● Possibility of mixing the velocities of motor encoder and optional encod‐
er
● 4 freely configurable 2nd order filters (e.g., band-stop filters) for filtering
resonance frequencies

For firmware variant MPE, only 2 freely configurable filters are


available.
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● Low-pass filter to attenuate interference frequencies, to be set via


P-0-0004 (VZ1)
● Fine interpolation of the position controller command values (can be
switched on via P-0-0556, bit 0)
● Monitoring of the velocity control loop (can be switched off via P-0-0556,
bit 1)
● Optional acceleration feedforward from the torque command value (with
filtering option)
Pertinent parameters ● S-0-0037, Additive velocity command value
● S-0-0040, Velocity feedback value of encoder 1
● S-0-0081, Additive torque/force command value
● S-0-0084, Torque/force feedback value
● S-0-0091, Bipolar velocity limit value
● S-0-0100, Velocity loop proportional gain
● S-0-0101, Velocity loop integral action time
● S-0-0149, C1300 Positive stop drive procedure command
● S-0-0155, Friction compensation
● S-0-0156, Velocity feedback value of encoder 2
● S-0-0164, Acceleration feedback value encoder 1
● S-0-0347, Velocity error
● S-0-0535, Active velocity feedback value
● P-0-0004, Velocity loop smoothing time constant
● P-0-0048, Effective velocity command value
● P-0-0049, Effective torque/force command value
● P-0-0180, Acceleration feedforward smoothing time constant
● P-0-0451, Actual acceleration torque/force value
● P-0-0452, Actual process torque/force value
● P-0-0555, axis controller messages
● P-0-0556, Config word of axis controller
● P-0-1119, Velocity mix factor feedback 1 & 2
● P-0-1120, Velocity control loop filter: Filter type
● P-0-1121, Velocity control loop filter: Limit frequency of low pass
● P-0-1122, Velocity control loop filter: Bandwidth of band-stop filter
● P-0-1123, Vel. cont. loop filter: Center frequency of band-stop filter
● P-0-1126, Velocity control loop: Acceleration feedforward
● P-0-1140, Velocity control loop filter: Numerator natural frequency
● P-0-1141, Velocity control loop filter: Denominator natural frequency
● P-0-1142, Velocity control loop filter: Numerator damping
● P-0-1143, Velocity control loop filter: Denominator damping
● P-0-2100, Velocity loop proportional gain, type plate
● P-0-2101, Velocity loop integral-action time, type plate
● P-0-3004, Speed controller smoothing time constant, type plate
Pertinent diagnostic messages ● E2059 Velocity command value limit active
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● E8260 Torque/force command value limit active


● F8078 Speed loop error
Position controller (with respective feedforward functions and actual value adjustment)
Brief description
The following section only describes the position controller with the respec‐
tive feedforward options (velocity and acceleration feedforward).

Fig. 5-35: Structure of the position controller

The preprocessing of the position command value (command val‐


ue adjustment) is described in the corresponding section of the
position control mode (e.g. position control with cyclic command
value input, positioning block mode, ...).

Features ● Digital proportional controller, can be set via the following parameter:
– S-0-0104, Position loop Kv-factor
● Lag error is minimized by:
– Variable velocity feedforward (see P-0-0040)
- and -
– Variable acceleration feedforward (see S-0-0348), including
smoothing filter
● Depending on the control performance which has been set, the cycle
time TA_position is used for position controller calculations (see "Perform‐
ance data").
● With lag error or lagless, i.e. with velocity feedforward
● Model monitoring for the lag error (see also F2028)
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● Possibility of evaluating a "hybrid actual position value" from motor en‐


coder and external position control encoder (up to now only motor en‐
coder and measuring wheel encoder)
Pertinent parameters ● S-0-0032, Primary operation mode
→ Bit 3 = 1 → Activation of lagless operation
● S-0-0038, Positive velocity limit value
● S-0-0039, Negative velocity limit value
● S-0-0040, Velocity feedback value of encoder 1
● S-0-0048, Additive position command value
● S-0-0051, Position feedback value of encoder 1
● S-0-0053, Position feedback value of encoder 2
● S-0-0091, Bipolar velocity limit value
● S-0-0092, Bipolar torque/force limit value
● S-0-0104, Position loop Kv-factor
● S-0-0189, Following distance
● S-0-0348, Acceleration feedforward gain
● S-0-0386, Active position feedback value
● S-0-0520, Axis control word
● S-0-0521, Axis status word
● P-0-0040, Velocity feedforward evaluation
● P-0-0048, Effective velocity command value
● P-0-0049, Effective torque/force command value
● P-0-0059, Additive position command value, controller
● P-0-0109, Torque/force peak limit
● P-0-0180, Acceleration feedforward smoothing time constant
● P-0-0241, Actual pos. smoothing time constant for hybrid pos. control
● P-0-0434, Position command value of controller
● P-0-0454, Velocity feedforward actual value
● P-0-0455, Acceleration feedforward actual value
● P-0-0556, Config word of axis controller
● P-0-0691, Additive position command value, process loop
Pertinent diagnostic messages ● F2028 Excessive deviation
● F2036 Excessive position feedback difference
● F2037 Excessive position command difference

5.4.5 Commutation setting


Basics on commutation setting
Brief description
General information
Significance of commutation offset Synchronous three-phase a.c. motors are only operational, when the current
in the primary part has been correctly assigned to the permanent magnetic
field in the secondary part. For this purpose, the position of the primary part
(motor windings) with respect to the pole pairs of the secondary part must al‐
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ways be known to control. Depending on the primary part position signaled


by the motor encoder, the "commutation offset" is used to generate the cur‐
rent in the three-phase windings such that a force effect is produced in the
motor.
A synchronous motor can only produce the maximum torque or the maximum
force in relation to the motor current if the value of the commutation offset is
correct. Otherwise, the ratio of torque/force to motor current (torque/force
constant) would be lower and not ideal. A highly incorrect value implies the
danger of the motor moving in an uncontrolled way.
If the motor encoder is not mounted in the defined orientation with respect to
the primary and secondary part of the motor, an individual commutation offset
value must be determined for each synchronous motor:
● With Rexroth synchronous motors with integrated motor encoders and
encoder data memory (e.g. MSK motors), the commutation offset has
already been determined at the factory and is provided in the motor en‐
coder data memory. The user does not need to set the commutation off‐
set!
● Synchronous Rexroth kit motors consist of motor components (primary
part, secondary part). They are finally put together as an operational
motor when they are installed in the machine axis and completed by the
customer with a motor encoder. The commutation offset can only be de‐
termined on the user side after the motor has been completed.
The following Rexroth kit motors are manufactured according to the
functional principle associated with "synchronous motors":
– Linear motors LSF, MLF
– Rotary motors MBS and MBT
Motor encoders for synchronous Absolute motor encoders should ideally be used for synchronous Rexroth kit
motors motors. The advantage in this case is the absolute position detection of the
motor position which immediately ensures, when drive enable is set, the cor‐
rect assignment of current in the primary part to the magnetic field in the sec‐
ondary part when the commutation offset had been determined and stored in
the drive during the initial commissioning of the motor.
For some applications it is necessary to use relative motor encoders, be‐
cause the available length of absolute motor encoders is limited, for example.
The disadvantage in this case is that absolute detection of the motor position
is impossible. It is therefore necessary, after each time the drive is switched
on again or after having changed the communication phase from "PM" to
"OM" ("bb" or "Ab"), to set the commutation offset again. For linear motors,
this disadvantage can be removed by using an additional Hall sensor compo‐
nent or option, because with regard to commutation setting the relative motor
encoder then behaves like an absolute motor encoder.

The evaluation of an analog enoder with additional analog or digi‐


tal Hall sensors is not yet supported in this firmware release of
MPx20 and below!

If you use a relative motor encoder, using the additional Hall sen‐
sor component is absolutely recommended for linear Rexroth mo‐
tors! In this way, the highest safety is achieved with regard to cor‐
rect motor function and compliance with the performance data!

Concerning operationally reliable drives with synchronous third-party motors


and IndraDrive controllers with regard to the selected motor encoder, the
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same principles apply as for synchronous Rexroth kit motors (see above);
however, the Hall sensor box SHL02.1 cannot be used for linear third-party
motors.
Overview of the motor encoders to Motor encoder Synchronous Rexroth Synchronous Rexroth Third-party syn‐
be used for synchronous motors
kit motor (rotary, line‐ kit motor (linear) with chronous motor
ar) SHL02 or Hall unit

Absolute + -- +
Relative o + o

+ Advantageous combination
o Combination possible, initial commissioning might possibly re‐
quire especially trained staff
-- Combination not useful
Tab. 5-63: Possible combinations of motor encoders and synchronous motors
for which commutation setting is required

The motor encoder should be realized with high resolution and as


a motor encoder to be evaluated in absolute form. If it is necessa‐
ry to use a relative motor encoder, using encoders with square-
wave signals should be avoided.
With synchronous motors with a gearbox between motor and mo‐
tor encoder (encoder gear), in general an absolute motor encoder
cannot be evaluated as an absolute commutation encoder (for
special cases, see below).
For synchronous motors with relative motor encoders in combina‐
tion with an additional external encoder that can be evaluated in
absolute form installed at the axis, the external encoder, with slip-
free drive mechanics, can be used as an absolute commutation
encoder for the motor (for special cases, see below).

Pertinent parameters Besides the motor parameters (see overview of parameters in "Basics on the
motors to be controlled" ), there are further parameters available for commu‐
tation setting:
● P-0-0506, Amplitude for angle acquisition
● P-0-0507, Test frequency for angle acquisition
● P-0-0508, Commutation offset
● P-0-0509, Commutation offset coarse
● P-0-0517, Commutation: Required harmonics component
● P-0-0518, C5600 Command subsequent optimization of commutation
offset
● P-0-0519, Commutation status word
● P-0-0521, Effective commutation offset
● P-0-0522, Control word for commutation setting
● P-0-0523, Commutation setting measured value
● P-0-0524, C1200 Commutation offset setting command
● P-0-3008, Commutation offset, type plate
Pertinent diagnostic messages ● C1200 Commutation offset setting command
● C1204 Error in offset calculation
● C1208 No adjustment with asynchronous motor
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● C1209 Proceed to phase 4


● C1211 Commutation offset could not be determined.
● C1212 Motion range exceeded during commutation
● C1214 Command only possible with linear synchronous motor
● C1215 Command only possible in 'bb'
● C1216 Commutation determination not selected
● C1217 Setting only possible in 'Ab'
● C1218 Automatic commutation: Current too low
● C1219 Automatic commutation: Overcurrent
● C1220 Automatic commutation: Timeout
● C1221 Automatic commutation: Iteration without result
● C1222 Error when writing offset parameters
● C1223 Command execution impossible
● C5600 Command Subsequent optimization of commutation offset
● C5601 Command requires drive enable
● C5602 Axis blocked
● C5603 Timeout: Axis in motion
● F2032 Validation error during commutation fine adjustment
● F8010 Autom. commutation: Max. motion range when moving back
● F8011 Commutation offset could not be determined
● F8012 Autom. commutation: Max. motion range
● F8013 Automatic commutation: Current too low
● F8014 Automatic commutation: Overcurrent
● F8015 Automatic commutation: Timeout
● F8016 Automatic commutation: Iteration without result
● F8017 Automatic commutation: Incorrect commutation adjustment
Overview of methods for determining the commutation offset
Methods for determining the com‐ The commutation offset can be determined with different methods. The meth‐
mutation offset od is chosen in accordance with the axis geometry, the practicability and the
chances of success of the respective method depending on motor and drive
mechanics.
The following methods are possible:
● Calculation method
→ For relative motor encoder when using the additional Hall sensor
component SHL02 (distance measurement, currentless → only possible
with linear Rexroth kit motors MLF, see documentation "Hall Sensor
Box SHL02.1")
● Measuring method
→ For motor encoder that can be evaluated in absolute form (distance
measurement, currentless → only possible with linear Rexroth kit mo‐
tors)
● Saturation method (axis needs to be blocked or at standstill, with cur‐
rent)
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→ Possible with all types of motors in combination with motor encoders


that can be evaluated in absolute form and with relative motor encoders;
but see table below for "Restrictions for saturation method"
● Sine-wave method (requires unrestricted movement of axis, with cur‐
rent)
→ Possible with all types of motors in combination with motor encoders
that can be evaluated in absolute form and with relative motor encoders;
but see table below for "Restrictions for sine-wave method"
Determination methods, firmware dependency

Method for determining the commutation

Firmware variant Calculation method Measuring method Saturation method Sine-wave method

MPE - ■ ■ -
MPB ■ ■ ■ ■
MPC ■ ■ ■ ■
MPM ■ ■ ■ ■

■ Available
- Not available
Tab. 5-64: Methods for determining the commutation offset that are available in
the firmware variants
Recommendations for selecting the determination method:

Determination method
(and motor encoder that can be used)
Calculation method Measuring meth‐
Saturation method* Sine-wave method*
(relative linear encoder od
(absolute or relative (absolute or relative
with additional Hall (absolute linear
motor encoder) motor encoder)
Motor type sensor component) encoder only)

MBSxx0 -- -- + o
MBSxx2
-- -- o +
(high speed)
MBT -- -- + o
LSF + (with SHL02) + + o
MLF + (with SHL02) + + o
(not required with "Hall
+ -- o
MCL unit..." option)
Sy. third-party motors -- -- + o
(rotary and linear)

+ Recommended method
o Method not recommended
-- Method not possible
* See application-related restrictions
Tab. 5-65: Recommendations for selecting determination method for commuta‐
tion offset depending on motor type (for Rexroth motors)

Evaluation of the additional Hall sensor component is not yet sup‐


ported in this firmware release and the releases below!
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The sine-wave method (generally requires unrestricted movement


of axis) should only be used if the saturation method cannot be
used!

Restrictions for saturation method Applications of synchronous motors Restrictions for saturation method

Third-party motors without or with only lit‐ Saturation method cannot be used for
tle saturation effects (e.g. ironless motors determining commutation offset!
or motors with high leakage flux)
Applications with relative measuring sys‐ Max. torque/force can be reduced by ap‐
tem (without using the optimum commu‐ prox. 20% compared to the optimum val‐
tation offset value with regard to the ref‐ ue (autom. determination of the commu‐
erence point) tation offset with "AF")!
Applications with relative measuring sys‐ Max. torque/force until reference mark is
tem that are using the optimum commu‐ passed can be reduced by approx. 20%!
tation offset value with regard to the ref‐
erence point
Drives that can be in motion during the Saturation method is only possible for
determination of the commutation offset, motors in standstill!
e.g. coasting spindles, printing roller
drives etc.
Drives with a low degree of overload ca‐ Saturation method only possible if ampli‐
pacity fier current is sufficiently high (2...4-fold
continuous motor current required)!
Drives that are not permitted to move Saturation method (with current) can
during determination of the commutation cause motor motion!
offset (low-friction axes with low inertia)

Tab. 5-66: Typical applications and restrictions for saturation method


Restrictions for sine-wave method Applications of synchronous motors Restrictions for sine-wave method

Linear axis with single motor or parallel Only balanced (e.g. horizontal) axes with
motor little friction!
Linear axes in Gantry arrangement Only balanced (e.g. horizontal) axes with
little friction! In addition, both drives have
to carry out sequential commutation set‐
tings, "AF" should not be active at the
other drive!
Axis with holding brake (e.g. vertical axis) Holding brake must be released to deter‐
mine the commutation offset successful‐
ly. Only balanced axes!
Rotary axes with single drive Only balanced axes with little friction;
high inertia can cause problems!
Rotary axes, mechanically connected See above "Linear axes in Gantry ar‐
rangement"!

Tab. 5-67: Typical applications and restrictions for sine-wave method


Restrictions for motors with rela‐ The respective restrictions are explained in the subchapter.
tive motor encoders and digital
Hall sensors
Identifying the motor encoder
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Fig. 5-36: Identifying the absolute or relative motor encoder depending on the
motor and application-related restrictions

Evaluation of the SHL02 additional component and of the Hall unit


is not yet supported in this firmware release of MPx20 and below!

Effect of an encoder gearbox If a motor encoder to be evaluated in absolute form is connected via an en‐
coder gear in the case of a synchronous motor, in general there is no unam‐
biguous assignment of electrical angle and absolute actual position value.
Therefore, the motor encoder to be evaluated in absolute form now behaves
like a relative motor encoder as regards commutation.
In two special cases, however, absolute commutation encoder evaluation (ro‐
tary encoders only) is possible for synchronous motors with encoder gearbox:
● Case 1, single-turn (or multi-turn) encoder:
- If an n-fold motor revolution (n is an integer) results in exactly one en‐
coder revolution
● Case 2, multi-turn encoder:
- If exactly one motor revolution results in an m-fold encoder revolution
(m is an integer)
Effect of an external, absolute en‐ For synchronous motors with relative motor encoders in combination with an
coder additional external encoder that can be evaluated in absolute form installed
at the axis, the external encoder, with slip-free drive mechanics, can be used
as an absolute commutation encoder for the motor. If this is the case, the ex‐
ternal encoder can be assigned as a commutation encoder in "P-0-0185,
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Encoder 2 control word". The same information applies as for synchronous


motors with motor encoder that can be evaluated in absolute form.

Using an external encoder as a commutation encoder is not yet


supported in this firmware release and the releases below!
Determining the commutation off‐ The active commutation offset value is contained in parameter "P-0-0521,
set Effective commutation offset". Due to its relevance for the torque/force devel‐
opment of the motor and the operational safety, P-0-0521 is always write-pro‐
tected.
Depending on the motor encoder used, the commutation offset has to be de‐
termined in the following circumstances:
● With absolute motor encoder only during initial commissioning of the
motor
● With relative motor encoder both during initial commissioning of the mo‐
tor and each time the drive has been switched on (recommissioned)

For synchronous Rexroth motors with integrated motor encoders


(e.g., MSK motors), the initial commissioning was already per‐
formed at the factory and the motor-specific commutation offset
value was determined and is provided in the motor encoder data
memory. The user does not need to set the commutation offset!
Initial commissioning and recom‐ During the initial commissioning of Rexroth kit motors and synchronous third-
missioning party motors, the commutation offset is determined during the initial commis‐
sioning of the motor with a suitable method made available by the drive. The
quality of this commutation offset determination is subject to variations that
can be caused by the current conditions of the mechanical axis system and
electromagnetic factors. But as the torque/force development of the motor
mainly depends on the quality of the commutation offset value, this value
should be thoroughly optimized during the initial commissioning of the motor.
However, to do this it is necessary to allow the parameter "P-0-0521,
Effective commutation offset", which is normally write-protected, to be written
so that the value can also be optimized manually if necessary. For this pur‐
pose, the drive provides the "initial commissioning mode" (activated in
"P-0-0522, Control word for commutation setting").
The optimum value of the commutation offset identified during initial commis‐
sioning is displayed in "P-0-0521, Effective commutation offset" and should
also be effective when the drive is switched on again (recommissioned). To
do this, this value has to be saved in the "initial commissioning mode" in an
appropriate way so that it is available during recommissioning:
● For motors with absolute motor encoder, as well as with relative motor
encoder and analog Hall sensors (SHL02 for MLF, analog Hall unit for
MCL):
The value of the effective commutation offset (P-0-0521) is automatical‐
ly saved in "P-0-0508, Commutation offset" as well. When the drive is
recommissioned, this stored value takes effect again. If the motor en‐
coder has a data memory, the value of P-0-0521 is also saved in
"P-0-3008, Commutation offset, type plate".
● For motors with relative motor encoder and motors with additional digital
Hall sensors (digital Hall unit with MCL, third-party motors):
The value of the effective commutation offset (P-0-0521) is saved in
"P-0-0508, Commutation offset" in reference to a fixed, reproducible mo‐
tor or axis position. This requires drive actions initiated by the user
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(drive-controlled homing or merely moving the motor). When the drive is


recommissioned, it is firstly the automatic commutation setting that
takes place after drive enable (AF) has been set for the first time, or
"P-0-0509, Commutation offset coarse" is firstly applied to P-0-0521 in
the case of digital Hall sensors. By actions of the drive triggered on the
user side (drive-controlled homing or moving the motor), the value stor‐
ed in P-0-0508 takes effect in an optimizing way for the automatically
determined commutation offset (P-0-0521) as a correction value is de‐
termined and added.

By adding a correction value, the effective commutation offset


(P-0-0521), when the motor is recommissioned, achieves the
quality of the value of the initial commissioning. This results in re‐
producible drive behavior with respect to torque/force develop‐
ment. The determination of the correction value is supported by
the reference mark of the motor encoder or the homing dedicated
position of the axis; for this reason, the correction method is
called "optimum commutation offset with regard to reference
point".

Basic notes on commissioning


Explanations on the initial commissioning of a synchronous motor
Determining the commutation offset during the initial commissioning of a syn‐
chronous motor is of particular relevance. There are different methods availa‐
ble or applicable for determining the commutation offset, depending on the
motor and motor encoder. The effectiveness of the determined value should
be checked and, if necessary, optimized during initial commissioning.
Selecting the method for determin‐ After the motor had been selected and application-related restrictions of the
ing the commutation offset methods for commutation setting had been checked, an absolute or relative
motor encoder was selected and a method for commutation setting was de‐
termined. If the determined method is unknown at initial commissioning, the
appropriate method can be identified by means of the selected motor and
motor encoder:
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P-0-0521 Effective commutation offset


P-0-0522 Control word for commutation setting
P-0-0601 Configuration motor data identification
Fig. 5-37: Selecting the method for determining commutation offset during ini‐
tial commissioning of synchronous motor
Checking the rotational direction To successfully determine the commutation offset, it is imperative that the ro‐
motor - motor encoder tational direction of the motor matches the rotational direction of the motor
encoder. This is the case if the position feedback value of the motor encoder
(S-0-0051) shows increasing position feedback values at positive torque/
force command value (S-0-0080 or P-0-0049) (take possible negations of the
polarity parameters into account!).

If the rotational direction of the motor does not match the rotation‐
al direction of the motor encoder, the motor cannot follow the
command value with the determined commutation offset. It moves
to a close-by rest position or carries out uncontrolled movements.
The error message F8010 might occur, but not necessarily!

The "check of the rotational direction" (C3600, configured in P-0-0601) re‐


quires a slight motor motion (approx. half an el. pole). A possibly available
holding brake is released for this purpose. When an axis is at the mechanical
limit stop, an error message is likely to occur!
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The "check of the rotational direction" is not suited to non-equili‐


brated, vertical axes! The axis will drop down when the holding
brake is released after C3600 was started!
Effect of an encoder gearbox In two special cases, however, for synchronous motors with encoder gear
and a motor that can be evaluated in absolute form (rotary encoders only) the
commutation setting is performed only during initial commissioning. Then,
when the drive is switched on again, it is immediately ready for operation; au‐
tomatic commutation setting for initial drive enabling (AF) is not required, so it
is not performed in the following cases:
Case 1, Single-turn (or multi-turn) encoder:
- if an n-fold motor revolution (n is an integer) yields exactly one encoder rev‐
olution
Case 2, Multi-turn encoder:
- if exactly one motor revolution yields an m-fold encoder revolution (m is an
integer)
Storage procedure of the optimum The determined commutation offset must initially be optimized during initial
commutation offset commissioning to obtain the maximum torque/force development of the motor
during recommissioning of the drive. For options and methods, see below.
The value of the effective commutation offset (P-0-0521), optimized if neces‐
sary, is stored in different ways, depending on the absolute or relative motor
encoder, with active "initial commissioning mode":
● With an absolute motor encoder, directly in P-0-0508 or P-0-3008
● With a relative motor encoder, the optimized value is converted to a re‐
producible dedicated point fixed with reference to the motor and stored
in P-0-0508
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P-0-0521 Effective commutation offset


P-0-0522 Control word for commutation setting
P-0-0508 Commutation offset
P-0-0509 Commutation offset, coarse
C0600 Drive-controlled homing procedure command
C5600 Command subsequent optimization of commutation offset
Fig. 5-38: Storage procedure of the optimum commutation offset in P‑0‑0508
during initial commissioning for subsequently using the "optimum
commutation offset with regard to reference point" during recommis‐
sioning
Manually optimizing the offset val‐ The automatically determined value for the commutation offset is stored in
ue parameter "P-0-0521, Effective commutation offset". If the initial commission‐
ing mode is active (respective bit in P-0-0522), the value of P-0-0521 can be
manually optimized. Optimization should be carried out using a force meas‐
urement device.

m Manually
a Automatically determined
Fig. 5-39: Range of values for optimizing the commutation offset

NOTICE Property damage caused by errors when


controlling motors and moving parts!
Before manually optimizing the commutation offset, move the axis to a non‐
critical position!
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Optimizing the offset value by The value determined for "P-0-0521, Effective commutation offset" can be
means of command checked by the controller and subsequently optimized. "P-0-0518, C5600
Command subsequent optimization of commutation offset" is used for this
purpose. The drive has to be in drive enable (AF) and in standstill. In addi‐
tion, the axis has to be able to move sufficiently (motion range see table).

Motor design Motion range Reference

Rotary ± 10 angular degrees Motor shaft


Linear ± 0.1 × pole pair distance Primary part

Tab. 5-68: Minimum required motion range for executing command C5600
The controller optimizes the commutation offset which is already operational
(value stored in P-0-0521) by transmitting test signals to the motor. The infor‐
mation for improving the commutation offset is taken from the motor motion
(actual position value). Upon successful execution of command C5600, an
improved value is available in parameter P-0-0521.

It is always recommended to execute "C5600 Command


Subsequent optimization of commutation offset" if none of the re‐
strictions mentioned for the sine-wave method (see above) exists!

NOTICE Property damage caused by errors when


controlling motors and moving parts!
Before automatically optimizing the commutation offset, move the axis to a
noncritical position and make sure axis can move!

Storing the "optimum commutation For synchronous motors with relative motor encoder, the effective commuta‐
offset with regard to reference tion offset (P-0-0521) is determined and, if necessary, optimized in the "initial
point" commissioning mode" (P-0-0522). In order that the quality of the commuta‐
tion offset of initial commissioning can be reproduced when the motor is re‐
commissioned, the commutation offset is converted to a reproducible dedica‐
ted point fixed with reference to the motor and then stored in "P-0-0508,
Commutation offset":
● When the drive passes the reference mark with activated "cyclic marker
evaluation" (S-0-0277) in the case of motors with one reference mark
per motor revolution, the controller, in "P-0-0508, Commutation offset",
stores the value of P-0-0521 converted to the mark ("Optimization of the
value of P-0-0521..." has to have been activated in P-0-0522).
● When the drive passes the dedicated point for homing by executing
"S-0-0148, C0600 Drive-controlled homing procedure command" in the
case of motors with several reference marks or none per motor revolu‐
tion or linear motor travel range, the controller, in "P-0-0508,
Commutation offset", stores the value of P-0-0521 converted to this
dedicated point ("Optimization of the value of P-0-0521..." has to have
been activated in P-0-0522).

The reproduction of the dedicated point is realized by the refer‐


ence mark of the motor encoder or the dedicated position for
homing the axis. The value converted to this dedicated position is
used to determine the correction value; therefore, the method was
called "optimum commutation offset with regard to reference
point".
236/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
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Overview of the functional scope

Explanations on the recommissioning of a synchronous motor


Readiness for operation of a synchronous motor is given after switch-on (re‐
commissioning after initial commissioning already taken place), when the
controller has determined a commutation offset value for this motor or activa‐
ted a stored value.
Synchronous motor with abso‐ There is immediate readiness for operation with absolute motor encoders.
lute motor encoder The commutation offset value (P-0-0508, P-0-3008) stored in the controller or
in the motor encoder during initial commissioning is activated by applying it to
parameter "P-0-0521, Effective commutation offset".
Synchronous motors with relative There is immediate readiness for operation with relative motor encoders and
motor encoder and additional Hall additional Hall sensor components: "P-0-0521, Effective commutation offset"
sensor components (analog and immediately gets an operational value:
digital)
● With SHL02 and Hall unit, analog: The value of P-0-0508, Commutation
offset, saved during initial commissioning, is applied to P-0-0521.
● With Hall unit, digital: The value of "P-0-0509, Commutation offset
coarse", supplied for MCL motors or determined and saved during initial
commissioning, is applied to P-0-0521.

Evaluation of additional Hall sensor components is not yet sup‐


ported in this firmware release and the releases below!

Synchronous motor with rela‐ With relative motor encoders, the drive, at first drive enable after switch-on or
tive motor encoder after re-initialization of the measuring system, automatically determines the
commutation offset. When "AF" is set, this is done by a method with current
("Overview of methods for determining the commutation offset", see above).
The value is contained in parameter P-0-0521 and refers to the position of
the axis at switch-on.
Optimum commutation offset with The "optimum commutation offset with regard to reference point" is only rele‐
regard to reference point vant to synchronous motors with relative motor encoder, also if a Hall unit,
digital, is additionally used.

With absolute motor encoders, and relative motor encoders with


SHL02 or Hall units, analog, the commutation offset does not
need to be corrected during recommissioning!

The "automatic optimization" of the value of "P-0-0521, Effective


commutation offset" has to be activated for use in "P-0-0522, Control word for
commutation setting". Consequently, the value of the currently effective com‐
mutation offset (P-0-0521) converted to the same dedicated position is com‐
pared, during recommissioning, to the value stored in "P-0-0508,
Commutation offset":
● For motors with one reference mark per motor revolution: When the
drive has passed the reference mark of the motor encoder ("cyclic mark‐
er evaluation" must have been activated in S-0-0277!).
● For motors with several reference marks or none per motor revolution or
linear motor travel range: When the dedicated point for homing has
been passed after the start of "C0600 Drive-controlled homing
procedure command".
If the result of the comparison is verisimilar, the difference of the two values
is added as a correction value to the current value of "P-0-0521, Effective
commutation offset". In this way, the quality of the commutation offset now ef‐
fective complies with the value stored during initial commissioning.
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Overview of the functional scope

If the result of the comparison is not verisimilar, the value in parameter


P-0-0508, Commutation offset might be wrong (e.g., inverted value). The
error message "F2032 Validation error during commutation fine adjustment"
is generated and the drive switches off.

If the automatic optimization of the commutation offset is not de‐


sired, it can be deactivated via P-0-0522, Control word for
commutation setting. This causes the commutation offset deter‐
mined at AF to remain effective and unmodified!

If the "optimum commutation offset with regard to reference point"


is used, the effective commutation offset (P-0-0521), after the mo‐
tor has been recommissioned, achieves the quality of the value
stored when the drive was commissioned for the first time. The
resulting drive behavior is reproducible with regard to the torque/
force development!
238/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
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Overview of the functional scope

P-0-0521 Effective commutation offset


P-0-0522 Control word for commutation setting
P-0-0508 Commutation offset
Fig. 5-40: Recommissioning procedure of a synchronous motor after initial
commissioning was carried out
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Overview of the functional scope

Commutation setting of linear Rexroth motors MLF, MCL


Brief description
Linear Rexroth kit motors of the MLF and MCL series are manufactured ac‐
cording to the functional principle "synchronous motor". For kit motors, the
motor components primary part, secondary part and motor encoder are finally
assembled on the customer side in the machine.
Motor with absolute motor encoder The operatability of the synchronous motor can only be established on site by
determining and setting the commutation offset. For motors with a motor en‐
coder to be evaluated in absolute form, this is done once during initial com‐
missioning.
Motor with relative motor encoder For synchronous motors with relative motor encoder, it is necessary to rede‐
termine the commutation offset each time the drive is switched on. Deviating
commutation offset values might occur when the commutation offset is deter‐
mined again; this can cause less force development at the same motor cur‐
rent.
To prevent this, it is recommended that Hall sensor components, developed
especially for linear Rexroth motors be used in addition to the relative motor
encoder.

Evaluation of the additional Hall sensor components is not yet


supported up to and including the firmware release MPx20V08!

Analog Hall sensors Via analog signals of the Hall sensors, the controller detects the position of
the motor windings compared to the magnetic field of the motor; therefore,
the commutation setting is also completed with the initial commissioning.
When the drive is recommissioned, the correct commutation offset is immedi‐
ately available at drive enable ("AF").
● Hall sensor box SHL02.1 for MLF motors
● Analog Hall unit (motor option) for MCL motors

A second encoder input is required at the drive controller for eval‐


uating the analog Hall sensor signals. It is therefore necessary to
use a controller with Basic control section, an Economy control
section cannot be used for this purpose!

Digital Hall sensors There is also a Hall unit with digital signals available as a motor option for the
ironless MCL motors in Economy applications. Using three digital signals that
are offset by 120° with respect to a pole pair, the controller detects the posi‐
tion of the motor windings with respect to the magnetic field of the motor with
a precision of +/-30° (with respect to a pole pair). This allows the motor to run
immediately after switch-on with at least 50% of the possible motor power.
The subsequent homing procedure of the relative measuring system allows
full motor power to be achieved again, if this was prepared accordingly during
the initial commissioning. The current state of the performance of the motor is
diagnosed and can be queried on the control master side.

To evaluate the digital Hall sensor signals, the additional compo‐


nent "SHL03" is required (bringing together the motor encoder
and Hall sensor signals). The controller just needs a control sec‐
tion with one encoder input only. Economy control sections can
therefore be used!
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Overview of the functional scope

In principle, MLF or MCL motors in combination with a relative motor encoder


can also be commutated without using a Hall unit or SHL02 additional com‐
ponents by using the available current supply methods:
● Saturation method for MLF motors
● Sine-wave method for MCL motors
Each time the drive is switched on again, the commutation setting is per‐
formed again with the disadvantages listed above. These disadvantages can
be compensated for by using the "optimum commutation offset with regard to
reference point".

Application-related restrictions are to be noted for the saturation


and sine-wave methods! Using the "optimum commutation offset
with regard to reference point" is highly recommended! (See
above!)

Hall sensor box SHL02.1 for MLF The Hall sensor box SHL02.1 is an absolute measuring system, outside of
the motor, within one pole pair distance of linear Rexroth MLF motors.

1 Secondary part
2 Primary part
3 Hall sensor box SHL02 (connected to the primary part)
Fig. 5-41: Linear Rexroth motor with Hall sensor box SHL02
For information on mounting and connection, see the documentation on the
Hall Sensor Box SHL02.1.
Hall unit, motor option with MCL The Hall unit is an absolute measuring system, integrated into the motor,
within one pole pair distance of linear Rexroth MCL motors. The Hall unit is
optional; it can be directly ordered, but it can also be retrofitted.

Fig. 5-42: "Hall unit" option of MCL motors, disassembling the dummy unit, ret‐
rofitting the Hall unit
Information regarding dismounting/assembly and connection is contained in
the "Ironless Linear Motors MCL" documentation.
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 241/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Commutation setting by means of saturation method


Brief description
For rotary synchronous Rexroth kit motors and synchronous third-party mo‐
tors, IndraDrive controllers only provide methods with current to determine
the commutation offset. The saturation method is one of these methods; it is
does not require motor motion. A possibly available holding brake should re‐
main applied!

For synchronous Rexroth motors with integrated motor encoder


(MSK, MKE motors), it is not necessary to set the commutation
offset! The correct value is provided in the motor encoder data
memory and is automatically activated.

The saturation method is als relevant to linear synchronous Rexroth kit mo‐
tors, if they have only been equipped with a relative motor encoder, or to mo‐
tors with a motor encoder which can be evaluated in absolute form, if dis‐
tance measurement at the axis is impossible due to the mounting.
As a prerequisite for successful application of the saturation method, the iron
material of the motor must be magnetically saturated when current is sup‐
plied, i.e. the controller must be able to provide sufficiently high current to the
motor. For synchronous motors which are not magnetically saturated at maxi‐
mum allowed current, this method is unsuited for determining the commuta‐
tion offset!

If the saturation method cannot be used, the controller provides


the sine-wave method (works with current, too) for determining
the commutation offset.

The saturation method is suitable for both the initial commissioning and the
recommissioning, although the restrictions must be observed.

The restrictions to be observed when using the saturation method


are described in the section "Basics on commutation setting" .
This section outlines the different methods which can be used for
determining the commutation offset.

Commutation setting by means of sine-wave method


Brief description
For synchronous motors, IndraDrive controllers, in addition to the saturation
method, provide the sine-wave method, also with current, to determine the
commutation offset.
Application-related aspect The sine-wave method for determining the commutation offset can be used
for all types of synchronous motors.
The disadvantage of the sine-wave method is that the motor has to be put in‐
to motion by supplying current. Limitations of the motivity (e.g. friction or
blocking) can reduce the quality of offset determination or even cause offset
determination to fail! See section "Basics on commutation setting"
Before using the sine-wave method, carefully check whether it is possible to
use the saturation method, because unrestricted movement of the axis gen‐
erally causes problems. For the saturation method, movement of axis is not
necessary, it should be blocked, if possible.
The sine-wave method is suitable for both the initial commissioning and the
recommissioning, although the restrictions must be observed.
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Overview of the functional scope

The restrictions to be observed when using the sine-wave method


are described in the section "Basics on commutation setting" .
This section outlines the different methods which can be used for
determining the commutation offset.

5.4.6 Limitations
Overview of limitations
To protect the drive mechanics, the controllers and the motors against over‐
load, IndraDrive devices feature different limitation options:
● Torque/force limitation
– Axis-side torque/force limit values, depending on the preceding
sign
– Axis-side torque/force limit values, related to the absolute value (in‐
dependent of the preceding sign)
● Current limitation
– Absolute current limit values, depending on controller or motor
– Dynamic current limitation, depending on the thermal load of con‐
troller or motor
● Velocity limitation
– Motor-side velocity limit values
– Axis-side velocity limit values
● Position limitation
– Evaluation of axis-side travel range limit switches
– Firmware-side travel range limit values
The existing limiting facilities are active depending on the method of motor
control.
Voltage-controlled open-loop oper‐ With voltage-controlled, sensorless open-loop operation, the following limita‐
ation (V/Hz [U/f] control) tions are available to protect the device or motor:
● Torque/force limitation via stall protection controller
● Current limitation via current limitation controller
● Position limitation by
– Travel range limit switches
– Software limit switches
Closed-loop operation of motors In closed-loop operation (flux-controlled or current-controlled), there are the
(FXC, FOC, FOCsl) following parameterizable limitations to protect the device or motor:
● Torque/force limitation
● Current limitation
● Velocity limitation
● Position limitation by
– Travel range limit switches
– Software limit switches
Current and torque/force limitation
Brief description
Current limitation and torque/force limitation avoid mechanical overload of the
axis and thermal overload of motor and drive controller.
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Overview of the functional scope

Torque/force limit values due to axis conditions and processing take effect
statically as positive and negative limits of the torque/force command value.
The thermal overload protection might possibly reduce these limits dynami‐
cally, depending on the current thermal load of motor and controller.
Features ● User-side limit values for torque/force (drive-internally converted to cur‐
rent limit values):
– Bipolar limit values (S-0-0092, P-0-0109)
– Unipolar limit values (S-0-0082, S-0-0083)
● Current torque/force command value displayed in "P-0-0049, Effective
torque/force command value"
● Process torque or process force displayed in "S-0-0084, Torque/force
feedback value"
● Drive side, absolute current limit values in "S-0-0110, Amplifier peak
current" and "S-0-0109, Motor peak current"
● Dynamic current limitation depending on work load reduces maximum
current to the thermally allowed continuous current on the basis of motor
and amplifier temperature model (depending on motor type and possibly
selected cooling type, as well as on PWM frequency and amplifier type);
currently available maximum current and thermally possible continuous
current displayed in the parameters:
– P-0-4045, Maximum possible continuous current
– P-0-4046, Effective peak current
● Resulting torque/force limit values from the user-side torque/force limita‐
tions and the (dynamic) current limitation depending on work load are
displayed in the parameters:
– P-0-0442, Actual value torque limit positive (stationary)
– P-0-0443, Actual value torque limit negative (stationary)
– P-0-0444, Actual value peak torque limit
● Status word for analyzing the currently active torque/current limitation
(P-0-0445)
● Display of effective torque-generating current command value ("limited"
current command value) in parameter
– P-0-0038, Torque-generating current, command value
● Display of actual current values in the parameters
– P-0-0440, Actual output current value (absolute value)
– P-0-0043, Torque-generating current, actual value
– P-0-0044, Flux-generating current, actual value
Pertinent parameters ● S-0-0082, Torque/force limit value positive
● S-0-0083, Torque/force limit value negative
● S-0-0092, Bipolar torque/force limit value
● S-0-0109, Motor peak current
● S-0-0110, Amplifier peak current
● S-0-0111, Motor current at standstill
● S-0-0112, Amplifier nominal current
● S-0-0384, Amplifier temperature
● P-0-0001, Switching frequency of the power output stage
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Overview of the functional scope

● P-0-0038, Torque-generating current, command value


● P-0-0049, Effective torque/force command value
● P-0-0051, Torque/force constant
● P-0-0109, Torque/force peak limit
● P-0-0141, Thermal drive load
● P-0-0440, Actual output current value (absolute value)
● P-0-0441, Thermal drive load warning threshold
● P-0-0442, Actual value torque limit positive (stationary)
● P-0-0443, Actual value torque limit negative (stationary)
● P-0-0444, Actual value peak torque limit
● P-0-0445, Status word torque/current limit
● P-0-0045, Control word of current controller
● P-0-0640, Cooling type
● P-0-4034, Thermal time constant of winding
● P-0-4035, Thermal time constant of motor
● P-0-4037, Thermal short-time overload of winding
● P-0-4045, Maximum possible continuous current
● P-0-4046, Effective peak current
● P-0-4058, Amplifier type data
● P-0-4059, Electric type data of power section
Pertinent diagnostic messages ● E2050 Device overtemp. prewarning
● E2051 Motor overtemp. prewarning
● E2056 Torque limit = 0
● E2061 Device overload prewarning
● E8055 Motor overload, current limit active
● E8057 Device overload, current limit active
● F2018 Device overtemperature shutdown
● F2019 Motor overtemperature shutdown
● F2021 Motor temperature monitor defective
● F2022 Device temperature monitor defective
Velocity limitation
Brief description
Velocity limits are implemented in the drive, which allow the velocity com‐
mand value to be limited to a freely defined amount or to different positive
and negative value.
Features ● Unipolar velocity limit values (S-0-0038, S-0-0039), scaled, with refer‐
ence to load where applicable
● Cyclically configurable, bipolar velocity limit value (S-0-0091), scaled,
with reference to load if necessary
● Bipolar velocity limit value (P-0-0113) of the motor, unscaled, with refer‐
ence to the motor only
Pertinent parameters ● S-0-0036, Velocity command value
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Overview of the functional scope

● S-0-0037, Additive velocity command value


● S-0-0038, Positive velocity limit value
● S-0-0039, Negative velocity limit value
● S-0-0091, Bipolar velocity limit value
● P-0-0113, Bipolar velocity limit value of motor
Pertinent diagnostic messages ● E2059 Velocity command value limit active
● E2063 Velocity command value > limit value
● F8079 Velocity limit value exceeded
Position limitation/travel range limit switches
Brief description
To avoid accidents and damages to the machine, comprehensive preventive
safety precautions are provided. Part of these safety precautions is the limita‐
tion of the allowed working range (travel range) by the drive. For this pur‐
pose, position monitoring functions and position limitations have been imple‐
mented in the drive.

