indralogic electric drives and controls

1Electric Drives and Controls Übersicht E-Planung 2006 | Norbert Sasse BRC/PRM3 | 01.12.2005© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- and Weitergaberecht, bei uns.

IndraLogic


System family IndraLogicMarketing Strategy

IndraLogic L40

IndraLogic L20

RexrothRexrothIndraLogicIndraLogic

PLC-Based

RexrothRexrothIndraMotionIndraMotion

...

Motion & Logic Based

IndraLogic VS

IndraLogic VP

IndraLogic VE

IndraLogic VPP21

3 designs has already been introduced to the

market

IndraMotion MLC

IndraMotion MTX

IndraMotion MLD

ndraMotion MLP


IndraLogic is...

What is IndraLogic ?

IndraLogic Overview

The new PLC system solution for BRC

Scalable with standardized platforms for the different controller hardware

Common engineering with the IndraWorks Software-Framework

programming compatibility to the industrial standard IEC 61131-3 and PLCopen

One PLC runtime system for all Motion-Logic solutions SYNAX 200, VisualMotion and IndraMotion MTX, MLx


20082005 2006 2007

03VRS

04VRS

IndraLogic L Systems Version timeline

Basis IndraLogic 1.x(CoDeSys 2.x)Basis IndraLogic 1.x(CoDeSys 2.x)

02VRS L20/L40.1

03VRS L20/L40.1

04VRS L20/L40.2

Prototype Series

02VRS

20VRS

Basis IndraLogic 2.x(CoDeSys 3.x)Basis IndraLogic 2.x(CoDeSys 3.x)

20VRS L40.2

21VRS L10/L20/L40.2

22VRS L10/L20/L40.2/L45/L65

21VRS

22VRS

1st Prototype


Development planning 2006 Version planning IndraLogic

• FM: DeviceNet Master (CML40 )• FM: Profibus Master (CML40 )• Profibus Slave (CML20/40)• EtherNet IP Slave (CML20/40)• PLCopen Motion Function Blocks (CML20 /CoDeSysRTE)• IndraMotion for Handling (CML20)• Serial Interface for IndraLogic VE (VEP)• Integrated in IndraWorks 04VRs


Development planning 2006 Version planning IndraLogic

• Accessing IndraLogic through Profibus (Master Class 2-Tunneling)• PLCopen –Parameter listing• DeviceNet Master (VEP/Vxx)• Integrated in IndraWorks 05VRs


IndraLogicAdvantages

performance by innovativeand aligned architectures of hardware and software

PLC functionality through full implementation of IEC 61131-3

handling and installation becauseof easy mounting and wiring

powerfulpowerful


controller platformsDrives ==> Controller ==> PC

communication by consequentlysupporting of open and standardized interfacesexpansion by optional function modules and the fine scalability of Rexroth Inline-I/O

powerfulpowerful

scalablescalable



Programming conform IEC 61131-3 and PLCopen by common PLC runtime

Engineering with the software framework IndraWorks for all systems and platforms

network for controls and HMI by standard software interfaces

powerfulpowerful

scalablescalable

standardstandard



PLCopen


IndraLogic Overview

Drive based PLC solution

Rexroth IndraWorksRexroth IndraWorksThe EngineeringThe Engineering--FrameworkFramework

Controller based PLC solution PC based PLC solution

System family IndraLogic

RexrothRexrothIndraDriveIndraDrive

RexrothRexrothIndraControl LIndraControl L

RexrothRexrothIndraControl VIndraControl V


IndraLogic Overview

IndraMotion MLD - drive based solutions

The economic compact solution for drive based one and multi axes applications with integrated Motion-Logic

based on the drives platformRexroth IndraDrive

optimized for modular and decentralized machine architectures with limited number of axes

scalable as software PLC integratedin drives or optional for multi axes control

IndraDrive


Multiple axis Motion Control(up to 7 slaves)

Digital setpoint coupling(position, speed, torque, masteraxis position)No programming required

Single axis Motion Controlor

Drive with advancedtechnology function

IndraMotion MLD & Cross CommunicationExpansion stages

Single drive MC MLD-S Cross communication CCD Multi axes MC MLD-M

HMI

PC

Master Control (optional)