CAUTION The travel range monitoring function (travel


range limit switches or software limit
switches) only fulfills the requirements for
protecting machinery, but is not sufficient for
personal protection!

Implementing travel range moni‐ The drive provides two possibilities of determining and monitoring a limitation
toring of the working range (travel range):
● Monitoring of position limit values (software limit switches)
Monitoring of the motor position for exceeding one of the two position
limit values (positive/negative → S-0-0049/S-0-0050) by the homed ac‐
tual position value (S-0-0403), i.e. value related to the machine zero
point.
● Monitoring travel range limit switches
Monitoring for activation of one of the two travel range limit switches
(Limit+, Limit-) that are connected to the digital inputs of the drive

The functionality of the travel range limit switches is only guaran‐


teed, if the corresponding digital inputs have been configured for
this purpose!
See "Digital inputs/outputs"

Features of travel range limit ● Monitoring of 2 travel range limit switches (Limit+, Limit-) at the drive is
switches possible
● Signal behavior of travel range limit switches can be set (N/C-N/O)
● Activation of travel range limit switches via parameter
● Reaction (error/warning) when exceeding travel range can be set
● Status display of the travel range limit switches
● Command values monitored for validity when limit switch activated
● Travel range limit switches evaluated and position limit value monitor
activated in 2 ms clock
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Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Features of position limit values ● 2 position limit values ("software limit switches") can be parameterized;
only operational when axis has been homed
● Reaction (warning/error) to exceeded values can be set
● Activation of position limit values via parameter
● Automatic relation to measuring system that has been homed
● Command values monitored for validity when position limit values ex‐
ceeded
Pertinent parameters ● S-0-0012, Class 2 diagnostics
● S-0-0049, Positive position limit value
● S-0-0050, Negative position limit value
● S-0-0055, Position polarities
● S-0-0147, Homing parameter
● S-0-0403, Position feedback value status
● S-0-0478, Position/travel range limit status
(Alias: P-0-0091, Position/travel range limit status)
● S-0-0532, Travel range limit parameter
(Alias: P-0-0090, Travel range limit parameter)
● P-0-0222, Travel range limit switch inputs
Pertinent diagnostic messages ● E2053 Target position out of travel range
● E8029 Positive position limit exceeded
● E8030 Negative position limit exceeded
● E8042 Both travel range limit switches activated
● E8043 Positive travel range limit switch activated
● E8044 Negative travel range limit switch activated
● F6028 Position limit value exceeded (overflow)
● F6029 Positive position limit exceeded
● F6030 Negative position limit exceeded
● F6042 Both travel range limit switches activated
● F6043 Positive travel range limit switch activated
● F6044 Negative travel range limit switch activated

5.4.7 Power supply


Brief description
Power supply options
The following IndraDrive devices are supported by this firmware:
● Single-axis converters of the IndraDrive Cs range (HCS01.1 controllers)
● Multi-axis converters (HCQ, HCT controllers)
● Single-axis converters of the IndraDrive C range (HCS02.1, HCS03.1,
HCS04.2 controllers)
● Single- and double-axis inverters of the modular IndraDrive M range
(HMS01.1, HMS02.1, HMD01.1 controllers)
● Single-axis inverters of the distributed IndraDrive Mi range (KSM02.1,
KMS02.1 controllers)
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 247/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Converters include a supply unit and an inverter unit. They are suitable for di‐
rect power supply connection, but can only be used in a single-axis design
and a DC bus coupled, modular drive system.
Possible device combinations and mains connection
The possible device combinations are only described in principle for the pur‐
pose of explanation. As regards combinations of device types actually possi‐
ble and specific facts to be observed, see the separate documentations.

Title Type of documentation Document typecode1) Material number


Rexroth IndraDrive … DOK-INDRV*-… R911…

Cs Drive Systems with HCS01 Project Planning Manual HCS01******-PRxx-EN-P 322210


Drive Systems with HMV01/02, Project Planning Manual SYSTEM*****-PRxx-EN-P 309636
HMS01/02, HMD01, HCS02/03
Supply Units, Power Sections Project planning HMV-S-D+HCS-PRxx-EN-P 318790
Drive Controllers HCS04.2E Project Planning Manual HCS04.2****-PRxx-EN-P 327334
Mi Drive Systems with KCU02, Project Planning Manual KCU02+KSM02-PRxx-EN-P 335703
KSM02, KMS02

1) In the document typecodes, "xx" is a placeholder for the current


edition of the documentation (e.g.: PR01 is the first edition of a
Project Planning Manual)
Tab. 5-69: Documentations for the project planning of drive systems
Central supply The figure below illustrates the principle of central supply:

Converter Includes a supply unit and an inverter unit. Converters that are
supplied via the DC bus have to be operated in the inverter
mode (see P-0-0860).
Inverter Only consists of the inverter unit and is always supplied via the
DC bus
Fig. 5-43: Mains supply via converter
Group supply The figure below illustrates the principle of group supply:
248/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
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Overview of the functional scope

Converter Includes a supply unit and an inverter unit. Each converter is


directly supplied by the mains.
Fig. 5-44: Mains supply via all devices

With IndraDrive C and IndraDrive M, the module bus has an


eight-wire design (ribbon cable) and with IndraDrive Cs it has a
two-wire design. Devices with module buses of different designs
cannot be operated at the common DC bus.

Communication in drive group Depending on the task of a drive system or of several drives cooperating in a
process, it can be appropriate to rapidly carry out a common reaction to cer‐
tain events. This requires the exchange of signals (communication) between
the cooperating devices:
● Multi-axis converters have an internal communication between the sup‐
ply unit and the axis inverters.
● Single-axis converters (IndraDrive Cs, IndraDrive C), as well as inver‐
ters and supply units of the modular series (IndraDrive M), are intercon‐
nected via the module bus.
Note regarding single-axis con‐ A single-axis converter combines the supply unit and inverter in one device.
verters IndraDrive Cs/C In a "drive system" (several drives the DC buses and module buses of which
are interconnected), a converter can fulfill the following functions:
● Supply of an integrated inverter and other inverters or converters oper‐
ated as such, or
● Operation only as an inverter at a DC bus
Note regarding multi axis convert‐ A multi-axis converter combines the supply unit and several inverters in one
ers device. It always works as a "drive system" (several drives the DC buses and
module buses of which are interconnected). Supply of other external inverters
or converters or external module bus connection is not possible.
Regenerated energy In the case of regenerative operation (e.g. deceleration mode) of the motors
connected to a single-axis or multi-axis converter, the regenerated energy is
first absorbed by the DC bus. If the energy absorption capacity is exhausted,
the energy absorbed is transformed into heat via the braking resistor.
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Overview of the functional scope

Braking resistor The braking resistor is connected on the DC bus side. Depending on the de‐
vice series, an internal braking resistor is available or an external braking re‐
sistor can be connected.
Module bus The module bus is used for the communication of all nodes at the DC bus. It
protects the components by switching the power off. The collective package
reaction of all nodes is also initiated via the module bus. The wiring of the
hardware, connections and signals is described in the documentation of the
devices (Project Planning Manual).
Pertinent parameters and diagnostic messages
Pertinent parameters ● S-0-0380, DC bus voltage
● P-0-0114, Undervoltage threshold
● P-0-0118, Power supply, configuration
● P-0-0119, Best possible deceleration
● P-0-0460, Module group, control word
● P-0-0461, Module group, status word
● P-0-0806, Current mains voltage crest value
● P-0-0809, Properties of charging circuit
● P-0-0815, Nominal mains voltage crest value
● P-0-0816, Amplifier temperature 2
● P-0-0833, Braking resistor threshold
● P-0-0844, Thermal load of braking resistor
● P-0-0858, Data of external braking resistor
● P-0-0859, Data of internal braking resistor
● P-0-0860, Converter configuration
● P-0-0861, Power supply status word
Pertinent diagnostic messages ● E2026 Undervoltage in power section
● E2040 Device overtemperature 2 prewarning
● E2050 Device overtemp. prewarning
● E2061 Device overload prewarning
● E2086 Prewarning supply module overload
● E2810 Drive system not ready for operation
● E2814 Undervoltage in mains
● E2816 Undervoltage in power section
● E2819 Mains failure
● E2820 Braking resistor overload prewarning
● E2829 Not ready for power on
● E8025 Overvoltage in power section
● E8026 Undervoltage in power section
● E8028 Overcurrent in power section
● E8057 Device overload, current limit active
● E8058 Drive system not ready for operation
● E8819 Mains failure
● F2026 Undervoltage in power section
● F2086 Error supply module
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Overview of the functional scope

● F2087 Module group communication error


● F2816 Softstart fault power supply unit
● F2818 Phase failure
● F2819 Mains failure
● F2820 Braking resistor overload
● F2821 Error in control of braking resistor
● F2825 Switch-on threshold braking resistor too low
● F2836 DC bus balancing monitor error

5.5 Operation modes


WARNING Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
● Keep free and clear of the ranges of motion of machines and moving
machine parts.
● Prevent personnel from accidentally entering the machine’s range of
motion (e.g., by safety fence, safety guard, protective covering, light bar‐
rier).
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● In addition, observe the safety message "Protection Against Dangerous
Movements" in the chapter "Safety Instructions for Electric Drives and
Controls".

5.5.1 General information on the operation modes


Assignment to the functional packages
For the assignment to the functional packages, see chapter "Overview of
functions/functional packages, supported operation modes".
Operation mode handling
Selecting the operation mode
It is possible to configure up to 8 different operation modes in the drive (de‐
pending on "S-0-0292, List of supported operation modes"). They are as‐
signed and configured via the following parameters:
● S-0-0032, Primary operation mode
● S-0-0033, Secondary operation mode 1
● S-0-0034, Secondary operation mode 2
● S-0-0035, Secondary operation mode 3
● S-0-0284, Secondary operation mode 4
● S-0-0285, Secondary operation mode 5
● S-0-0286, Secondary operation mode 6
● S-0-0287, Secondary operation mode 7

If the value "0" has been enterd in one of these parameters, the
error message "F2007 Switching to non-initialized operation
mode" is generated when this operation mode is activated.
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Activating the operation mode The operation mode is activated and controlled by the input in drive control
words which depend on the type of master communication:
● S-0-0134, Master control word
● P-0-4077, Field bus: Control word
● P-0-4068, Field bus: Control word IO
● P-0-4028, Device control word
● P-0-0120, Control word easy startup
For axis commanding by the integrated MLD control and the use by the easy
startup mode, there are 8 more internal operation modes available (perma‐
nently configured internally), so that a total of 16 operation mode preselection
parameters are available. It is possible to choose between these operation
modes in operation, and due to drive-controlled transition functions it is possi‐
ble to switch between the operation modes in running operation.
The effective input is displayed in the bits 8, 9, 11 and 12 of the parameter
"P-0-0116, Device control: Control word".
The following applies to parameter P-0-0116:
● Bits 8 and 9 → Selecting primary operation mode and secondary opera‐
tion modes 1 to 3
● Bit 11 → Selecting secondary operation modes 4 to 7 (sercos only)

The secondary operation modes 4 to 7 can only be used via


sercos interface. Bit 11 therefore only takes effect in the control
word of the device control (P-0-0116) in conjunction with parame‐
ter S-0-0134 (master control word for sercos)!

The figure below illustrates the interrelation of the control word of the respec‐
tive master communication and the device control word/device status word
with regard to the operation mode selection.

Fig. 5-45: Operation mode selection via control word


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The control bits (8 and 9) contained in parameter P-0-0116 are al‐


so contained in the control words depending on the master com‐
munication (cf. S-0-0134, P-0-4077, P-0-4068 and P-0-4028) and
can therefore be written via the control words.

An operation mode defined via the operation mode selection is active when:
● The drive (control section and power section) is ready for operation
-and-
● The drive enable signal sees a positive edge
Acknowledging the active opera‐ As regards the activation of an operation mode, there are the following kinds
tion mode of feedback:
● With active operation mode, the display of the control panel reads "AF".
● In parameter "S-0-0390, Diagnostic message number", the respective
diagnostic message number of the active operation mode is displayed
(e.g. "C00A0101" in "velocity control" mode).
● In parameter "S-0-0095, Diagnostic message", the active operation
mode is displayed in text form (e.g. "A0101 Velocity control").
● In parameter "P-0-0115, Device control: Status word", bit 3 ("Drive fol‐
lows external command values") is used to acknowledge whether the
drive is running in the preset operation mode or not.
● In parameter "P-0-0115, Device control: Status word", bits 8, 9 and 10
("Acknowledgment of operation mode") are used to signal the operation
mode presently active.

The status bits contained in parameter P-0-0115 (3, 8, 9 and 10)


are also contained in the status words depending on the master
communication (S-0-0135, P-0-4078) and can therefore be read
in the status words. Bit 10, however, is only activated with
sercos interface!

See also "Device control and state machines"


Changing the operation mode
When drive enable is activated, the drive, after having gone through the initi‐
alization routines, changes to the operation mode that was selected via bits 8
and 9 of the specific control word of the respective master communication
(S-0-0134, P-0-4077, P-0-4068, P-0-4028 oder P-0-0116).

The change of operation modes is carried out within one position


controller clock (Advanced: 250 µs; Basic: 500 µs). Another posi‐
tion controller clock passes until the command values of the acti‐
vated operation mode become effective, because the initialization
of the operation mode is carried out first.

Special cases With the following exceptional circumstances, the desired operation mode is
not carried out in spite of the operation mode having been correctly selected:
● Drive error is present
→ The corresponding error reaction is carried out.
● Fatal warning was triggered
→ The corresponding reaction is carried out.
● A "drive command" (e.g. homing procedure, set absolute position, ...) is
executed
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Overview of the functional scope

→ The command started is carried out.


● Drive Halt
→ This drive function is carried out.
See also "Device control and state machines"
Drive-controlled change of opera‐ In order to achieve a quick and smooth change of operation mode in running
tion mode operation, it is possible to make a "drive-controlled change of operation
mode". Drive-internally this procedure ensures that, when the operation
mode is changed, the transition is carried out in a synchronized way, even if
the command value changes abruptly.
See also "Command calue adjustment with position control"
Command value acceptance and acknowledgment
Immediate command value ac‐ Each preset command value is accepted immediately, when the respective
ceptance command value parameter (e.g. S-0-0036, S-0-0080, S-0-0258, …) is written
in the case of the operation modes:
● Torque/force control
● Velocity control
● Position control with cyclic command value input
● Drive-internal interpolation
● Synchronization modes:
– Velocity synchronization with real/virtual master axis
– Phase synchronization with real/virtual master axis
– Electronic cam with real/virtual master axis
– Electronic motion profile with real/virtual master axis
Command value acceptance after In the positioning modes (drive-controlled positioning, positioning block
master request mode), however, the command value (target position, velocity, positioning
block, ...) is only accepted, when the master explicitly requests this by a
"command value acceptance".
The command value acceptance is carried out in a different way, according to
the positioning mode or profile type:
● "Drive-controlled positioning" mode
Acceptance of preset command value (position, velocity) by toggling
bit 0 of parameter "S-0-0346, Positioning control word"
→ Toggle mechanism
● "Positioning block mode"
Acceptance of the positioning block selected via "P-0-4026, Positioning
block selection" by a positive edge of bit 0 of parameter "P-0-4060,
Positioning block control word", when the parallel interface or, in the
case of field buses, the I/O mode is used as master communication
→ Edge control

When the positioning block mode is used for field buses in the
freely configurable operating mode (P-0-4084 = 0xFFFE) or with
sercos interface, the toggle mechanism is used in spite of the
above rule.

Command value acknowledgment The explicit acknowledgment of the command value acceptance only takes
place for the positioning modes (drive-controlled positioning, positioning block
mode).
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It is possible to check in the master whether and when the preset command
value was accepted in the drive (command value acceptance handshake).
The command value acknowledgment is carried out in a different way, ac‐
cording to the positioning mode:
● "Drive-controlled positioning" mode
The drive acknowledges the command value acceptance by toggling
bit 0 of parameter "S-0-0419, Positioning command acknowledge".
● "Positioning block mode"
The drive acknowledges the command value acceptance by displaying
the effective positioning block in parameter "P-0-4051, Positioning block
acknowledgment".

In the positioning block mode, too, the acceptance of a new posi‐


tioning block causes bit 0 of parameter S-0-0419 to be toggled,
because in this case the internal processing of the positioning
command values is identical to the "drive-controlled positioning"
mode.

5.5.2 Torque/force control


Brief description

Assignment to functional firmware package, see chapter "Suppor‐


ted operation modes".

In the "torque/force control" mode, a torque/force command value is preset


for the drive. If required, this command value can be filtered. When the oper‐
ation mode has been activated, the diagnostic message is "A0100 Torque
control"

Fig. 5-46: "Torque/force control" block diagram


Features ● Torque/force control with regard to the sum of the command values pre‐
set in parameters "S-0-0080, Torque/force command value" and
"S-0-0081, Additive torque/force command value"
● Torque/force command value is generated internally by the velocity con‐
troller; value of S-0-0081 can be added as an additive component
● Limitation of the preset command value to limit value that can be para‐
meterized
● Command value filtered via "S-0-0822, Torque/force ramp" and
"S-0-0823, Torque/force ramp time"
Pertinent parameters ● S-0-0080, Torque/force command value
● S-0-0081, Additive torque/force command value
● S-0-0082, Torque/force limit value positive
● S-0-0083, Torque/force limit value negative
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● S-0-0092, Bipolar torque/force limit value


● S-0-0109, Motor peak current
● S-0-0110, Amplifier peak current
● S-0-0111, Motor current at standstill
● S-0-0822, Torque/force ramp
● S-0-0823, Torque/force ramp time
● S-0-0824, Status "Torque/force command value attained"
● P-0-0001, Switching frequency of the power output stage
● P-0-0038, Torque-generating current, command value
● P-0-0049, Effective torque/force command value
● P-0-0051, Torque/force constant
● P-0-0109, Torque/force peak limit
● P-0-4046, Effective peak current
Pertinent diagnostic messages ● A0100 Torque control
● E8057 Device overload, current limit active
● E8260 Torque/force command value limit active
● F8079 Velocity limit value exceeded

5.5.3 Velocity control


Brief description

Assignment to functional firmware package, see chapter "Suppor‐


ted operation modes".

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

Fig. 5-47: "Velocity control" block diagram


Features ● An external velocity command value is preset (sum of
"S-0-0036, Velocity command value" and "S-0-0037, Additive velocity
command value") via analog inputs or master communication interface
(sercos, field bus, ...)
● Selection of predefined and internally stored velocity command values
(31 fixed values) is possible via binary-coded digital inputs (e.g., for jog‐
ging forward/backward, feeding, setting up, ...) with separately definable
acceleration and deceleration ramps (31 different ramps), as well as jerk
filter to be set (31 different time constants)
● Use of a drive-internal command value generator for generating com‐
mand value ramps ("motor potentiometer")
● Inversion of the provided velocity command value before it is processed
in the ramp-function generator
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● Window comparator for masking critical velocity ranges in the command


value channel (e.g., machine resonances) with corresponding accelera‐
tion adjustment (see P-0-1209)
● Ramp-function generator with separately adjustable, two-stage acceler‐
ation and deceleration limits of the preset velocity command value;
switching from ramp 1 to ramp 2 takes place with selectable velocity and
run-up stop that can be parameterized
● Velocity control via a digital PI controller with extensive filter measures
● Monitoring of the command velocity and actual velocity for exceeding
parameter "S-0-0091, Bipolar velocity limit value"
● Additional monitoring for the motor-related limit values "S-0-0113,
Maximum motor speed" and "P-0-0113, Bipolar velocity limit value of
motor"
● Smoothing of velocity control loop difference via filter that can be para‐
meterized
● Smoothing of preset command value by means of average filter (jerk
limitation by means of moving average filter)
● Fine interpolation of the velocity command values; transmission of these
command values in the position controller clock; the fine interpolator can
be switched on or off (P-0-0556, bit 0)
● Velocity control loop monitoring (cannot be parameterized) to prevent
the drive from running away; monitor can be switched on or off
(P-0-0556, bit 1)
● Velocity controller internally generates the torque/force command value
to which the value of the parameter can be added as an additive compo‐
nent
● Control word and status word especially for "velocity control" mode
(P-0-1200 and P-0-1210)
Pertinent parameters ● S-0-0036, Velocity command value
● S-0-0037, Additive velocity command value
● S-0-0040, Velocity feedback value of encoder 1
● S-0-0091, Bipolar velocity limit value
● S-0-0100, Velocity loop proportional gain
● S-0-0101, Velocity loop integral action time
● S-0-0113, Maximum motor speed
● S-0-0156, Velocity feedback value of encoder 2
● S-0-0535, Active velocity feedback value
● P-0-0004, Velocity loop smoothing time constant
● P-0-0048, Effective velocity command value
● P-0-0113, Bipolar velocity limit value of motor
● P-0-0556, Config word of axis controller
● P-0-1119, Velocity mix factor feedback 1 & 2
(not valid for MPE firmware)
● P-0-1120, Velocity control loop filter: Filter type
● P-0-1126, Velocity control loop: Acceleration feedforward
● P-0-1200, Control word 1 velocity control
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● P-0-1201, Ramp 1 pitch


● P-0-1202, Final speed ramp 1
● P-0-1203, Ramp 2 pitch
● P-0-1206, Memory of velocity command values
● P-0-1207, Lower limit of velocity masking window
● P-0-1208, Upper limit of velocity masking window
● P-0-1209, Acceleration factors for velocity masking window
● P-0-1210, Status word of velocity control mode
● P-0-1211, Deceleration ramp 1
● P-0-1213, Deceleration ramp 2
● P-0-1214, Control word 2 velocity control
● P-0-1215, Motor potentiometer, acceleration
● P-0-1216, Motor potentiometer, deceleration
● P-0-1217, Motor potentiometer, step size
● P-0-1218, Motor potentiometer, command value
● P-0-1222, Velocity command filter
● P-0-1223, List of acceleration ramps
● P-0-1224, List of deceleration ramps
● P-0-1225, List of smoothing time constants
Pertinent diagnostic messages ● A0101 Velocity control
● E2059 Velocity command value limit active
● E2063 Velocity command value > limit value
● E8260 Torque/force command value limit active
● F8078 Speed loop error
● F8079 Velocity limit value exceeded

5.5.4 Position control with cyclic command value input


Brief description

Assignment to functional firmware package, see chapter "Suppor‐


ted operation modes".

In the "position control" mode, a cyclic position command value is preset for
the drive in NC cycle time. This command value is fine interpolated in the
drive and jerk-limited via filters, if necessary, before being transmitted to the
position controller.
To minimize the lag error, variable acceleration feedforward is available in
addition to variable velocity feedforward.
There are different forms of the "position control" mode which result in the
corresponding diagnostic messages when the operation mode was activated
(see "Pertinent diagnostic messages" below).
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Fig. 5-48: "Position control with cyclic command value input" block diagram
Features ● Position control with regard to the command value preset in parameter
"S-0-0047, Position command value"
● NC-controlled or drive-controlled position control with internal, dynamic
synchronization when changing operation modes
● Timebase for cyclic command value input defined by "S-0-0001, NC
cycle time (TNcyc)"
● Monitoring of the position command value difference for exceeding pa‐
rameter "S-0-0091, Bipolar velocity limit value"
● Position command values of the control section smoothed by means of
adjustable average value filter; calculation from acceleration and jerk
limit values; displayed in parameter "P-0-0042, Current position
command average value filter order"
● Fine interpolation of position command value of the control unit to posi‐
tion controller clock; can be switched via "P-0-0187, Position command
processing mode"
● Adjustable position command value delay in position cycle times
(P-0-0456, Position command value delay), maximum of 32 cycles.
● Position control with regard to actual position value encoder 1 (motor
encoder) or actual position value encoder 2 [external (load-side) encod‐
er], can be dynamically switched
● Velocity feedforward through adjustable factor of 0…150 % (de‐
fault = 100 %)
● Cyclic acceptance of an additive torque/force command value of the
control unit (external acceleration feedforward)

The condition for this operation mode is synchronous communica‐


tion between the control unit and the drive, as is the case with
sercos interface, for example.

Pertinent parameters ● S-0-0047, Position command value


● S-0-0081, Additive torque/force command value
● S-0-0091, Bipolar velocity limit value
● S-0-0138, Bipolar acceleration limit value
● S-0-0520, Axis control word
● P-0-0010, Excessive position command value
● P-0-0011, Last valid position command value
● P-0-0041, Position command average value filter time constant
● P-0-0042, Current position command average value filter order
● P-0-0047, Position command value control
● P-0-0059, Additive position command value, controller
● P-0-0070, Effective additive torque/force command value
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● P-0-0099, Position command smoothing time constant


● P-0-0142, Synchronization acceleration
● P-0-0143, Synchronization velocity
● P-0-0152, Synchronization completed
● P-0-0154, Synchronization direction
● P-0-0187, Position command processing mode
● P-0-0434, Position command value of controller
● P-0-0456, Position command value delay
● P-0-0457, Position command value generator
● P-0-0458, Delay of add. command values
● P-0-0556, Config word of axis controller
Pertinent diagnostic messages ● A0102 Position mode, encoder 1
● A0103 Position mode, encoder 2
● A0104 Position mode lagless, encoder 1
● A0105 Position mode lagless, encoder 2
● A0154 Position mode drive controlled, encoder 1
● A0155 Position mode drive controlled, encoder 2
● A0156 Position mode lagless, encoder 1 drive controlled
● A0157 Position mode lagless, encoder 2 drive controlled
● F2036 Excessive position feedback difference
● F2037 Excessive position command difference

The error message F2037 can also be configured as a warning.


In this case, there is no drive-side error reaction. The user is then
responsible for initiating an appropriate reaction via the control
master.

5.5.5 Drive-internal interpolation


Brief description

Assignment to functional firmware package, see chapter "Suppor‐


ted operation modes".

The two operation modes "drive-internal interpolation" and "drive-controlled


positioning" allow time-optimized positioning of a single axis. The "drive-inter‐
nal interpolation" mode is the basis for the more comprehensive functionality
of the "drive-controlled positioning" mode.
In the "drive-internal interpolation" mode, a target position is directly preset
for the drive. In the internal positioning generator, a position command value
characteristic is generated (interpolated), from the preset value for the target
position considering preset positioning data (velocity, acceleration and jerk),
as the input value for the position controller.
There are different forms of the "drive-internal interpolation" mode which re‐
sult in the corresponding diagnostic messages when the operation mode was
activated (see "Pertinent diagnostic messages" below).
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Fig. 5-49: "Drive-internal interpolation" block diagram


Features ● Drive-internal generation of a position command value profile to travel to
a preset target position (S-0-0258) while maintaining the positioning ve‐
locity (S-0-0259) and positioning acceleration (S-0-0260) or positioning
deceleration (S-0-0359) that can be set; can be set separately
● Command value generation runs in the NC cycle "S-0-0001, NC cycle
time (TNcyc)". The transition to the position controller cycle is made by
cubic fine interpolation.
● Jerk limitation of the generated position command value via "S-0-0193,
Positioning jerk"
● Setting of the average value filter (jerk limitation) to a fixed filter time
with interpolation command value average value filter time constant
(P-0-0641)
● Adjustable position command value delay in position cycle times
(P-0-0456), maximum of 32 cycles.
● Evaluation of the positioning velocity with "S-0-0108, Feedrate override"
● Monitoring of the positioning velocity for exceeding "S-0-0091, Bipolar
velocity limit value"

When using safety technology, the positioning velocity can be


limited by "P-0-3238, SMO: Active velocity threshold" , see also
"Rexroth IndraDrive, Integrated Safety Technology "Safe Motion"
(as of MPx-18)" (DOK-INDRV*-SI3*SMO-VRS-AP**-EN-P; mat.
no. R911338920).

The initial speed of the operation mode can be limited, for one ax‐
is with safety technology, to an additional speed value [product
from "SMO: active speed threshold" (P-0-3238) and "SMO: evalu‐
ation factor speed limit "(P-0-3218)] when activated in the param‐
eter "SMO: Configuration support functions" (P-0-3219), see also
the separate documentation "Rexroth IndraDrive, Integrated Safe‐
ty Technology "Safe Motion" (as of MPx-18)" (DOK-INDRV*-
SI3*SMO-VRS-AP**-EN-P; Mat. No. R911338920), chapter "Ad‐
ditional and auxiliary functions".

● Monitoring of the target position for compliance with the position limit
values
● Command value mode can be set (S-0-0393) in modulo format (shortest
distance, only positive or only negative direction)
● Position control with regard to "S-0-0051, Position feedback value of
encoder 1" (motor encoder) or "S-0-0053, Position feedback value of
encoder 2" [external (load-side) encoder]
● Acceleration and deceleration ramps, can be set separately
● No change in direction of motion when
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"command value mode in modulo format" equals "shortest distance", if


vact > S-0-0417
● "Shortest distance" mode when "command value mode in modulo for‐
mat" equals "only positive/negative direction of motion" and target posi‐
tion within "S-0-0418, Target position window in modulo mode"

In this operation mode, it is possible to separately parameterize


the acceleration and deceleration processes. This allows optimum
adjustment to the respective application-specific requirements.

Pertinent parameters ● S-0-0108, Feedrate override


● S-0-0138, Bipolar acceleration limit value
● S-0-0193, Positioning jerk
● S-0-0258, Target position
● S-0-0259, Positioning velocity
● S-0-0260, Positioning acceleration
● S-0-0342, Status "Target position attained"
● S-0-0343, Status "Interpolator halted"
● S-0-0359, Positioning deceleration
● S-0-0393, Command value mode
● S-0-0417, Positioning velocity threshold in modulo mode
● S-0-0418, Target position window in modulo mode
● S-0-0430, Effective target position
● S-0-0437, Positioning status
● P-0-0059, Additive position command value, controller
● P-0-0434, Position command value of controller
● P-0-0456, Position command value delay
● P-0-0457, Position command value generator
● P-0-0556, Config word of axis controller
● P-0-0641, Interpolation cmd value average value filter time constant
Pertinent diagnostic messages ● A0106 Drive-internal interpolation, encoder 1
● A0107 Drive-internal interpolation, encoder 2
● A0108 Drive controlled interpolation, lagless, encoder 1
● A0109 Drive controlled interpolation, lagless, encoder 2
● E2049 Positioning velocity >= limit value
● E2053 Target position out of travel range
● E2055 Feedrate override S-0-0108 = 0
● F2057 Target position out of travel range

5.5.6 Drive-controlled positioning


Brief description

Assignment to functional firmware package, see chapter "Suppor‐


ted operation modes".
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The operation modes "drive-internal interpolation" and "drive-controlled posi‐


tioning" allow a single axis to be positioned in a time-optimized way. The
"drive-internal interpolation" mode is the basis for the more comprehensive
functionality of the "drive-controlled positioning" mode.
In the "drive-controlled positioning" mode, a positioning command value is
preset for the drive. The drive can continue processing this value internally in
absolute (position target) or relative (travel distance) form. In the internal in‐
terpolator, a position command value characteristic is generated as the input
value for the position controller from the preset positioning data (effective tar‐
get position, velocity, acceleration and jerk).
There are different forms of the "drive-controlled positioning" mode which re‐
sult in the corresponding diagnostic messages when the operation mode was
activated (see "Pertinent diagnostic messages" below).

Fig. 5-50: Drive-controlled positioning block diagram


Features ● Processing of an absolute target position or a relative travel distance
● Drive-internal generation of a position command value profile to travel to
the positioning command value (S-0-0282) while maintaining the posi‐
tioning velocity (S-0-0259) and positioning acceleration (S-0-0260) or
positioning deceleration (S-0-0359) that can be set; can be set sepa‐
rately
● Command value generation runs in the NC cycle "S-0-0001, NC cycle
time (TNcyc)". The transition to the position controller cycle is made by
cubic fine interpolation.
● Acceptance of the positioning command value via toggle bit (S-0-0346,
bit 0)
● Jerk limitation of the generated position command value with parameter
"S-0-0193, Positioning jerk"
● Setting of the average value filter (jerk limitation) to a fixed filter time
with interpolation command value average value filter time constant
(P-0-0641)
● Adjustable position command value delay in position cycle times
(P-0-0456), maximum of 32 cycles.
● Evaluation of the positioning velocity with parameter "S-0-0108,
Feedrate override"
● Monitoring of the positioning velocity for exceeding the value in parame‐
ter "S-0-0091, Bipolar velocity limit value"

When using safety technology, the positioning velocity can be


limited by "P-0-3238, SMO: Active velocity threshold" , see also
"Rexroth IndraDrive, Integrated Safety Technology "Safe Motion"
(as of MPx-18)" (DOK-INDRV*-SI3*SMO-VRS-AP**-EN-P; mat.
no. R911338920).
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Overview of the functional scope

The initial speed of the operation mode can be limited, for one ax‐
is with safety technology, to an additional speed value [product
from "SMO: active speed threshold" (P-0-3238) and "SMO: evalu‐
ation factor speed limit "(P-0-3218)] when activated in the param‐
eter "SMO: Configuration support functions" (P-0-3219), see also
the separate documentation "Rexroth IndraDrive, Integrated Safe‐
ty Technology "Safe Motion" (as of MPx-18)" (DOK-INDRV*-
SI3*SMO-VRS-AP**-EN-P; Mat. No. R911338920), chapter "Ad‐
ditional and auxiliary functions".

● Monitoring of the target position for compliance with the position limit
values (see "S-0-0049, Positive position limit value", "S-0-0050,
Negative position limit value")
● Command value mode can be set in modulo format in parameter
"S-0-0393, Command value mode" (shortest distance, positive only or
negative only direction, no reversal of direction of rotation)
● Position control with regard to "S-0-0051, Position feedback value of
encoder 1" (motor encoder) or "S-0-0053, Position feedback value of
encoder 2" [external (load-side) encoder]
● Acceleration and deceleration ramps can be set separately ("S-0-0260,
Positioning acceleration" or "S-0-0359, Positioning deceleration")
● Position limit values taken into account when accepting target position,
positioning velocity and positioning acceleration
● Jog mode ("infinite travel" positive/negative; S-0-0346, bits 1 and 2)
● Residual path processing can be activated
● "On-the-fly acceptance" of the new target position or intermediate stop

In this operation mode, it is possible to separately parameterize


the acceleration and deceleration processes in order to achieve
optimum adjustment to the respective application-specific require‐
ments.

Pertinent parameters ● S-0-0057, Position window


● S-0-0108, Feedrate override
● S-0-0138, Bipolar acceleration limit value
● S-0-0193, Positioning jerk
● S-0-0259, Positioning velocity
● S-0-0260, Positioning acceleration
● S-0-0282, Positioning command value
● S-0-0342, Status "Target position attained"
● S-0-0343, Status "Interpolator halted"
● S-0-0346, Positioning control word
● S-0-0359, Positioning deceleration
● S-0-0393, Command value mode
● S-0-0417, Positioning velocity threshold in modulo mode
● S-0-0418, Target position window in modulo mode
● S-0-0419, Positioning command acknowledge
● S-0-0430, Effective target position
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● S-0-0437, Positioning status


● P-0-0059, Additive position command value, controller
● P-0-0434, Position command value of controller
● P-0-0456, Position command value delay
● P-0-0457, Position command value generator
● P-0-0556, Config word of axis controller
● P-0-0641, Interpolation cmd value average value filter time constant
Pertinent diagnostic messages ● A0150 Drive-controlled positioning, encoder 1
● A0151 Drive-controlled positioning, encoder 1, lagless
● A0152 Drive-controlled positioning, encoder 2
● A0153 Drive-controlled positioning, encoder 2, lagless
● E2049 Positioning velocity >= limit value
● E2053 Target position out of travel range
● E2055 Feedrate override S-0-0108 = 0
● F2050 Overflow of target position preset memory
● F2057 Target position out of travel range

5.5.7 Positioning block mode


Brief description

Assignment to functional firmware package, see chapter "Suppor‐


ted operation modes".

In the operation mode, it is possible to run up to 64 programmed positioning


blocks. The drive moves to the target position in position control, while main‐
taining velocity, acceleration, deceleration and jerk limits as defined in the re‐
spective positioning block.

Fig. 5-51: "Positioning block mode" block diagram


Features ● Parameterization of up to 64 positioning blocks; each with target posi‐
tion/travel distance, velocity, acceleration, deceleration and jerk
● Command value generation runs in the NC cycle "S-0-0001, NC cycle
time (TNcyc)". The transition to the position controller cycle is made by
cubic fine interpolation.
● Jerk limitation of the generated position command value via "P-0-4009,
Positioning block jerk"
● Setting of the average value filter (jerk limitation) to a fixed filter time
with interpolation command value average value filter time constant
(P-0-0641)
● Adjustable position command value delay in position cycle times
(P-0-0456), maximum of 32 cycles.
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● Defined block acceptance by toggling bit 0 in S-0-0346 with reaction


time tR_strobe = tposition
Note: With field bus drives, the I/O mode is an exception. In these ca‐
ses, acceptance takes place by a positive edge of bit 0 in P-0-4060.
→ Block selection and acknowledgment via separate parameters (hand‐
shake principle)
● Positioning modes to be freely parameterized:
– Relative positioning
– Absolute positioning
– Infinite travel (positive or negative)
● Single-block or sequential block mode with different conditions for ad‐
vancing:
– Block advance with switch cams
– Block advance at defined position value
– Block transition with "old" or "new" positioning velocity
● Positioning block transition with freely definable delay time (P-0-4018)
● Positioning while taking command value mode into account (shortest
distance, positive direction, …)
● Residual path processing can be activated (→ no loss of incremental di‐
mension)
● "Slow travel" mode can be activated
● Velocity override to be set

When using safety technology, the positioning velocity can be


limited by "P-0-3238, SMO: Active velocity threshold" , see also
"Rexroth IndraDrive, Integrated Safety Technology "Safe Motion"
(as of MPx-18)" (DOK-INDRV*-SI3*SMO-VRS-AP**-EN-P; mat.
no. R911338920).

The initial speed of the operation mode can be limited, for one ax‐
is with safety technology, to an additional speed value [product
from "SMO: active speed threshold" (P-0-3238) and "SMO: evalu‐
ation factor speed limit "(P-0-3218)] when activated in the param‐
eter "SMO: Configuration support functions" (P-0-3219), see also
the separate documentation "Rexroth IndraDrive, Integrated Safe‐
ty Technology "Safe Motion" (as of MPx-18)" (DOK-INDRV*-
SI3*SMO-VRS-AP**-EN-P; Mat. No. R911338920), chapter "Ad‐
ditional and auxiliary functions".

Fields of application Sequential block processing allows executing several positioning blocks in di‐
rect sequence without having to give a new start signal each time. Typical
fields of application are:
● There is none or only a very simple higher-level control unit available
and control is realized via digital I/Os only or a field bus control word
(I/O mode with field bus interface).
● There are quick reaction times or block advances required. The required
motion profiles can be represented in the drive by the maximum possi‐
ble 64 positioning blocks.
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● There are positioning processes required which cover long distances at


high speeds (rapid traverse) and then position at the end position at low
speed without any intermediate stops; for example:
– Taking up or putting down transport goods in handling robots
– Executing joining processes in assembly facilities
Pertinent parameters ● S-0-0138, Bipolar acceleration limit value
● S-0-0259, Positioning velocity
● S-0-0346, Positioning control word
● S-0-0393, Command value mode
● S-0-0419, Positioning command acknowledge
● S-0-0430, Effective target position
● S-0-0437, Positioning status
● P-0-0059, Additive position command value, controller
● P-0-0434, Position command value of controller
● P-0-0456, Position command value delay
● P-0-0457, Position command value generator
● P-0-0556, Config word of axis controller
● P-0-0641, Interpolation cmd value average value filter time constant
● P-0-4006, Positioning block target position
● P-0-4007, Positioning block velocity
● P-0-4008, Positioning block acceleration
● P-0-4009, Positioning block jerk
● P-0-4018, Positioning block delay time
● P-0-4019, Positioning block mode
● P-0-4026, Positioning block selection
● P-0-4051, Positioning block acknowledgment
● P-0-4052, Positioning block, last accepted
● P-0-4053, Positioning block, last active
● P-0-4057, Positioning block, input linked blocks
● P-0-4060, Positioning block control word
● P-0-4061, Positioning block status word
● P-0-4063, Positioning block deceleration

Parameter S-0-0259 is used in positioning block mode to reduce


positioning velocity (see also "P-0-4060, Positioning block control
word").
Pertinent diagnostic messages ● A0162 Positioning block mode
● A0206 Positioning block mode, encoder 1
● A0207 Positioning block mode lagless, encoder 1
● A0210 Positioning block mode, encoder 2
● A0211 Positioning block mode lagless, encoder 2
● E2049 Positioning velocity >= limit value
● E2053 Target position out of travel range
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● E2054 Not homed


● E2055 Feedrate override S-0-0108 = 0
● E2058 Selected positioning block has not been programmed
● F2028 Excessive deviation

5.5.8 Synchronization modes


Basic functions of the synchronization modes
Overview
General Information on Synchronization Modes
The synchronization modes allow the drive to run synchronously with regard
to a real or virtual master axis. The synchronization modes are basically divi‐
ded into the following groups:
● Velocity synchronization
● Position synchronization with the operation modes
– Phase synchronization
– Electronic cam
– MotionProfile
The figure below illustrates how the synchronization modes are integrated in
the control loop structure.

1) No position controller with "velocity synchronization" mode


Fig. 5-52: General block diagram of the synchronization modes
All synchronization modes have the following identical or similar basic func‐
tions which are comprehensively described in this section:
● Adjustment of master axis, consisting of
– Generation of master axis
– Master axis offset and modulo limitation
– Electronic gearbox with fine adjustment
● Drive-controlled dynamic synchronization
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The individual synchronization modes basically differ in the follow‐


ing function blocks:
- Command value processing specific to operation mode
- Command value addition for slave axis
These function blocks are described specific to operation mode in
the individual sections on the respective synchronization modes.

The figure below illustrates the interaction of the individual basic functions
(function blocks) of the synchronization modes.

P-0-0048 Effective velocity command value


P-0-0052 Actual position value of measuring encoder
P-0-0053 Master axis position
P-0-0054 Additive master axis position
P-0-0088 Control word synchronization modes
P-0-0434 Position command value of controller
P-0-0692 Additive position command value, process controller
P-0-0694 Gear ratio fine adjustment, process controller
P-0-0761 Master axis position for slave axis
P-0-0764 Master axis speed
P-0-0775 Resulting master axis position
P-0-0776 Effective master axis position
P-0-0777 Effective master axis velocity
P-0-0778 Synchronous position command value
P-0-0779 Synchronous velocity
P-0-0787 Group axis position
Fig. 5-53: Function blocks of the synchronization modes
Explanation of terms
Master axis:
The virtual or real axis that provides the master axis position for generating
the synchronous position command value for the slave axis is called master
axis.
Master axis cycle:
The master axis cycle specifies the range in which the master axis values
move. It corresponds to one master axis revolution or a multiple of that. So
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that the master axis positions can be processed correctly (e.g. in the case of
modulo overflow), the size of the master axis cycle must be known to the
drive. The control unit communicates the size of the master axis cycle to the
drive in the configuration of parameter "P-0-0750, Master axis revolutions per
master axis cycle".
Slave axis:
The drive following the command values derived from the master axis is re‐
ferred to as slave axis.
Command value cycle:
In processes with different machining cycles, the slave axis has to be able to
synchronize over several master axis revolutions or divisions of a master axis
revolution. This possibility is given via the so-called command value cycle.
The modulo value of the command value cycle is calculated internally de‐
pending on the electronic gearbox (P-0-0156, Master drive gear input
revolutions; P-0-0157, Master drive gear output revolutions) and the values
"P-0-0750, Master axis revolutions per master axis cycle" and "S-0-0103,
Modulo value".
See also parameter description "P-0-0754, Command value cycle".
Actual value cycle (actual position value in the actual value cycle):
The actual value cycle ("P-0-0786, Modulo value actual value cycle") is the
modulo range within which the actual position values of the slave axis are to
be found when the position synchronization mode is active (P-0-0753,
Position actual value in actual value cycle). The user can define the modulo
value of the actual value cycle.

The operation modes of the position synchronization (phase syn‐


chronization, cam and MotionProfile) use the "actual position val‐
ue in the actual value cycle" (P-0-0753) to close their position
control loop.

The travel distance for synchronization is determined using the "actual posi‐
tion value in the actual value cycle" and the synchronization range that was
set (see parameter description "P-0-0155, Synchronization mode") when one
of the operation modes of position synchronization is activated. The travel
distance is limited by the synchronization range, i.e. the command value cy‐
cle, division of the command value cycle or modulo range (S-0-0103, Modulo
value).
See parameter description "P-0-0753, Position actual value in actual value
cycle".
See parameter description "P-0-0786, Modulo value actual value cycle"
The modulo value of the actual value cycle has to be specified such that it
corresponds to an integral multiple of the command value cycle or the modu‐
lo range (S-0-0103, Modulo value).
Configuring and controlling the synchronization modes
The synchronization modes velocity synchronization and position synchroni‐
zation are configured and controlled by means of the following synchroniza‐
tion parameters:
Pertinent parameters (synchroni‐ ● S-0-0520, Axis control word
zation parameters)
● S-0-0521, Axis status word
● P-0-0086, Configuration word synchronous operation modes
● P-0-0088, Control word synchronization modes
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● P-0-0089, Status word synchronization modes


The following specifications can be made for the position-controlled operation
modes using parameter S-0-0520:
● Position control with lag error or lagless
● Use of encoder 1 or encoder 2
See also "Operation mode handling"
Command value addition
This section contains an overview of the basic possibilities of adding com‐
mand values. The characteristics and details specific to operation mode are
described in the section of the respective synchronization mode.
Pertinent parameters ● S-0-0037, Additive velocity command value
● S-0-0048, Additive position command value
● P-0-0048, Effective velocity command value
● P-0-0054, Additive master axis position
● P-0-0060, Filter time constant additive position cmd value
● P-0-0434, Position command value of controller
● P-0-0686, Additive position command value, positioning velocity
● P-0-0687, Additive position command value, positioning acceleration
● P-0-0688, Additive master axis position, positioning velocity
● P-0-0689, Additive master axis position, positioning acceleration
● P-0-0690, Additive velocity command value, process loop
● P-0-0691, Additive position command value, process loop
● P-0-0692, Additive master axis position, process loop
● P-0-0693, Filter time constant, add. master axis pos., process loop
The figure below contains a rough overview of the command values which
can act on the master and slave axis and of how they can be influenced.

Fig. 5-54: Possibilities of command value addition for master and slave axis
Velocity synchronization with real/virtual master axis
Brief description

Assignment to functional firmware package, see chapter "Suppor‐


ted operation modes".
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In the operation mode "velocity synchronization with real/virtual master axis",


the drive follows a preset master axis velocity at a synchronous velocity.
The real master axis velocity is generated by a measuring encoder; in con‐
trast, the virtual master axis velocity is preset by the master.
See also "Dynamic Synchronization of the Slave Axis" in the section "Basic
Functions of the Synchronization Modes"
Features ● Effective velocity command value (P-0-0048) determined from the differ‐
entiated and fine interpolated sum of master axis position (P-0-0053) or
measuring encoder position (P-0-0052) and additive components of
"P-0-0054, Additive master axis position" and "P-0-0692, Additive
master axis position, process loop", multiplied by master axis gear and
fine adjustment
● Adjustable master axis polarity
● Synchronization takes place in single-step form
● Synchronization mode to be selected
– Velocity adjustment always uses synchronization acceleration
(P-0-0142)
– Velocity adjustment using synchronization acceleration (P-0-0142)
only for the first synchronization
The figure below illustrates the interaction of the individual subfunctions
(function blocks) of the "velocity synchronization" mode:

P-0-0048 Effective velocity command value


P-0-0052 Actual position value of measuring encoder
P-0-0053 Master axis position
P-0-0088 Control word synchronization modes
P-0-0761 Master axis position for slave axis
P-0-0777 Effective master axis velocity
P-0-0787 Group axis 1 position
Fig. 5-55: Function blocks of the operation mode "velocity synchronization with
real/virtual master axis"
Variants of the operation mode The following variants can be configured:
● Velocity synchronization with real master axis
● Velocity synchronization with virtual master axis
How to use the operation mode Velocity synchronization is used, for example, for simple transport rolls of
printing machines. The drive runs with a velocity synchronous to the master
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axis. The track speed at the circumference of the transport roll or the winder
is preset by the electric gearbox. A defined tension can be set by the fine ad‐
justment of the gearbox.
Pertinent parameters In addition to the general parameters of all synchronization modes, there are
other parameters involved in velocity synchronization:
● S-0-0037, Additive velocity command value
● S-0-0183, Velocity synchronization window
● P-0-0159, Slave drive feed travel
● P-0-0690, Additive velocity command value, process loop
● P-0-0777, Effective master axis velocity
See also "Pertinent parameters" in the subsections of "Basic functions of the
synchronization modes"
Pertinent diagnostic messages In addition to the general diagnostic messages of all synchronization modes,
there are other diagnostic messages involved in velocity synchronization:
● A0110 Velocity synchronization, virtual master axis
● A0111 Velocity synchronization, real master axis
● A0164 Velocity synchronization
● E2063 Velocity command value > limit value
See also "Pertinent diagnostic messages" in the subsections of "Basic func‐
tions of the synchronization modes"
Position synchronization: Phase synchronization
Brief description

Assignment to functional firmware package, see chapter "Suppor‐


ted operation modes".

In the operation mode "phase synchronization with real/virtual master axis",


the drive follows a preset master axis position in an absolute or relative
phase synchronous way.
The real master axis velocity is generated by a measuring encoder; in con‐
trast, the virtual master axis velocity is preset by the master.
See also "Dynamic synchronization of the slave axis" in the section "Basic
functions of the synchronization modes"
Features ● Determining the position command value from the master axis position
using the electronic gear with fine adjustment, adjustable master axis
polarity
● Synchronization mode to be selected
● Single-step, double-step or optimized double-step synchronization
● Absolute or relative phase synchronization
● Synchronization range to be selected
The figure below illustrates the interaction of the individual subfunctions
(function blocks) of the "phase synchronization" mode:
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P-0-0052 Actual position value of measuring encoder


P-0-0053 Master axis position
P-0-0088 Control word synchronization modes
P-0-0434 Position command value of controller
P-0-0776 Effective master axis position
P-0-0777 Effective master axis velocity
P-0-0778 Synchronous position command value
P-0-0779 Synchronous velocity
P-0-0787 Group axis 1 position
Fig. 5-56: Function blocks of the operation mode "Phase synchronization with
real/virtual master axis"
Variants of the operation mode The following variants can be configured:
● Position synchronization: Phase synchronization
– Phase synchronization with real master axis, encoder 1
– Phase synchronization with real master axis, encoder 2
– Phase synchronization with real master axis, encoder 1, lagless
– Phase synchronization with real master axis, encoder 2, lagless
– Phase synchronization with virtual master axis, encoder 1
– Phase synchronization with virtual master axis, encoder 2
– Phase synchronization with virtual master axis, encoder 1, lagless
– Phase synchronization with virtual master axis, encoder 2, lagless

The position synchronization mode "phase synchronization",


"cam" or "MotionProfile" and the active master axis are selected
in parameter "P-0-0088, Control word synchronization modes".
Encoder selection and specification of lagless position control or
position control with lag error are made in parameter "S-0-0520,
Axis control word".

"Absolute phase synchronization" In machining processes that require absolute phase synchronization, e.g.
application printing, punching or perforating in printing machines, the absolute position
reference to the master axis is established in the "phase synchronization"
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mode. The drive synchronizes with a position command value that is gener‐
ated from master axis position and additive position command value.
"Relative phase synchronization" For machining processes that only require relative phase synchronization,
application e.g. synchronization of belts or feed rollers without defined starting point, a
relative position reference to the master axis is established. During the first
synchronization, there is only an adjustment to the synchronous velocity but
no position adjustment carried out.
Pertinent parameters In addition to the general parameters of all synchronization modes, there are
other parameters involved in phase synchronization:
● S-0-0103, Modulo value
● S-0-0520, Axis control word
● S-0-0521, Axis status word
● P-0-0086, Configuration word synchronous operation modes
● P-0-0088, Control word synchronization modes
● P-0-0089, Status word synchronization modes
● P-0-0159, Slave drive feed travel
● P-0-0776, Effective master axis position
● P-0-0777, Effective master axis velocity
● P-0-0778, Synchronous position command value
● P-0-0779, Synchronous velocity
See also "Pertinent parameters" in the subsections of "Basic functions of the
synchronization modes"

Position synchronization: Electronic cam


Brief description

Assignment to functional firmware package, see chapter "Suppor‐


ted operation modes".

In the operation mode "electronic cam with real/virtual master axis", there is a
fixed relationship between the master axis position and the slave axis.
The real master axis velocity is generated by a measuring encoder; in con‐
trast, the virtual master axis velocity is preset by the master.
See also "Dynamic synchronization of the slave axis" in the section "Basic
functions of the synchronization modes"
Features ● 4 cam tables with a max. of 1024 data points (P-0-0072, P-0-0092,
P-0-0780, P-0-0781)
● 4 cam tables with a max. of 128 data points (P-0-0783, P-0-0784,
P-0-0785, P-0-0786)
● Cubic spline interpolation of the cam data points
● Dynamic angle offset and angle offset at begin of table
● Freely definable switch angle for cam and cam distance
● Synchronization mode to be selected
● Single-step, double-step or optimized double-step synchronization
● Absolute or relative phase synchronization
● Synchronization range to be selected
● Change of format "on the fly"
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● Cross cutter function


● Clocked pull roll
The figure below illustrates the interaction of the individual subfunctions
(function blocks) of the "electronic cam" mode:

P-0-0052 Actual position value of measuring encoder


P-0-0053 Master axis position
P-0-0088 Control word synchronization modes
P-0-0434 Position command value of controller
P-0-0776 Effective master axis position
P-0-0777 Effective master axis velocity
P-0-0778 Synchronous position command value
P-0-0779 Synchronous velocity
P-0-0787 Group axis 1 position
Fig. 5-57: Function blocks of the operation mode "electronic cam"
Variants of the operation mode The following variants can be configured:
● Position synchronization: Cam with real master axis, encoder 1
● Position synchronization: Cam with real master axis, encoder 2
● Position synchronization: Cam with real master axis, encoder 1, lagless
● Position synchronization: Cam with real master axis, encoder 2, lagless
● Position synchronization: Cam with virtual master axis, encoder 1
● Position synchronization: Cam with virtual master axis, encoder 2
● Position synchronization: Cam with virtual master axis, encoder 1, lag‐
less
● Position synchronization: Cam with virtual master axis, encoder 2, lag‐
less

The position synchronization mode "phase synchronization",


"cam" or "MotionProfile" and the active master axis are selected
in parameter "P-0-0088, Control word synchronization modes".
Encoder selection and specification of lagless position control or
position control with lag error are made in parameter "S-0-0520,
Axis control word".
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Pertinent parameters In addition to the general parameters of all synchronization modes, there are
other parameters involved in this operation mode:
● S-0-0103, Modulo value
● S-0-0520, Axis control word
● S-0-0521, Axis status word
● P-0-0061, Angle offset begin of table
● P-0-0072, Cam table 1
● P-0-0073, Cam distance 2
● P-0-0085, Dynamic angle offset
● P-0-0086, Configuration word synchronous operation modes
● P-0-0088, Control word synchronization modes
● P-0-0089, Status word synchronization modes
● P-0-0092, Cam table 2
● P-0-0093, Cam distance
● P-0-0094, Cam switch angle
● P-0-0144, Cam distance switch angle
● P-0-0158, Angle offset change rate
● P-0-0159, Slave drive feed travel
● P-0-0227, Cam table, access angle
● P-0-0695, Angle offset begin of table, process loop
● P-0-0696, Filter time constant, angle offset profile, process loop
● P-0-0776, Effective master axis position
● P-0-0777, Effective master axis velocity
● P-0-0778, Synchronous position command value
● P-0-0779, Synchronous velocity
● P-0-0780, Cam table 3
● P-0-0781, Cam table 4
● P-0-0782, Cam table 5
● P-0-0783, Cam table 6
● P-0-0784, Cam table 7
● P-0-0785, Cam table 8
See also "Pertinent parameters" in the subsections of "Basic functions of the
synchronization modes"
Pertinent diagnostic messages In addition to the general diagnostic messages of all synchronization modes,
there are other diagnostic messages involved in this operation mode:
● A0128, Cam, encoder 1, virtual master axis
● A0129 Cam, encoder 2, virtual master axis
● A0130 Cam, encoder 1, real master axis
● A0131 Cam, encoder 2, real master axis
● A0132 Cam, lagless, encoder 1, virt. master axis
● A0133 Cam, lagless, encoder 2, virt. master axis
● A0134 Cam, lagless, encoder 1, real master axis
● A0135 Cam, lagless, encoder 2, real master axis
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● A0163 Position synchronization


● F2002 Assignment of encoder for synchronization is not allowed
● F2005 Cam table invalid
See also "Pertinent diagnostic messages" in the subsections of "Basic func‐
tions of the synchronization modes"
Position synchronization: MotionProfile
Brief description

Expansion package Synchronization (order code SNC) for the


variants MPB and MPD in closed-loop characteristic

In the operation mode "MotionProfile with real/virtual master axis", there is a


fixed relationship between the master axis position and the slave axis.
The real master axis velocity is generated by a measuring encoder; in con‐
trast, the virtual master axis velocity is preset by the master.
See also "Dynamic synchronization of the slave axis" in the section "Basic
functions of the synchronization modes"
Features ● 2 sequences of motion with up to 8 motion steps per master axis revolu‐
tion
● Definition of a motion step by standardized profile or cam table
● Motion laws can be selected (rest in rest, rest in velocity, velocity in rest,
velocity in velocity, constant velocity)
● Motion laws implemented by 5th order polynomial or, in the case of rest
in rest, alternatively by an inclined sine curve
● Individual distance for each motion step
● Dynamic angle offset and angle offset at begin of table
● Absolute synchronization can be switched off
● Synchronization mode to be selected
● Absolute or relative processing of the motion steps to be selected
● Synchronization range to be selected
● Cross cutter function
The figure below illustrates the interaction of the individual subfunctions
(function blocks) of the "MotionProfile" mode:
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P-0-0052 Actual position value of measuring encoder


P-0-0053 Master axis position
P-0-0088 Control word synchronization modes
P-0-0434 Position command value of controller
P-0-0776 Effective master axis position
P-0-0777 Effective master axis velocity
P-0-0778 Synchronous position command value
P-0-0779 Synchronous velocity
Fig. 5-58: Function blocks of the "MotionProfile" mode
Variants of the operation mode The following variants can be configured:
● Position synchronization: MotionProfile
– Motion Profile with real master axis, encoder 1
– Motion Profile with real master axis, encoder 2
– MotionProfile with real master axis, encoder 1, lagless
– MotionProfile with real master axis, encoder 2, lagless
– MotionProfile with virtual master axis, encoder 1
– MotionProfile with virtual master axis, encoder 2
– MotionProfile with virtual master axis, encoder 1, lagless
– MotionProfile with virtual master axis, encoder 2, lagless

The position synchronization mode "phase synchronization",


"cam" or "MotionProfile" and the active master axis are selected
in parameter "P-0-0088, Control word synchronization modes".
Encoder selection and specification of lagless position control or
position control with lag error are made in parameter "S-0-0520,
Axis control word".

Pertinent parameters In addition to the general parameters of all synchronization modes, there are
other parameters involved in this operation mode:
● S-0-0103, Modulo value
● S-0-0520, Axis control word
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● S-0-0521, Axis status word


● P-0-0061, Angle offset begin of table
● P-0-0085, Dynamic angle offset
● P-0-0086, Configuration word synchronous operation modes
● P-0-0088, Control word synchronization modes
● P-0-0089, Status word synchronization modes
● P-0-0158, Angle offset change rate
● P-0-0159, Slave drive feed travel
● P-0-0227, Cam table, access angle
● P-0-0695, Angle offset begin of table, process loop
● P-0-0696, Filter time constant, angle offset profile, process loop
● P-0-0700, MotionProfile, master axis switching position
● P-0-0701, Motion step 1, slave axis initial position
● P-0-0702, MotionProfile, diagnosis, set 0
● P-0-0703, Number of motion steps, set 0
● P-0-0704, Master axis velocity, set 0
● P-0-0705, List of master axis initial positions, set 0
● P-0-0706, List of motion laws, set 0
● P-0-0707, List of distances, set 0
● P-0-0708, List of slave axis velocities, set 0
● P-0-0709, MotionProfile, diagnosis, set 1
● P-0-0710, Number of motion steps, set 1
● P-0-0711, Master axis velocity, set 1
● P-0-0712, List of master axis initial positions, set 1
● P-0-0713, List of motion laws, set 1
● P-0-0714, List of distances, set 1
● P-0-0715, List of slave axis velocities, set 1
● P-0-0755, Gear reduction
● P-0-0776, Effective master axis position
● P-0-0777, Effective master axis velocity
● P-0-0778, Synchronous position command value
● P-0-0779, Synchronous velocity
See also "Pertinent parameters" in the subsections of "Basic functions of the
synchronization modes"
Pertinent diagnostic messages In addition to the general diagnostic messages of all synchronization modes,
there are other diagnostic messages involved in this operation mode:
● A0136 MotionProfile, encoder 1, virtual master axis
● A0137 MotionProfile, encoder 2, virtual master axis
● A0138 MotionProfile, encoder 2, real master axis
● A0139 MotionProfile, encoder 1, real master axis
● A0140 MotionProfile lagless, encoder 1, virtual master axis
● A0141 MotionProfile lagless, encoder 2, virtual master axis
● A0142 MotionProfile lagless, encoder 1, real master axis
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● A0143 MotionProfile lagless, encoder 2, real master axis


● A0163 Position synchronization
● F2002 Assignment of encoder for synchronization is not allowed
● F2003 Motion step skipped
● F2004 Error in MotionProfile
See also "Pertinent diagnostic messages" in the subsections of "Basic func‐
tions of the synchronization modes"

5.5.9 CiA402 field bus profile, operation modes


Brief description
The drive supports the CAN-in-Automation profile for electric drives (CiA402).
It includes a specific control word and status word, its own state machine, its
own operation modes and its own scaling system.
All CANopen-specific objects are internally mapped to parameters and thus
can also be reached by MLD or the oscilloscope, for example.

Fig. 5-59: Control word, status word


The supported CiA-specific operation modes are described in the chapters
below.
The control word 0x6040 controls the drive state. The status word 0x6041
displays the state of the drive. The active operation mode is selected using
the object 0x6060, the active operation mode is displayed in the object
0x6061.
There are the following influences on the state machine:
● Control word 0x6040
● External signals
● Internal signals, such as error
Control word and status word
The individual bits in the control word and status word partly have a defined
significance, partly they depend on the active operation mode.
Bits in the device control word 0x6040

Bit Name

0 Switch On
1 Disable Voltage
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Bit Name
2 Quick Stop
3 Enable Operation
4..6 Operation Mode Specific
7 Reset Fault
8 Halt
9 Operation Mode Specific
10 Reserved
11..15 Manufacturer Specific

Tab. 5-70: Bits in the device control word 0x6040


Bits in the device status word 0x6041

Bit Name

0 Ready to Switch On
1 Switched On
2 Operation Enabled
3 Fault
4 Voltage Enabled
5 Quick Stop
6 Switch On Disabled
7 Warning
8 Manufacturer Specific
9 Remote
10 Target Reached
11 Internal Limit Active
12/13 Operation Mode Specific
14/15 Manufacturer Specific

Tab. 5-71: Bits in the device status word 0x6041


Scaling with active CiA 402
The specification CiA402 2v03000115 forms the basis of the scaling system
with active CiA 402.

Please always use the current specification!

Position scaling The position data scaling is defined in the object 60A8h: SI unit position.

Exponent Unit Unit of time Reserved


31 24 23 16 15 8 7 0
MSB LSB
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Rotary: Unit degree [41h]


Exponent 0.. -6 [00h ..FAh]
Other units are not supported
Linear: Unit m [01h]
Exponent -3.. -9 [FDh ..F7h]
Other units are not supported
Incremental: Exponent 0 [00h]
(incremental scaling is not supported)
The unit of time is not required: [00h] not defined

The position scaling uses the following conversion parameters:


● Object 608Fh: Position encoder resolution
Position encoder resolution = encoder increments / motor revolution
● Object 6091h: Gear ratio
Gear ratio = motor revolution / load revolution
● Object 6092h: Feed constant
Feed constant = distance / gearbox load rev [mm/rev]
(with rot. scaling = 1 "inactive")
The position polarity can be selected using the object 607Eh: Polarity.

Position polarity Velocity polarity Reserved


7 6 5 0
MSB LSB

Velocity scaling The velocity data scaling is defined in the object 60A9h: SI unit velocity.

Exponent Unit Unit of time Reserved


31 24 23 16 15 8 7 0
MSB LSB

Rotary: Unit rev [B4h]


Unit of time min [47h]
Exponent 0.. -6 [00h ..FAh]
Unit of time s [03h]
Exponent 0.. -9 [00h ..FAh]
Linear: Unit m [01h]
Unit of time min [47h]
Exponent -3.. -9 [FDh ..F7h]
Unit of time s [03h]
Exponent -3.. -9 [FDh ..F7h]

The velocity scaling uses the conversion parameters:


● Object 608Fh: Position encoder resolution
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Position encoder resolution = encoder increments / motor revolution


● Object 6091h: Gear ratio
Gear ratio = motor revolution / load revolution
● Object 6092h: Feed constant
Feed constant = distance / gearbox load rev [mm/rev]
(with rot. scaling = 1 "inactive")
● Object 6096h: Velocity factor
Velocity scaling conversion factor
The velocity polarity can be selected using the object 607Eh: Polarity.

Position polarity Velocity polarity Reserved


7 6 5 0
MSB LSB

Acceleration scaling The acceleration data scaling is defined in the object 60AAh: SI unit accelera‐
tion.

Exponent Unit Unit of time Reserved


31 24 23 16 15 8 7 0
MSB LSB

Rotary: Unit rad [10h]


Unit of time s² [57h]
Exponent 0.. -6 [00h ..FAh]
Linear: Unit m [01h]
Unit of time s² [57h]
Exponent 03.. -9 [FDh ..F7h]

The acceleration scaling uses the following conversion parameters:


● Object 608Fh: Position encoder resolution
Position encoder resolution = encoder increments / motor revolution
● Object 6091h: Gear ratio
Gear ratio = motor revolution / load revolution
● Object 6092h: Feed constant
Feed constant = distance / gearbox load rev [mm/rev]
(with rot. scaling = 1 "inactive")
● Object 6097h: Acceleration factor
Acceleration scaling conversion factor
As defined in CiA 402, the velocity polarity is used.
Torque/force scaling The torque/force data scaling is percentage-based, in relation to object
6076h: Motor rated torque.
Temperature scaling The temperature scaling can be set in Celsius or Fahrenheit using the manu‐
facturer-specific parameter.
0x20D0 (S-0-0208, Temperature data scaling type)
Temperature data scaling
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● Unit Celsius (0.1 degrees)

5.6 Extended axis functions


WARNING Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
● Keep free and clear of the ranges of motion of machines and moving
machine parts.
● Prevent personnel from accidentally entering the machine’s range of
motion (e.g., by safety fence, safety guard, protective covering, light bar‐
rier).
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● In addition, observe the safety message "Protection Against Dangerous
Movements" in the chapter "Safety Instructions for Electric Drives and
Controls".

5.6.1 Availability of the extended axis functions


For an overview that illustrates in which base or functional packages the re‐
spective extended axis function is available, see chapter "Overview of func‐
tions/functional packages, availability of the extended axis functions".

5.6.2 Drive Halt


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

The "Drive Halt" function is used to shut down an axis with defined accelera‐
tion and defined jerk.
In the default case, Drive Halt is performed as a quick stop in position control
or velocity control. Position control is activated when one of the operation
modes (S-0-0032 ...) with position control is defined (incl. internal PLC opera‐
tion modes). Otherwise the control mode velocity is active.
With the Drive Halt configuration (P-0-0558, bit 1, bit 2), the type of control
can also be freely selected.
● Bit 1 = 1, bit 2 = 1: Position control
● Bit 1 = 1, bit 2 = 0: Velocity control
With the "Drive Halt" configuration (P-0-0558, bit 0 = 1), it is possible to
switch to the "operational stop" function. Then the operation modes "velocity
control", "drive-internal interpolation", "drive-controlled positioning" and "posi‐
tioning block" are stopped internally with Vcmd = 0. After "Drive Halt" has
been removed, the motion is re-activated.
The adjustable position command value delay in position cycle times
(P-0-0456) is a maximum of 32 cycles.

In addition to the "Drive Halt" function, there is an operating stop


for the operation modes "drive-controlled positioning" and "drive-
internal interpolation". However, this function has its own control
signal.
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Features ● Activated via the "halt bit" of master communication (see "Device Con‐
trol and State Machines")
● Active operation mode interrupted; drive remains in control (after setting
the "halt bit" the interrupted operation mode is continued)
● Quick stop in position control
→ Shutdown with acceleration (S-0-0372) and jerk limit values
(S-0-0349) in position control
● Quick Stop in velocity control
→ Shutdown with acceleration (S-0-0372) and jerk limit values
(S-0-0349) in velocity control
● If the Drive Halt acceleration bipolar (S-0-0372) is set to "0", "S-0-0138,
Bipolar acceleration limit value" takes effect during shutdown.
● "Drive Halt" acknowledged in P-0-0115
Pertinent parameters ● S-0-0124, Standstill window
● S-0-0349, Bipolar jerk limit
● S-0-0372, Drive Halt acceleration bipolar
● S-0-0138, Bipolar acceleration limit value
● P-0-0115, Device control: Status word
● P-0-0434, Position command value of controller
● P-0-0456, Position command value delay
● P-0-0457, Position command value generator
● P-0-0558, Drive Halt configuration

5.6.3 Error reactions


Overview of error reactions
Depending on the operation mode that is used and certain parameter set‐
tings, the drive controller carries out monitoring functions. An error message
is generated by the drive controller, if a state is detected that no longer allows
correct operation.
Errors are classified into error classes. The error class is represented by the
first two digits of the diagnostic message number.
See also "Terms, basic principles"
See also "Diagnostic system"
If the drive controller is in control (drive enable was set) and an error occurs,
the drive controller automatically starts a drive error reaction.
This drive error reaction depends on:
● The error class of the error that occurred
● 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

At the end of each error reaction, the drive goes torque-free. The
motor phase short circuit error reaction for F8xxx is an exception.
Here it is possible to set that a motor phase short circuit is main‐
tained after the error reaction was completed.
Power off depends on the setting in P-0-0118!
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Error classes There are different error classes with increasing priority:

Diagnostics Control unit reaction


Power supply switched
according to
Number off according to Drive-side error reaction according to
"P-0-0117, Activation
and "P-0-0118, Power "P-0-0119, Best possible deceleration"
of control unit reaction
Error class supply, configuration"
on error"

F2xxx ■ NC
■ ■
Non-fatal error ■ MLD
F28xx ■ NC General shutdown of
Non-fatal error power supply, because
the errors are related ■
■ MLD to the converter's pow‐
er supply
F3xxx ■ NC
Non-fatal ■ ■
■ MLD
Safety technology error
F4xxx - NC
■ ■
Master communication errors ■ MLD
F6xxx
- ■ ■
Emergency stop error
F7xxx ■
Safety technology error - ■ At the end of each F7 error reaction, the
drive goes torque-free.
F8xxx ■
Fatal error At the end of the error reaction, the drive
- ■ goes torque-free. It is possible to set the
configuration in a manner such that the
motor phase short circuit is maintained.
F8022 ■
Fatal encoder errror Only controlled deceleration is possible!
- ■ At the end of the error reaction, the drive
goes torque-free. It is possible to set the
configuration in a manner such that the
motor phase short circuit is maintained.
F83xx
- ■ ■
Fatal safety technology error
F9xxx
- ■ Always torque disable
Fatal system error

Tab. 5-72: Error classes and drive reaction

The error class defines the drive behavior in the case of error.
The "fatal system error" (E-xxxx) has the highest priority.
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Best possible deceleration


Brief description
The error reaction "best possible deceleration", which can be set in
"P-0-0119, Best possible deceleration", is carried out automatically in the
case of the following states:
● Non-fatal errors (F2xxx)
● Non-fatal safety technology errors (F3xxx)
● Interface errors (F4xxx)
● Drive enable is removed
● Drive-controlled transition to the special mode standstill SS1ES/SS1
● Travel range errors (F6xxx)
● Safety technology errors (F7xxx)
● Fatal errors (F8xxx), if possible, or controlled deceleration in the case of
F8022
● Fatal warnings (E8xxx)
One of the following reactions for "best possible deceleration" can be set in
P-0-0119:
● Velocity command value reset (emergency stop)
● Velocity command value reset with ramp and filter (emergency stop)
● Velocity command value reset with ramp and filter (quick stop)
● Return motion
● Emergency stop by means of motor winding short circuit
● Torque disable

See also parameter description "P-0-0119, Best possible deceleration"

In the case of fatal system errors (F9xxx), the setting in P-0-0119


is without effect; the drive immediately goes torque-free. Shut‐
down on the drive side is no longer possible!

Pertinent parameters ● S-0-0138, Bipolar acceleration limit value


● S-0-0273, Maximum drive off delay time
● S-0-0349, Bipolar jerk limit
● S-0-0372, Drive Halt acceleration bipolar
● S-0-0429, Emergency halt deceleration

● P-0-0045, Control word of current controller


● P-0-0055, Return distance
● P-0-0056, Return velocity
● P-0-0057, Return acceleration
● P-0-0058, Return jerk
● P-0-0109, Torque/force peak limit
● P-0-0119, Best possible deceleration
● P-0-0525, Holding brake control word
● P-0-0569, Maximum stator frequency slope
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Package reaction on error


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

"Package reaction" is the simultaneous error reaction of all axis drives sup‐
plied by a common power bus (DC bus). Drive errors of a drive can be sig‐
naled to all other axis drives via the module bus (signal bus) which allows the
simultaneous error reaction (according to setting in parameter "P-0-0119,
Best possible deceleration") of all axis drives.
The settings for signaling drive errors and package reaction are made individ‐
ually for each drive in "P-0-0118, Power supply, configuration". This allows
the package reaction to be activated for individual axes only. The behavior of
the axes for which the package reaction has not been activated has to be tak‐
en into account for the case of error and must be controlled on the master
side, if necessary!

The supply unit switches off power supply only in the case of its
own errors and in the case of fatal drive errors (F8xxx), if the drive
signaling errors signals F8 errors to the supply.

Fields of application Examples of applications with interactive (interpolating, synchronized) use of


drives that are supplied by a common power bus ("drive system"):
● Machine tools (e.g. milling, turning, grinding machines)
● Gear cutting machines (toothed wheel machining)
● Printing mechanisms of printing machines, etc.
By setting the error reaction of the drive system devices according to the ap‐
plication, the following damage can be minimized:
● Machine damage
● Tool/workpiece/material damage

WARNING The package reaction is not suitable to avoid


personal injury!
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Priority of appropriate
Reaction to drive er‐ error reactions for typi‐
rors cal drive applications Setting in P-0-0117 Setting in P-0-0118 General conditions

NC master-side reac‐ NC master-side priority NC reaction active No package reaction, Drive with F8 error
tion of shutdown and pow‐ no signaling of drive does not decelerate!
er off errors
Drive reaction Shutdown spindle NC reaction not active Package reaction, sig‐ Drive with F8 error
drive (asynchronous naling of drive errors does not decelerate!
motors) No DC bus short circuit
Shutdown servo drives Power off via NC mas‐
(synchronous motors) ter
Power off
Shutdown servo drives NC reaction not active Package reaction, sig‐ Power off only with F8
(synchronous motors) naling of drive errors, error, otherwise via NC
Power off signaling of F8 errors master with DC bus
to supply short circuit
Shutdown spindle
drive (asynchronous
motors) irrelevant
Power off NC reaction not active Package reaction, sig‐ Power off only with F8
Shutdown spindle naling of drive errors, error, otherwise via NC
drive (asynchronous signaling of F8 errors master; no DC bus
motors) to supply short circuit, drive with
F8 error does not de‐
Shutdown servo drives celerate!
(synchronous motors)
Power off NC reaction not active Package reaction, sig‐ Power off only with F8
Shutdown servo drives naling of drive errors, error, otherwise via NC
(synchronous motors) signaling of F8 errors master with DC bus
to supply short circuit
Shutdown spindle
drive (asynchronous
motors)

Tab. 5-73: Examples of settings in P‑0‑0117 and P‑0‑0118, depending on the


priority of appropriate error reactions (with general conditions)

The mentioned examples are not binding and only provide basic
information on the settings that have to be made according to the
axis-specific and application-dependent requirements.

Pertinent parameters ● P-0-0118, Power supply, configuration


● P-0-0119, Best possible deceleration
Control reaction on error
NC reaction on error
Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

To avoid damage to the machine, some applications require that the master
(e.g. NC) retains control of the travel profile of the axes in the case of error,
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too, and shuts down the machine axes in a coordinated way. For this case,
the "NC reaction on error" option was implemented; it can be activated via
parameter P-0-0117.
The master is informed of an error in the drive controller via the drive status
word (see S-0-0135) so that the master can shut down the machine axes in a
coordinated way and therefore avoid possible damage.