Master Control

PCHMI

Ethernet TCP/IP

1 21

1 1- Fieldbus-slave or drive w/ocommand communication

- Advanced or Basiccontrol section

- Firmware optionIndraMotion MLD

- Fieldbus-slave- Advanced control section- Optional module CCD

- Basic control section with Sercos-IIIsufficient

- max. 3 (SYSTEM) -7(BASIC) slaves2

1 - Fieldbus-slave or drive w/ocommand communication

- Advanced control section- Optional module CCD- Firmware option IndraMotion MLD

- Basic control section with Sercos-IIIsufficient2

Master Control (optional)

PCHMI

Ethernet TCP/IP

1 2

Prototype statePrototype state


IndraMotion MLD & CCDFields of Application

Typical fields of application are:

Single-Axis/Multi-axes motion controlanti backlash driveposition command value sync. (Gantry axes)torque/force or speed synchronisationvirtual/real master axis synchronisationIntelligent technology functions


IndraMotion MLD/Cross Communication

CCD SlavesAll slave drives with Sercos-III command interface (without special function):

Basic Single Axis: CSB-01.1C-S3-xxx-xx-x-.. ( CSB-01.1N- S3 -xxx-xx-x-.. In prep.)Advanced Single Axis: CSH-01.1C- S -xxx-xx-x-.. (CDB-01.1C- S3 -xxx-xx-x-.. in prep.)

CCD master:Master drive with Sercos-III Motion functionality up to 7 Slaves via S-IIIRequired hardware: CSH-01.2C-xx-xxx-xxx-CCD-xx-x-.. S-3-Master on option 3 Master )Command interface:

Profibus or DeviceNet with limitation: Parallel-/Analog interface, CanOpen and Sercos-2On request : Profinet-I/O, EtherNet IP; Not planned: Sercos-3

Note:1 free Ethernet port in Non-Sercos-Mode for optional Engineering-Interface and HMI

New features:32k Retained data onboardCSH1.2 only

Access to I/O‘s of all axes


IndraMotion MLD & CCD System overview

CCD-System mode:max. 5CCD -Expert mode: max. 7MLD-M mode: max. 7

Master Control

Optional cardSercos-III forADVANCED

MASTER

Pass troughmode for all axes

Ethernet TCP/IPEthernet IP in MPx06 (07)

Slave axesAdvanced or BASIC- Double axis / Single axis

SLAVE 1 SLAVE 2 SLAVE 3

Option Sercos-III forBasic / Double orAdvanced

Fieldbus

Sercos w/o direct CC


IndraMotion MLD / CCDMode of operation

CCD SYSTEM modeCCD slaves with direct logic connection to the field bus CCD master. Command and process data via external control

MLD-M modeCCD slaves without direct logic connection to the external control unit. Command triggering and input of process data only via the MLD-M.


CCD Expert mode

FB-Slave

ControlControl

CC

D

Adv. control

CCMaster

CCSlaves

S3-Slave S3-Slave

SPSMLD MLD MLD

Motioncommand

„CCD Expert mode“

with fieldbus connection

CCD -S III

Prerequisite:Firmware: from MP*04VRSSoftware: IndraWorks and IndraLogicMaster unit: CSH01.2 + „CCD“ (Option 3)

Slave unit: CSH01.1C/ CSB01.1C + „S3“

Main features:Command interface: Profibus, DeviceNet, CanOpen, Parallel, Analoginterface, SERCOS II, (on request: ProfiNet)min. cycle time: (T=500µs/ 1 Slave, T=1000µs/ 7 Slaves)Parameter channel gateway (PKG) for acyclic access master - slaveFree config. Real time channel with max 48 Byte (16 IDN ) per driveMax. I/O-extension (distributed Slave periphery via Master)7 * dig, I/O (16 Bit) via parameter inside Master : 114 dig. I/O7 * analoge I/O (2 each) : 14 analog I/O

Area of use:Distributed Motion control (via local MLD-S) or CCD between MLD-SIn case of setpoint coupling or synchronisation, one command interfaceis required

Limitations:no ProfiSafe solutionno SERCOS III as command interface on CCD Master no direct process data gateway via external control to Slave axes