NC reaction on error is only possible with non-fatal errors (diag‐


nostic message F2xxx), otherwise the drive always reacts with an
immediate drive-side error reaction.

Pertinent parameters ● S-0-0135, Drive status word


● P-0-0117, Activation of control unit reaction on error
● P-0-0119, Best possible deceleration
MLD reaction on error
Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

As an alternative to the NC reaction, the IndraMotion MLD reaction on error


can also be realized for the (local) axis. In this, the MLD reaction and the NC
reaction are differentiated functionally insofar as by means of IndraMotion
MLD, even for an interface error (F4xxx) an error reaction to be defined by
the user can be executed for the (local) axis.

Prerequisite for using the MLD error reaction is the enabling of


the PLC function in the drive (see "Enabling functional pack‐
ages").

Pertinent parameters ● S-0-0135, Drive status word


● P-0-0117, Activation of control unit reaction on error
● P-0-0119, Best possible deceleration
● P-0-2003, Selection of functional packages

5.6.4 E-Stop function


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

The E-Stop function is used to shut down the drive with a selectable drive re‐
action (see Parameter Description "P-0-0008, Activation E-Stop function") via
a digital input of the drive controller.
There are the following options when using the E-Stop function:
● E-Stop with reaction to interface error (F4034 Emergency-Stop
activated)
→ Reaction: Best possible deceleration (as set in P-0-0119)
● E-Stop with reaction to travel range error (F6034 Emergency-Stop
activated)
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Overview of the functional scope

→ Reaction: Velocity command value reset


● E-Stop as fatal warning "E8034 Emergency-Stop activated"
→ Reaction: Best possible deceleration (as set in P-0-0119)

If "E-Stop" was parameterized as a warning, it is not necessary to


clear the diagnostic message!

Pertinent parameters ● P-0-0008, Activation E-Stop function


● P-0-0119, Best possible deceleration
● P-0-0223, E-Stop input
● P-0-0249, E-Stop and safety zones
Pertinent diagnostic messages ● E8034 Emergency-Stop activated
● F4034 Emergency-Stop activated
● F6034 Emergency-Stop activated

5.6.5 Compensation functions / corrections


Friction torque compensation
Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

The behavior of a machine axis is negatively affected by static friction when


starting or when reversing the direction. The drive-internal friction torque
compensation allows the static friction to be compensated by adding a tor‐
que/force command value, depending on the direction of movement.

Fig. 5-60: Friction torque curve with static friction

Friction torque compensation is mainly intended to be used in


precision machine tools and to reduce the path errors caused by
static friction. This applies particularly to circular errors at the
quadrant transitions.

Pertinent parameters ● S-0-0092, Bipolar torque/force limit value


● S-0-0124, Standstill window
● S-0-0155, Friction compensation
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Axis error correction


Brief description
The actual position value provided by the measuring system can differ from
the real actual position value at the axis, e.g. at the point of chip removal in
the case of metal-cutting machining, due to
● Inaccuracy of the measuring system
● Transmission inaccuracy in mechanical transmission elements such as
gear, clutch, feed spindle, etc.
● Thermal expansion of machine parts of the drive system
IndraDrive controllers provide the following correction functions to compen‐
sate the mechanically caused position error sources:
● Backlash on reversal correction
● Precision axis error correction
● Control-side axis error correction
The control-side axis error correction is always active. The correction value
can be transmitted in the cyclic telegram or in the service channel. In addi‐
tion, precision axis error correction or reversal clearance can be activated,
precision axis error correction having higher priority.
Moreover, it is possible to activate the temperature error correction.
IndraDrive controllers provide two possibilities of correcting temperature er‐
rors:
● Independent of axis position
● Depending on axis position
Pertinent parameters ● S-0-0058, Reversal clearance
● S-0-0124, Standstill window
● P-0-0400, Axis correction external correction value
● P-0-0401, Axis correction active correction value
● P-0-0402, Axis correction reference temperature
● P-0-0403, Axis correction reference position for temp. corr.
● P-0-0404, Axis correction actual temperature pos.-dependent
● P-0-0405, Axis correction actual temperature pos.-independent
● P-0-0406, Axis correction temperature factor pos.-dependent
● P-0-0407, Axis correction temperature factor pos.-independent
● P-0-0408, Axis correction start position
● P-0-0409, Axis correction end position
● P-0-0410, Axis correction support point distance
● P-0-0411, Axis correction, correction table positive
● P-0-0412, Axis correction, correction table negative
● P-0-0413, Axis correction control word
Quadrant error correction
Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".
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In the case of axis drives that are controlled, for example, in circular interpo‐
lation, static friction at the reversal points of the direction of motion can cause
distortion of the circular contour.
In order to compensate this contour error at the so-called "quadrant transi‐
tions" (velocity reversal), IndraDrive controllers provide the "quadrant error
correction" function.
This correction function is useful for such cases when drives are operated in
cyclic position control and in circular interpolation by the control master.
Pertinent parameters ● P-0-0100, Position command value extension
● P-0-0435, Control word of position controller
● P-0-0436, Reference radius for quadrant error correction
● P-0-0437, Velocity time range for quadrant error correction
● P-0-0438, Table of path velocities for quadrant error correction
● P-0-0439, Table of velocity pulse for quadrant error correction
Cogging torque compensation
Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

Motors for which the magnetic excitation is achieved with permanent mag‐
nets (e.g., synchronous motors) in many cases show cogging torques or cog‐
ging forces. Cogging torques/cogging forces already act on the moving com‐
ponent of the motor in the de-energized state and aim at moving it to a stable
position.
When the motor is put into motion by control, the cogging torques/cogging
forces act on the motor in a decelerating or accelerating way, according to
the position. For applications in which minimum lag error or very constant ve‐
locity is important, the position-dependent cogging torques/cogging forces
can have a negative effect.
To improve the synchronous operation and lag error behavior of synchronous
motors, IndraDrive controllers provide cogging torque and cogging force com‐
pensation for drives with high demands on lag error and synchronous opera‐
tion quality. For this purpose, the position-dependent, additive torque com‐
mand values that take effect in drive control require an unequivocal position
reference from the motor measuring system to the motor.
The range in which the cogging torque compensation takes effect can cover
the entire travel range of an axis, but can also be restricted to a definable po‐
sition range. The restricted position range can be less than one motor revolu‐
tion (rotary motor) or one pole pair distance (linear motor). The drive control‐
ler determines the compensation values at axis motion with constant velocity
and the values, depending on the direction of motion and referring to the po‐
sition, are stored in tables.
Hardware requirements The motor has to be equipped with a motor encoder. Cogging torque com‐
pensation is impossible in sensorless motor operation!
Pertinent parameters ● P-0-0162, C1800 Command Drive optimization/command value box
● P-0-0165, Drive optimization, control word
● P-0-0170, Drive optimization, acceleration
● P-0-0171, Drive optimization, velocity
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● P-0-1129, Cogging torque compensation value


● P-0-1130, Table of cogging torque compensation values pos. direction
● P-0-1131, Control word of cogging torque compensation
● P-0-1132, Table of cogging torque compensation values neg. direction
● P-0-1133, Status word of cogging torque compensation
● P-0-1134, Velocity threshold for attenuation of cogging torque compens
● P-0-1135, Velocity threshold for switching off cogging torque compens.
● P-0-1136, Lead time cogging torque compensation
● P-0-1138, C4800 Command Determine cogging torque compensation
table
● P-0-1139, Cogging torque compensation adaption factor
● P-0-1145, Cogging torque compensation: Lower position limit
● P-0-1146, Cogging torque compensation: Upper position limit
● P-0-1147, Cogging torque compensation: Offset positive
● P-0-1148, Cogging torque compensation: Offset negative
Pertinent diagnostic messages ● C1808 Drive not homed
● C4800 Command Determine cogging torque compensation table
● C4801 Cogging torque compensation: Measuring vel. too high
● C4802 Cogging torque compensation: Measuring vel. too low
● C4803 Cogging torque compensation: Inadmissible acceleration
● C4804 Cogging torque comp.: Err. when storing corr. val table
● C4805 Cogging torque comp.: Motor measuring system not homed
● C4806 Cogging torque compensation: Measuring range invalid
Correcting the torque/force constant
Brief description
Fields of application

Base package of all firmware variants in closed-loop characteris‐


tic

Displaying the motor load, load With IndraDrive devices, the current motor load is determined on the drive
limit values side and displayed. The load can be limited by means of the drive controller.
The unit of the load display and load limit value input can be selected:
● Percentage-based, in relation to the continuous motor current or nomi‐
nal motor current
● Physical, values in "Nm" (rotary) or "N" (linear)
The load of the motor is determined by means of the measured motor cur‐
rent; with physical scaling, the controller determines the motor torque or force
by using the currently flowing current for calculating the motor-type-specific
torque or force constant.
If torque/force precision up to approx. +/- 5% is required (e.g., for load limita‐
tion) due to the mechanical axis system or process technology, the controller
provides the "correction of torque/force constant". In this case, the motor-
type-specific value is corrected depending on the current motor current, the
motor temperature and the average speed.
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Due to the downward compatibility of the firmware and possibly


unavailable parameter values (e.g., for third-party motors), this
correction has to be activated separately!

Pertinent parameters
● P-0-0448, Temperature-dependent torque/force coefficient
● P-0-0449, Speed-dependent torque/force coefficient
● P-0-0450, Current torque/force constant
● P-0-0472, Motor saturation current
● P-0-0556, Config word of axis controller
● P-0-3055, Maximum motor torque/force, encoder memory
● P-0-3056, Nominal motor torque/force, encoder memory
● P-0-3057, Speed-dependent torque/force coefficient, encoder memory
● P-0-3058, Temperature-dependent torque/force coefficient, enc.
memory
● P-0-3945, Motor control configuration
● S-0-0533, Nominal torque/force of motor
● S-0-0534, Maximum torque/force of motor
Pertinent diagnostic messages
- None -

5.6.6 Measuring wheel mode


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

The measuring wheel mode is used for material feed axes, e.g. in sheet-met‐
al machining. For direct measurement of the infeed of moved material, a rota‐
ry encoder that is detecting the infeed length is driven via a measuring wheel
with frictionally engaged contact to the material surface.
The position control loop is closed via motor encoder and measuring wheel
encoder, possible slip between the motor-operated driving rolls and the mate‐
rial does not cause incorrect measured values of material length.

The measuring wheel mode may only be activated when contact


has been established between measuring wheel and material sur‐
face.
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Fig. 5-61: Typical arrangement of a drive for material infeed with measuring
wheel encoder
Hardware requirements The measuring wheel encoder is an optional (external) encoder that is con‐
nected according to the connection diagram contained in the separate docu‐
mentation (see "Reference documentations").
See also Measuring systems
Pertinent parameters The following parameters are used to parameterize this function:
● S-0-0520, Axis control word
● S-0-0521, Axis status word
● P-0-0241, Actual pos. smoothing time constant for hybrid pos. control
● P-0-0242, Current actual slip value
● P-0-0243, Maximum occurred actual slip value
● P-0-0244, Monitoring window of slip
The following parameters are used to parameterize the measuring wheel en‐
coder:
● S-0-0115, Encoder 2, type of position encoder
● P-0-0123, Encoder 2 feed constant
● P-0-0124, Encoder 2, gear turns, mechanical system side
● P-0-0125, Encoder 2, gear turns, encoder side
● P-0-0185, Encoder 2 control word
Pertinent diagnostic messages ● F2036 Excessive position feedback difference

5.6.7 Positive stop drive procedure


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

For special applications, it is required to move machine axes operated in po‐


sition or velocity control up to a limit stop in order to generate forces of pres‐
sure.
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When an axis in the standard situation has moved up to a limit stop, the drive
should signal a drive error by the monitoring facilities of the position or veloci‐
ty control loop and react with shutdown.
But if the drive can detect the special case of operation "positive stop drive
procedure", it can ignore the messages of the position and motions monitors
and generate the required force of pressure, if necessary.
The control master signals this special case to the controller of IndraDrive de‐
vices via a command. Upon this command, the drive switches off the respec‐
tive monitors and acknowledges axis standstill to have been detected and a
parameterizable force or torque threshold to have been exceeded.
Pertinent parameters ● S-0-0082, Torque/force limit value positive
● S-0-0083, Torque/force limit value negative
● S-0-0092, Bipolar torque/force limit value
● S-0-0124, Standstill window
● S-0-0149, C1300 Positive stop drive procedure command
● S-0-0331, Status "n_feedback = 0"
● S-0-0530, Clamping torque
Pertinent diagnostic messages ● C1300 Positive stop drive procedure command
● C1301 Class 1 diagnostics error at command start

5.6.8 Redundant motor encoder


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

Motor control of synchronous motors requires a position measuring system


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

Only measuring systems with Upp = 1V or resolvers can be used


as redundant motor encoders!
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Pertinent parameters ● P-0-0185, Encoder 2 control word


Pertinent diagnostic messages ● F2031 Encoder 1 error: Signal amplitude incorrect
● F2042 Encoder 2: Encoder signals incorrect
● F8022 Enc. 1: Enc. signals incorr. (can be cleared in ph. 2)
● F8042 Encoder 2 error: Signal amplitude incorrect

5.6.9 Spindle positioning


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

With the drive function "spindle positioning", the drive, at a command of the
master, aligns the spindle independently with regard to the spindle zero posi‐
tion. The command position is transmitted to the drive controller via parame‐
ter and can be preset as absolute or relative position.
By means of the "position spindle" command, the spindle can be positioned
in a position-controlled way (e.g. within the "velocity control" mode) without
having to switch the operation mode from velocity to position control.
How to use the drive function "spindle positioning":
● For milling and drilling spindles
– To prepare tool change → spindle remains at a defined position to
allow changing the tool
● For turning machine main spindles
– To change the workpiece (if required)
– To place balancing drillings for workpieces to be balanced
– To index the workpiece for further machining
● For revolving transfer machines
– To advance the turntable in order to bring workpieces to a defined
machining position at the different stations
Hardware requirements The use of a home switch might be required.
See "Establishing position data reference for relative measuring systems"
Pertinent parameters ● S-0-0152, C0900 Position spindle procedure command
● S-0-0153, Spindle angle position
● S-0-0154, Spindle positioning parameter
● S-0-0180, Spindle relative offset
● S-0-0222, Spindle positioning speed
● S-0-0372, Drive Halt acceleration bipolar
● S-0-0417, Positioning velocity threshold in modulo mode
● S-0-0418, Target position window in modulo mode
● S-0-0437, Positioning status
● S-0-0041, Homing velocity
● S-0-0042, Homing acceleration
● P-0-1201, Ramp 1 pitch
● P-0-1202, Final speed ramp 1
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● P-0-1203, Ramp 2 pitch


● P-0-1211, Deceleration ramp 1
● P-0-1213, Deceleration ramp 2
Pertinent diagnostic messages ● C0900 Position spindle command
● C0902 Spindle positioning requires drive enable
● C0903 Error during initialization
● C0906 Error during search for zero pulse

5.6.10 Parameter set switching


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

IndraDrive devices are equipped with eight parameter sets (MPB-20VRS,


MPC-20VRS, MPE-20VRS) or four parameter sets (MPM-20VRS), and it is
possible to switch between these parameter sets during operation. One of the
switchable parameter sets is always active. Switching takes place upon com‐
mand of the control master.
Notes on application By switching parameter sets during operation, the values of certain parame‐
ters can be adjusted to the different operation phases and machining pro‐
cesses. This supports the workflow in flexible manufacturing plants.
Examples of application:
● Changing from C-axis to roughing or finishing operation in the case of
spindles
● Positioning mode for tool change with different gear ratios
● Changing motor spindles for different machining phases
● Adjusting the control loop gains to different load inertia or load masses
(e.g. with very different workpieces)
● Star-delta switching of motors with switchable winding to increase the
torque in short-time operation
Classification of switchable param‐ Switchable parameter sets are available in all firmware derivatives. Under the
eters application-related point of view, they are divided into the following groups:
● Application parameters
● Control loop parameters
● Load gear parameters
● Winding parameters
● Motor control and motor encoder parameters
Depending on the firmware derivative and the selected functional package,
there are the following options:
● MPB, MPC derivatives:
– Functional package MSP:
8 switchable parameter sets, full range of parameters
– Functional packages SNC, SRV, SYX:
8 switchable parameter sets
Application and control loop parameter groups only
● MPE derivative:
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– 8 switchable parameter sets, full range of parameters


● MPM derivative:
– Functional package MSP:
Full range of parameters
4 switchable parameter sets
– Functional packages SNC, SRV:
Application and control loop parameter groups only

In the MPB, MPC and MPM derivatives, there are no switchable


parameter sets in the Open-Loop and Closed-Loop base pack‐
ages. To obtain the switchable parameter sets function, an alter‐
native functional package, such as MSP, SNC, SRV, SYX, has to
be activated. The MPE derivative is an exception, since it already
contains the switchable parameter sets functionality in its Open-
Loop and Closed-Loop base packages.

Pertinent parameters ● S-0-0216, C4100 Switch parameter set command


● S-0-0217, Preselect parameter set command
● S-0-0219, IDN-list of parameter set

List parameters S-0-0219 to S-7-0219 contain parameter sets no.


0 to no. 7

● S-0-0254, Current parameter set


● P-0-2216, Parameter set switching, configuration
● P-0-2217, Parameter set switching, preselection range
● P-0-2218, Parameter set switching, delay time
Pertinent diagnostic messages ● C0273 Modulo value for motor encoder cannot be displayed
● C0278 Modulo value for optional encoder cannot be displayed
● C0280 Maximum travel range cannot be displayed internally
● C4100 Switch parameter set command
● C4101 Switching only possible without AF
● C4103 Preselect parameter set forbidden value
● C4104 Error during parameter set switching (->S-0-0423)

5.6.11 Star-delta switching


Brief description
Fields of application
With star(Y)-delta(D) switching, the torque power characteristic of a spindle
for short-time operation without mechanical transmission elements can be
adjusted to various processing requirements:
● Material removal (roughing): High torque, low speed
● Fine-machining (finishing): High speed, low torque
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Y Star connection
D Delta connection
Fig. 5-62: Schematic operating characteristics of a spindle drive with star-delta
switchable motor
The spindle output capacity with star connection is just 2/3 of the output ca‐
pacity with delta connection, i.e. the star-delta-switching is not a complete re‐
placement for gear switching because the same output capacity is available
for each gear stage! The increased torque in short-time operation with star
connection compared to delta connection is not accompanied by an increase
in the permanent torque of the spindle!

Instead of with star-delta-switching, the increase in the short-time


operation torque can also be achieved with an increased type cur‐
rent of the controller by a motor the winding of which has internal‐
ly been unchangeably star-connected or delta-connected. This
eliminates the contactor circuit that is not maintenance-free over
the long term and with which additional wiring effort and braking
problems in case of mains power failure are associated!
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Star-delta switching is generally unsuitable for milling spindles, due to the


long run-up times with the star connection!
Features
Motor design Star-delta switching can only be used with Rexroth motors or with third-party
motors specifically designed for this purpose. With these motors, all six wind‐
ing ends of the three-phase a.c. motor are routed into the motor's terminal
box. Standard motors have a fixed internal wiring and only three power con‐
nections are accessible!
Procedure of star-delta switching IndraDrive controllers support star-delta switching of synchronous and asyn‐
chronous three-phase a.c. motors in the following way:
● Due to switchable parameters, one parameter set with all relevant motor
parameters is assigned to each connection type of the motor in the con‐
troller. A functional package providing "parameter set switching" is re‐
quired for this purpose.
● Star-delta switching can be performed during operation, i.e. with an ac‐
tive drive. The controller converts the motor control voltage to the new
connection type and, in doing so, achieves the imperceptible transition
of the connection types. However, the controller does not control the
contactors for switching the motor windings; this must be carried out ex‐
ternally by the control master.
● Each connection type must be put into operation individually and each is
independently effective and functional. There is no conversion of wind‐
ing-specific parameter values based on the respective connection type.
Triggering star-delta switching The change to the other connection type is triggered by the switching of pa‐
rameters (parameter set switching).
Pertinent parameters
● P-0-2216, Parameter set switching, configuration
● S-0-0216, C4100 Switch parameter set command
● S-0-0217, Preselect parameter set command
● S-0-0219, IDN-list of parameter set
Pertinent diagnostic messages
● C4100 Switch parameter set command

5.6.12 Drive-controlled oscillation


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

Upon a command of the control master, the drive ignores the cyclic command
value input and independently turns alternately in positive and negative direc‐
tion (speed oscillation). The cyclic speed characteristic can be set via param‐
eters and can be realized symmetrically or asymmetrically.
Notes on application With speed oscillation the main drive supports the following applications, for
example:
● Meshing the toothed wheels when switching a gear train
● Engaging form-fitting clutches (e.g., connecting i.c. engine equipment
under test to test stands)
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Pertinent parameters ● S-0-0190, C4200 Drive-controlled oscillation procedure command


● S-0-0213, Oscillation speed
● S-0-0214, Oscillation offset speed
● S-0-0215, Oscillation cycle time
Pertinent diagnostic messages ● C4200 Drive-controlled oscillation command
● C4201 Oscillation requires drive enable
● C4202 Oscillation command speed cannot be reached

5.6.13 Parking axis


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Extended Axis Functions".

If individual axes within a master communication group (e.g. sercos ring,


PROFIBUS) are to be temporarily deactivated, without taking them out of the
axis group on the hardware and communication side, the "parking axis" func‐
tion can be activated via command.
When a drive has been put into the "parking axis" state, it behaves "neutrally"
with regard to hardware and master communication. Errors possibly detected
by the drive are suppressed and have no effect on the axes in operation. The
power supply for the encoder is switched off. This allows, for example, the
motor and the motor encoder to be uncoupled in the "parking axis" state with‐
out errors being signaled.
The axis that has been "parked" behaves as if it would not exist!
Pertinent parameters ● S-0-0139, C1600 Parking axis procedure command
Pertinent diagnostic messages ● C1600 Parking axis command

5.6.14 Integrated safety technology


Brief description
Optional modules of the integrated safety technology
To employ the integrated safety technology with the corresponding control
sections or drive systems, at least the following firmware version or higher
has to be used in the drive:

Device Optional modules for IndraDrive Cs Safety functions selected via Firmware version
L3, STO (Safe Torque Off) 24 V inputs at the drive controller MPx-17V06 and above
L4, STO (Safe Torque Off)
24 V inputs at the drive controller MPx-16V14 and above
and SBC (Safe Brake Control)

HCS01.1 24 V inputs at the safety zone module MPB/MPC-18V08 and


S4, Safe Motion
"HSZ01" or safety bus above
24 V inputs at the safety zone module
S5, Safe Motion
"HSZ01" or safety bus MPx-20 and above
SB, Safe Motion Bus Safety bus
Optional modules for IndraDrive Mi
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MPB-17V08 and above


L3, Safe Torque Off (STO) 24 V inputs at the drive controller
KSM02.x (KSM02.x)
S3, Safe Motion (without SBC) Safety bus MPB-18V08 and above
MPB-17V10 and above
L3, Safe Torque Off (STO) 24 V inputs at the drive controller
(KMS02.x)
KMS02.x
S3, Safe Motion (without SBC)
Safety bus MPx-20 and above
SD, Safe Motion
L3, Safe Torque Off (STO) 24 V inputs at the drive controller
KMS03.x MPx-20 and above
SD, Safe Motion Safety bus
Optional modules for IndraDrive M /
IndraDrive C
L3, STO (Safe Torque Off) 24 V inputs at the drive controller
24 V inputs at the safety zone module MPx-18V08 and above
S4, Safe Motion
"HSZ01" or safety bus
Cxx02.1
24 V inputs at the safety zone module
S5, Safe Motion
"HSZ01" or safety bus MPx-20 and above
SB, Safe Motion Bus Safety bus
Optional modules für IndraDrive ML /
IndraDrive CL
L3, STO (Safe Torque Off) 24 V inputs at the drive controller MPx-19V02 and above
24 V inputs at the safety zone module
S4, Safe Motion
"HSZ01" or safety bus
CSx02.5
24 V inputs at the safety zone module MPx-20 and above
S5, Safe Motion
"HSZ01" or safety bus
SB, Safe Motion Bus Safety bus

Tab. 5-74: Integrated safety technology and required firmware


Certification
The safety technology was certified by TÜV Rheinland ®; certificates are
available on the Internet or Extranet. The NRTL listing by TÜV Rheinland of
North America is in preparation.
Requirements that can be realized
The integrated safety technology is independent of
● Type of master communication
● Higher-level control unit
● Supply modules
It is available as a functional characteristic of the standard drive system. The
following requirements can be implemented in the machine or in the installa‐
tion:
● Measures in accordance with ISO 12100-2, if accessing the danger
zone is required, for example, for equipping, teaching or material with‐
drawal.
● Requirements for safety-related parts of control units according to
ISO 13849-1 Category 4 PL e and IEC 62061 SIL 3, as required in
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 305/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

EN 1010-1 (printing and paper converting machines), EN 12415 (turning


machines) and EN 12417 (machining centres).
● Control functions in the case of error according to IEC 60204-1 (homo‐
geneous redundancy).
Integrated safety technology "Safe Torque Off" and "Safe Brake Control"
Overview of safety functions
Definition ● "Safe Torque Off" means application-related safety functions which are
applicable for personal protection at machines according to
ISO 13849-1 Category 4 PL e and IEC 62061 SIL 3.
● "Safe Brake Control" means application-related safety functions which
are applicable for personal protection at machines according to
ISO 13849-1 Category 4 PL e and IEC 62061 SIL 3.
The optional safety technology modules "L3" (STO) and "L4" (STO and SBC)
are used to exclusively support the safety technology function group "Safe
standstill" with the following functions:

Optional modules
IndraDrive Mi IndraDrive M / IndraDrive ML /
Safety technology functions
IndraDrive Cs (KSM02.x, IndraDrive C IndraDrive CL
(HCS01.1) KMS02.x) (Cxx02.x) (Cxx02.5)

L3, Safe Torque


The energy supply to the drive is interrupted in Off (STO)
a safe way. The drive cannot generate any tor‐ L4, Safe Torque L3, Safe Torque L3, Safe Torque L3, Safe Torque
que/force and, as a consequence, it cannot Off (STO) and Off (STO) Off (STO) Off (STO)
generate any dangerous motions, either. Safe Brake
Control (SBC)
L4, Safe Torque
With "Safe brake control", the motor holding Off (STO) and
- - -
brake is switched off safely (via two channels). Safe Brake
Control (SBC)
With "Safe stop 1", the energy supply to the mo‐
tor is safely interrupted. The motor cannot gen‐ L3, Safe Torque
erate any torque/any force and therefore no Off (STO)
dangerous movements. The duration of the L4, Safe Torque L3, Safe Torque L3, Safe Torque L3, Safe Torque
transition to "Safe stop 1" is monitored. Off (STO) and Off (STO) Off (STO) Off (STO)
"Safe stop 1" (Emergency stop) is only possible Safe Brake
in conjunction with an external, time-delayed Control (SBC)
safety selection device.

Tab. 5-75: Safety technology functions depending on the optional modules


Notes on commissioning
Using the optional safety technology modules "L3" (STO) or "L4" (STO and
SBC) does not require any kind of separate commissioning. The correspond‐
ing wiring is sufficient.
For details of the function, notes on commissioning and application exam‐
ples, see separate documentation "Rexroth IndraDrive, Integrated Safety
Technology as of MPx‑1x (Safe Torque Off)" (DOK-INDRV*-SI3-**VRS**-
APxx-EN-P; mat. no. R911332634.)
306/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Integrated safety technology "Safe Motion"


Overview of safety functions
With the firmware MPx-20 and above, the optional safety technology modules
"Safe Motion" ("S3", "S4", "S5", "SB" and "SD") make available the following
functions for safe motion monitoring and safe standstill monitoring:

Available with optional safety


technology module
IndraDrive Cs,
IndraDrive M /
IndraDrive IndraDrive C
Mi (Cxx02 control
section) and
IndraDrive ML
Safety technology function
(KMS02 and KSM02)

(KMS02 and KMS03)


SIL Notes

SD

SB
S3

S4

S5
Safety Zone Acknowledge (SZA)
The safety technology function can only be used in conjunc‐
tion with the safety zone module (HSZ01).
Using "Safety zone acknowledge" and the safety zone mod‐
ule "HSZ", an acknowledgment master can monitor the safe‐ – – ✓ ✓ – 3
ty of a safety zone and acknowledge the safety to a higher-
level control unit.
It is also possible for the acknowledgment master of the safe‐
ty zone to directly control a safety door locking device con‐
nected to the safety zone module.
Safe Door Locking (SDL)
The safety technology function can only be used in conjunc‐
tion with the safety zone module (HSZ01).
The locking device of an interlocking guard is controlled via – – ✓ ✓ – 3
two channels when the safe zone acknowledgment signals
"Safety" and the user by means of a pushbutton requests the
safety door to be unlocked. The position of the locking device
is safely monitored.
Safe Zone Error (SZE)
The safety technology function can only be used in conjunc‐
tion with the safety zone module (HSZ01).
The "Safe zone error" function is a subfunction of the safety
function "Safety zone acknowledge". The "Safe zone error"
function allows locally present safety technology errors to be – – ✓ ✓ – 3
signaled by the zone nodes to all zone nodes via a safe out‐
put and to trigger individual error reactions.
It is also possible for the acknowledgment master of a safety
zone to signal zone errors via the safe communication to the
higher-level control unit.
Safe Torque Off (STO)
The energy supply to the drive is interrupted in a safe way. ✓ ✓ ✓ ✓ ✓ 3
The drive cannot generate any torque/force and, as a conse‐
quence, it cannot generate any dangerous motions, either.
Safe Operating Stop (SOS)
With the safety function "Safe operating stop", the drive is in
controlled standstill, i.e. all control functions between the * SIL 3 is only attained with
electronic control unit and the drive are maintained. The du‐ ✓ ✓ ✓ ✓ ✓ 2 / 3* firmware option (FWS) "SIL3-
al-channel monitoring prevents the drive from carrying out MOTION" or "SIL3-PLUS"
dangerous movements due to errors although the energy
supply is not interrupted.
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 307/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Available with optional safety


technology module
IndraDrive Cs,
IndraDrive M /
IndraDrive IndraDrive C
Mi (Cxx02 control
section) and
IndraDrive ML
Safety technology function

(KMS02 and KSM02)

(KMS02 and KMS03)


SIL Notes

SD

SB
S3

S4

S5
* With IndraDrive M /
IndraDrive C (Cxx02 control
Safe Brake Control (SBC) section) and IndraDrive ML,
With the safety function "Safe brake control", the motor hold‐ – ✓ ✓* ✓* ✓* 3 the safety technology function
ing brake is switched off safely (via two channels). can only be used in conjunc‐
tion with a control module
(HAT02.1).
Safe Maximum Speed (SMS)
* SIL 3 is only attained with
The safety function "Safe maximum speed" by dual-channel ✓ ✓ ✓ ✓ ✓ 2 / 3* firmware option (FWS) "SIL3-
monitoring prevents the drive from exceeding the preset ve‐ MOTION" or "SIL3-PLUS"
locity limit value.
Safe Direction (SDI) * SIL 3 is only attained with
The safety function "Safe direction" ensures by dual-channel ✓ ✓ ✓ ✓ ✓ 2 / 3* firmware option (FWS) "SIL3-
monitoring that motion is only possible in one direction. MOTION" or "SIL3-PLUS"

Safely Limited Speed (SLS)


* SIL 3 is only attained with
The safety function "Safely limited speed" monitors via two ✓ ✓ ✓ ✓ ✓ 2 / 3* firmware option (FWS) "SIL3-
channels that the drive does not exceed a previously defined MOTION" or "SIL3-PLUS"
limitation of the velocity window.
Safely Monitored Transient Oscillation (SLS-LT)
* SIL 3 is only attained with
Using a velocity window and a tolerance time, the safety ✓ ✓ ✓ ✓ ✓ 2 / 3* firmware option (FWS) "SIL3-
function "Safely monitored transient oscillation" monitors the MOTION" or "SIL3-PLUS"
transient oscillation with regard to a "Safely-limited speed".
Safely Limited Increment (SLI)
* SIL 3 is only attained with
The safety function "Safely limited increment" monitors via ✓ ✓ ✓ ✓ ✓ 2 / 3* firmware option (FWS) "SIL3-
two channels that the drive moves only within the maximum MOTION" or "SIL3-PLUS"
increment.
Safe Stop 1 (SS1) 3 SS1, time-monitored
When the transition function "Safe stop 1 (SS1)" is activated,
the drive is stopped in a safely monitored way. After the stop‐ SS1, delay monitoring
ping process has been completed, the safety function "Safe ✓ ✓ ✓ ✓ ✓
2 / 3* * SIL 3 is only attained with
torque off (STO)" is activated and the energy supply to the firmware option (FWS) "SIL3-
motor is safely interrupted. The motor cannot generate any MOTION" or "SIL3-PLUS"
torque/any force and therefore no dangerous movements.
Safe Stop 2 (SS2)
When the transition function "Safe stop 2" is activated, the
drive is stopped in a safely monitored way. After the deceler‐ * SIL 3 is only attained with
ation process has been completed, the safety function "Safe ✓ ✓ ✓ ✓ ✓ 2 / 3* firmware option (FWS) "SIL3-
operating stop" is activated and it is safely prevented that the MOTION" or "SIL3-PLUS"
motor deviates from the stopping position by more than a
specified absolute value.
Safely Monitored Deceleration (SMD)
Given a change in the operating status or in the case of an * SIL 3 is only attained with
error reaction, the safety function "Safely monitored ✓ ✓ ✓ ✓ ✓ 2 / 3* firmware option (FWS) "SIL3-
deceleration" monitors via two channels whether the actual MOTION" or "SIL3-PLUS"
velocity of the drive is within a parameterized velocity enve‐
lope curve.
308/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Available with optional safety


technology module
IndraDrive Cs,
IndraDrive M /
IndraDrive IndraDrive C
Mi (Cxx02 control
section) and
IndraDrive ML
Safety technology function

(KMS02 and KSM02)

(KMS02 and KMS03)


SIL Notes

SD

SB
S3

S4

S5
With MPx-20V06 and above,
available with firmware option
Safely Monitored Position (SMP)
(FWS) "SAFETY-PLUS" or
The safety function "Safely monitored position" monitors ✓ ✓ ✓ ✓ ✓ 2 / 3* "SIL3-PLUS"
whether or not the parameterized position range is exceeded
* SIL 3 is only attained with
in positive or negative direction.
firmware option (FWS) "SIL3-
MOTION" or "SIL3-PLUS"
With MPx-20V06 and above,
Safely Limited Position (SLP) available with firmware option
(FWS) "SAFETY-PLUS" or
The safety function "Safely limited position " monitors via two
✓ ✓ ✓ ✓ ✓ 2 / 3* "SIL3-PLUS"
channels that the drive can be decelerated within the para‐
meterized position limits with the current velocity and the par‐ * SIL 3 is only attained with
ameterized minimum delay. firmware option (FWS) "SIL3-
MOTION" or "SIL3-PLUS"
With MPx-20V06 and above,
Safely Limited End Position (SLE) available with firmware option
(FWS) "SAFETY-PLUS" or
The safety function "Safely limited end position" monitors via
✓ ✓ ✓ ✓ ✓ 2 / 3* "SIL3-PLUS"
two channels that the drive can be decelerated within the
parameterized end position limit value with the current veloci‐ * SIL 3 is only attained with
ty and the parameterized minimum delay. firmware option (FWS) "SIL3-
MOTION" or "SIL3-PLUS"
With MPx-20V08 and above,
Safe CAM (SCA) available with firmware option
(FWS) "SAFETY-PLUS" or
The safety function "Safe CAM" monitors via two channels
✓ ✓ ✓ ✓ ✓ 2 / 3* "SIL3-PLUS"
whether or not the axis is within a position range defined by
the switch-on und switch-off thresholds (cam range) and * SIL 3 is only attained with
makes available the result via the status words. firmware option (FWS) "SIL3-
MOTION" or "SIL3-PLUS"
Safe Homing Procedure Available in MPx-20V06 and
above
With the auxiliary function "Safe homing procedure", another
homing event is expected at a separate position after the ✓ ✓ ✓ ✓ ✓ 2 / 3* * SIL 3 is only attained with
functional homing procedure. The second homing event is firmware option (FWS) "SIL3-
used to verify the functional homing procedure. MOTION" or "SIL3-PLUS"

Tab. 5-76: Functions for safe motion monitoring and safe standstill monitoring
Notes on commissioning
The optional safety technology modules "Safe Motion" ("S3" and "S4") are
commissioned via dialogs using the "IndraWorks Ds/D/MLD" commissioning
tool (supported ≥ IndraWorks 13V08).
The optional safety technology modules "Safe Motion" ("S5", "SB" and "SD")
are commissioned via dialogs using the "IndraWorks Ds/D/MLD" commis‐
sioning tool (supported ≥ IndraWorks 14V10).
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 309/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

In the condition as supplied, i.e. also after a firmware update /


firmware upgrade, the safety technology is in the following
"SafetyDefault" state:
● The output stage is locked, i.e. the axis has gone torque-free
● Safety status: "Axis not safe"
● The digital local outputs have been set to "0"
● The brake output has been deactivated (an electrically re‐
leasing brake is applied)
For the functional commissioning, it is first necessary to set
"P-0-3201, SMO: Configuration of functional commissioning",
bit 0 = 1.

For details of the function, notes on commissioning and application exam‐


ples, see separate documentation "Rexroth IndraDrive; Integrated Safety
Technology "Safe Motion" (as of MPx-18)" (DOK-INDRV*-SI3*SMO-VRS-
APxx-EN-P; mat. no. R911338920).

5.7 Optional device functions


WARNING Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
● Keep free and clear of the ranges of motion of machines and moving
machine parts.
● Prevent personnel from accidentally entering the machine’s range of
motion (e.g., by safety fence, safety guard, protective covering, light bar‐
rier).
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● In addition, observe the safety message "Protection Against Dangerous
Movements" in the chapter "Safety Instructions for Electric Drives and
Controls".

5.7.1 Availability of the optional device functions


For an overview that illustrates in which base or functional packages the re‐
spective optional device function is available, see chapter "Overview of func‐
tions/functional packages, Availability of the optional device functions".

5.7.2 Cross communication (CCD)


Brief description
Overview The IndraDrive "cross communication" device function (Cross Communica‐
tion Drives → CCD) allows axes to be electronically (digitally) coupled and I/O
modules to be connected for IndraMotion MLD.
310/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

* Master communication (MC), optional (alternatively no MC or


PROFIBUS® or MultiEthernet)
Fig. 5-63: Hardware topology of drive cross communication (CCD)
Bus topology Configuration of the CCD slaves and communication with the external control
unit always takes place via the CCD master drive, as the individual CCD
slaves are connected to the master via a sercos interface. Therefore, external
access always takes place via the drive acting as the CCD master, which re‐
quires a master communication interface (e.g. PROFIBUS®) in addition to
the CCD optional module ("sercos master connection").
CCD modes (types of coupling) When cross communication (CCD) is used between the drives, we distin‐
guish the following variants (CCD modes):
● CCD system mode
CCD slaves have a direct logic connection to the field bus master. Com‐
mand triggering and input of process data take place via an external
control unit.
● CCD basic mode
The same functions as for the CCD system mode are available. Howev‐
er, the user has to program them. It is not possible to use the MLD-M
functionality in the master axis.
● MLD-M system mode
The CCD slaves have no direct logic connection to the external control
unit, but only to MLD-M in the CCD master. MLD-M commands and in‐
puts process data in the CCD master.
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 311/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Features The device function "cross communication (CCD)" is characterized by the fol‐
lowing features:
● Hotplug with sercos is supported
● Synchronization of CCD slaves to CCD master
● Transmission of freely configurable external process data (command
values and actual values of the external control unit)
● Command value linking by transmission of freely configurable process
data of the CCD axes (e.g. master/slave, Gantry axis)
● SLc03 safety control is supported
● Connection of I/O extensions for sercos via CCD (a maximum of 4 mod‐
ules per CCD master) (only in MLD-M system mode)
● CCD (sercos) cycle time can be parameterized (0.25 ms to 4 ms; de‐
pends on CCD mode, controller performance and number of axes)
● Max. baud rate: 100 MBaud
● CCD communication protocol: sercos (see "sercos")
● Data channels:
– Cyclic data channel (MDT, AT): max. 48 bytes and 16 IDN
– Parameter or service channel: 4 bytes
● Parameterization of all axes in the CCD group via the CCD master inter‐
faces (RS232, Engineering Port, field bus, …)
● CCD slaves are commanded depending on selected CCD mode via ex‐
ternal control unit or internally via MLD in CCD master
● Possible compensation of transmission time / dead time of the cyclic
process data
● Generation of up to 3 master axis positions for master axis linking
● Max. number of CCD slaves: 7 or 9 (depends on CCD mode; see
"Functional description of the CCD modes, performance features")
Fields of application Typical fields of application for cross communication:
● Control tasks for multi-axis applications
– Anti backlash
– Synchronous operation control
– Load control of several axes
● Simple command value linking
– Position command value linking (Gantry axes)
– Torque/force linking
● Simple motion controls with decentralized command value adjustment
for single-axis positioning and master axis linking
● I/O extension by connection of I/O modules for sercos via CCD
Restrictions When using cross communication, observe the following restrictions:
● With the cross communication function, "Coordinated Motion" is not pos‐
sible!
● In the MLD-M system mode, the multiplex channel for external control
units is not available in the CCD master.
● sercos I/O extensions only possible in MLD-M system mode
Hardware requirements The drive function "cross communication" requires the following control sec‐
tion design:
312/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

CCD master
HCS01.1E-W00xx-A-0x-A-CC-xx-xx-xx-xx-FW IndraDrive Cs Advanced - single-axis
CSH02.1B-CC-EC-xx-xx-xx-NN-FW IndraDrive: Advanced control section - single-axis
CCD slaves
CSE02.1A-S3-EC-xx-xx-xx-FW IndraDrive: Economy control section - single-axis
CSB02.1x-ET-EC-xx-xx-xx-NN-FW IndraDrive: Basic control section - single-axis
CDB02.1B-ET-EC-EC-xx-xx-xx-xx-NN-FW IndraDrive: Basic control section - double-axis
CSH02.1B-CC-EC-ET-xx-xx-NN-FW IndraDrive: Advanced control section - single-axis
HCS01.1E-W00xx-A-0x-B-ET-xx-xx-xx-xx-FW IndraDrive Cs Basic - single-axis
HCS01.1E-W00xx-A-0x-E-S3-xx-xx-xx-xx-FW IndraDrive Cs Economy - single-axis
HCS01.1E-W00xx-A-0x-A-CC-xx-xx-xx-xx-FW IndraDrive Cs Advanced - single-axis
KMS02.1B-A0xx-P-D7-ET-xxx-xx-xx-FW IndraDrive Mi, distributed drive controller
KSM02.1B-0xxC-xxN-xx-Hxx-ET-xx-D7-xx-FW IndraDrive Mi, distributed servo drive

Tab. 5-77: Hardware requirements

See documentation "Control Sections for Drive Controllers; Project


Planning Manual"
Firmware requirements When using the "cross communication" drive function, observe the following
aspects regarding the firmware:
● This drive function is supported with the firmware version MPx04 and
above.
● The CCD master has to be operated with a firmware of version
MPC-18VRS and above.
In this case, CCD slaves cannot be operated with MPx04 to MPx08.
● As for integrated safety technology, this firmware function does not re‐
quire separate enabling of functional packages; the function of drive
cross communication is available with the corresponding hardware de‐
sign.
Pertinent parameters The parameters listed below only exist for the CCD master:
● P-0-1640, CCD: MAC address
● P-0-1641, CCD: IP address
● P-0-1642, CCD: Network mask
● P-0-1643, CCD: Gateway address
● P-0-1644, CCD: Status IP communication
● P-0-1800.0.1, CCD: Configuration
● P-0-1800.0.10, CCD: Cycle time
● P-0-1800.0.3, CCD: Control word
● P-0-1800.0.30, CCD: Extrapolated cmd value IDN list signal selection
● P-0-1800.0.31, CCD: Extrapolated cmd value signal selection
● P-0-1800.0.32, CCD: Number of extrapolation steps
● P-0-1800.0.33, CCD: Extrapolated command value
● P-0-1800.0.5, CCD: Allowed telegram failures
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 313/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

● P-0-1801.0.1, CCD: Slave identification


● P-0-1801.0.10, CCD: Addresses of projected drives
● P-0-1801.0.11, CCD: Addresses of projected I/Os
● P-0-1801.0.2, CCD: Command topology addresses
● P-0-1801.0.20, CCD: Command topology
● P-0-1801.0.21, CCD: Actual topology
● P-0-1801.0.22, CCD: Slave addresses at end of line
● P-0-1801.0.23, C7100 CCD: Command Close ring
● P-0-1801.0.3, CCD: Actual topology addresses
● P-0-1801.0.4, CCD: Slave information at topology location
● P-0-1801.0.5, C7000 CCD: Command adjust slave addresses
● P-0-1802.0.1, C7400 CCD: Switching to phase 2
● P-0-1802.0.2, C7500 CCD: Switching to phase 4
● P-0-1802.0.3, CCD: Command communication phase
● P-0-1802.0.4, CCD: Actual communication phase
● P-0-1803.2.1 - P-0-1803.8.1,
CCD: Slave address in high level network
● P-0-1803.2.11 - P-0-1803.10.11,
CCD: Configuration list master communication cmd values
● P-0-1803.2.12 - P-0-1803.10.12,
CCD: Configuration list master communication actual values
● P-0-1803.2.20 - P-0-1803.10.20,
CCD: Master comm. C0100 Comm. phase 3 transition check
● P-0-1803.2.21 - P-0-1803.10.21,
CCD: Master comm. C5200 Comm. phase 4 transition check
● P-0-1803.2.22 - P-0-1803.10.22,
C5300 CCD: sercos SYNC delay measuring procedure command
● P-0-1803.2.24 - P-0-1803.10.24,
CCD: Master communication gateway parameter pool 1
● P-0-1803.2.25 - P-0-1803.10.25,
CCD: Master communication gateway parameter pool 2
● P-0-1804.1.1 - P-0-1804.10.1,
CCD: Configuration list signal status word
● P-0-1804.1.2 - P-0-1804.10.2,
CCD: Configuration list signal control word
● P-0-1804.1.3 - P-0-1804.10.3,
CCD: Assignment list signal status word
● P-0-1804.1.4 - P-0-1804.10.4,
CCD: Assignment list signal control word
● P-0-1805.1.1 - P-0-1805.10.1,
CCD: Configuration list master cmd values
● P-0-1805.1.2 - P-0-1805.10.2,
314/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

CCD: Configuration list actual master values


● P-0-1805.1.3 - P-0-1805.10.3,
CCD: Configuration list slave cmd values
● P-0-1805.1.4 - P-0-1805.10.4,
CCD: Configuration list actual slave values
● P-0-1806.1.1 - P-0-1806.14.1,
CCD: Slave IP address
● P-0-1806.1.10 - P-0-1806.14.10,
CCD: Resource-Status (S-Res)
● P-0-1806.1.11 - P-0-1806.14.11,
CCD: Resource-Control (C-Res)
● P-0-1806.1.2 - P-0-1806.14.2,
CCD: Device Status (S-Dev)
● P-0-1806.1.3 - P-0-1806.14.3,
CCD: Device Control (C-Res)
● P-0-1806.1.4 - P-0-1806.14.4,
CCD: Connection-Control #0 (C-Con)
● P-0-1806.1.5 - P-0-1806.14.5,
CCD: Connection-Control #1 (C-Con)
● P-0-1807.x.1, CCD connection: Configuration
● P-0-1807.x.10, CCD connection: Producer cycle time
● P-0-1807.x.11, CCD connection: Allowed losses of producer data
● P-0-1807.x.12, CCD connection: Error counter data losses
● P-0-1807.x.2, CCD connection: Connection number
● P-0-1807.x.20, CCD connection: IDN allocation of real-time bits
● P-0-1807.x.21, CCD connection: Bit number allocation of real-time bits
● P-0-1807.x.3, CCD connection: Telegram assignment
● P-0-1807.x.4, CCD connection: Max. length of connection
● P-0-1807.x.5, CCD connection: Current connection length
● P-0-1807.x.6, CCD connection: Configuration list
● P-0-1807.x.7, CCD connection: Assigned connection capability
● P-0-1807.x.8, CCD connection: Connection control (C-Con)
● P-0-1807.x.9, CCD connection: State
● P-0-1808.1.1 - P-0-1808.10.1,
CCD: Diagnostic message number, slave
● P-0-1808.1.10 - P-0-1808.10.10,
CCD: Active actual position value
● P-0-1808.1.11 - P-0-1808.10.11,
CCD: Actual velocity value
● P-0-1808.1.12 - P-0-1808.10.12,
CCD: Actual torque/force value
● P-0-1808.1.13 - P-0-1808.10.13,
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 315/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

CCD: Status word synchronous operation modes


● P-0-1808.1.2 - P-0-1808.10.2,
CCD: Signal status word
● P-0-1808.1.20 - P-0-1808.10.20,
CCD: Command value data container 1 4Byte
● P-0-1808.1.21 - P-0-1808.10.21,
CCD: Command value data container 2, 4Byte
● P-0-1808.1.22 - P-0-1808.10.22,
CCD: Command value data container 3, 4Byte
● P-0-1808.1.23 - P-0-1808.10.23,
CCD: Command value data container 4, 4Byte
● P-0-1808.1.3 - P-0-1808.10.3,
CCD: Signal control word
● P-0-1808.1.30 - P-0-1808.10.30,
CCD: Command value data container 1, 2Byte
● P-0-1808.1.31 - P-0-1808.10.31,
CCD: Command value data container 2, 2Byte
● P-0-1808.1.32 - P-0-1808.10.32,
CCD: Command value data container 3, 2Byte
● P-0-1808.1.33 - P-0-1808.10.33,
CCD: Command value data container 4, 2Byte
● P-0-1808.1.40 - P-0-1808.10.40,
CCD: Actual value data container 1, 4Byte
● P-0-1808.1.41 - P-0-1808.10.41,
CCD: Actual value data container 2, 4Byte
● P-0-1808.1.42 - P-0-1808.10.42,
CCD: Actual value data container 3, 4Byte
● P-0-1808.1.43 - P-0-1808.10.43,
CCD: Actual value data container 4, 4Byte
● P-0-1808.1.50 - P-0-1808.10.50,
CCD: Actual value data container 1, 2Byte
● P-0-1808.1.51 - P-0-1808.10.51,
CCD: Actual value data container 2, 2Byte
● P-0-1808.1.52 - P-0-1808.10.52,
CCD: Actual value data container 3, 2Byte
● P-0-1808.1.53 - P-0-1808.10.53,
CCD: Actual value data container 4, 2Byte
● P-0-1810.0.10, CCD: Diagnostic message text
● P-0-1810.0.11, CCD: Diagnosis code
● P-0-1810.0.12, CCD: Error counter Port-1
● P-0-1810.0.13, CCD: Error counter Port-2
● P-0-1810.0.15, CCD: AT error counter
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Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

● P-0-1810.0.16, CCD: Axis error


● P-0-1810.0.2, CCD: Status word
● P-0-1810.0.3, CCD: Timing settings
● P-0-1815.0.1, CCD: Master communication, synchronization input value
● P-0-1815.0.2, CCD: Master communication, synchronization output
value
● P-0-1816.0.1, CCD: Master communication, synchronization counter
● P-0-1816.0.2, CCD: Master communication, synchronization P-gain
● P-0-1816.0.3, CCD: Master communication, synchronization I-gain
● P-0-1816.0.4, CCD: Master communication, synchronization error
window
● P-0-1816.0.5, CCD: Master communication, synchronization delay
● P-0-1820.0.1, CCD: Master axes configuration list
● P-0-1820.0.2, CCD: Source of measuring encoder position feedback
value
● P-0-1820.0.3, CCD: Actual position value of measuring encoder
● P-0-1820.0.4, CCD: Axis position selection
● P-0-1821.1.1 - P-0-1821.3.1,
CCD: Position command value for master axis n
● P-0-1821.1.2 - P-0-1821.3.2,
CCD: Master axis n, filter type
● P-0-1821.1.3 - P-0-1821.3.3,
CCD: Master axis n, filter corner frequency
● P-0-1821.1.4 - P-0-1821.3.4,
CCD: Master axis n, number of extrapolation steps
● P-0-1821.1.5 - P-0-1821.3.5,
CCD: Master axis n, master axis position
● P-0-1822.0.1,
CCD: Default master axis selection for the IndraDrive axes
● P-0-1822.0.2,
CCD: Master axis selection for the IndraDrive axes
● P-0-1823.1.1 - P-0-1823.10.1,
CCD: Default synchronization mode for axis n
● P-0-1823.1.2 - P-0-1823.10.2,
CCD: Master axis position for axis n

The standard sercos parameters (e.g., "S-0-1002, sercos:


Communication Cycle time (tScyc)" etc.) are used to configure
the sercos communication in the slaves.

Pertinent diagnostic messages ● C0265 Incorrect CCD address configuration


● C0266 Incorrect CCD phase switch
● C0267 CCD timeout phase switch
● C0403 Switching to CCD phase 2 impossible
● C7000 CCD: Command Close ring
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 317/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

● C7001 CCD: Impossible to close ring


● C7100 CCD: Command Close ring
● C7101 CCD: Impossible to close ring
● C7400 CCD: Switching to phase 2
● C7401 CCD: Impossible to switch to phase 2
● C7500 CCD: Switching to phase 4
● C7501 CCD: Impossible to switch to phase 4
● E4012 Maximum number of CCD slaves exceeded
● E4013 Incorrect CCD addressing
● E4014 Incorrect phase switch of CCD slaves
● E4016 CCD: Topology error
● E4017 CCD: Unknown I/O configuration
● F2140 CCD slave error
● F4012 Incorrect I/O length
● F4140 CCD communication error
● F6140 CCD slave error (emergency halt)
● F8140 Fatal CCD error

5.7.3 Rexroth IndraMotion MLD (drive-integrated PLC)


Brief description
"IndraMotion MLD" provides the function of a PLC integrated in the drive in
accordance with IEC 61131-3 with the following scope of functions:
● Integrated logic control (standard PLC tasks)
– Compliant with IEC-61131-3
– Online change
– Debugging
● Integrated multi-axis/single-axis motion control
→ Motion function block according to PLCopen positioning and synchro‐
nization mode
– Programming via ST, SFC, FBD and LD
– Library management with system and user libraries
● Basis for technology functions
→ Examples: Following-on cutting devices, process controller (register
controller, winding computation, Productivity Agent, IndraMotion for
Handling, IndraMotion for Metal Forming, …

This optional extension of the drive functionality is described in


detail in the separate documentation "Rexroth IndraMotion MLD
(2G) as of MPx18" (DOK-INDRV*-MLD3-**VRS*-AP**-EN-P; mat.
No. R911338914).

Hardware requirements / charac‐ According to the design, the expansion packages "IndraMotion MLD" require
teristics one of the following control section designs:
● IndraMotion MLD-M (multi-axis motion control; "MPC" firmware only)
– Single-axis device ADVANCED (HCS01.1E-W0xx-A-02-A-...)
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Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

– Single-axis control section ADVANCED (CSH02.1B-CC-EC-...)


– As stand-alone multi-axis Motion Logic Control using CCD (Cross
Communication Drives) on the basis of sercos
● IndraMotion MLD-S (single-axis motion control; "MPB" / "MPC" firmware
only)
– Single-axis device ADVANCED (HCS01.1E-W0xx-A-02-A-...)
– Single-axis device BASIC (HCS01.1E-W0xx-A-02-B-...)
– Single-axis control section BASIC (CSB02.1B-ET-EC-...)
– Single-axis control section ADVANCED (CSH02.1B-CC-EC-...)
– Single-axis control section ADVANCED (CSH02.1B-S3-EC-...)
– IndraDrive Mi, distributed drive controller (KMS02.1B-A0xx-P-D7-
ET-...)
– IndraDrive Mi, distributed drive controller (KMS03.1B-...
– IndraDrive Mi, distributed servo drive (KSM02.1B-0xxC-xxN-xx-
Hxx-ET-...)
– As intelligent servo axis (extension of drive functionality) - stand-
alone single-axis Motion Logic Control
Firmware requirements In the MPx-20VRS firmware, the "IndraMotion MLD" function is available in
the following variants:
● Advanced design (MPC)
● Basic single-axis design (MPB)

Using the "IndraMotion MLD" function generally requires the ena‐


bling of one of the additive functional packages TF, MA, ML or
ME.
See also sections:
- "Overview of functions/functional packages"
- "Enabling functional packages"

Features/characteristic values The functional packages "IndraMotion MLD" include the following general
features/characteristic values:
● It is possible to configure up to 4 different user tasks. Possible task
types:
– Periodic (min. cycle time: 1 ms for Advanced; 2 ms for Basic)
– Free-running (permanently cyclic)
– Event-triggered (min. reaction time: 1 ms for Advanced; 2 ms for
Basic)
● Memory resources:
MPB-20
– Internal code memory: 2 MB (program, constants, management)
– Data memory: 3 MB (variables, instances, management)
– Storage of the boot project: 650 kB in parameters, >2 MB on µSD
card
– Retain memory: 472 bytes (incl. persistent variables)
MPC-20
– Internal code memory: 12 MB (program, constants, management)
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 319/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

– Data memory: 9 MB (variables, instances, management)


– Storage of the boot project: 650 kB in parameters, 8 MB on µSD
card
– Retain memory: 31704 bytes (incl. persistent variables)
● Digital inputs/outputs:
– 1…7 digital inputs, 1 switchable digital input/output at x31
→ PLC and drive share the inputs!
– 1 relay output at x47
→ PLC and drive share the inputs!
● Analog inputs/outputs:
– 1 analog input (+/-10 V differential input) at x32
● Inputs/outputs on remote axes:
– Digital and analog inputs/outputs of the slaves connected to sercos
can be read and written.
– Number of inputs/outputs depends on the used hardware of the
slaves
● sercos I/O
– Evaluating Inline Block IOs - each block with 32 inputs or with 16
inputs and 16 outputs
– Evaluating Inline Modular IOs - max. 4 bus terminals with 16 mod‐
ules (nodes) each
– Connecting up to 4 more drives as Sercos peripherals (PLC drives)

A total of 4 more peripherals can be configured. Drives, Block IOs


or IO bus couplers (Modular IOs, S20,...) are counted among the
peripherals.

● Parameters for general purpose:


– Parameters for process image: Pll inputs
– 20 input words of 2 bytes each
– 8 input words of 4 bytes each
– Parameters for process image: POI outputs
– 20 output words of 2 bytes each
– Global registers (4 bytes)
– 32 buffered parameters
– 32 unbuffered parameters
– List parameters (4 bytes)
– 1 list register with 8192 values (not buffered)
– 3 list registers with 1024 values (buffered)
– 2 global text registers with 255 characters each
– Display format of the global registers that can be parameterized
– Name, unit and limit values of the global registers can be config‐
ured via PLC functions
● Other features:
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Overview of the functional scope

– Extensive debug options (Single-Step, Watch, Force/Write, Break‐


points, Powerflow)
– File access from the PLC (saving source code on µSD card, …)
– Symbol files are stored on µSD card for accessing PLC variables
of the HMI
– Source download (with µSD card only)
– Access to Ethernet interface
Pertinent parameters PLC parameters for general purpose:
● P-0-1350, PLC control word
● P-0-1351, PLC status word
● P-0-1352, PLC user program administration data
● P-0-1361, PLC program name
● P-0-1362, PLC boot project info
● P-0-1363, PLC project info
● P-0-1367, PLC configuration
User program (filing):
● P-0-1353, PLC user program area 0
● P-0-1354, PLC user program area 1
● P-0-1355, PLC user program area 2
● P-0-1356, PLC user program area 3
● P-0-1357, PLC user program area 4
● P-0-1358, PLC user program area 5
Process input images PIIs
● P-0-1390, PLC input WORD0 AT %IB0
to
P-0-1409, PLC input WORD19 AT %IB38
● P-0-1440, PLC input DWORD25 AT %IB100
to
P-0-1447, PLC input DWORD32 AT %IB128
Process output images POIs
● P-0-1410, PLC output WORD0 AT %QB0
to
P-0-1429, PLC output WORD19 AT %QB38
Global PLC registers, unbuffered:
● P-0-1270, PLC Global Register A0
to
P-0-1301, PLC Global Register A31
Global text registers, unbuffered:
● P-0-1387, PLC Global Register AT0
to
P-0-1388, PLC Global Register AT1
Global list register, unbuffered:
● P-0-1368, PLC Global Register AL0
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 321/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Global PLC registers, buffered:


● P-0-1370, PLC Global Register G0
to
P-0-1385, PLC Global Register G15
● P-0-1316, PLC Global Register G16
to
P-0-1331 PLC Global Register G31
Global list registers, buffered:
● P-0-1389, PLC Global Register GL0
● P-0-1311, PLC Global Register GL1
● P-0-1312, PLC Global Register GL2
To configure the display format of the registers:
● P-0-1386, PLC display format Global Register

5.7.4 Digital inputs/outputs


Brief description
General information
In their basic variant, all IndraDrive systems and control sections already
have configurable digital inputs/outputs.
Hardware requirements The table below shows the number and function of the digital inputs/outputs.

Basic device (on board) "DA" option


Drive system / control Number of stand‐ Number of switch‐ Number Number Number of switch‐
section ard inputs (probe able able
Inputs Outputs
inputs thereof) Inputs/outputs Inputs/outputs

HCS01.1 7 (2) 1 6 6 2
HCQ02.1, HCT02.1 16 (-) - - - -
KSM02.1, KMS02.1,
- 4 - - -
KMS03.1
CSB02.1A, CSE02.1A 7 (2) 1 - - -
CDB02.1B 14 (4) 8 6 6 2
CSB02.xB, CSH02.xB 11 (2) 5 6 6 2

Tab. 5-78: Drive system / control section, number of inputs/outputs


For further hardware properties, see the respective Project Planning Manual.
Features ● Sampling of digital inputs and outputs or transmitting data to them is
done in the position controller clock TA_position (see "Performance data")
● Configurable digital inputs/outputs with effective direction that can be
freely set to some extent (input or output):
● Probe inputs are queried in steps of µs
● All inputs/outputs refer to the level of 0 V (LOW) or 24 V (HIGH)
● Assignment of the inputs/outputs on several axes within one device pos‐
sible
● Several axes within one device can be addressed by one digital input
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Overview of the functional scope

● Within a device, each axis can access each input/output present on the
hardware side
● Multiple assignments for an input possible with multiple parameters
● An axis output can be used simultaneously as an input on the same pa‐
rameter.
● Signal states of digital inputs/outputs of a device are mapped to their re‐
spective individual parameters.
● In addition, the signal states of digital inputs/outputs of an axis are map‐
ped to their respective individual parameters.
● Digital outputs can be directly controlled by the control master, if not
used on drive-side
Pertinent parameters ● S-0-0398, IDN-list of configurable data in signal status word
● S-0-0399, IDN-list of configurable data in signal control word
Digital inputs
● P-0-0300, Digital inputs, assignment list
● P-0-0301, Digital inputs, bit numbers
● P-0-0303, Digital inputs, input image of device
● P-0-0306, Digital inputs, assignment connector and pin
● P-0-0307, Digital inputs, input image sub-device
Digital outputs
● P-0-0304, Digital outputs, output image of device
● P-0-0310, Digital outputs, assignment list
● P-0-0311, Digital outputs, bit numbers
● P-0-0312, Digital outputs, assignment sub-device
● P-0-0313, Digital outputs, output image sub-device
● P-0-0316, Digital outputs, assignment connector and pin
Pertinent diagnostic messages ● F2010 Error when initializing digital I/O (-> S-0-0423)

5.7.5 Analog outputs


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Optional Device Functions".

In accordance with the drive system or control section, IndraDrive controllers


have a different number of analog outputs.
The drive function "analog outputs" allows analog signal values to be output
for commissioning and optimizing drives with appropriate measuring devices
(e.g., oscilloscope, multimeter), as well as for visualizing the contents of drive
parameters.
Hardware requirements The table below shows the number of analog outputs in accordance with the
drive system or control section type:
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 323/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Basic device (on board) "DA" option


Drive system / control section
Number of analog outputs Number of analog outputs

HCS01.1 - 2 1)
HCQ02.1, HCT02.1 - -
KSM02.1, KMS02.1 - -
CSB02.1A - -
CDB02.1B
2 2
CSB02.1B, CSH02.1B
1) Not with HCS01 Economy
Tab. 5-79: Analog inputs
Overview The figure below illustrates the interaction of the two analog output channels
with the analog outputs.

* Only with CDB02.1 control section


Fig. 5-64: Assignment mechanism for the analog outputs
Features General features:
● Analog outputs are updated in position controller clock (see "Perform‐
ance data")
● Analog outputs can be written via master communication (cyclic or acy‐
clic channel)
● Internal status variables and signals (= parameter contents) are output
as analog voltage signals at output terminal connectors of the drive con‐
troller (see separate documentation "Control Sections for Drive Control‐
lers; Project Planning Manual")
● Monitoring function with regard to double assignment of outputs
● Variable scaling of analog outputs
● Switching of the behavior at the limits of voltage range that can be dis‐
played between overflow and limitation
● Parameterizable output offset or parameterizable reference value

For the technical properties of the analog inputs, see the respec‐
tive Project Planning Manual.

Pertinent parameters Configuring the analog outputs:


324/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
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Overview of the functional scope

● P-0-0426, Analog output IDN list of assignable parameters


● P-0-0427, Control parameter of analog output
Analog output 1:
● P-0-0418, Analog output 1, signal value at 0V
● P-0-0420, Analog output 1, signal selection
● P-0-0422, Analog output 1, scaling [1/V]
● P-0-0139, Analog output 1
Analog output 2:
● P-0-0419, Analog output 2, signal value at 0V
● P-0-0423, Analog output 2, signal selection
● P-0-0425, Analog output 2, scaling [1/V]
● P-0-0140, Analog output 2
Analog output 3:
● P-0-0428, DA: Analog output 1, signal value at 0V
● P-0-0459, DA: Analog output 1, signal selection
● P-0-0463, DA: Analog output 1, scaling [1/V]
● P-0-0414, DA: Analog output 1
Analog output 4:
● P-0-0429, DA: Analog output 2, signal value at 0V
● P-0-0462, DA: Analog output 2, signal selection
● P-0-0464, DA: Analog output 2, scaling [1/V]
● P-0-0415, DA: Analog output 2

5.7.6 Analog inputs


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Optional Device Functions".

In accordance with the drive system or control section, IndraDrive controllers


have a different number of analog inputs. This allows analog voltage and cur‐
rent values to be processed from command values in the drive.
Hardware requirements The table below shows the number of analog inputs in accordance with the
drive system or control section type:

Basic device (on board) "DA" option


Drive system / control section Number of analog inputs Number of remote analog in‐ Number of analog inputs
puts

HCS01.1 1 3 2 1)
HCQ02.1, HCT02.1 - - -
KSM02.1, KMS02.1, KMS03.1 - - -
CSB02.1A, CSE02.1A 1 3 -
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 325/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

Basic device (on board) "DA" option


Drive system / control section Number of analog inputs Number of remote analog in‐ Number of analog inputs
puts
CDB02.1B 2 3 2
CSB02.xB, CSH02.xB 3 3 2
1) Not with HCS01 Economy
Tab. 5-80: Analog inputs
For further hardware properties, see the respective Project Planning Manual.
Overview The figure below illustrates the assignment options of the analog inputs.

P-0-0218 Analog input, control parameter


Fig. 5-65: Overview: Analog input and assignment
The figure below illustrates the assignment options of the remote analog in‐
puts.

P-0-0218 Analog input, control parameter


P-0-0251 Remote analog input 1
P-0-0252 Remote analog input 2
P-0-0253 Remote analog input 3
Fig. 5-66: Assignment options of the remote analog inputs
Features General features:
● 3 assignment mechanisms (assignment A, B, C) with different sampling
rates are possible
– Assignment channel A works in position controller clock (see "Per‐
formance data")
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Overview of the functional scope

– Assignment channels B and C work in 2 ms clock


● Assignment to command value/limit value/control parameters of the
drive by means of adjustable scaling
● Variable scaling
● Parameterizable dead zone to suppress zero drift
● Automatic offset and amplification adjustment via command is possible
● Low-pass filtering to be activated for the analog channel
● Analog input designed as differential input
● Parameterizable wire break monitoring
● Input voltage range of ± 10V
● Analog inputs 2 (not with CDB02.1B) and 3, as well as analog inputs 1
and 2 of optional module DA, can also be set as current inputs +/-20 mA
or +4...+20 mA.
● 3 remote analog inputs can be assigned via master communication

For the technical properties of the analog inputs, see the respec‐
tive Project Planning Manual.

Pertinent parameters Configuration


● P-0-0255, Analog input; hardware configuration
● P-0-0212, Analog input, list of assignable parameters
● P-0-0218, Analog input, control parameter
● P-0-0219, Analog input, maximum value for adjustment
● P-0-0220, C2800 Analog input adjustment command
Analog input values:
● P-0-0210, Analog input 1
● P-0-0211, Analog input 2
● P-0-0228, Analog input 3
● P-0-0229, DA: Analog input 1
● P-0-0208, DA: Analog input 2
● P-0-0217, Analog input 1, time constant input filter
● P-0-0231, Analog input 2, time constant input filter
● P-0-0232, Analog input 3, time constant input filter
● P-0-0233, DA: Analog input 1, time constant input filter
● P-0-0234, DA: Analog input 2, time constant input filter
● P-0-0251, Remote analog input 1
● P-0-0252, Remote analog input 2
● P-0-0253, Remote analog input 3
Assignment A:
● P-0-0213, Analog input, assignment A, target parameter
● P-0-0214, Analog input, assignment A, scaling
● P-0-0215, Analog input, assignment A, signal value at 0
● P-0-0216, Analog input, assignment A, dead zone
Assignment B:
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 327/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

● P-0-0236, Analog input, assignment B, target parameter


● P-0-0237, Analog input, assignment B, scaling
● P-0-0238, Analog input, assignment B, signal value at 0
● P-0-0239, Analog input, assignment B, dead zone
Assignment C:
● P-0-0245, Analog input, assignment C, target parameter
● P-0-0246, Analog input, assignment C, scaling
● P-0-0247, Analog input, assignment C, signal value at 0
● P-0-0248, Analog input, assignment C, dead zone
Pertinent diagnostic messages ● C2800 Analog input adjustment command
● C2801 Analog input not configured
● C2802 Oscillations of input signal outside tolerance range
● C2803 Measured values at zero point and max. value identical
● C2804 Automatic adjustment failed
● F2270 Analog input, wire break

5.7.7 Virtual master axis generator


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Optional Device Functions".

The master axis generator serves for generating a master axis position which
can be used as input variable for the position synchronization modes and the
"velocity synchronization" mode.
There are three ways of generating the master axis position:
● Format conversion of an actual position value or a position command
value of the local axis or of an axis connected via CCD [1]
● Generation of a virtual actual position value via a positioning motion and
subsequent format conversion [2]
● Phase-synchronous motion of the master axis position to a primary
master (secondary master mode) [3]
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Overview of the functional scope

Fig. 5-67: Possibilities of generating the master axis position for the slave axis
Features Features of the generation of the virtual actual position value with the master
axis generator:
● 3rd order command value interpolator
● Absolute, relative and additive positioning capability
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 329/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

● "Infinite travel" (jogging) is possible


● Position data format to be set:
– Linear → 0.0001 mm / 0.0001 inch
– Rotary → 0.0001 degrees
● Modulo value to be set
● "Absolute" or "modulo" master axis
● Format conversion from "virtual master axis" position format to master
axis format ("virtual master axis" modulo value → 2P-0-0084 × P-0-0750
bzw 2P-0-0773 × P-0-0763)
● Virtual master axis generator realized as virtual axis in IndraMotion MLD
with individual scaling system
● Setting of virtual master axis generator, either directly via parameters or
via the following function blocks:
– MC_MoveVelocity / MX_MoveVelocity
– MC_MoveAbsolut / MX_MoveAbsolut
– MC_MoveAdditiv / MX_MoveAdditiv
– MC_MoveRelativ / MX_MoveRelativ
– MC_Stop
– MB_Stop
Note:
The function blocks for the virtual axis behave exactly like those for a re‐
al axis. The diagnostic and error messages, however, are different.
Features of the secondary master mode:
● Real and virtual primary master can be selected
● Electronic gearbox with fine adjustment
● Dynamic synchronization to the primary master
● Master axis position is added as an offset with parameterization of the
acceleration and velocity that can be changed
● Activation by means of functional block "MB_GearInPos"; deactivation
by means of functional block "MB_GearOut"
Pertinent parameters ● P-0-0084, Number of bits per master axis revolution
● P-0-0750, Master axis revolutions per master axis cycle
● P-0-0756, Virtual master axis, scaling type
● P-0-0757, Virtual master axis, modulo value
● P-0-0758, Virtual master axis, actual position value
● P-0-0759, Virtual master axis, actual velocity value
● P-0-0760, Virtual master axis, positioning control word
● P-0-0761, Master axis position for slave axis
● P-0-0762, Virtual master axis, velocity limit value
● P-0-0763, Modulo factor, master axis format converter
● P-0-0766, Virtual master axis, positioning command value
● P-0-0767, Virtual master axis, effective target position
● P-0-0768, Virtual master axis, positioning status
● P-0-0769, Virtual master axis, command value mode
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● P-0-0770, Virtual master axis, positioning velocity


● P-0-0771, Virtual master axis, positioning acceleration
● P-0-0772, Virtual master axis, positioning deceleration
● P-0-0773, Number of bits per master axis revolution, format converter
● P-0-0774, Virtual master axis, positioning window shortest distance
● P-0-0911, Virtual master axis, positioning window
● P-0-0912, Virtual master axis, standstill window
● P-0-0913, Virtual master axis, positioning jerk
● P-0-0914, Virtual master axis, velocity threshold positioning
● P-0-0915, Master axis format converter IDN list signal selection
● P-0-0916, Master axis format converter signal selection
● P-0-0917, Control word of master axis generator
● P-0-0918, Feed travel internal virtual master axis
● P-0-0919, Synchronization mode, secondary master
● P-0-0920, Synchronization acceleration, secondary master
● P-0-0921, Synchronization velocity, secondary master
● P-0-0922, Preferred synchronization direction, secondary master
● P-0-0923, Synchroniz. window for shortest distance, secondary master
● P-0-0924, Selection primary master
● P-0-0925, Master drive gear input revolutions, secondary master
● P-0-0926, Master drive gear output revolutions, secondary master
● P-0-0927, Master drive gear fine adjustment, secondary master
● P-0-0928, Additive master axis position, secondary master
● P-0-0929, Change velocity of add. master axis posit., secondary master
● P-0-0930, Change accel. of add. master axis posit., secondary master
● P-0-0931, Synchronous position, secondary master
● P-0-0932, Synchronization range, secondary master
Pertinent diagnostic messages ● E2100 Positioning velocity of master axis generator too high
● F2063 Internal overflow master axis generator
● F2064 Incorrect cmd value direction master axis generator

5.7.8 Drive-integrated command value generator


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Optional Device Functions".

The drive-integrated command value generator can be used for commission‐


ing and controller optimization of drives. The command value generator is
used to generate various signal shapes (square wave, sine, noise, sine
sweep) that are added to the closed control loop as command values.

In conjunction with the integrated oscilloscope function, the drive-


integrated command value generator also provides the possibility
of measuring the frequency response.
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The figure below illustrates the points at which the drive-integrated command
value generator can take effect:

S-0-0037 Additive velocity command value


S-0-0047 Position command value
S-0-0081 Additive torque/force command value
P-0-0038 Torque-generating current, command value
P-0-0039 Flux-generating current, command value
P-0-0059 Additive position command value, controller
P-0-1150 Command value generator output
P-0-1152 Command value generator, target parameter assignment
Fig. 5-68: Points at which "command value generator" function can take effect
Features ● Possibility of generating different signal shapes that are added as addi‐
tive command values to the respective control loop command value (po‐
sition, velocity or current)
The following signal shapes are possible:
– Square-wave signals
– Sine signals
– Noise signals
– Modified sine signals
– Sine sweep
● Generating velocity and position command values in the position con‐
troller clock; current command values in the velocity controller clock
● With regard to amplitude and frequency, generated command values
can be freely defined
Pertinent parameters ● P-0-1150, Command value generator output
● P-0-1151, Command value generator, list of possible target parameters
● P-0-1152, Command value generator, target parameter assignment
● P-0-1153, Command value generator, control word
● P-0-1154, Command value generator, offset
● P-0-1155, Command value generator, amplitude
● P-0-1156, Command value generator, duration 1
● P-0-1157, Command value generator, duration 2
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● P-0-1158, Command value generator, periodic time


● P-0-1159, Command value generator, sine sweep start frequency
● P-0-1160, Command value generator, sine sweep end frequency
● P-0-0028, Oscilloscope: Control word
● P-0-0031, Oscilloscope: Time resolution
● P-0-0032, Oscilloscope: Size of memory

5.7.9 Drive-internal "command value box"


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Optional Device Functions".

With IndraDrive controllers, a so-called "command value box" is internally


available for manual drive optimization. It provides the possibility to internally
(independent of the master) generate a command value characteristic that
can be defined by the user. In this way, an axis drive can be moved in the
same way as with an external command value box, without an external com‐
mand value being effective → drive-internal "command value box"). It is only
necessary to set drive enable for the drive.
The command value characteristic that can be defined by the user, allows for
an axis to be moved within determinable position limits in continuous se‐
quence in the velocity control loop or position control loop. This can be made
use of, in order to manually optimize the control loop parameters of the drive,
by e.g. moving the drive with a low velocity command value and by evaluat‐
ing the status variables "actual current value" and "actual velocity value".

For more details on the manual control loop setting, see section
"Overview of drive control: Notes on commissioning for control
loop setting".

By the internal command value box, an axis can be continuously moved in an


"oscillating motion" (reversing between two position limit values) or in "step‐
per mode" (unidirectional moving over a defined path or a travel range).
The internal command value box is configured via a command word, the
command value characteristic is defined via the respective parameters. The
drive-internal command value box is activated via a command.
Pertinent parameters ● P-0-0162, C1800 Command Drive optimization/command value box
● P-0-0165, Drive optimization, control word
● P-0-0166, Drive optimization, end position negative
● P-0-0167, Drive optimization, end position positive
● P-0-0169, Drive optimization, travel distance
● P-0-0170, Drive optimization, acceleration
● P-0-0171, Drive optimization, velocity
● P-0-0172, Drive optimization, dwell time
Pertinent diagnostic messages ● C1800 Command Drive optimization/command value box
● C1801 Start requires drive enable
● C1806 Travel range exceeded
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5.7.10 Encoder emulation


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Optional Device Functions".

By means of encoder emulation is it possible to convert available encoder


signals (encoder 1, encoder 2 or measuring encoder) or internal position
command values into one of the following two formats:
● Signals of an incremental encoder (track A, track B and zero pulse with
5V TTL or 24V level)
● Serial 24-bit position of an absolute encoder (SSI format, Gray-coded)

The absolute encoder emulation is not yet available in this MPx20


release!

This allows, for example, evaluating the signals in a higher-level master in or‐
der to close the position control loop in the external control unit in conjunction
with the freely parameterizable resolution and the data reference.

Using the encoder emulation in precision applications (mostly in


machine tool applications) is considered as critical and always
has to be carefully considered beforehand!
For sophisticated applications for which the position control loop
is closed by means of emulation, Rexroth recommends to use
digital interfaces, such as sercos.
See "Restrictions" in the section "Notes on commissioning"

Incremental encoder emulation Incremental encoder emulation is the simulation of a real incremental encod‐
er by the drive controller.
For incremental encoder emulation, we distinguish between
● Signal emulation
- and -
● Motor encoder emulation
In the form of incremental encoder signals, a higher-level numeric control
(NC) receives information about the velocity of the motor connected to the
controller. By integration of these signals, the control unit receives the re‐
quired position information and it is thereby possible to close a higher-level
position control loop.