ControlControlMC

FB-Slave

CCD

CCDMaster

CCDSlaves

S3-Slave

CCD -S III

S3-Slave

MLD MLD MLD

Motioncommand

CSH01.1 CSH01.1 CSH01.1



Main features:Communication interface: Profibus, DeviceNet (on request: ProfiNet)min. cycle time: (T=500µs/ 1 Slave, T=1000µs/ 7 Slaves)Parameter channel gateway (PKG) for acyclic access external control -slavesFree config. Real time channel with max 48 Byte (16 IDN ) per drive

Area of use:easy command setpoint coupling, synchronisation of axesCyclical position command (Gantry axis)Master-/Slave applications (Isommand)Antibacklash (ncommand)I/O-extension (digital I/O‘s)

CCD SYSTEM mode

„CCD System mode“

with fieldbus connection

Limitations:no ProfiSafe solutionno CanOpen, Parallel, Analog, SERCOS II, SERCOS III for command values on CCD Master Only with free config. Profile 0xFFFE, 0xFFFD

Fieldbus


IndraMotion-MLDMLD-M System mode

FB-Slave

ControlControl

CCD

Advancedl

CCDMaster

CCDSlaves

S3-Slave S3-Slave

SPSMC MLD MLD

Motioncommand

„MLD-M System mode“

with fieldbus

CCD -S III



Main features:Command interface: Profibus, DeviceNet, CanOpen, Parallel, Analog and SERCOS-II, (on request: ProfiNet)min. cycle time: (T=500µs/ 1 Slave, T=1000µs/ 7 Slaves)Parameter channel gateway (PKG) for acyclic access master - slaveFree config. Real time channel with max 16 Byte I/O per driveMax. I/O-extension (distributed I/O)7 * dig, I/O (16 Bit) via parameter inside Master : 114 dig. I/O7 * analoge I/O (2 each) : 14 analog I/O

Motion channel from Master drive PLC to Slave drives (MC_Power, MC_Reset, MX/C_Stop, MC_MoveXXX, MC_CAM/Gear/GearPos_In/Out, ..)

Area of use:complex command coupling with intelligent failure reactionDrive integrated MotionControl -->System solution

Limitations:no ProfiSafe solutionActually no SERCOS III command interface on CCD Master availableNo direct process data gateway from external control to Slaves

Fieldbus (Sercos, Parallel)


IndraMotion MLDProject Explorer with S-III


IndraMotion MLDMLD-M/CCD settings


IndraMotion MLDCCD status/control word

Use of Slave I/O‘s


Technology function „Flying shear“

Job for flying cut systemsMaterial like plastic, paper, sheetmetal or tubes which are runningcontinuously will be cut to the programmed lenght on the fly.The material doesn‘t stop for cutting.

Technology Function: Flying Shear


MLD Technology FunctionCross cutter inside Technoly library (option)

Technology Function: Cross Cutter


MLD Technology FunctionFeeder

Technology Function: Cam Feeder


IndraMotion MLDTechnology Function „ Rollfeed“

FunctionalityDifferent materials like sheet metal, plastic foil, wires and so on will betransported with a rollfeed system under a press, shear or a punch.

Technology Function (MLD-S) RollfeedIndraMotion for Metal Forming

Note: All application have to be confirmed by BRC/SIA (Karl Rapp)


Motor feedback

Measuring wheel

Press-encoder

Roll-feedPress

Straightener Coil

I/Os and analog signals

CCD CCD

Cross communication of command speed, R/W of I/O and parameters

RollfeedExample with MLD-M


Applications that can use MLD-s and MLD-M

MLD-M apps in FL:Gantries

simple smart belts

simple palletizers

Sold to Osgood for ice cream container filling retro-fit

Micron Pharma for two axis thermoformer


IndraLogic Overview

IndraLogic L - controller based solutions

The powerful controller solution based on the scalable hardware platform IndraControl L

Innovative combination of an embedded PC with fine scalable terminal technology in a compact housing

Rexroth Inline for centralized and decentralized I/O modules

Easy and flexible expansion of technology and communication interfaces by function modules (only IndraControl L40)

IndraControl L40

IndraControl L20


IndraLogic L20Characteristics

Complete stand-alone PLC-Systemin the lower performance rangeBased on the IndraControl platformIndraControl L20Expandable functionality Inline-I/OUser-Friendly ProgrammingConformant to IEC 61131-3 standardsEngineering-Framework IndraWorksSimple Communication to the HMIControl devices and sensor/actuators(e.g. IndraDrive over Profibus)


IndraLogic L20Performance Feature

User Memory 3 MB runtime IndraLogic (conform to IEC 61131-3)

Retain memory 32 kByte programming languages

IEC61131-3 conform: ST, IL, LD, SFC, FBD, CFC

Number of tasks

8 programming system

Rexroth IndraWorks

Kind of tasks cyclic, free running, periodic, controlled by external events

programming interfaces

Ethernet or RS232

Processing time typicaly 150 µs (1000 commands in IL, Bit and Word operations)

functions for programm test

breakpoint, single step, single cycle, write/force, monitoring, sampling, trace, online change, simulation

I/O 8 Bit I (interruptable) + 8 Bit O on board 256 Bit I/O (Local) 126 decentralized modules over DP-interface (each 8 kByte configurable)

included librarys

PLCopen, TCP/IP and ser. communication, standard IEC61131-3 library


IndraLogic L40comfortable operating and diagnostic

diagnosticdisplay of the statushandling of addresseshandling of parametersswitching: run/stoplocking outputsreset of controldisplay of the status: STOP

Display with function keys, reset push button, stop LED


IndraLogic L40Performance features

user memory 8 MB runtime IndraLogic (conform to IEC 61131-3)

retain memory 64 kByte programming languages

IEC61131-3 conform: ST, IL, LD, SFC, FBD, CFC

number of tasks 16 programming system

Rexroth IndraWorks

kind of tasks cyclic, free running, periodic, controlled by external events

programming interfaces

Ethernet or RS232

processing time typically 70 µs (1000 commands in IL, bit and word operations)

functions for programm test

breakpoint, single step, single cycle, write/force, monitoring, sampling, trace, online change, simulation

I/O 8 bit I (interruptable) + 8 bit O on board 512 bit I/O (local) 126 modules decentralized via Profibus-DP (each 8 kByte, configurable)

included librarys

PLCopen, TCP/IP and ser. communication, standard IEC61131-3 library


Competitive comparison

technical features IndraLogic L40 ControlLogix

user memory 8 MB 750 kB, 1,5/3,5/7,5 MB (dep. on CPUtype)

changeable memory 32 MB CF-Card (contains user dataand firmware)

pluggable memory module (opt. alsoas non-permanent); memory modulealways has to be plugged.

retain memory 64 kB, autom. at NvRAM user memory, battery bufferednumber of tasks 16 max. 32 (each task max. 32 programs

assignable)processing time(1000 commands IL, bitand word operations)

typically 70 µs 80 µs for bit operations, for wordoperations no information

I/O 8 Bit I (interruptable) +8 Bit O on board512 Bit I/O (local)

max. 512 Bit I/O in rack with CPUmodule

fieldbuses 1 Profibus-DP Master (DP-V1)max. each 8 kByte I/O addressablemax. 126 modules

optional: ControlNet, DeviceNet,Ethernet/IP, Universal Remote I/O

programming interface Ethernet or RS232 RS232Cprogramming language IEC61131-3: ST, IL, LD, SFC, FBD,

CFCIEC61131-3: ST, IL, FBD, SFC

realtime clock / bufferingtime

yes / typically 5 days no information

communication interfaces RS232, Ethernet, PROFIBUS-DP RS232C (more only via optionalcommunication modules)

IndraLogic L40 vs. Rockwell Automation ControlLogix


IndraLogic L40comparison vs. CLxx0 systems

technical features IndraLogic L40 CL200, ZE200-DP CL350 / CL400 CL550user memory 8 MB 128 kB (36 k commands

IL)256 kB (64 k / 128 kcommands IL)

2,5 MB (200 kcommands IL)

retain memory 64 kB battery bufferered, totalmemory incl. data,flags, timer, counter

battery bufferered, totalmemory incl. data,flags, timer, counter

battery bufferered, totalmemory incl. data,flags, timer, counter

number of tasks 16 1 1 1processing time (1000commands IL, bit andword operations)

typically 70 µs 300 µs 250 µs (bit)500 µs (word)