Emulation takes place in scaling-dependent (see S-0-0076) or en‐


coder-related form, the resolution is input in lines/revolution (1 line
corresponding to 4 increments) or in mm or inch.

Features of incremental encoder ● Cyclic calculation of the increments output by the emulator in the posi‐
emulation tion controller clock (see "Performance data")
● Freely selectable position signals for emulation (P-0-0900,
P-0-0901.x.1)
● Parameterizable resolution (lines/revolution or mm resp. inch)
● Encoder-related emulation (incremental)
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● Dead time compensation that can be activated (P-0-0901.x.2, Bit 3)


● Shiftable zero pulse (P-0-0901.x.4)
● Parameterizable cyclic zero pulse output for zero pulse distance
(P-0-0901.x.4) and position data reference (P-0-0901.x.2)
● Encoder emulation can be switched off in operation (→ pause)
● Internal clock increase of incremental encoder emulation to reduce zero
pulse jitter and frequency jitter
● Signal-related or motor-encoder-related emulation to be freely selected
(→ influence on position of zero pulse!)
Absolute encoder emulation
The absolute encoder emulation is not yet available in this MPx20
release!

Absolute encoder emulation means that the drive controller has the option of
simulating a real absolute encoder in the SSI data format. It is thereby possi‐
ble to transmit the position in the SSI data format to the connected control
unit (NC) and to close the position control loop via the control unit.

Emulation takes place in scaling-dependent form (see S-0-0076)


and the resolution is input in bits.

Features of absolute encoder em‐ ● Cyclic calculation of the position output by the emulator in the position
ulation controller clock (see "Performance data")
● Freely selectable position signals for emulation (P-0-0900,
P-0-0901.x.1)
● Parameterizable resolution (bits)
● Scaling-related emulation (S-0-0076)
● Synchronization of SSI emulation to SSI clock
Hardware requirements The encoder emulation function of the firmware requires the following device
design:

IndraDrive Cs
BASIC HCS01.1E-W00xx-A-0x-B-ET-EC-EM-xx-NN-FW
ADVANCED HCS01.1E-W00xx-A-0x-A-CC-EC-EM-xx-NN-FW
IndraDrive control sections
CDB02.1B-ET-EC-EC-EM-xx-xx-xx-NN-FW
Basic control section - double-
CDB02.1B-ET-EC-EC-yy-xx-xx-EM-NN-FW
axis
for yy = PB, EC or EM
CSH02.1B-CC-EC-EM-xx-xx-NN-FW
Advanced control section - sin‐
CSH02.1B-CC-EC-yy-xx-EM-NN-FW
gle-axis
for yy = ET, PB, CN or EC
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CSB02.1B-ET-EC-yy-xx-EM-NN-FW
Basic control section - single-ax‐
for yy = PB, CN or EC
is
CSB02.1x-ET-EC-EM-xx-xx-NN-FW

PB PROFIBUS
EC Encoder IndraDyn / Hiperface / 1 Vpp /TTL / EnDat
EM Encoder emulation
ET MultiEthernet
CN CANopen
Tab. 5-81: Control section design for encoder emulation

With double-axis control sections, encoder emulation is simulta‐


neously possible in both axes. Requirements for device configura‐
tion: See Project Planning Manual for Control Sections.

Pertinent parameters ● P-0-0900, Encoder emulation signal selection list


● P-0-0901.x.1, Encoder emulation signal selection
● P-0-0901.x.2, Encoder emulation control parameter
● P-0-0901.x.3, Encoder emulation resolution
● P-0-0901.x.4, Encoder emulation zero pulse offset
● P-0-0901.x.5, Encoder emulation zero pulse distance
● P-0-0901.x.6, Encoder emulation assignment
● P-0-0901.0.7, Encoder emulation, external signal
● P-0-0901.0.8, Encoder emulation, modulo value of external signal

The structure instance ("x" digit) of the parameter IDN represents


the optional slot of encoder emulation (EM) in the corresponding
control section or HCS01 device, e.g. P-0-0901.x.1 with x = 2
means that the optional slot of the encoder emulation is slot 2.

Pertinent diagnostic messages ● C0242 Multiple configuration of a parameter (->S-0-0423)


● C0260 Incremental enc. emulator resol. cannot be displayed
● F2053 Incr. encoder emulator: Pulse frequency too high
● F2054 Incr. encoder emulator: Hardware error

5.7.11 Programmable position switch


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Optional Device Functions".

The firmware function "programmable position switch" can be used instead of


a mechanical position switch that has to be externally mounted.
Features ● Implementing a maximum of 8 dynamic position switch points (switch
cams) in the position controller clock
● Freely selectable reference signals (P-0-0130) for generating the switch
cams, all 8 cams refer to the same signal (P-0-0131)
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● Switch-on and switch-off position can be separately parameterized via


list parameters (P-0-0132, P-0-0133); corresponding position switch bit
can be inverted by selecting the switch-on and switch-off threshold
● Lead time that can be separately parameterized via list parameter
(P-0-0134) for compensating internal processing times (dead time com‐
pensation)
● 8 position switch bits displayed in the position switch status word
(P-0-0135) which can be assigned to digital outputs or cyclically trans‐
mitted via master communication interface
● Permanently defined switch hysteresis to avoid position switch bit flicker
when the switch-on or switch-off threshold is reached
Pertinent parameters ● P-0-0130, Position switch signal selection list
● P-0-0131, Position switch signal selection
● P-0-0132, Position switch switch-on threshold
● P-0-0133, Position switch switch-off thresholds
● P-0-0134, Position switch lead times
● P-0-0135, Position switch status word
Pertinent diagnostic messages ● C0242 Multiple configuration of a parameter (->S-0-0423)

5.7.12 Probe function


Brief description
A probe is a contact element that when activated triggers a pulse which starts
a measuring process. Probes are mostly activated by axis motion over a ma‐
chine part (cam etc.) at the axis mechanics. Measured values are position
feedback values, points of time and time intervals. The measuring process
delay opposite the triggering pulse is minimized by fast digital inputs.

Assignment to functional firmware package, see chapter "Availa‐


bility of the Optional Device Functions".

Features ● Measuring signals can be actual position values of motor encoder, ex‐
ternal encoder or measuring encoder, in addition master axis position
values
● Measurement of absolute signal values, of signal value differences, de‐
tection of time intervals between measuring signals
● Measurement triggered by positive and/or negative probe signal edges
● Single measurement or continuous measurement to be selected, meas‐
urement events are counted in the case of continuous measurement
● Position value range ("expectation window") per probe can be defined
within which measurement can take place (activation of a "failure coun‐
ter" when expectation window is passed through without measuring
event)
● Quick stop triggered via probe input
● Adjustable dead time compensation for each probe, separately for each
edge (positive/negative) up to 50000 µs
● 2 probes (S-0-0401 / S-0-0402) can be evaluated per axis.
● The two probe evaluations (S-0-0401, S-0-0402) can be assigned to any
input that can handle probes. Several probe evaluations can use the
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same input. For HCS01 it is the digital inputs I_1 and I_2, for HCT, HCQ
it is the inputs I2 and I3.
● Measuring accuracy depends on hardware design, see section "X31,
Digital inputs, digital output" and section "Digital inputs - probe" in the
documentation "Rexroth IndraDrive Cs, Drive Sytems with HCS01"
(DOK-INDRV*-HCS01******-PR01-EN-P; mat. no. R911322210)
Pertinent parameters ● S-0-0130, Probe value 1 positive edge
● S-0-0131, Probe value 1 negative edge
● S-0-0132, Probe value 2 positive edge
● S-0-0133, Probe value 2 negative edge
● S-0-0169, Probe control parameter
● S-0-0170, Probing cycle procedure command
● S-0-0179, Probe status
● S-0-0401, Probe 1
● S-0-0402, Probe 2
● S-0-0405, Probe 1 enable
● S-0-0406, Probe 2 enable
● S-0-0409, Probe 1 positive latched
● S-0-0410, Probe 1 negative latched
● S-0-0411, Probe 2 positive latched
● S-0-0412, Probe 2 negative latched
● S-0-0426, Signal selection probe 1
● S-0-0427, Signal selection probe 2
● S-0-0428, Probe, IDN-list signal selection
● S-0-0524, Dead time compensation, positive edge, probe 1
● S-0-0525, Dead time compensation, negative edge, probe 1
● S-0-0526, Dead time compensation, positive edge, probe 2
● S-0-0527, Dead time compensation, negative edge, probe 2
● P-0-0200, Start position probe function 2 active
● P-0-0201, End position probe function 2 active
● P-0-0202, Difference probe values 1
● P-0-0203, Difference probe values 2
● P-0-0204, Start position probe function 1 active
● P-0-0205, End position probe function 1 active
● P-0-0206, Probe 1, max. number of marker failures
● P-0-0207, Probe 2, max. number of marker failures
● P-0-0224, Probe 1, number of marker failures
● P-0-0225, Probe 2, number of marker failures
● P-0-0226, Probe, extended control word
● P-0-0300, Digital inputs, assignment list
● P-0-0306, Digital inputs, assignment connector and pin
Pertinent diagnostic messages ● A0403 Quick stop with probe detection is active
● C0250 Probe inputs incorrectly configured
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5.7.13 Measuring encoder


Brief description

Assignment to functional firmware package, see chapter "Availa‐


bility of the Optional Device Functions".

Position measurement Measuring encoders are used for position evaluation of a rotary motion that
takes effect as a command variable for drive control. The actual position val‐
ue of the measuring encoder therefore is of command value nature for drive
control, the measuring encoder can be connected to a shaft or axis via a
gearbox and acts as a master axis encoder, for example.
Evaluating position measurement Depending on its design and the mechanical arrangement at the axis, the
measuring encoder can be evaluated as
● Relative encoder (incremental encoder)
- or -
● Absolute encoder (absolute value encoder).
Relative position measurement In the case of relative position measurement, only position differences can be
evaluated by means of the measuring system. The actual position values sig‐
naled by the measuring system refer to the (mostly undefined) position at the
time the drive is switched on. If the actual position value is to refer to an axis
or shaft, it is necessary to establish position data reference ("homing").
Absolute position measurement In the case of absolute position measurement, the encoder signals actual po‐
sition values with a fixed encoder-dependent dedicated point to the controller.
After the drive is switched on, the correct actual position value is immediately
available for each axis or shaft position. Due to the mostly undefined mount‐
ing situation of the encoder, it is necessary to adjust the actual position value
to the axis or shaft once at the initial commissioning ("set absolute position").
Precision, resolution The precision of the position measurement depends on
● the resolution of the measuring system (division periods = DP),
● the absolute encoder precision,
● the digitalization quality of the analog encoder signals,
● the size of the selected modulo range of the encoder.
Monitoring functions The correct position information of the measuring encoder is required for cor‐
rect recording of a command variable. The encoder signals are therefore
monitored for validity and compliance with the allowed tolerances.
In addition, it is possible to monitor drives with an encoder that can be evalu‐
ated in absolute form for compliance with the position when switching on
compared to the last time the drive was switched off.
See "Monitoring the measuring systems"
Hardware requirements For connecting the measuring systems to the controller, the control section
has to be equipped with the corresponding interfaces. Parameter "P-0-0079,
Assignment measuring encoder->interface" is used to determine the interface
to which the respective encoder is connected.
For multi-axis drive controllers (HCT, HCQ), it is only possible to assign a
measuring encoder to one axis. The assignment is made in parameter
"P-0-0079, Assignment measuring encoder->interface". If a measuring en‐
coder was assigned to several axes, an error message will be displayed!

For multi-axis control sections (HCQ / HCT), the measuring en‐


coder can only be connected to the X8 interface (option 5)!
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Pertinent parameters ● P-0-0052, Actual position value of measuring encoder


● P-0-0079, Assignment measuring encoder->interface
● P-0-0084, Number of bits per master axis revolution
● P-0-0087, Actual position value offset of measuring encoder
● P-0-0097, Absolute encoder monitoring window for measuring encoder
● P-0-0127, Measuring encoder gearbox revolutions, encoder side
● P-0-0128, Measuring encoder gearbox revolutions, mechanical side
● P-0-0179, Absolute encoder buffer, measuring encoder
● P-0-0328, Measuring encoder properties
● P-0-0329, Actual pos. smoothing time constant for measuring encoder
● P-0-0330, Control word of measuring encoder
● P-0-0331, Status of measuring encoder
● P-0-0332, Actual velocity value of measuring encoder
● P-0-0334, Absolute encoder range of measuring encoder
● P-0-0347, Encoder 3, cosine signal
● P-0-0348, Encoder 3, sine signal
● P-0-0765, Modulo factor measuring encoder
● P-0-1022, Absolute encoder offset 3, encoder memory
Pertinent diagnostic messages ● C0291 Incorr. parameterization of measuring enc. (hardware)
● C0292 Measuring encoder unknown
● C0293 Modulo value for measuring encoder cannot be displayed
● C0294 Incorrect measuring encoder configuration
● C0227 Error when initializing position of measuring encoder
● C0228 Initialization velocity measuring encoder too high
● E2076 Measuring encoder: Encoder signals disturbed
● F2043 Measuring encoder: Encoder signals incorrect

The error message F2043 can also be configured as a warning.


In this case, there is no drive-side error reaction. It is then the re‐
sponsibility of the user to initiate an appropriate reaction via the
control master.

● F2076 Actual pos. value 3 outside absolute encoder window


● F2176 Loss of measuring encoder reference
● F2179 Modulo limitation error of measuring encoder
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5.8 Handling, diagnostic and service functions


WARNING Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
● Keep free and clear of the ranges of motion of machines and moving
machine parts.
● Prevent personnel from accidentally entering the machine’s range of
motion (e.g., by safety fence, safety guard, protective covering, light bar‐
rier).
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● In addition, observe the safety message "Protection Against Dangerous
Movements" in the chapter "Safety Instructions for Electric Drives and
Controls".

5.8.1 Parameters, basics


Properties/features of parameters
Brief description
The controller firmware via data maps the drive to an internal mathematical
model. All operating data relevant therefor are mapped to parameters. An
identification number (IDN) is assigned to each parameter. The IDN allows
operating data to be accessed via
● the Engineering Port
- or -
● a master communication interface suited for data transfer.
The operating data stored in parameters can be identified by means of the
IDN. They can be read and transferred, if required. The user write access to
parameters depends on the properties of the respective parameter and the
current communication phase. The drive firmware checks specific parameter
values (operating data) for validity.
Loading, storing and saving parameters
Brief description
Parameters All relevant operating data are mapped to parameters and stored in the con‐
troller.
Data memory Several non-volatile data memories are available in an IndraDrive device:
● In the controller
● In the motor encoder (depending on motor type)
In addition, the controller has a volatile data memory (working memory).
Condition as supplied Condition as supplied of the Rexroth drive components:
● The controller memory contains the drive firmware and the controller-
specific parameter values.
● The motor encoder memory contains the encoder-specific and, depend‐
ing on the motor type, the motor-specific parameter values.
Storing the application-specific pa‐ The application-specific parameter values are stored in the controller. Due to
rameter values the limited number of writing cycles of non-volatile storage media, applica‐
tion-specific parameter values can be stored in the working memory (volatile
memory), too.
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Saving parameter values Saving application-specific parameter values is required in the following ca‐
ses:
● After initial commissioning of the machine axis or the motor
● Before replacing the controller for servicing (if possible)
Application-specific parameter values can be saved via:
● "IndraWorks Ds/D/MLD" commissioning tool → saving the parameter
values on an external data carrier
● Control master → saving the parameter values on a master-side data
carrier
Parameter IDN lists The drive supports master-side saving of parameter values by listing parame‐
ter identification numbers (IDNs). Using these lists guarantees complete stor‐
age of the application-specific parameter values. It is also possible to deter‐
mine IDN lists defined by the customer.
Loading parameter values Parameter values need to be loaded in the following cases:
● Initial commissioning of the motor (loading the default values and motor-
specific parameter values)
● Serial commissioning of machine axes at series machines (loading the
parameter values saved after initial commissioning)
● Reestablishing a defined initial state (repeated loading of the values
saved after initial commissioning)
● Replacing the controller for servicing (loading the current parameter val‐
ues saved before servicing)
Options for loading parameter values to the controller:
● Motor encoder data memory → loading the parameter values by com‐
mand or via the control panel during initial motor commissioning
● "IndraWorks Ds/D/MLD" commissioning tool → loading the parameter
values from an external data carrier
● Control master → loading the parameter values from a master-side data
carrier
Checksum of parameter values By means of checksum comparison, the control master can determine wheth‐
er the values of the application-specific parameter values currently active in
the drive comply with the values saved on the master side.
Pertinent parameters ● S-0-0017, IDN-list of all operation data
● S-0-0192, IDN-list of all backup operation data
● S-0-0262, C07_x Load defaults procedure command
● S-0-0263, C2300 Load working memory procedure command
● S-0-0264, C2200 Backup working memory procedure command
● S-0-0269, Storage mode
● S-0-0270, IDN-list of selected backup operation data
● S-0-0293 , C2400 Selectively backup working memory procedure
command
● S-0-0326, Parameter checksum
● S-0-0327, IDN list of checksum parameter
● S-0-0531, Checksum of backup operation data
● P-0-0013, List of all IDNs not corresponding to default value
● P-0-0660.0.1, Configurable factory default values
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● P-0-4023, C0400 Communication phase 2 transition


● P-0-4065, Active non-volatile memory
● P-0-4090, Configuration for loading default values
Pertinent diagnostic messages Load defaults procedure:
● C0700 Load defaults proced. command (motor-spec. controller val.)
● C0702 Default parameters not available
● C0703 Default parameters invalid
● C0704 Parameters not copyable
● C0706 Error when reading the controller parameters
● C0720 SMO: Load defaults procedure command
● C0721 SMO: Load defaults procedure not possible
● C0722 SMO: Error in load defaults procedure
● C0723 SMO: Error in deactivation
● C0730 Load defaults procedure command (MLD)
● C0740 Command Activate field bus profile settings
● C0743 Error in activation of field bus profile settings
● C0750 Load defaults procedure command (factory settings)
● C0751 Parameter default value incorrect (-> S-0-0423)
● C0752 Locked with password
● C0761 Factory default values incorrect (->S-0-0423)
● C0799 An invalid index was set
Backup working memory procedure:
● C2202 Error when writing data to non-volatile memory
● C2200 Backup working memory procedure command
Load working memory:
● C2300 Load working memory procedure command
● C2301 Error when reading non-volatile memory
● C2302 Error when converting parameters
Selectively backup working memory procedure:
● C2400 Selectively backup working memory procedure command
● C2402 Error when saving parameters
Other diagnostic messages:
● F2100 Incorrect access to command value memory
● F2102 It was impossible to address I2C memory
● F2103 It was impossible to address EnDat memory
IDN lists of parameters
General information
Some of the parameters stored in the drive contain, as their operating data
(parameter value), a list of IDNs of drive parameters corresponding to a spe‐
cific, given criterion. These so-called IDN lists enable the master or a com‐
missioning software to handle drive parameters in a specific way.
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Using a password
Brief description
By means of a password, IndraDrive controllers provide the possibility to pro‐
tect parameter values against accidental or unauthorized change. With re‐
gard to write protection, there are 3 groups of writable parameters:
● Parameters that are generally write-protected, such as motor parame‐
ters, hardware code parameters, encoder parameters, error memory,
etc. ("administration parameters"). The values of these parameters
guarantee the correct function and performance of the drive.
● Parameters the customer can combine in groups and protect them with
a so-called customer password. This allows protecting parameter values
that are used for adjusting the drive to the axis, after having determined
them.
● All other writable parameters and are not contained in the above-men‐
tioned groups. They are not write-protected.
The drive firmware allows activating and deactivating the write protection for
parameter values by means of three hierarchically different passwords:
● Customer password
→ The parameter values of a parameter group combined by the custom‐
er can be protected.
● Control password
→ Parameters protected by a customer password are writable; "adminis‐
tration parameters" remain read-only.
● Master password
→ All writable parameters, including "administration parameters" and pa‐
rameters protected by a customer password, can be changed.

The customer password can be defined by the customer, the con‐


trol password and the master password are defined by the manu‐
facturer!

Pertinent parameters ● S-0-0192, IDN-list of all backup operation data


● S-0-0267, Password
● S-0-0279, IDN-list of password-protected operation data
● P-0-4064, Password level

5.8.2 Central Backup & Restore


Brief description
Fields of application
This function allows managing the device data of a complete CCD group by
means of a central machine archive. The machine archive is stored on the
optional memory card of the CCD master. It is possible to store the active pa‐
rameterization of all drives in the CCD group in centralized form and to re‐
store it, if required, or to load an existing machine archive to another installa‐
tion.
The machine archive contains all the application-relevant data (parameters
according to the list of backup operation data, MLD program, retain variables,
firmware).
There are the following options:
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Overview of the functional scope

● Save, restore or update an MLD project including the MLD retain data
● Save, restore or update the operating data of one or several axes
● Carry out the firmware update
● After a device has been replaced, put the new device into operation with
the configuration of the old device
● Duplicate an existing installation
Overview of functions
Creating a machine archive Using the command C6500, all application-relevant data are centrally stored
on the SD card of the CCD master.
● Backup operation data ("S-0-0192, IDN-list of all backup operation
data")
● MLD application ("P-0-1353, PLC user program area 0" to "P-0-1358,
PLC user program area 5") incl. retain data ("P-0-1359, PLC retain
data"), or boot project from optional memory card
● Retain data of the device ("P-0-0192, Error memory of diagnostic
numbers")
● Firmware

When machine archive is created, the operating data of all CCD


slaves are saved on the SD card of the CCD master. Therefore,
the execution of the command might take several minutes. During
this time, write access to the operating data to be saved should
be avoided to ensure the consistency of the machine archive.
Restoring the device data Using the command "C6600 Restore device data", the device data stored in
the machine archive are automatically restored on all drives of the CCD
group. When the replacement of a device was detected, the data of the ma‐
chine archive in the strict mode are automatically loaded to the replacement
device, before the progression to the operating mode takes place.
Updating the device data It is possible to make available a valid machine archive as an update. These
data are activated in the drives using the command "C6700 Update of device
data".

The update does not modify the retain data.

Hardware requirements
IndraDrive Cs Advanced with SD card required.
Pertinent parameters
● P-0-0665, C6500 Command Archive device data
● P-0-0666, C6600 Command Restore device data
● P-0-0668, Device data archiving, configuration
● P-0-0669, Device data archiving, status
● P-0-0195, IDN list of retain data (replacement of devices)
● P-0-1360, PLC program identifier
● P-0-1518, Module code of control section
● P-0-1521, Programming module identifier
● S-0-0030, Manufacturer version
● S-0-0192, IDN-list of all backup operation data
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● S-0-0531, Checksum of backup operation data


Pertinent diagnostic messages
● C0200 Exit parameterization level procedure command
● C0201 Invalid parameters (->S-0-0423)
to
C0299 Configuration changed. Restart
● C6500 Archive device data
● C6501 Error when creating machine archive
● C6502 Error when reading device data
● C6503 Inconsistent backup of machine archive
● C6600 Restore device data
● C6601 Error when accessing machine archive
● C6602 Error when writing device data
● C6604 Error when reading device data
● C6605 Device data incompletely restored
● C2200 Backup working memory procedure command
● C2202 Error when writing data to non-volatile memory
● E2667 Machine archive is not up-to-date

5.8.3 Diagnostic system


Coded diagnostic messages of the drive
Brief description
The drive provides a diagnostic system including different options that are ba‐
sically divided into two groups:
● Recognizing and displaying the current drive state by means of drive-in‐
ternal, priority-dependent generation of diagnostic messages

With MPx-18 and above, the diagnostic message number is gen‐


erated in accordance with the sercos specification. For this pur‐
pose, the bits 31-24 in the parameter "S-0-0390, Diagnostic
message number" are written, too; these bits were always "0" in
previous versions. In the control panel and in IndraWorks dialogs,
these bits are hidden so the display remains unchanged there.
If the diagnostic messages are to be displayed in S-0-0390 as in
the previous versions, bit 0 has to be set in "P-0-0006, Diagnostic
message configuration".

● Collective messages for various status messages


Additionally, there are parameters for all important operating data the values
of which can be transmitted both via master communication (e.g., sercos)
and a parameterization interface (RS-232/485 in the ASCII protocol or SIS
protocol; see "Serial communication") .
Pertinent parameters ● S-0-0030, Manufacturer version
● S-0-0095, Diagnostic message
● S-0-0140, Controller type
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● S-0-0375, Diagnostic numbers list


● S-0-0390, Diagnostic message number
● S-0-1302.0.3, Application type
(S-0-0142 only exists as a legacy (or alias) parameter for S-0-1302.0.3.)
● P-0-0478, Logbook event
● P-0-0479, Logbook time stamp
Status classes, status displays, control parameters
General information
In the drive there are many parameters with important status information (bit
lists). Some of the bits contained in these lists can be used for configuring re‐
al-time status bits and additionally can be assigned to digital outputs or to the
configurable signal status word.
See "Digital inputs/outputs"
See "Configurable signal status word"
The drive differentiates the error, warning and message states (status
classes).
In the drive there are parameters
● with direct relation to the status of the sequence of different drive func‐
tions (fixed status displays)
● for controlling the drive functions (control parameters)
Operating hours counter
Extended diagnostic possibilities
Brief description
There are operating hours counters available in the drive that separately re‐
cord the operating times for control section and power section. The respec‐
tive operating time is displayed in the parameters P-0-0190 or P-0-0191.
These times are directly stored from the control section or power section so
that assignment is maintained also for servicing.
Pertinent parameters ● S-0-1305.0.1, System time
● S-0-1305.0.2, System fine time
● S-0-1305.0.3, System coarse time

● P-0-0190, Operating hours control section


● P-0-0191, Operating hours power section
The parameter "P-0-0190, Operating hours control section" displays the ope‐
rating time of the control section of the drive. The unit is seconds.
The time the drive has been switched on is considered to be the operating
time of the control section.
The parameter "P-0-0191, Operating hours power section" displays the ope‐
rating time of the power section of the drive with drive enable having been
set. The unit is seconds.
The time during which the output stage has been enabled is considered to be
the operating time of the power section.
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Overview of the functional scope

Before delivery, the operating hours counters are set to a defined


value at the factory. They can therefore indicate the total runtime
of a component in field duty.

In addition, there is an operating hours counter for motors with which the dy‐
namic operating data of the motor are collected and stored.
See the section "Diagnostic data of motor operation"
Error memory (power section and control section)
Brief description
In the drive, all errors occurred are recorded in an error memory on the con‐
trol section. If an error occurs in the power section, it is additionally stored in
a separate error memory on the power section. It is thereby made sure that
the relevant information is still available on the power section after the power
section and control section have been separated.

When an error occurs, the diagnostic message number and the


current count of the operating hours counter are automatically
stored.

Pertinent parameters ● S-0-0390, Diagnostic message number


● P-0-0190, Operating hours control section
● P-0-0191, Operating hours power section
● P-0-0192, Error memory of diagnostic numbers
● P-0-0193, Error memory operating hours of control section
● P-0-0194, Error memory power section

The contents of the parameters P-0-0192 and P-0-0193 are stor‐


ed on the control section. The content of parameter P-0-0194 is
stored on the power section.

Diagnostic data of motor operation


Brief description
For preventive maintenance and service purposes, the firmware provides the
option to collect dynamic operating data of the motor and store them.
The operating hours counter for motors allows planning maintenance inter‐
vals, minimize machine downtimes and reduce maintenance costs.
Features ● Recording the total time during which:
– Operating state "AF" present
– Velocity unequal zero
– Motor temperature is greater than 10 K below the shutdown thresh‐
old (parameter "S-0-0204, Motor shutdown temperature")
● Recording the maximum velocity of the motor in operation
● Determining the average value of the motor velocity in operation
● Recording the maximum temperature of the motor winding in motor op‐
eration
● Determining the average value of the motor winding temperature, refer‐
ring to the duration of the operating status "AF"
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● Determining the operational performance of the motor as a criterion e.g.,


for axis mechanics lubrication intervals.
Pertinent parameters ● S-0-1300.20.12, Serial Number; motor (motor encoder memory version
7)
alias "P-0-2584, Serial Number"
● P-0-2051, Operating hours counter, motor
● P-0-2052, Thermal operating data, motor
● P-0-2053, Mechanical operating data, motor
● P-0-2054, Operational performance, motor; (motor encoder memor ver‐
sion ≥ 4.3)
● P-0-2055, Serial number, motor; (motor encoder memor version 7)

Load preview
Brief description
When operating electric drives, there also is power dissipation when the mo‐
tor delivers power or torque/force. For electrical equipment and electrical
components, there is a maximum allowed operating temperature due to the
materials used up to which the equipment can be operated safely in the long
term. This temperature determines the allowed continuous load of the electri‐
cal components.
Overload capacity The temperature rise of electrical components based on current supply runs
in parallel with their thermal time constants. As long as the maximum allowed
operating temperature has not been reached, an electrical component can be
overloaded, that is to say short-term operation with more than the allowed
continuous load. This causes the temperature rise to occur more quickly but
does not pose a problem as long as the permissible operating temperature is
not exceeded.
If the allowed operating temperature is reached, the overload must be re‐
duced to the allowed continuous load so that the electrical component is not
damaged. Rexroth drives feature overload limiting functions for the various
drive components relevant to performance:
● Motor
● Inverter of the controller
● Braking resistor of the supply unit or converter
Protective functions The functions for protection against inadmissible load are provided on the
hardware or firmware side:
● Hardware-side temperature measurement in the motor windings and at
the controller's heat sink
● Firmware-side temperature model calculation for temperatures at tem‐
perature-sensitive components not measurable on the hardware side.
With hardware-side temperature measurement, only the temperature rise
processes that take place in the seconds range can be recorded; the temper‐
ature rise that takes place more quickly can only be monitored using firm‐
ware-side model calculation anyway.
Overload limitation The high overload capacity of electric drives can only be realized such that
operational safety is ensured by using temperature model calculation and au‐
tomatic overload limits:
● Current limitation by controller temperature model (inverter)
● Current limitation by motor temperature model
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Overview of the functional scope

● Power limitation with braking resistor temperature model


Load preview Limits that intervene automatically do protect the electrical components from
damage, but also affect the torque or power output of the drive and can lead
to shutdown due to resulting errors or rejects during processing. Early detec‐
tion and reporting of threatening limitations is possible with the "load preview"
function for the three temperature model calculations mentioned above:
● Running the machining cycle with the heaviest load
● Determining the difference of the load curve (difference between maxi‐
mum value and start value)
● Determining a threshold value fo the load at which the expected load dif‐
ference is still just possible without reaching the limit
● Signaling when the thermal load has reached the defined threshold val‐
ue.
Pertinent parameters ● P-0-0141, Thermal drive load
● P-0-0441, Thermal drive load warning threshold
● P-0-0446, Thermal motor load
● P-0-0465, Maximum value thermal drive load
● P-0-0466, Maximum value thermal motor load
● P-0-0467, Maximum value thermal load of braking resistor
● P-0-0468, Prewarning threshold of therm. motor load
● P-0-0469, Prewarning threshold of therm. load of braking resistor
● P-0-0844, Thermal load of braking resistor
Pertinent diagnostic messages ● E2051 Motor overtemp. prewarning
● E2061 Device overload prewarning
● E2820 Braking resistor overload prewarning

5.8.4 Control panel


Brief description
IndraDrive controllers are equipped with a control panel.
The control panel fulfills the following 2 main functions:
1. Storing the device data incl. firmware, parameters and retain data. An
optional SD card can be plugged in the optional SD card slot at the left
side of the control panel to obtain memory space that can be used in ap‐
plications.
2. Displaying basic information and executing selected basic functions us‐
ing 4 keys (Up, Down, Enter, Esc).
As a standard, the control panel display shows current operating states, com‐
mand and error diagnostics, as well as any present warnings. In addition, the
display always shows the currently valid master communication address of
the device.
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Fig. 5-69: Control panel of IndraDrive Cs Advanced with optional memory card

Fig. 5-70: Schematic illustration of the IndraDrive Cs control panel


The four keys can be used to display extended diagnostic messages and trig‐
ger simple commands (in addition to master communication, IndraWorks or
NC control). The menus are all in English; any present diagnostic and error
messages are displayed in the language set in parameter "S-0-0265,
Language selection".
Display options of the control pan‐ The display of the IndraDrive controller automatically shows
el
● Status of the master communication
● Operating status
● Commands and diagnostic command messages
● Warnings and diagnostic error messages
● Extended displays such as contents of type designation of firmware ac‐
tive in the device or safety technology code (if safety technology option
available)
Control panel variants There are the following control panel variants
1. Standard control panel
2. Advanced control panel incl. slot for optional memory card
The Advanced control panel is available for Advanced, Basic and
Economy devices. It features an additional memory that makes availa‐
ble a high quantity of retain data for MLD. This function is only available
for Advanced devices.
In addition, the Advanced control panel features an SD card slot for an
optional memory card. When using the opt. memory card, extended
functions are available in the drive:
2.1 Backup and Restore function
2.2 File storage using an FTP server
2.3 Memory space that can be used in applications for MLD (not for
Economy)
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Overview of the functional scope

As a standard, Advanced devices are supplied with an Advanced control


panel, for Basic and Economy devices it can be optionally ordered.
3. VCP operator terminal, optional
As an option, an operator terminal can additionally be connected to the
drive via an Ethernet connection. VR operator terminals are freely pro‐
grammable, i.e. it is possible to implement application-dependent set‐
tings and diagnostic messages.
Setting options using the control The following settings can be made using the control panel:
panel
● Setting the drive address (drive number in the bus system of the master
communication)
● Activating the easy startup mode for initial commissioning
● Setting the master communication protocol
● Setting IP addresses for engineering
Activating commands via the con‐ The following commands can be activated using the control panel:
trol panel
● Activating "S-0-0262, C07_x Load defaults procedure command" (load‐
ing controller parameters or basic parameters)
● Activating other commands, such as:
– C0300 Set absolute position procedure command
– C2000 Command Release motor holding brake
Configuring the control panel The main menu can be reached via the Enter key. The control panel can be
configured to a limited extent:
● It is possible to choose between the edit mode and the view mode of the
control panel.
– "P-0-0680, Control panel: Configuration", bit 14 = 0, Edit Mode,
changes can be made using the control panel.
– "P-0-0680, Control panel: Configuration", bit 14 = 1, View Mode,
editing via the control panel is disabled. If the modification screen
is activated on the display for a datum which basically can be
changed, the "Edit disabled" message is generated, it is impossible
to change the value.
However, a temporary edit mode can be activated by keeping ESC
+ENTER pressed for 8 seconds. If the main menu is started in this
way, parameters can be adjusted as usual.
● Before a value is changed, the additional "OK?" query is displayed. It
has to be confirmed with the ENTER key before a value is actually
changed. This is to prevent accidental changes.
● Bit 15 = "1" in "P-0-0680, Control panel: Configuration" can be used to
deactivate the output of diagnostic texts. In this case, the diagnostic
message number is always output, the diagnostic text is not displayed.

5.8.5 Firmware replacement


Brief description
Basic principles
Explanation of terms The following cases are distinguished for firmware exchange:
● Release update
An old firmware release contained in the device (e.g. MPB20V04) is re‐
placed by a new firmware release (e.g. MPB20V06).
● Version upgrade
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The old firmware version contained in the device is replaced by a new


firmware version (example: MPB18V10 is replaced by MPB20V06).
● Release downgrade
A new firmware release contained in the device (e.g. MPB20V06) is re‐
placed by an old firmware release (e.g. MPB20V04).
● Version downgrade
The new firmware version contained in the device is replaced by an old
firmware version (example: MPB20V06 is replaced by MPB18V10).

The following chapters regarding the release update, release


downgrade, version upgrade und versions downgrade exclusively
apply to devices of the IndraDrive Cs type, as well as control sec‐
tions (CSB02, CSH02, CDB02, CSE02) and IndraDrive Mi
(KSM02, KMS02, KMS03). This information does not apply to
IndraDrive HCQ / HCT, but is described in the separate documen‐
tation "Rexroth IndraMotion MTX micro12VRS System Descrip‐
tion" (DOK-MTXMIC-SYS*DES*V12-PR01-EN-P, mat. no.
R911334369).

Procedure Firmware for IndraDrive can be replaced using the following hardware and
software:
● Computer with FireFox or Internet Explorer web browser or
● Computer with "IndraWorks" software or
● Computer with TFTP client
● IndraMotion Service Tool (IMST) or IndraDrive Service Tool (IDST) (with
MPx18V10 and above)

"IndraMotion Service Tool (IMST)" or "IndraDrive Service Tool


(IDST)" allow accessing the drive system, e.g. for remote diag‐
nostics. Besides, authorized users can handle different service
cases with IMST or IDST, such as replacing drive components,
loading parameters or updating/upgrading the drive firmware.
"IndraMotion Service Tool (IMST)" additionally analyzes drive
systems connected via cross communication (CCD). Further in‐
formation on "IndraMotion Service Tool (IMST)" and "IndraDrive
Service Tool (IDST)" is described in the separate documentation
„Rexroth IndraDrive Service Tools IMST/IDST“ (DOK-IM*MLD-IM‐
STIDSTV13-RE**-EN-P; mat. no. R911342652).

The "IndraWorks" commissioning software can be ordered from


Rexroth.
The scope of supply of "IndraWorks" contains a documentation
which describes the operation of the program.

To be noticed After every firmware replacement (release update/downgrade and version


upgrade/downgrade), check the following parameters for validity:
● P-0-2003, Selection of functional packages
● P-0-4089.0.1, Master communication: Protocol
It might possibly be necessary to set them valid during the first run-up after
the firmware replacement.
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IndraDrive HCQ / IndraDrive HCT The firmware replacement for "IndraDrive HCQ"/"IndraDrive HCT" is descri‐
bed in the documentation "Rexroth IndraMotion, MTX micro 12VRS, System
Description" (DOK-MTXMIC-SYS*DES*V12-PR01-EN-P, material number
R911334369).

Preparations and conditions for firmware replacement


Preparing the firmware replace‐ Make the following preparations for firmware replacement:
ment
1. Drive controller must be on (24 V supply).
2. Drive controller should not be in operating mode (communication
phase 4) [cf. P-0-0115].
3. It is recommended to save the backup parameters before replacing the
firmware (see Functional Description "Loading, storing and saving
parameters").
General notes on how to proceed Observe the following points when carrying out the firmware replacement:
● For firmware replacement via IndraWorks or IndraMotion Service Tool
(IMST) resp. IndraDrive Service Tool (IDST), Ethernet communication
with the drive has to be possible. (IMST and IDST are available with
MPx18V10 and above.)
● Do not switch off the 24 V control voltage while replacing the firmware.
● The firmware replacement always has to be carried out completely.
Communication types The engineering communication works in different ways, depending on the
activated bus system (cf. P-0-4089.0.1). The settings and conditions have to
be made and complied with according to the bus system used. For further in‐
formation see "chapter TCP/IP communication".
Via the programming module, the active IP settings can be viewed or adjus‐
ted, if necessary (see Functional Description "Standard control panel").

After the IP settings have been changed, the device has to be re‐
started to activate the settings. If several devices have been con‐
nected via the master communication bus, you have to make sure
that an unequivocal IP address is assigned to each node.

IP configuration in the Easy Menu See Functional Description "Standard control panel"

IP settings on the computer See Microsoft help, keyword "LAN connection"


Firmware release update
General information
Before the firmware release update, it is recommended to save the backup
parameters of the drive!

If the firmware is replaced for a device with active Safe Motion,


this procedure has to be recorded in the machine logbook, togeth‐
er with the axis identifier (P-0-3235.0.1), configuration type data
(P-0-3234.0.1) and parameterization type data (P-0-3234.0.4).
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Firmware release update with a computer

If the safety technology options Sx (S3, S4, S5, SB, SD) are
used, the system checks whether firmware and parameter set are
compatible. This prevents the safety technology from being oper‐
ated with an incompatible parameter set. Incompatible changes
typically do not occur in the case of a release update. In the case
of an incompatibility, it is possible to either
● continue with the existing parameterization by reloading the
originally available firmware, or
● continue with the new firmware by means of initial commis‐
sioning (incl. loading of basic parameters for SMO contained
therein)

1. Connect the drive to the computer (recommended: Cat5e Ethernet ca‐


ble)
2. Load firmware
There are three possibilities of performing a firmware release update us‐
ing a computer:
● Using IndraWorks
● With a TFTP client
● Via the supplied web interface IMST or IDST.
This option only applies to firmware updates of MPx18V10 and
above; IMST and IDST are not available for older versions.
1. Firmware download with IndraWorks
1.1 Call "IndraWorks".
1.2 Load project for the corresponding axis or create new proj‐
ect; to do this, address axis via Ethernet.
1.3 Switch project "online".
1.4 Select/highlight controller and call "Firmware management"
in context menu.
A new window opens and firmware currently available in
drive is displayed.
1.5 Highlight new firmware (*.ibf file) in the upper part of the di‐
alog and start firmware download via "Download" button.
Firmware download runs automatically and all required
firmware components are loaded to drive.
1.6 After firmware download has been completed, close "Firm‐
ware management" window.
2. Firmware download with a TFTP client
2.1 The firmware update service is made available via a TFTP
server. The command for transmitting the firmware is the
"put" command. The TFTP client has to transmit the file in
the binary format.
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Overview of the functional scope

It is possible to carry out a firmware release update without


IndraWorks with any TFTP client supporting this command (e.g.,
Windows command line program "tftp.exe").
Example (with "Microsoft Windows consoles TFTP client"):
To carry out a firmware release update, only a "put" request is
transmitted. Do not use an optional alternative name for the file
on the target. The IP address of IndraDrive has to be specified as
the target (the standard is 192.168.0.1): tftp -i
192.168.0.1 put FWA-INDRV_-MPB-17V12-D5.ibf
The parameter "-i" means that the file is to be transmitted in bina‐
ry form.

See also Functional Description: "Firmware download via


TFTP server"
3. Firmware download with IMST/IDST (with MPx18V10 and above)
3.1 Enter IP address of IndraDrive in web browser
3.2 Log in as service user at web interface
3.3 In navigation tree on the left side select "Firmware update"
dialog in "Service" folder
3.4 Select new firmware by clicking "Search" button, firmware
update is started by clicking download button
3. Restart drive
At the end of the update, IndraWorks and IMST/IDST automatically pro‐
vide the option to restart IndraDrive using the reboot command
S-0-1350. As an alternative, IndraDrive can be restarted by resetting the
control voltage
4. Put machine into ready-for-operation status again according to machine
manufacturer's instructions.
5. Check functions of the drive.
6. For axes with active Safe Motion: Record the firmware replacement in
the machine logbook, together with the axis identifier (P-0-3235.0.1),
configuration type data (P-0-3234.0.1) and parameterization type data
(P-0-3234.0.4).

Firmware version upgrade


General information
When firmware in a drive controller is replaced by firmware of a more recent
version, this is called firmware version upgrade (e.g., FWA-INDRV*-
MPB-18V10-D5 replaced by FWA-INDRV*-MPB-20V06-D5).

Before the firmware version upgrade is carried out, all parameters


have to be saved (e.g., with "IndraWorks"). After the firmware has
been replaced, the command "C07_1 Load defaults procedure
command (factory settings)" is automatically executed. To bring
the drive controller to the ready-for-operation state again, the pa‐
rameter values have to be restored by loading the parameter file
saved before.
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Overview of the functional scope

Saving parameter values


Before the firmware upgrade, all application-specific parameter values have
to be saved on a data carrier. The parameter backup can be carried out by
means of:
● "IndraWorks" commissioning software
→ Saving parameter values on external data carrier
- or -
● IndraMotion Service Tool (IMST) or IndraDrive Service Tool (IDST) (with
MPx18V10 and above)
→ Saving parameter values on external data carrier
- or -
● Control master
→ Saving parameter values on master-side data carrier
Version upgrade with "IndraWorks"
Requirements The following requirements should have been fulfilled in order that carrying
out the firmware version upgrade with "IndraWorks" makes sense:
● Existing Ethernet connection between PC and drive controller
● The current parameterization of the axis was saved.

When upgrading from MPB16VRS to MPB17VRS, for example,


the error F8100 is sometimes generated during the drive control‐
ler's first run-up. This error can be cleared via the display and will
not occur again during the next booting process.

Firmware upgrade with Carrying out the firmware version upgrade with "IndraWorks" requires the fol‐
"IndraWorks" lowing steps:
1. Load firmware
1.1 Call "IndraWorks".
1.2 Load project for the corresponding axis or create new project; to
do this, address axis via Ethernet.
1.3 Switch project "online".
1.4 Select/highlight controller and call "Firmware management" in
context menu.
A new window opens and firmware currently available in drive is
displayed.
1.5 Highlight new firmware (*.ibf file) in the upper part of the dialog
and start firmware download via "Download" button.
Firmware download runs automatically and all required firmware
components are loaded to drive.
1.6 After firmware download has been completed, close "Firmware
management" window.
1.7 Reboot drive controller
2. Put drive into ready-for-operation state
⇒ Switch project "online"!
After project has been switched "online", a message sometimes signals
that "IndraWorks" could not establish communication to drive via
Ethernet interface, as drive-internal settings for Ethernet communication
were reset.
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⇒ In this case, reconfigure communication via "Search for devices" but‐


ton!
⇒ As firmware in drive no longer complies with version stored in project,
a corresponding message is displayed. Select desired option in dialog to
make drive available in project again and allow reestablishing communi‐
cation to device.
⇒ Manually set functional package and master communication protocol
via corresponding parameters.
⇒ Activate command "C0750 Load defaults procedure command (facto‐
ry settings)". All buffered parameters are thereby set to their default val‐
ues.

For axes with active Safe Motion, the parameterization of the old
firmware version can be applied. For this purpose, the scaling of
the command "C0750 Load defaults procedure command (factory
settings)" has to be set to without "Safe Motion (SMO)" in
"P-0-4090, Configuration for loading default values". The Safe
Motion then remains active even in the case of a version upgrade,
and it is not necessary to recommission Safe Motion or repeat the
acceptance test.
With active Safety bus communication, the device data sheets
have to be updated in the safety control.

3. Load parameter values


⇒ Load parameter file which was saved!
⇒ Switch off drive and restart it so that the parameterization becomes
active.
4. Put machine into ready-for-operation state
⇒ Put machine into ready-for-operation state again according to ma‐
chine manufacturer's instructions!
⇒ Check functions of drive!
Firmware release downgrade
General information
Before the firmware release downgrade, it is recommended to save the back‐
up parameters of the drive!

If the firmware is replaced for a device with active Safe Motion,


the saving of the parameters has to be recorded in the machine
logbook, together with the axis identifier (P-0-3235.0.1), configu‐
ration type data (P-0-3234.0.1) and parameterization type data
(P-0-3234.0.4).
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If the safety technology options Sx (S3, S4, S5, SB, SD) are
used, the system checks whether firmware and parameter set are
compatible. This prevents the safety technology from being oper‐
ated with an incompatible parameter set ("C0213 SMO: Incorrect
parameterization" or "C8214 SMO: Incorrect configuration"). In‐
compatible parameter sets are involved when using Safe Motion
functions no longer available in the currently loaded firmware (old
firmware release).
In the case of an incompatibility, there are two options:
● Either continue with the existing parameterization by reload‐
ing the originally available firmware,
● or perform the complete initial commissioning with the new
firmware, including the loading of the basic parameters for
SMO.

Firmware release downgrade with a computer


To carry out the firmware release downgrade, please refer to the description
of the firmware release update. (chapter "Firmware release update with a
computer" on page 354)
Firmware version downgrade
General information
When firmware in a drive controller is replaced by firmware of an older ver‐
sion, this is called firmware version downgrade (e.g., FWA-INDRV*-
MPB-20V06-D5 replaced by FWA-INDRV*-MPB-18V10-D5).

Before the firmware version downgrade is carried out, all parame‐


ters have to be saved (e.g., with "IndraWorks"). After the firmware
has been replaced, the command "C07_1 Load defaults proce‐
dure command (factory settings)" is automatically executed. To
bring the drive controller to the ready-for-operation state again,
the parameter values have to be restored by loading the parame‐
ter file saved before.

Saving parameter values


Before the firmware version downgrade, all application-specific parameter
values have to be saved on a data carrier. The parameter backup can be car‐
ried out by means of:
● "IndraWorks" commissioning software
→ Saving parameter values on external data carrier
- or -
● IndraMotion Service Tool (IMST) or IndraDrive Service Tool (IDST) (with
MPx18V10 and above)
→ Saving parameter values on external data carrier
- or -
● Control master
→ Saving parameter values on master-side data carrier
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Overview of the functional scope

Firmware version downgrade with "IndraWorks"


Requirements The following requirements should have been fulfilled in order that carrying
out the firmware version downgrade with "IndraWorks" makes sense:
● Existing Ethernet connection between PC and drive controller
● The current parameterization of the axis was saved.
Firmware version downgrade with Carrying out the firmware version downgrade with "IndraWorks" requires the
"IndraWorks" following steps:
1. Load firmware
1.1 Call "IndraWorks".
1.2 Load project for the corresponding axis or create new project; to
do this, address axis via Ethernet.
1.3 Switch project "online".
1.4 Select/highlight controller and call "Firmware management" in
context menu.
A new window opens and firmware currently available in drive is
displayed.
1.5 Highlight new firmware (*.ibf file) in the upper part of the dialog
and start firmware download via "Download" button.
Firmware download runs automatically and all required firmware
components are loaded to drive.
1.6 After firmware download has been completed, close "Firmware
management" window.
1.7 Reboot drive controller

For axes with active Safe Motion, the axis after the booting proc‐
ess detects an incompatible SMO parameter image and gener‐
ates the error "F8324 SMO: Error in activation". The incompatible
SMO parameter image can be deleted with the command "C0720
SMO: Load defaults procedure command" or within the scope of
the "C0750 Load defaults procedure command (factory settings)".
Afterwards, the Safe Motion has to be recommissioned.
Unless the command "C0720 SMO: Load defaults procedure
command" or "C0750 Load defaults procedure command (factory
settings)" has been started, the SMO parameter image is still
completely available. If the axis is downgraded to the original firm‐
ware version, the axis can be operated without recommissioning
the Safe Motion.

2. Put drive into ready-for-operation state


⇒ Switch project "online".
After project has been switched "online", a message sometimes signals
that "IndraWorks" could not establish communication to drive via
Ethernet interface, as drive-internal settings for Ethernet communication
were reset.
⇒ In this case, reconfigure communication via "Search for devices" but‐
ton!
⇒ As firmware in drive no longer complies with version stored in project,
a corresponding message is displayed. Select desired option in dialog to
make drive available in project again and allow reestablishing communi‐
cation to device.
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⇒ Manually set functional package and master communication protocol


via corresponding parameters.
⇒ Activate command "C0750 Load defaults procedure command (facto‐
ry settings)". All buffered parameters are thereby set to their default val‐
ues.
3. Load parameter values
⇒ Load parameter file which was saved.
⇒ Switch off drive and restart it so that the parameterization becomes
active.
4. Put machine into ready-for-operation state
⇒ Put machine into ready-for-operation state again according to ma‐
chine manufacturer's instructions.
⇒ Check functions of drive.
Possible problems during firmware replacement
General information After an incomplete firmware update, the drive controller possibly is no longer
operable.
Firmware replacement is carried out incompletely, if one of the following sit‐
uations occurs during the sequence of firmware replacement:
● 24 V supply of control section is switched off
● Connection to drive is interrupted (e.g., defective interface cable)
● Update software / computer crashes
If there is no valid firmware available in the control section, the loader is star‐
ted. The text "LOADER active! IP address: 192.168.0.1" appears on the dis‐
play in light writing. With the loader, it is possible to replace the firmware of
the control section.

Upon successful firmware replacement in the control section, a


restart has to be carried out.
Firmware replacement in control The following steps are required for loading the firmware to the control sec‐
section in the case of error tion in the case of error:
1. Call "IndraWorks".
2. In menu, call firmware management under Tools drive ▶ Firmware
management.
A new window opens in which firmware file last used is displayed on
PC.

3. Select the "Download via Ethernet" tab.


4. Set IP address "192.168.0.1".
5. Highlight desired firmware (*.ibf file) and start firmware download via
Download button.
6. Firmware download runs automatically and all required firmware compo‐
nents are loaded to drive.
7. After firmware download has been completed, close "Firmware manage‐
ment" window.
8. Restart drive.
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Overview of the functional scope

5.8.6 Optional memory


Brief description
Fields of application When MLD is used, the external memory card is particularly important. The
drive-integrated PLC can also be used without the memory card, but in this
case some options are missing, such as the loading of source code. If an ex‐
ternal memory card is used for the options of MLD, the memory card has to
have been plugged before the drive is started.
The external memory card provides the following options for MLD:
● Storing the source code of a PLC application
● Restoring a PLC project from the loaded source code
● Accessing file level via FTP server
● Using a web application via web server
● Expanded MLD project (4 MB of memory space)
● Backup & Restore of the operating data (retain data, parameters)
● MLD programs can use memory to store user data
Overview of functions With MPx20 (MPC20 / MPB20) and above, the file system is available with
MLD if a µSD card has been plugged. The optional memory serves as a
backup memory. If a memory card has been plugged when the device is boo‐
ted up, the card is checked for a valid partition. Besides, the following folders
are created as a standard, unless they had already ben created:

Folder Significance
This directory is reserved for user files which can be
USER accessed from the PLC via FTP or using the
IndraWorks file Explorer.
PLC Storage location of files managed by IndraLogic
Internal memory of the Backup & Restore function for
Backup
retain data and parameters
Can be employed by the user to store machine-specific
Documentation
documentation of their installation/machine
Tools The user can store tools in this directory.
Temp Folder is at free disposal, contains temporary files

Tab. 5-82: List of automatically created folders


It is impossible to use a memory card plugged during operation. To use the
memory card, the device has to be restarted. This can be done, for example,
via "S-0-1350, C6400 reboot command".
Features ● Using a partition
● Capacity limited to a max. of 2 GB
● Only Bosch Rexroth SD cards are allowed
Hardware requirements HCS devices in Basic and Advanced design
HMS devices in Basic and Advanced design
Pertinent parameters ● P-0-1521 Programming module identifier
● P-0-4066 Card Identification Data
Pertinent diagnostic messages ● C6500 Archive device data
● C6600 Restore device data
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Overview of the functional scope

● C6700 Update of device data


● F2101 File system structure error on the memory card
● F2120 Memory card could not be initialized

5.8.7 Replacing the controller


Overview
A controller of the IndraDrive range consists of the components power sec‐
tion, control section and programming module / control panel (incl. firmware).
The control section can be configured with additional components (e.g., op‐
tional safety technology module). The control section and power section are
firmly connected to each other; only Rexroth service engineers or especially
trained users are allowed to replace individual components. The paragraphs
below describe how to replace the complete drive controller.

The controller has to be replaced by a device of identical type.


This is the only way to ensure that the originally configured func‐
tions can be used in unchanged form.
When using devices with integrated safety technology, make sure
by organizational measures that only an authorized person repla‐
ces the device, e.g., by a lockable control cabinet. Also make
sure that the device replacement is not carried out for several ax‐
es at a time to avoid accidentally interchanging the axes.

A device intended for replacement that has already been in oper‐


ation (thus is not in the factory-new condition as supplied), has to
be brought to the condition as supplied again ["load defaults pro‐
cedure (factory settings)", command C0750] before it is used.

The figure below illustrates the basically required individual steps.

Fig. 5-71: Sequence of drive controller replacement

"IndraMotion Service Tool (IMST)" or "IndraDrive Service Tool


(IDST)" allow accessing the drive system, e.g. for remote diag‐
nostics. Besides, authorized users can handle different service
cases with IMST or IDST, such as replacing drive components,
loading parameters or updating/upgrading the drive firmware.
"IndraMotion Service Tool (IMST)" additionally analyzes drive
systems connected via cross communication (CCD). Further in‐
formation on "IndraMotion Service Tool (IMST)" and "IndraDrive
Service Tool (IDST)" is described in the separate documentation
„Rexroth IndraDrive Service Tools IMST/IDST“ (DOK-IM*MLD-IM‐
STIDSTV13-RE**-EN-P; mat. no. R911342652).
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Overview of the functional scope

How to proceed when replacing drive controllers


Replacing the drive controller and 1. Open the main switch
the programming module
2. Make sure the main switch cannot be switched on again.
3. Make sure drive controller is de-energized.
WARNING! Lethal electric shock from live parts with more than 50 V!
Before working on live parts: De-energize system and secure power
switch against unintentional or unauthorized reconnection. Wait at least
30 minutes after switching off the supply voltages to allow discharging.
Make sure voltage has fallen below 50 V before touching live parts.
4. Separate connection lines from controller.
5. Dismount drive controller from control cabinet.
6. Dismount programming module / control panel
● With IndraDrive C/M/Cs: Pull off programming module / control
panel from defective device.
● With IndraDrive Mi: Remove programming module (X107) from de‐
fective device, note down positions of address selector switches
S4 and S5 (address selector switches below connections X103.1
and X103.2).
7. Mount programming module / control panel
● With IndraDrive C/M/Cs: Plug programming module / control panel
of defective device onto new controller.
● With IndraDrive Mi:
1. Set the address selector switches in the same way as for the
defective device.
2. Dismount cover above slot X107.
3. Plug programming module of defective device onto replace‐
ment device.
4. Mount cover above slot X107.
NOTE: Damage to the programming module caused by pene‐
trating dirt or moisture. When mounting the cover of X107,
make sure that the sealing ring is undamaged and is seated
correctly.
8. Mount new controller.

The controller has to be replaced by a device of identical type.


This is the only way to ensure that the originally configured func‐
tions can be used in unchanged form.

9. Connect device according to machine circuit diagram


Putting drive controller and ma‐ 1. Restore control voltage.
chine into ready-for-operation
state 2. Put machine into ready-for-operation state again according to the ma‐
chine manufacturer's instructions.
3. Activate safety technology (only with active Safe Motion with Sx option)
With single-axis devices, the following message appears on the display
of the control panel during the booting process:
"Load new Safety?"
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With double-axis devices, the following message appears on the display


of the control panel during the booting process:
".1 Load new Safety?" for Axis 1 or ".2 Load new Safety?" for Axis 2
Pressing the "Enter" key at the control panel acknowledges the mes‐
sage. The safety technology parameters are now loaded from the con‐
trol panel to memory of the optional safety technology module.

IndraDrive Mi does not feature a control panel; this is why the pa‐
rameter image of safety technology has to be activated by execut‐
ing the command "P-0-3231.0.3, C8300 SMO: Command Activate
parameter image", e.g., using IndraDrive Service Tool (IDST).
The error "F8330, SMO: Configuration data record has not been
activated" generated during boot-up signals that the active image
identifier on the programming module does not comply with the
image identifier that was stored on the safety technology hard‐
ware. After the command C8300 has been successfully executed,
the error must be cleared by the "clear error" command (C0500).
The command execution is described in the Functional Descrip‐
tion of the firmware, see chapter "Command processing".

4. Check functions of the drive.


5. Check safety technology parameters (only with active Safe Motion with
Sx option)
Completing the process, it is necessary to check, with activated safety
technology, whether the correct safety technology parameters have
been loaded for the drive.
The replacement of the device has to be recorded in the machine log‐
book. For this purpose, the data of the following safety technology pa‐
rameters have to be accordingly documented and checked for correct‐
ness (these data can be queried via the control panel in the "SMO Info"
menu; for IndraDrive Mi, the data have to be read, e.g. by means of the
IndraDrive Service Tool (IDST), because IndraDrive Mi does not feature
a control panel):
● P-0-3230, SMO: Password level
● P-0-3235.0.1, SMO: Active axis identifier
● P-0-3234.0.1, SMO: Configuration checksum
● P-0-3234.0.2, SMO: Operating hours at last change of
configuration
● P-0-3234.0.3, SMO: Configuration change counter
● P-0-3234.0.4, SMO: Parameterization checksum
● P-0-3234.0.5, SMO: Operating hours at last change of
parameterization
● P-0-3234.0.6, SMO: Parameterization change counter
Possible problems during controller replacement
Display defective or programming If the programming module / the display is defective, the parameter values
module defective saved after initial commissioning must be loaded.
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Overview of the functional scope

NOTICE The parameter values saved after initial com‐


missioning are not generally suited for rees‐
tablishing the operatability of the drive after a
device has been replaced!
Check actual position values and active target position before setting drive
enable!

When firmware and drive parameters are to be transmitted to the replace‐


ment controller, the required firmware and a parameter backup of the respec‐
tive axis must be available.
1. Reestablish the control voltage supply of the controller.
2. Carry out firmware update, see also chapter "Firmware replacement"
3. Via the "IndraWorks" commissioning tool or the control master, load pa‐
rameter file to controller:
● "IndraWorks" commissioning tool
Load parameter values saved after initial commissioning to control‐
ler.
● "IMST" or "IDST" service tools
Load parameter values saved after initial commissioning to control‐
ler.
● Control master
Load axis-specific parameter values saved after initial commission‐
ing [according to list parameters "S-0-0192, IDN-list of all backup
operation data" and "P-0-0195, IDN list of retain data (replacement
of devices)"].

With active Safe Motion, initial or serial commissioning of the


drive controller is required after the programming module has
been replaced!

In the case of drives with absolute value encoder and modulo for‐
mat, the position data reference has to be established again after
having loaded the parameter values saved after initial commis‐
sioning, even if the actual position values are signaled to be valid
via the parameter "S-0-0403, Position feedback value status"!

5.8.8 Enabling functional packages


Brief description
The user can scale the scope of functionality of the IndraDrive firmware. This
allows the scope of firmware functions to be adjusted to the respective re‐
quirements and, if necessary, reduced in its complexity.
The drive functionality is scaled by licensing (enabling) optional expansion
packages that are available in addition to the standard base package of the
respective IndraDrive firmware.
See also "Overview of functions/functional packages"
Features ● Activated functional packages displayed in parameter "P-0-2004, Active
functional packages"
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Overview of the functional scope

● Firmware type designation in parameter "S-0-0030, Manufacturer


version"dynamically adjusted to the active functional packages dis‐
played in P-0-2004
● Functional packages activated/deactivated via parameter
● Count of operating hours counter at last change of access enable is
stored
Pertinent parameters ● S-0-0030, Manufacturer version
● S-0-1350, C6400 reboot command
● P-0-2002, Oper. hours of contr. sect. at change of functional packages
● P-0-2003, Selection of functional packages
● P-0-2004, Active functional packages
Pertinent diagnostic messages ● C0202 Parameter limit error (->S-0-0423)
● C0299 Configuration changed. Restart

5.8.9 Extended diagnostic functions


Logbook function
Brief description
A logbook function is realized in the drive firmware in order to obtain a de‐
tailed diagnostic error message in the case of error. The information provided
by the logbook function allows the internal firmware sequence to be repro‐
duced, if required.
Pertinent parameters ● P-0-0478, Logbook event
● P-0-0479, Logbook time stamp
Patch function
Brief description
The patch function can be used for reading and writing any storage location
(or internal variable) as a data object via the master communication, the ana‐
log output or the oscilloscope function.
In conjunction with the analog output or the oscilloscope function, this func‐
tionality can be used for locating errors.
The PLC patch function serves for diagnosis of internal signal states and in‐
ternal data of the PLC by developers and instructed users.

When using the patch display in the oscilloscope you have to take
into account that first the patch address and then the oscilloscope
signal is assigned. This has to be repeated after every change in
the patch address.

As it is a function for exclusive use by the development staff, the


patch display parameters P-0-0485 and P-0-0491 are write-pro‐
tected with the master password.
The configuration parameters of the patch function are not stored
in the flash, but are lost when the drive is switched off.

Pertinent parameters General patch function:


● P-0-0480, Patch function 1, source pointer
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● P-0-0481, Patch function 1, attribute


● P-0-0482, Patch function 1, bit mask
● P-0-0483, Patch function 1, exponent
● P-0-0485, Patch function 1, display
● P-0-0486, Patch function 2, source pointer
● P-0-0487, Patch function 2, attribute
● P-0-0488, Patch function 2, bit mask
● P-0-0489, Patch function 2, exponent
● P-0-0491, Patch function 2, display
RMS value generator in the drive
Brief description
Fields of application
To evaluate the thermal load of drive controller and motor over a machine cy‐
cle, the total rms value of the output current of the output stage is the deci‐
sive characteristic value.
Overview of functions
The drive cyclically generates the rms value of the output current of the out‐
put stage. Via a control bit, the beginning and the end of the cycle are de‐
fined.
Pertinent parameters
● P-0-0610, Control word of current rms value generator
● P-0-0611, Current rms value
Pertinent diagnostic messages
None

5.8.10 Oscilloscope function


Brief description
The oscilloscope function can be used to record drive-internal and external
status variables (parameter contents). This function can be effectively used
both for initial commissioning and debugging. Its functionality can be com‐
pared to that of a 4-channel oscilloscope.
The total scope of the oscilloscope function is divided into the following func‐
tion blocks:
● Measured value recording
It is possible to record 8 channels at the same time, the signals being
selected by configuring signal selection lists (IDN lists).
● Configuration (basic settings)
The control/status block determines the basic functions (start/stop, time
resolution, size of memory, operation mode). The current status (status
diagram) of the oscilloscope is continuously transmitted to the master.
● Trigger function
Besides extensive trigger functions, the drive provides the possibility of
triggering at different signals and events in the drive.
Features The oscilloscope function is characterized by the following features:
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● Measured value recording


– Up to 8 channels with up to 8192 measured values each (the total
should not exceed 32,768 measured values)
– Time resolution to be freely selected in steps of the position con‐
troller clock (see "Performance data")
– Signal selection by indicating the IDN of the respective parameter
– Data of the SMO option Sx (S3, S4, S5, SB and SD) can at maxi‐
mum be updated and recorded in the cycle time of the SMO appli‐
cation cycle (t = 1 ms)
● Configuration (basic settings)
– Multi-channel display in "IndraWorks Ds/D/MLD"
– More than 100 different measuring and trigger signals (cf.
P-0-0149)
– Up to 4 PLC variables can be recorded using PLC patch variables
– Expanded oscilloscope function using 2 patch functions
– Expanded oscilloscope function using 2 average value filters for
display
● Trigger function
– Trigger signal selection by indicating the parameter IDN
– Internal trigger or external trigger
– External trigger with trigger offset determination for synchronizing
multiple-axis measurements
– Unit of trigger level adjusting to trigger signal selection
– Possibility of triggering at internal memory contents with patch sig‐
nal
– Possibility of triggering at PLC variable with patch signal
– Time stamp for trigger time is mapped to parameter "P-0-0035.0.1,
Oscilloscope: Trigger time".
● Trend mode
It is possible to switch from a single measurement (Single Shot) to a
continuous measurement (trend mode).
– Recording of up to 4 channels in a cyclic mode
– Signal selection via the previous parameters
– Values are administrated in a buffer memory and cyclically called
– IndraWorks can read this buffer memory and display it continuous‐
ly
– Setting of time resolution and signal selection only in trend mode
that has been switched off
– Allowed time resolutions have to be multiples of 2 ms
– Single Shot mode cannot be used in parallel
Pertinent parameters ● P-0-0020, Oscilloscope: Operation mode
● P-0-0136, Oscilloscope: Manual trigger signal
● P-0-0279, Oscilloscope: Trend mode, time resolution
● P-0-0280, Oscilloscope: Trend mode, list of measured values
Control/status:
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● P-0-0028, Oscilloscope: Control word


● P-0-0029, Oscilloscope: Status word
● P-0-0031, Oscilloscope: Time resolution
● P-0-0032, Oscilloscope: Size of memory
● P-0-0149, Oscilloscope: Signal selection list
● P-0-0150, Oscilloscope: Number of valid measured values
Measuring channels:
● P-0-0021, Oscilloscope: List of measured values 1
● P-0-0022, Oscilloscope: List of measured values 2
● P-0-0023, Oscilloscope: Signal selection 1
● P-0-0024, Oscilloscope: Signal selection 2
● P-0-0145, Oscilloscope: List of measured values 3
● P-0-0146, Oscilloscope: List of measured values 4
● P-0-0147, Oscilloscope: Signal selection 3
● P-0-0148, Oscilloscope: Signal selection 4
● P-0-0274, Oscilloscope: List of measured values 5
● P-0-0275, Oscilloscope: List of measured values 6
● P-0-0270, Oscilloscope: Signal selection 5
● P-0-0271, Oscilloscope: Signal selection 6
● P-0-0276, Oscilloscope: List of measured values 7
● P-0-0277, Oscilloscope: List of measured values 8
● P-0-0272, Oscilloscope: Signal selection 7
● P-0-0273, Oscilloscope: Signal selection 8
Trigger function:
● P-0-0025, Oscilloscope: Trigger mask
● P-0-0026, Oscilloscope: Trigger signal selection
● P-0-0027, Oscilloscope: Trigger level
● P-0-0030, Oscilloscope: Trigger edge
● P-0-0033, Oscilloscope: Number of measured values after trigger event
● P-0-0035, Oscilloscope: Trigger control offset
● P-0-0036, Oscilloscope: External trigger signal
● P-0-0037, Oscilloscope: Internal trigger signal

5.8.11 Options for integrated energy and power measurement


Brief description
Fields of application
Mounting energy costs increasingly require the project planning of automa‐
tion systems to conform with energy efficiency. To discover energy saving
potentials, it is of crucial significance to analyze the energy consumption of
the individual system components. For this purpose, the IndraDrive system
makes available specific energy and power values which allow analyzing and
evaluating the energy consumption on the drive level.
As a standard, the IndraDrive system provides this function in its basic con‐
figuration. By using IndraDrive, installations in the industrial production auto‐
mation can therefore benefit from this functionality, independently of their re‐
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spective industrial sector and by deriving measures of increase in energy effi‐


ciency from the measured variables.
Overview of functions
The figure below shows an overview of the energy and power values of the
IndraDrive system for a single-axis system.

Fig. 5-72: Energy and power values of the IndraDrive system


We distinguish between
● axis-related values (S-0-0385, S-0-0382, P-0-0819, P-0-0851) and
● device-related values (P-0-0382, P-0-0383, P-0-0384).
The energy and power requirements of an individual axis can be determined
by means of the above axis-related values. These parameters are available
in each axis. Mains-side energy and power values are device-related and on‐
ly available for converters. They can be used to determine the total power re‐
quirements of a drive system.
Features
● Determining the axis-specific power requirement
● Calculating the motor power dissipation
● Determining the total energy absorption of a drive system
● Drawing up a power balance of the drive system
● Discovering optimization potentials for saving energy
● Determining the maximum mains input current (HCS01.1E-W0054 only)
● Including the energy and power values in IndraWorks is possible
● Depicting dynamic power processes in the position controller cycle
Hardware and software requirements
The availability of the energy and power values depends on the hardware:
● Axis-related values are axis parameters and available for all IndraDrive
devices: S-0-0385, S-0-0382, P-0-0851 and P-0-0819.
● Mains-side values are device parameters and therefore only available
for converters: P-0-0382, P-0-0383 und P-0-0384. The significance of
the displayed value depends on the topology and available sensors: On‐
ly converters without DC bus connection or converters which do not
supply any other inverters via the DC bus, and the HCS01.1E-W0054
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device, provide correct values. In all other cases, the mains-side values
cannot be calculated due to the restricted sensor system. The displayed
values are not correct. For an overview of the availability of the energy
and power values depending on the hardware used, see chapter "Deter‐
mining the energy and power values" .

In order that the energy and power values are correctly displayed,
it is obligatory to activate the output stage compensation. For this
purpose, set bit 5 of parameter "P-0-0045, Control word of current
controller".

Pertinent parameters
● S-0-0040, Velocity feedback value of encoder 1
● S-0-0084, Torque/force feedback value
● S-0-0109, Motor peak current
● S-0-0110, Amplifier peak current
● S-0-0111, Motor current at standstill
● S-0-0380, DC bus voltage
● S-0-0381, DC bus current
● S-0-0382, DC bus power
● S-0-0383, Motor temperature
● S-0-0385, Motor power
● S-0-0533, Nominal torque/force of motor
● S-0-0534, Maximum torque/force of motor
● P-0-0043, Torque-generating current, actual value
● P-0-0044, Flux-generating current, actual value
● P-0-0045, Control word of current controller
● P-0-0051, Torque/force constant
● P-0-0063, Torque-generating voltage, actual value
● P-0-0064, Flux-generating voltage, actual value
● P-0-0065, Absolute voltage value, actual value
● P-0-0114, Undervoltage threshold
● P-0-0382, Mains power
● P-0-0383, Mains energy counter
● P-0-0384, Short-term mains energy counter
● P-0-0440, Actual output current value (absolute value)
● P-0-0450, Current torque/force constant
● P-0-0532, Premagnetization factor
● P-0-0556, Config word of axis controller
● P-0-0819, Energy counter
● P-0-0833, Braking resistor threshold
● P-0-0851, Short-time energy counter
● P-0-0853, Max. DC bus voltage, motor
● P-0-0860, Converter configuration
● P-0-4048, Stator resistance
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Pertinent diagnostic messages


None

5.9 Engineering/diagnostic interfaces


WARNING Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
● Keep free and clear of the ranges of motion of machines and moving
machine parts.
● Prevent personnel from accidentally entering the machine’s range of
motion (e.g., by safety fence, safety guard, protective covering, light bar‐
rier).
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● In addition, observe the safety message "Protection Against Dangerous
Movements" in the chapter "Safety Instructions for Electric Drives and
Controls".

5.9.1 IndraMotion Service Tool (IMST), IndraMotion Diagnostic Tool (IDST)


"IndraMotion Service Tool (IMST)" and "IndraMotion Diagnostic Tool (IDST)"
are web-based applications that allow access to a drive system via an
Ethernet connection.
Original Equipment Manufacturers (OEM), end users and customer advisors
can access the drive system with the help of IMST or IDST, in order to carry
out remote diagnoses for example. Besides, authorized users can handle dif‐
ferent service cases with IMST or IDST, such as replacing drive components,
loading parameters or updating/upgrading the drive firmware.
"IndraMotion Service Tool (IMST)" additionally analyzes drive systems con‐
nected via cross communication (CCD). Further information on "IndraMotion
Service Tool (IMST)" and "IndraMotion Diagnostic Tool (IDST)" is described
in the separate documentation „Rexroth IndraMotion, MLD 13VRS, Service
Tool“ (DOK-IM*MLD-IMSTIDSTV13-RE**-EN-P; mat. no. R911342652).

5.9.2 TCP/IP communication


Brief description

In the section "TCP/IP Communication", all necessary information


for standard Ethernet communication is given. In addition to
TCP/IP, communication via UDP/IP is also possible.
To prevent confusion with the master communication
"EtherNet/IPTM interface", the designation "Ethernet communica‐
tion" was not used here; instead, the term "IP communication" is
used.

It is possible to communicate with an IndraDrive controller via standard


Ethernet telegrams. These Ethernet telegrams contain TCP/IP or UDP/IP
telegrams for application-side connection. For communication with the de‐
vice, the CSMA/CD access method is applied. Interfaces for TCP/IP commu‐
nication are suitable as connection options. This can be an inactive port of
the master communication card (e.g., sercos or EtherNet/IPTM), a separate
Engineering port (if present) or optionally an inactive port of the master com‐
munication interface of the CCD master.
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The IP communication always respects the properties of the connected inter‐


face.
Example of sercos master com‐
munication
For sercos, in addition to the time-controlled transmission of sercos-type
Ethernet telegrams (MDT and AT), the Unified Communication Channel
(UCC) exists, with which IP telegrams are transmitted in a specially reserved
time slot.
Therefore, for sercos, another option for asynchronous data transmission is
available in addition to the existing service channel, that is very well suitable
for large data volumes due to the maximum lengths of useful data of approx.
1500 bytes.
Possible applications If the TCP/IP communication is used in the drive, different application options
are available that are summarized in the following table.

Connection Server application Exemplary client applications

SIP protocol Parameter access IndraWorks Engineering with CCD master


SIP protocol Parameter access IndraWorks parameter application
TFTP Firmware update service Carrying out a firmware update
HTTP Web server Displaying the IndraMotionServiceTool
FTP File server File access to the optional memory card (only available, if op‐
tional memory card plugged during boot-up)

Tab. 5-83: Overview of the possible applications


Pertinent parameters Command parameters:
● S-0-1048, C6100 Command Activate IP settings
IP parameters:
● S-0-1019, Master comm. engineering over IP: MAC address
● S-0-1020, Master comm. engineering over IP: IP address
● S-0-1021, Master comm. engineering over IP: Network mask
● S-0-1022, Master comm. engineering over IP: Gateway address
● P-0-1044, Master comm. engineering over IP: Status IP communication
● P-0-1530, Engineering: MAC address
● P-0-1531, Engineering: IP address
● P-0-1532, Engineering: Network mask
● P-0-1533, Engineering: Gateway address
● P-0-1544, Engineering: Status IP communication
● P-0-1640, CCD: MAC address
● P-0-1641, CCD: IP address
● P-0-1642, CCD: Network mask
● P-0-1643, CCD: Gateway address
● P-0-1644, CCD: Status IP communication
● P-0-4089.0.10, Master communication: MAC address device
● P-0-4089.0.13, Master communication: IP address
● P-0-4089.0.14, Master communication: Network mask
● P-0-4089.0.15, Master communication: Gateway address
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Pertinent diagnostic messages ● C6101 Incorrect IP settings


● F2190 Incorrect Ethernet configuration

5.9.3 S/IP protocol


Brief description
Fields of application
S/IP allows all drive parameters to be easily accessed.
Typical fields of application are:
● Communication with the drive for Engineering via IndraWorks
● Replacing cyclic bus communication to control simple axis applications
without real-time requirements e.g. in positioning block mode or with
drive-controlled positioning
Overview of functions
Features
● TCP/IP-based protocol
● The protocol focuses on the exchange of data and requires minimum
administration overhead.
● User-defined busy timeout (time until the drive sends a defined re‐
sponse)
● User-defined lease timeout (time as of which the connection is released
again if no new requests are made)
● Proprietary service for reading all the information from a parameter in a
request
● Up to 2 connections are possible simultaneously
Pertinent diagnostic messages
The following error messages have been defined, and the drive directly re‐
turns them in an individual service:

Name Value in the telegram Significance

CONNECTION_ERROR 1 Error when establishing the connection


ABORTED 2 Process was aborted
UNKNOWN_MESSAGE_TYPE 3 Message type in the header is unknown
Service-specific error, e.g. "Operation data is
SERVICE_SPECIFIC 4
write protected"

Tab. 5-84: S/IP error classes

5.9.4 Firmware download via TFTP server


Brief description
Fields of application
If a firmware download is to be carried out, a TFTP server is available for this
purpose. This makes it possible to download new firmware to the device.
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Overview of functions
Identifying firmware A special "ReadRequest" can be used to identify firmware existing in the de‐
vice. For this purpose, the "firmware" string is transmitted in the
"ReadRequest".
The response telegram contains a data package, the first four bytes of which
are the control section circuit board code and the following content is the
manufacturer version (cf. S-0-0030.0.0).
Firmware download The download procedure is started using a WriteRequest. To do this, the
drive has to be in PM. Here the "WriteRequest" also initiates the connection
to the TFTP server.
Then "DataRequests" is used to download the firmware to the device. In this
connection, the device performs several checks:
● Can the new firmware file be used with this device (compatibility
check)?
● Was the correct quantity of data transmitted (data integrity check)?
● Was the firmware file transferred correctly and was it valid (validity
check)?
Error diagnostics Any possible error that occurs during this procedure is returned via the Error‐
Frame in the TFTP. The error text is available as a plain text.
Features
The TFTP server of an IndraDrive device has the following features:
● A TFTP connection does not know any authentication
● The following five package types are present in a TFTP connection:
– "ReadRequest" (reading of files from server/drive starts)
– "WriteRequest" (writing of files from server/drive starts)
– "Data" (data are transmitted)
– "Acknowledge" (data packages are confirmed)
– "Error" (any type of error message)
● Each data package has to be confirmed with "Acknowledge" before the
next data package is transmitted.
Pertinent diagnostic messages
Occurring errors are transmitted in plain text via "TFTP ErrorFrame" (see de‐
scription of diagnostic message: "Firmware download")

5.9.5 File handling by FTP via Ethernet


Brief description

Base package of all firmware variants in open-loop and closed-


loop characteristic

Via an integrated FTP server, IndraDrive devices with Ethernet communica‐


tion can access the data of the optional memory card by means of FTP con‐
nection. This allows reading or writing data/directories on the memory card.
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Fig. 5-73: Schematic illustration of FTP file handling


Features The FTP server of an IndraDrive device has the following features:
● Two types of login to the FTP server:
– Anonymous login (read-only data access)
– User login (read and write access to data)
● A maximum of 2 simultaneous connections
● The effective transmission rate depends on processor load and current
drive status
The transmission rate is approx. 450 kbytes/s for download (STOR com‐
mand) and 300 kbytes/s for upload (RETR command) with an active
connection. If 2 FTP connections are simultaneously active (download
or upload), the effective transmission rate is dramatically reduced in
both directions.
Hardware requirements The following hardware requirements must have been fulfilled:
● IndraDrive Cs Advanced with Advanced display
● Memory card plugged before booting up
If no memory card was recognized during boot-up, the parameter "P-0-4066,
Card Identification Data" contains the value 0xFFFFFFFF.
Pertinent parameters ● P-0-4066, Card Identification Data
● S-0-1020, Master comm. engineering over IP: IP address
● P-0-1531, Engineering: IP address
● P-0-1641, CCD: IP address
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5.10 Commissioning
WARNING Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
● Keep free and clear of the ranges of motion of machines and moving
machine parts.
● Prevent personnel from accidentally entering the machine’s range of
motion (e.g., by safety fence, safety guard, protective covering, light bar‐
rier).
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● In addition, observe the safety message "Protection Against Dangerous
Movements" in the chapter "Safety Instructions for Electric Drives and
Controls".