80 µs (bit)100 µs (word)

I/O 8 bit I (interruptable) +8 bit O on board512 bit I/O (local) +decentralized viaProfibus-DP (max. 126modules, each 8 kB I/O

192 bit I/128 Bit O +auxiliary I/O field (local)+ decentralized viaProfibus-DP (max. 126modules, each 8 kB I/O

je 2048 Bit I/O (local) decentralized viaProfibus-DP (max. 126modules, each 8 kB I/O

fieldbuses Profibus-DP (V1) masterin prep.: slave

Profibus-DP (V1) master optional: expansionmodul

Profibus-DP (V1) masteroptional: Interbus-S

programming interface Ethernet oder RS232 RS232 RS232 Ethernet oder RS232programminglanguages

IEC61131-3: ST, IL, LD,SFC, FBD, CFC

IL, LD, CFC, SFChigh level language „C“

IL, LD, FUP, AShigh level language „C“

IL, LD, FUP, AShigh level language „C“

realtime clock,buffering time

yes, typically 5 days yes, battery buffered yes, battery buffered yes, battery buffered

communicationinterfaces

RS232, Ethernet,PROFIBUS-DP

RS232, PROFIBUS-DPoptional: Ethernet

RS232optional: Ethernet, DP

Ethernet, RS232,PROFIBUS-DP


IndraLogic L40Integrated display - operating menu


HMI HMI

control + control + local I/Olocal I/O

IndraLogic L40“Connectivity” - Profibus-DP

EcoDriveIndraDrive

Rexroth Inline/Fieldline

VCP02...VCP02...VCP25VCP25

decentralized I/Odecentralized I/O

drivesdrives


IndraLogic L40 “Connectivity” - Profibus-DP

net 1 net 2DP-DP Gateway

Interconnection of two DP Interconnection of two DP master nets via master nets via GatewayGateway

multi master operationmulti master operationnot necessarynot necessary

easy connectioneasy connection toto3rd party systems3rd party systems


Router/ or directly

Hubs/Switches

wyewye connectionconnection via via hubs orhubs orswitchesswitches

crosslink communicationcrosslink communicationvia Ethernet protocol (3S)via Ethernet protocol (3S)

easy connectioneasy connection toto3rd party systems3rd party systems

IndraLogic L40 “Connectivity” - Ethernet


IndraLogic L40“Connectivity” - Visualization


IndraLogic L40“Connectivity” - controls


IndraLogic L40“Connectivity” - peripheral and programming


IndraLogic overview

IndraLogic V - PC based solutions

IndraControl V

Combination of software PLCwith integrated operation and visualization

Based on the new HMI hardware platform IndraControl V

Scalable as IPC or embedded PC

Common design, operation and engineering

Open interfaces for networking via Ethernet and Profibus


PLC system based on IndraControl VEP with operation and visualization

Open interfaces for the interlinking via Ethernet and Profibus

Connection of decentralized I/O via fieldbus

Generally in design, operation and engineering

IndraLogic VE (AV since 9/2005)

IndraControl VEPxx

IndraLogic VEPLC system based on embedded PC


Device variantsVEP30, VEP40, VEP50

Touch-Screen, Keyboard as virtualkeyboard400 MHz , 128 MBoptional extendable:

64/128 MB Compact Flash, internal64/128 MB Compact Flash, external

Windows CE.NET 4.21 x Ethernet, 2 x USBShort time UPS for the data saving on Compact FlashStandard fieldbus master

VEP50(15‘‘ TFT)

VEP40(12,1‘‘ TFT)

VEP30(8,4‘‘ TFT)

IndraLogic VETechnology view IndraControl VEP


IndraLogic VE System architecture of plc solutions on embedded PC

IndraControl VEPxx

WindowsCE 4.x

SPS

.Net Framework

PC Betriebssystem

TCP/IP - Treiber

Einheitliche API(Application Programmer´s Interface)

Bedien- oberfläche

EngineeringWerkzeuge

OPC

CE-Visu

TCP/IP

VEP

Programmiergerät (PC..)