5.10.1 Commissioning motors


Checking the Installation/Assembly
Checking the Assembly

Check the assembly of the IndraDrive controllers and supply units as


well as motors with regard to correct implementation, according to the data
contained in respective Project Planning Manual.
Checking the Installation

Check the wiring of control cabinet and machine with regard to correct
implementation, according to the data contained in the Project Planning Man‐
ual and the recommendations in the documentation "Electromagnetic Com‐
patibility (EMC) in Drive and Control Systems".
Initial commissioning/serial commissioning
Brief description
The drive can be commissioned after assembly and installation have been
correctly implemented.
Initial commissioning The initial commissioning of a drive differs from the commissioning of other
identical drives (serial commissioning).
The initial commissioning is carried out in the following steps:
● Establishing the operability of the drive (including the required measur‐
ing systems)
● Adjusting the drive behavior to the requirements of the application
● Adjusting the master communication interface between master and drive
● Integrating drive functionalities in the machine processes
In each of the mentioned steps, values of relevant parameters are adjusted to
the requirements. The result of the initial commissioning is a drive the behav‐
ior of which is exactly adjusted to the axis. By storing the values of the initial
commissioning in the form of a parameter set the drive behavior can be re‐
produced.
Serial commissioning For the commissioning of other identical axis drives at machines of the same
type, the set of parameter values determined during the initial commissioning
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is loaded to the respective controller (serial commissioning). It is thereby pos‐


sible
● to exactly reproduce the drive behavior
- and -
● to reduce the effort for further commissioning to a little adjustment work
and, if necessary, the search for and elimination of assembly/installation
errors.
Commissioning options As a matter of principle, commissioning can be carried out using
● the "IndraWorks Ds/D/MLD" commissioning tool by Rexroth which is
connected to the drive via sercos interface, via an engineering interface,
via Ethernet or a field bus,
● the control panel of the controller and digital and analog input signals,
● a control unit connected to the drive via a master communication inter‐
face.
Two-step commissioning It is basically recommended to always carry out both the initial commissioning
and the serial commissioning in two steps:
● 1st objective: Initial start of the motor
● 2nd objective: Providing drive functions for the machine axis

Fig. 5-74: Two-step drive commissioning (schematic)


In the first step, the two-step procedure ensures the operability of the drive
(1st objective during initial commissioning and serial commissioning). In the
second step, the drive functions required for the machine axis and the drive's
advantageous properties are individually adjusted to the machine axis in a
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reasonable order (2nd objective during initial commissioning) or the expected


functional principle is checked (2nd objective during serial commissioning).

As a matter of principle, it is advantageous to establish the opera‐


bility of a drive independent of a higher-level control system. The
drive should therefore first be commissioned as a self-contained
unit via "IndraWorks Ds/D/MLD" or in the "Easy-Startup" mode!
See the following sections:
- "Initial start in "easy startup" mode"
- "Initial start with the commissioning tool"

Initial start in "easy startup" mode


Brief description
The so-called "easy startup mode" allows moving the drive without connected
or active control unit (or master communication master) or external command
value box. When using a Rexroth motor with encoder data memory, this is al‐
so possible without using a commissioning PC, because all motor and con‐
troller parameters are stored in the encoder data memory.

The easy startup mode is therefore particularly suited for the ini‐
tial commissioning of individual axes, as well as for maintaining
an emergency mode when the control unit has failed.

Features ● Activating the "easy startup" mode via:


– Engineering interface or digital inputs
– Control panel of drive controller
● Automatic deactivation of master communication interface (see
P-0-4077, S-0-0134) and activation of "P-0-0120, Control word easy
startup"
● Activation of drive enable (P-0-0120, bit 15) via:
– The digital input assigned to drive enable (differs in accordande
with hardware designs, see default assignment under "Automatic
configuration of the inputs")
– Engineering interface when configuration of digital inputs for "easy
startup" mode made before was removed
● Drive moves in "velocity control" mode with a parameterizable velocity
command value (cf. P-0-1206) without external command value box
● Selecting the travel direction (positive/negative) via digital input signals
(see parameter "P-0-1200, Control word 1 velocity control")
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Fig. 5-75: Activating the "easy startup" mode, overview


Hardware requirements For the "easy startup" mode, the digital inputs at interface X31 have to be
wired as follows:
● X31/1 +24V for activating drive enable
● X31/6 +24V for activating the positive direction of rotation
● X31/7 +24V for activating the negative direction of rotation
Pertinent parameters ● S-0-0032, Primary operation mode
● S-0-0091, Bipolar velocity limit value
● P-0-0120, Control word easy startup
● P-0-0300, Digital inputs, assignment list
● P-0-0301, Digital inputs, bit numbers
● P-0-1200, Control word 1 velocity control
● P-0-1206, Memory of velocity command values
● P-0-4085, C4700 Command Activate easy startup mode
● P-0-4086, Master communication status
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Pertinent diagnostic messages In the "easy startup" mode, additional simple diagnostic texts appear on the
display of the control panel in "light writing":
● When the "easy startup" mode has been activated, the display changes
between the drive address and the message "CM" (Commissioning
Mode).
● During commissioning, the relevant messages appear on the display.
Initial start with the commissioning tool
Brief description
Establishing the operability of the After complete and correct assembly and wiring of the drive or the drives it is
drive advisable to establish the operability. With drives of the IndraDrive range, this
can be done very easily by means of initial start in the "easy startup" mode
(velocity-controlled operation, master communication master not required) in
conjunction with the Rexroth "IndraWorks Ds/D/MLD" commissioning tool.
According to the available equipment, the initial commissioning of the motor
is supported as follows:
● If there is no commissioning tool (e.g. PC) available, Rexroth motors
with encoder data memory can be easily commissioned in the "easy
startup" mode. The motor parameters and motor control parameters of
these motors are automatically loaded from the data memory to the con‐
troller by switching control voltage on.
● IndraDrive: If a PC with Rexroth commissioning tool is available, the mo‐
tor parameters and motor control parameters of motors without encoder
data memory can be loaded from the internal database of the commis‐
sioning tool to the controller via the Engineering interface. This allows
initial commissioning in the "easy startup" mode for these motors, too.
Available commissioning tools Rexroth provides the following commissioning tools (software) for drives:
● IndraDrive: IndraWorks Ds/D/MLD
IndraWorks Ds/D/MLD "IndraWorks Ds/D/MLD" is a component of the "IndraWorks" software range
which supports parameterization and commissioning of control units and
drives by Rexroth.
The "IndraWorks Ds/D/MLD" commissioning tool provides the following op‐
tions and advantages:
● The functions and features made available by the drive are structurally
visualized, the respective parameter values are displayed in their func‐
tional context.
● Parameter values can be directly changed and thereby adjusted to the
respective requirements.
● The parameter values available in the drive can be saved drive-external‐
ly as a group (parameter set), e.g. on the PC hard disk, and can be re‐
loaded from the hard disk.
● Diagnostic messages and operating status messages are displayed in
clearly arranged form.
● For the purpose of commissioning, commands can be started.
● Via the "easy startup" mode, IndraDrive devices can be commissioned
and moved.

5.10.2 Commissioning machine axes


Procedure for Commissioning
The drive supports different commissioning procedures. The type of commis‐
sioning depends on the existing machine components (control, drive control‐
382/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

lers, motor, mechanical system). Commissioning is carried out using one of


the commissioning tools available.
Commissioning Procedure

Fig. 5-76: Overview of Procedures for Commissioning


Real Operation In real operation all necessary components are available. The drive controller
is parameterized online; then commissioning of the drive mechanics can be
carried out in the setting-up mode. The machine is then commissioned using
a control unit.
Offline Simulation The offline simulation does not require any machine component. The drive
controller is parameterized offline; the parameters are then applied to the
drive controller during transition to real operation. A drive-internal control
(MLD) can also be parameterized offline, and motion programs can be cre‐
ated offline.
Simulation mode In simulation mode only the drive controller is required, parameterization is
made online. With the axis simulation the velocity and actual position values
are simulated, the drive can be operated in velocity- and position-controlled
operation modes. A higher-level control unit can thus test its motion programs
even without motor or mechanical system.
Overview and practical tips
Brief description
Before commissioning machine-axis-specific functions, it is useful to make
sure that the drive, consisting of controller, motor and motor encoder, is op‐
erational. The best way to do this is the initial start of the drive with the PC-
based "IndraWorks Ds/D/MLD" commissioning tool by Rexroth (see "Initial
start with the commissioning tool").
If possible, machine axis-specific functions should also be commissioned us‐
ing "IndraWorks Ds/D/MLD". The advantage is that the correct sequence of
an axis-specific function can be configured and ensured independent of the
control unit. Further commissioning of the drive, with widely complete config‐
uration, is then easier for the control unit.
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 383/395
Rexroth IndraDrive MPx-20 Version Notes

Overview of the functional scope

5.10.3 Axis simulation


Brief description
Contained in base package of variants MPB, MPM and MPE in open-loop
and closed-loop characteristic.
The "simulation mode" function is made available for the function check of
control units. It provides the possibility for the control unit to execute a pro‐
gram check without axis motion. For this purpose, only a drive control section
is required of the drive, the power supply, motor and encoder are not used;
therefore, the drive is directly ready for enabling ("AB") in the operating
mode.
The function is implemented with the "Parking axis" command. For this pur‐
pose, the "permanently parked axis" function is activated with the parameter
"P-0-0399, Configuration of simulation mode". The command and thereby the
axis simulation are automatically started during the transition to the operating
mode.
Pertinent parameters ● P-0-0399, Configuration of simulation mode
● S-0-0448, Set absolute position control
● S-0-0139, C1600 Parking axis procedure command
● S-0-0147, Homing parameter
384/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 385/395
Rexroth IndraDrive MPx-20 Version Notes

Service and support

6 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 Hotline and Service Helpdesk 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
● Type plate specifications of the affected products, in particular type co‐
des and serial numbers
● Your contact data (phone and fax number as well as your e-mail ad‐
dress)
386/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 387/395
Rexroth IndraDrive MPx-20 Version Notes

Index

Index
A CCD system mode.............................................. 25
Absolute encoder emulation............................. 334 CCD: Addressing................................................ 43
Actual value adjustment (for position control‐ CCD: IP communication...................................... 43
ler)..................................................................... 222 CCD: Overview, features, modes ...................... 43
Actual value cycle............................................. 269 Changes and enhancements.............................. 19
Actuator............................................................. 160 Changing the operation mode........................... 252
ACURO®Link interface....................................... 33 Checking the installation/assembly................... 377
Additional documentations.................................. 99 Checksum of parameter values.................. 71, 341
Additive command values CiA 402
Access options............................................. 195 Acceleration scaling..................................... 283
Outer control loops....................................... 195 Position scaling............................................ 281
Administration commands................................... 72 Velocity scaling............................................ 282
Advanced performance....................................... 88 CiA402 field bus profile
Alias parameters Brief description........................................... 280
Modified............................................. 48, 51, 64 Control word and status word...................... 280
New.................................................... 47, 50, 59 Clearing an error message................................. 74
Analog inputs.............................................. 25, 324 Clock rates.......................................................... 88
Analog interface................................................ 140 Closed-loop axis control.................................... 215
Analog master communication............................ 31 Automatic setting......................................... 217
Analog output.................................................... 322 Closed-loop axis control (closed-loop operation)
Analog outputs.................................................. 322 General information..................................... 215
Analog outputs, control section........................... 26 Closed-loop operation (axis control)
Application-specific control panel function.......... 45 Overview...................................................... 190
Appropriate use..................................................... 7 Cogging torque compensation.......................... 293
Applications...................................................... 7 Combined encoders for SSI
Automatic control loop setting............................. 34 Notes on commissioning.............................. 180
Availability Command value acceptance............................ 253
Extended axis functions................................. 82 Command value acknowledgment.................... 253
Optional device functions............................... 83 Command value box, drive-internal.................. 332
Axis control Command value cycle....................................... 269
Position controller........................................ 222 Command value generator, drive-integrated.... 330
Velocity controller......................................... 219 Commands.......................................................... 71
Axis control (closed-loop operation) Commissioning
Overview...................................................... 190 Checking the installation/assembly.............. 377
Axis control (open-loop operation) Easy startup mode....................................... 379
Overview...................................................... 189 Initial commissioning/serial commissioning. 377
Axis error correction.......................................... 292 Machine axes............................................... 381
Axis functions, extended................................... 284 Motor............................................................ 377
Availability...................................................... 82 With the commissioning tool........................ 381
Axis simulation.................................................. 383 Commissioning tool, initial start with …............ 381
Communication profile, CANopen ...................... 21
B Commutation offset
Basic functions of master communication......... 103 Determined by saturation method................ 241
Basic functions of the synchronization modes.. 267 Determined by sine-wave method............... 241
Basic performance.............................................. 88 Commutation setting......................................... 223
Best possible deceleration................................ 287 Basics.......................................................... 223
Brief description........................................... 287 Of Rexroth motors........................................ 239
Braking resistor, internal and external................ 24 Commutation setting using measuring method... 35
Brief descriptions ............................................... 69 Compatible new functions and functional
Brief functional descriptions ............................... 69 changes.............................................................. 26
Compensation functions................................... 291
C Axis error correction..................................... 292
Cogging torque compensation..................... 293
Cam, electronic................................................. 274
Friction torque compensation....................... 291
CANopen.......................................................... 138
Control loop features......................................... 215
CCD (cross communication)............................. 309
388/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Index

Control loop setting........................................... 215 Display defective............................................... 364


Control loop structure................................ 191, 215 Documentation
Control loop structure (figure) Additional documentations............................. 99
With display parameters.............................. 193 Overview........................................................ 99
With setting parameters............................... 192 Reference documentations............................ 99
Control loops Documentation, notes on how to use it................. 5
Features....................................................... 194 Drive control...................................................... 188
Setting.......................................................... 197 Basic principles and terms........................... 188
Control options (via master communication)..... 106 Overview...................................................... 188
Control panel..................................................... 349 Principles..................................................... 189
Control password.............................................. 343 Drive control commands..................................... 72
Control sections, Advanced................................ 19 Drive controller
Control sections, Advanced plug-in unit.............. 27 Replace........................................................ 363
Control sections, Basic....................................... 19 Drive controllers.................................................. 91
Control sections, Basic plug-in unit .................... 26 Control sections............................................. 95
Control sections, Economy plug-in unit............... 28 Power section platform.................................. 93
Control sections, overview.................................. 95 Drive controllers, special design......................... 92
Controllers, overview.......................................... 91 Drive controllers, standard design...................... 91
Converter power supply, mains failure and Drive functionality scaling................................... 77
phase failure....................................................... 34 Drive Halt.......................................................... 284
Correction of the torque/force constant............... 40 Drive mechanics............................................... 182
Cross communication (CCD)............................ 309 Drive profile....................................................... 114
CSE02.1.............................................................. 28 Drive system......................................................... 9
Current and torque/force limitation.............. 35, 242 Drive systems, overview..................................... 93
Current control, field-oriented (FOC control)..... 206 Drive-controlled homing.................................... 175
Customer password.......................................... 343 Drive-controlled oscillation................................ 302
cycle times.......................................................... 88 Drive-controlled positioning............................... 261
Block diagram.............................................. 262
D Drive-controlled positioning mode....................... 37
Data storage....................................................... 70 Drive-integrated PLC.......................................... 86
Decelerating by short circuiting the motor Drive-integrated PLC (Rexroth IndraMotion
windings.............................................................. 41 MLD)................................................................. 317
Deceleration, best possible............................... 287 Drive-internal interpolation................................ 259
Definitions of terms, general basic principles...... 69 Block diagram.............................................. 259
Detecting the marker position........................... 177 Drive-internal interpolation mode........................ 37
Device functions, optional................................. 309 Drives at Sercos peripherals............................... 42
Availability...................................................... 83 DriveTop........................................................... 381
Device/libraries and version assignment............ 41 Duplicating an installation................................. 343
Diagnostic data of motor operation................... 347
Diagnostic functions.......................................... 345 E
Diagnostic functions, extended......................... 366 E-Stop function................................................. 290
Diagnostic interfaces......................................... 372 Easy startup mode
Diagnostic LED................................................... 45 For initial start of the motor.......................... 379
Diagnostic messages Economy performance........................................ 88
Modified......................................................... 67 Electric drive system............................................. 9
New................................................................ 64 Electronic cam with real/virtual master axis...... 274
No longer existing.......................................... 68 Enabling functional packages..................... 29, 365
Diagnostic messages of the drive..................... 345 Encoder emulation............................................ 333
Diagnostic motor data......................................... 23 Encoders with EnDat 2.2 interface ..................... 33
Diagnostic possibilities, extended..................... 346 Engineering over IP............................................ 46
Diagnostic system............................................. 345 Engineering/diagnostic interfaces..................... 372
Diagnostics: Structure and priority-based Error and diagnostic memory.............................. 26
generation........................................................... 43 Error classes............................................... 73, 286
Digital encoders................................................ 179 Error corrections
Digital inputs..................................................... 321 Axis error correction..................................... 292
Digital inputs/outputs......................................... 321 Quadrant error correction............................. 292
Digital outputs................................................... 321 Error memory...................................................... 74
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 389/395
Rexroth IndraDrive MPx-20 Version Notes

Index

Power section and control section............... 347 ACURO®Link interface.................................. 33


Error reaction Analog inputs................................................. 25
Drive error reactions...................................... 73 Analog master communication....................... 31
Error reactions.................................................. 285 Analog outputs, control section...................... 26
Best possible deceleration........................... 287 Application-specific control panel function..... 45
MLD reaction................................................ 290 Automatic control loop setting........................ 34
NC reaction.................................................. 289 Braking resistor, internal and external .......... 24
Overview...................................................... 285 CCD system mode......................................... 25
Package reaction......................................... 288 CCD: Addressing........................................... 43
Errors.................................................................. 73 CCD: IP communication................................. 43
Drive error reactions...................................... 73 CCD: Overview, features, modes ................. 43
Establish position data reference Commutation setting using measuring
For absolute measuring systems................. 170 method........................................................... 35
Establishing position data reference Control sections, Advanced........................... 19
For relative measuring systems................... 172 Control sections, Advanced plug-in unit ........ 27
With relative measuring systems......... 175, 176 Control sections, Basic.................................. 19
Establishing the position data reference..... 23, 169 Control sections, Basic plug-in unit ............... 26
Establishing the position data reference, Control sections, Economy plug-in unit.......... 28
general information........................................... 169 Converter power supply, mains failure
EtherCAT, general ............................................. 21 and phase failure........................................... 34
Ethernet POWERLINK........................................ 31 Correction of the torque/force constant.......... 40
EtherNet/IP(TM) interface................................. 124 Current and torque/force limitation................. 35
Explanation of terms (for synchronization Decelerating by short circuiting the motor
modes).............................................................. 268 windings......................................................... 41
Extended axis functions.................................... 284 Device/libraries and version assignment....... 41
Availability...................................................... 82 Diagnostic LED ....................................... 21, 45
Extended diagnostic functions.......................... 366 Diagnostic motor data.................................... 23
Extended diagnostic possibilities...................... 346 Diagnostics: Structure and priority-based
Logbook function.......................................... 366 generation...................................................... 43
Optional memory.......................................... 361 Drive-controlled positioning mode.................. 37
Patch function.............................................. 366 Drive-internal interpolation mode................... 37
Drives at Sercos peripherals.......................... 42
F Enabling functional packages........................ 29
Field bus profile types......................................... 31 Encoders with EnDat 2.2 interface ................ 33
Field-oriented current control (FOC control)..... 206 Engineering over IP....................................... 46
Field-oriented current control with motor en‐ Error and diagnostic memory......................... 26
coder (FOC)...................................................... 200 Establishing the position data reference........ 23
File handling by FTP (via Ethernet).................. 375 EtherCAT, general......................................... 21
Firmware downgrade........................................ 352 Ethernet POWERLINK................................... 31
Firmware release downgrade........................... 357 Field bus profile types.................................... 31
Firmware release update.................................. 353 FSP Drive, sercos profile............................... 31
Firmware replacement...................................... 351 FTP server..................................................... 46
Basic principles, terms................................. 351 Functional packages overview ...................... 29
Possible problems........................................ 360 Holding brakes, brake check.......................... 36
Firmware types................................................... 79 IndraDrive Cs................................................. 27
Firmware update....................................... 343, 351 IndraDrive Mi: KMS02.1, KMS03.1................ 28
Firmware upgrade............................................. 351 IP communication/addressing ....................... 26
Firmware variants............................................... 75 Mains power display and energy counter...... 24
Firmware version downgrade............................ 358 Master communication state machine........... 31
Firmware version upgrade................................ 355 Master communication, general..................... 20
Firmware, overview............................................. 75 Measuring systems, general ......................... 23
FOC control............................................... 200, 206 MLD file system............................................. 42
Friction torque compensation............................ 291 Module group ................................................ 24
FSP Drive, sercos profile.................................... 31 Motion............................................................ 41
FTP server.......................................................... 46 Motor control frequency................................. 34
FTP, file handling by ........................................ 375 Motor control overview................................... 25
Functional enhancement Motor control, setting..................................... 25
Motors, general ............................................. 19
390/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Index

Operating hours and error memory................ 44 FEAT-00039576............................................. 34


Operating hours counter and system time..... 46 FEAT-00041408............................................. 31
Operation mode cycl. position control............ 37 FEAT-00042411............................................. 34
Operation mode handling, drive state ma‐ FEAT-00043996............................................. 44
chine ............................................................. 41 FEAT-00044416............................................. 46
Operation modes, general............................. 36 FEAT-00046805............................................. 41
Optional memory card, file system ................ 46 FEAT-00047552............................................. 31
Oscilloscope function..................................... 26 FEAT-00047553............................................. 31
Patch function................................................ 44 FEAT-00047555............................................. 31
Performance.................................................. 29 FEAT-00048374............................................. 43
Position controller.......................................... 25 FEAT-00048375............................................. 43
Positioning block mode ................................. 37 FEAT-00049697............................................. 45
Positive stop drive procedure......................... 36 FEAT-00049815............................................. 36
POWERLINK diagnostic and status mes‐ FEAT-00050441............................................. 29
sages............................................................. 31 FEAT-00050801............................................. 43
POWERLINK, synchronization and timing..... 31 FEAT-00051227............................................. 35
Probe............................................................. 43 FEAT-00051228............................................. 46
Protection against overcurrent and over‐ FEAT-00051250............................................. 31
voltage........................................................... 34 FEAT-00051251............................................. 31
Resetting to default values ............................ 45 FEAT-00051458............................................. 41
Rexroth motors with motor data memory....... 32 FEAT-00051467............................................. 41
S/IP................................................................ 46 FEAT-00051777............................................. 43
Sensorless motor operation, flux-control‐ FEAT-00051917............................................. 46
led (FXC control)............................................ 35 FEAT-00052112............................................. 29
sercos / field bus addressing, address FEAT-00052168............................................. 45
assignment, identification .............................. 31 FEAT-00052183............................................. 27
Sercos III function groups.............................. 45 FEAT-00052184............................................. 27
sercos, connections....................................... 31 FEAT-00052243............................................. 26
sercos, general information............................ 31 FEAT-00052252............................................. 46
Simulation mode............................................ 26 FEAT-00052346............................................. 31
SoE, general information............................... 31 FEAT-00052737............................................. 41
Static type data, modules .............................. 31 FEAT-00052924............................................. 28
Sub-device state machine.............................. 20 FEAT-00053106............................................. 40
Supported devices, general .......................... 26 FEAT-00054577............................................. 28
System information, saving............................ 46 FEAT-00054594............................................. 31
Thermal controller monitoring........................ 34 FEAT-00055643............................................. 41
Thermal monitoring........................................ 23 FEAT-00056399............................................. 46
Third-party motors ......................................... 31 FEAT-00056428............................................. 37
Time formats and time functions.................... 41 FEAT-00056429............................................. 37
Torque/force scaling...................................... 35 FEAT-00056430............................................. 37
Velocity controller........................................... 34 FEAT-00056431............................................. 37
Warning and error classes............................. 41 FEAT-00056642............................................. 31
Functional enhancement, compatible ................ 34 FEAT-00057497............................................. 35
FEAT-00016523............................................. 46 FEAT-00057498............................................. 35
FEAT-00025016............................................. 26 FEAT-00058336............................................. 41
FEAT-00026171............................................. 42 FEAT-00059562............................................. 35
FEAT-00028792............................................. 43 FEAT-00060386............................................. 36
FEAT-00035469............................................. 31 FEAT-00060739............................................. 36
FEAT-00037756............................................. 34 FEAT-00061252............................................. 46
FEAT-00038085............................................. 31 FEAT-00064073............................................. 35
FEAT-00038089............................................. 32 FEAT-00064354............................................. 42
FEAT-00038090............................................. 34 FEAT-00064631............................................. 26
FEAT-00038091............................................. 34 Functional enhancement, incompatible
FEAT-00038095............................................. 44 FEAT-0005027............................................... 23
FEAT-00038096............................................. 45 FEAT-00024255............................................. 24
FEAT-00038097............................................. 45 FEAT-00026121............................................. 24
FEAT-00038102............................................. 31 FEAT-00026672............................................. 20
FEAT-00038308............................................. 45 FEAT-00026979............................................. 24
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 391/395
Rexroth IndraDrive MPx-20 Version Notes

Index

FEAT-00034824............................................. 33 IndraDrive product range.................................... 74


FEAT-00038087............................................. 23 IndraMotion Diagnostic Tool
FEAT-00038093............................................. 26 IDST............................................................. 372
FEAT-00041664............................................. 19 IndraMotion MLD........................................ 86, 317
FEAT-00041665............................................. 19 IndraMotion Service Tool
FEAT-00048149............................................. 25 IMST............................................................ 372
FEAT-00049781............................................. 26 IndraWorks Ds/D/MLD...................................... 381
FEAT-00049899............................................. 25 Initial commissioning......................................... 377
FEAT-00050257............................................. 33 Initial start in easy startup mode....................... 379
FEAT-00050728............................................. 20 Initial start with the commissioning tool............. 381
FEAT-00050849............................................. 19 Integrated energy measurement....................... 369
FEAT-00050965............................................. 21 Integrated power measurement........................ 369
FEAT-00053485............................................. 23 Integrated safety technology....................... 87, 303
FEAT-00055735............................................. 25 Internet protocol services.................................... 46
FEAT-00060741............................................. 23 IP communication/addressing ............................ 26
FEAT-00060782............................................. 26
FEAT-00061172............................................. 21 L
FEAT-00061232............................................. 26 Limit switches.................................................... 245
FEAT-00063588............................................. 25 Limitations......................................................... 242
FEAT-00063662............................................. 21 Current and torque/force limitation............... 242
FEAT-00065077............................................. 25 Overview...................................................... 242
Functional packages........................................... 76 Position limitation......................................... 245
Additive functional packages......................... 86 Velocity limitation......................................... 244
Alternative functional packages..................... 84 Load defaults procedure................................... 198
Base packages.............................................. 80 Load motor default values................................. 216
Enabling....................................................... 365 Load preview..................................................... 348
Functional packages overview ........................... 29 LOADER IP address: 192.168.0.1.................... 360
Functional scope................................................. 69 Loading parameter values, general.................... 70
Funktionserweiterung Logbook function............................................... 366
Communication profile, CANopen ................. 21
FXC control............................................... 200, 209 M
Machine axes, commissioning.......................... 381
H Machine commissioning.................................... 381
Hall sensor box SHL......................................... 240 Mains power display and energy counter........... 24
Handling, diagnostic and service functions....... 340 Master axis........................................................ 268
Helpdesk........................................................... 385 Master axis generator, virtual............................ 327
Holding brake Master axis range............................................. 268
Function check............................................. 157 Master communication...................................... 103
Holding brakes, brake check............................... 36 Analog interface........................................... 140
Homing...................................................... 172, 176 Basic functions............................................. 103
Hotline............................................................... 385 CANopen-based communication................. 138
How to use this documentation............................. 5 EtherNet/IP(TM) interface............................ 124
How to use this documentation, notes.................. 5 Operating modes......................................... 108
Overview........................................................ 76
I PROFIBUS-DP.................................... 127, 134
IDN lists of parameters..................................... 342 sercos.......................................................... 114
IMST/IDST........................................................ 372 Master communication operating modes.......... 108
Inappropriate use.................................................. 8 Master communication state machine................ 31
Consequences, exclusion of liability................ 7 Master communication, general.......................... 20
Incompatible functions and functional changes.. 19 Master password............................................... 343
Incremental encoder emulation......................... 333 Means of representation
IndraDrive Cs...................................................... 27 Conventions of notation................................... 6
IndraDrive Mi (KMS02.1, distributed drive Notations.......................................................... 6
controller)............................................................ 93 Notes.......................................................... 6, 69
IndraDrive Mi (KSM02.1, distributed servo Measuring encoder........................................... 338
drive)................................................................... 93 Measuring systems................................... 159, 177
IndraDrive Mi: KMS02.1, KMS03.1..................... 28 Absolute measuring systems....................... 166
392/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Index

Arrangement................................................ 182 Temperature monitoring............................... 146


Basics.......................................................... 159 Third-party motors........................................ 154
Monitoring.................................................... 165 Motors, general .................................................. 19
Relative measuring systems........................ 168 Multiplex channel.............................................. 106
Resolution.................................................... 159
Supported measuring systems...................... 99 N
Measuring systems, general .............................. 23 NC reaction on error......................................... 289
Measuring wheel mode..................................... 295 NC-controlled homing....................................... 176
MLD → IndraMotion MLD)................................. 317 Non-volatile data memories................................ 70
MLD file system.................................................. 42 Notes on application........................................... 19
MLD reaction on error....................................... 290
Model-based current control without motor O
encoder (FXC).................................................. 200 Open-loop axis control...................................... 213
Module group...................................................... 24 Open-loop operation (axis control)
Monitoring functions Overview...................................................... 189
Measuring systems...................................... 165 Operating hours and error memory..................... 44
Motor temperature....................................... 146 Operating hours counter................................... 346
Motion................................................................. 41 Operating hours counter and system time.......... 46
MotionProfile..................................................... 277 Operation mode cycl. position control................. 37
MotionProfile with real/virtual master axis......... 277 Operation mode handling, drive state machine . 41
Motor Operation modes.............................................. 250
Commissioning............................................ 377 Basics ........................................................... 72
Commissioning motors................................ 377 Changing the operation mode...................... 252
Motor control..................................................... 199 CiA402 field bus profile................................ 280
Automatic setting ........................................ 210 Drive-controlled positioning.......................... 261
General information..................................... 199 Drive-internal interpolation........................... 259
Setting............................................................ 25 Electronic cam with real/virtual master axis. 274
Motor control frequency.............................. 34, 204 General information..................................... 250
Motor control method MotionProfile with real/virtual master axis.... 277
Notes on how to select the method.............. 201 Operation mode handling............................. 250
Motor control methods Phase synchronization with real/virtual
Field-oriented current control with motor master axis................................................... 272
encoder (FOC)............................................. 200 Position control with cyclic command val‐
Model-based current control without mo‐ ue input........................................................ 257
tor encoder (FXC)........................................ 200 Positioning block mode................................ 264
Overview...................................................... 199 Selecting the operation mode...................... 250
Motor control overview........................................ 25 Supported operation modes........................... 81
Motor control parameters Synchronization modes................................ 267
Automatic setting ........................................ 210 Torque/force control..................................... 254
Motor encoder data memory..................... 198, 216 Velocity control............................................. 255
Motor encoder, redundant................................. 297 Velocity synchronization with real/virtual
Motor holding brake.......................................... 155 master axis................................................... 270
Brief description........................................... 155 Operation modes, general.................................. 36
Function check............................................. 157 Optional device functions.................................. 309
Operating behavior...................................... 156 Availability...................................................... 83
Motor operation, diagnostic data....................... 347 Optional memory............................................... 361
Motor operation, sensorless, flux-controlled..... 209 Optional memory card, file system ..................... 46
Motor parameters Optional modules................................................ 95
Automatic setting ........................................ 210 Oscillation, drive-controlled............................... 302
Motor temperature monitoring........................... 146 Oscilloscope function.................................. 26, 367
Motors Outer control loops............................................ 195
Basics.......................................................... 143 Overview of functions/functional packages......... 76
General information for operation with
IndraDrive.................................................... 143
P
Hardware data............................................. 145
Package reaction on error................................. 288
Rexroth housing motors............................... 150
Parameter handling, general............................... 70
Rexroth kit motors........................................ 152
Parameter set switching.................................... 299
Supported motors.......................................... 98
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 393/395
Rexroth IndraDrive MPx-20 Version Notes

Index

Parameters Reference documentations................................. 99


Basics.......................................................... 340 Release downgrade.......................................... 352
Definitions of terms........................................ 69 Release Notes, notes on how to use them........... 5
Loading, storing and saving......................... 340 Release update................................................. 351
Modified............................................. 48, 51, 61 Replace
New.................................................... 46, 50, 51 Drive controller............................................. 363
New, modified and no longer existing...... 46, 50 Replacement of devices
No longer existing.............................. 48, 51, 64 Commissioning............................................ 343
Properties/features....................................... 340 Replacing devices
Parking axis...................................................... 303 Drive controller............................................. 362
Password.................................................... 71, 343 Resetting to default values ................................. 45
Patch function .................................................... 44 Resolution of measuring systems..................... 159
General patch function................................. 366 Restoring
PLC patch function....................................... 366 MLD project.................................................. 343
PELV................................................................... 13 Parameters.................................................. 343
Performance....................................................... 29 Rexroth housing motors
Performance data............................................... 88 With encoder data memory.......................... 150
Phase synchronization with real/virtual mas‐ Without encoder data memory..................... 152
ter axis.............................................................. 272 Rexroth IndraMotion MLD................................. 317
PLC patch function............................................ 366 Rexroth kit motors............................................. 152
Position control Asynchronous.............................................. 153
Block diagram ............................................. 257 Synchronous................................................ 152
Position controller....................................... 25, 222 Rexroth motors................................................. 148
Position limitation.............................................. 245 Basics.......................................................... 148
Position switch, programmable......................... 335 Rexroth housing motors............................... 150
Positioning block mode .............................. 37, 264 Rexroth kit motors........................................ 152
Positive stop...................................................... 296 Rexroth motors with motor data memory............ 32
Positive stop drive procedure...................... 36, 296 RMS value generator in the drive..................... 367
Power sections, overview................................... 93
Power supply.................................................... 246 S
Mains connection......................................... 247 S/IP communication.......................................... 374
Possible device combinations...................... 247 Safe Motion
POWERLINK S3................................................................. 306
Cyclic processing......................................... 134 S4................................................................. 306
STATUS/ERROR LED................................. 133 S5................................................................. 306
Synchronous processing.............................. 134 SD................................................................ 306
POWERLINK diagnostic and status messages.. 31 Safe Motion Bus
POWERLINK, synchronization and timing.......... 31 SB................................................................ 306
Probe.................................................................. 43 Safe Torque Off
Probe function................................................... 336 L3................................................................. 305
PROFIBUS-DP................................................. 134 L4................................................................. 305
Profile types Safety instructions for electric drives and controls 9
Freely configurable mode............................ 110 Safety technology, integrated..................... 87, 303
I/O mode...................................................... 110 Saturation method............................................. 241
Overview...................................................... 110 Saving
Profile types (with field bus interfaces)............. 110 MLD project.................................................. 343
PROFINET-DP.................................................. 127 Parameters.................................................. 343
Programming module........................................ 349 Saving parameter values, general...................... 70
Programming module defective........................ 364 Scaling of physical data.................................... 186
Protection against overcurrent and overvoltage. 34 Selecting the operation mode........................... 250
Protective extra-low voltage................................ 13 Sensorless motor operation, flux-controlled...... 209
Sensorless motor operation, flux-controlled
Q (FXC control)....................................................... 35
Quadrant error correction.................................. 292 sercos............................................................... 114
sercos / field bus addressing, address as‐
R signment, identification ...................................... 31
Redundant motor encoder................................ 297 sercos III........................................................... 114
394/395 Bosch Rexroth AG DOK-INDRV*-MP*-20VRS**-RN03-EN-P
Rexroth IndraDrive MPx-20 Version Notes

Index

Sercos III function groups .................................. 45 Velocity synchronization with real/virtual


sercos profile master axis........................................................ 270
FEAT-00062519............................................. 31 Version downgrade........................................... 352
sercos, connections............................................ 31 Version Notes, notes on how to use them............ 5
sercos, general information................................. 31 Version upgrade................................................ 351
Serial commissioning........................................ 377 Virtual master axis generator............................ 327
Service hotline.................................................. 385 Voltage-controlled open-loop operation
Set absolute position......................................... 170 (V/Hz [U/f] control)............................................ 205
Set/shift coordinate system procedure.............. 176
Shifting the position data reference.................. 176 W
Signal control word........................................... 106 Warning and error classes.................................. 41
Signal status word............................................. 106 Warning classes.................................................. 72
Simulation mode................................................. 26 Warnings............................................................. 72
Sine-wave method............................................ 241
Slave axis.......................................................... 269
SoE, general information.................................... 31
Spindle positioning............................................ 298
SSI encoder...................................................... 179
Standard control panel...................................... 349
Star-delta switching........................................... 300
State machine................................................... 114
State-of-the-art...................................................... 7
Static type data, modules.................................... 31
Sub-device state machine................................... 20
Support............................................................. 385
Supported devices, general................................ 26
Synchronization modes..................................... 267
Basic functions............................................. 267
System information, saving................................. 46
System overview................................................. 69

T
TCP/IP communication..................................... 372
Thermal controller monitoring............................. 34
Thermal monitoring............................................. 23
Third-party motors............................................... 31
Time formats and time functions......................... 41
Torque/force control
Block diagram.............................................. 254
Torque/force limitation...................................... 242
Torque/force scaling........................................... 35
Travel range limit switches................................ 245
Types of commands............................................ 71
Types of passwords, overview............................ 71

U
Use
Appropriate use................................................ 7
Inappropriate use............................................. 8

V
V/Hz (U/f) control.............................................. 205
Velocity control
Block diagram.............................................. 255
Velocity controller ....................................... 34, 219
Velocity limitation.............................................. 244
DOK-INDRV*-MP*-20VRS**-RN03-EN-P Bosch Rexroth AG 395/395
Rexroth IndraDrive MPx-20 Version Notes

Notes
The Drive & Control Company

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

DOK-INDRV*-MP*-20VRS**-RN03-EN-P

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