WindowsCE 4.x


User memory (code / data)

12 MB (4 MB/8 MB) Runtime IndraLogic (conformal to the IEC 61131-3)

Retain memory 256 kB, Flash Programming languages

Conformal to IEC61131-3: ST, IL, LD, SFC, FB, CFC

number of tasks 16 Engineering Framework

Rexroth IndraWorks Logic

Available tasks cyclic, periodic, free running, controlled by external event

Programming interfaces

Ethernet, RS232

Processing time typically 100µs (1000 instr. in IL, bit- and word-commands)

Functions for program test

Breakpoint, single step, single cycle, write/force, monitoring, sampling, trace, online change, simulation

I/O 126 devices decentralized via Profibus DP (7 kByte, each)

Provided libraries

PLCopen, TCP/IP and serial communication, standard IEC61131-3 library

Communication interfaces

RS232, Ethernet, USB, fieldbuses

IndraLogic VEPerformance


IndraLogic VSTechnical Data

breakpoint, single-step, single-cycle, write/force, monitoring, sampling trace, simulation, online change

Functionality for Program Test

PLCopen, Communications, IEC 61131-3Included Libraries

RS232, USB, EthernetCommunication Interfaces

Ethernet, RS232 or directly on the target hardwareProgramming Interfaces

IL, LD, FBD, ST, SFCProgramming Languages (IEC61131-3)

IndraWorksProgramming Software

decentralized, via Profibus DP (max. 126 units, per 7 kB I/O)I/O

typical, 30 µsProcessing Time (1,000 instructions in IL with bit and word processing

cyclic, free running, event-controlledTask Types

32Number of Tasks

2MB on hard drive (with USV)NVRAM

24MB (8MB/16MB)User Memory (Code/Data)

IndraLogicRuntime System

VxWorks/VxWinReal-Time

Windows XPOperating Systems

IndraControl VSP16/40, VSB40PC Hardware

IndraLogic VSTechnical Data


IndraLogic VPTechnical Data

breakpoint, single-step, single cycle, write/force, monitoring, sampling trace, simulation, online change

Functionality for Program Testing

PLCopen, Communication, Standard IEC 61131-3Included Libraries

RS232, USB, EthernetCommunication Interfaces

Ethernet, RS232 or directly on the target hardwareProgramming Interfaces

IL, LD, FBD, ST, SFCProgramming Languages (IEC61131-3)

IndraWorksProgramming Software

decentralized via Profibus DP (max. 126 units, per 7 kB I/O)I/O

typical, 50 µsProcessing Time(1,000 instructions in IL with bit and word processing)

cyclic, free running, event-controlledTask Types

32Number of Tasks

2MB on hard drive (with USV)NVRAM

24 MB (8MB/16MB)User Memory Code/Data)

IndraLogicRuntime System

VxWorks/VxWinReal-Time

WindowsXP/Windows2000Operating Systems

IndraControl VPP16/40/60, VPB40, IndraControl BTV16/40/60, IPC40PC Hardware

IndraLogic VPTechnical Data


VxWorksrealtime operating system

PLC

.Net Framework

PC operating system

internal TCP/IP -oriented communication

uniform API(Application Programmer`s Interface)

operatorinterface

engineeringtools

IndraLogic VPP21

IndraLogic VPP21 System architecture of the IPC-based PLC solutions


IndraLogic VPP21IPC-based PLC solution

PLC solution based on IndraControl V with operation and visualizationOpen interfaces for networking via Ethernet and ProfibusConnection of decentralized I/Os via fieldbusIdentical in design, operation and engineeringFirst available variant is IndraLogic VPP21 (AWP since 5/2004)More VPP- and VEP-variants will be followed at the end of 2004

IndraLogic VPP21


IndraLogic VPP21Technical features

user memory 24 MB runtime IndraLogic (conform to IEC61131-3)

retain memory 2 MB, battery buffered programminglanguage

IEC61131-3 conform:ST, IL, LD, SFC, FBD, CFC

number of tasks 32 programmingsystem

Rexroth IndraWorks

kind of tasks cyclic, free running,periodic, controlled byexternal events

programminginterfaces

Ethernet, RS232 or direct onthe destination hardware

processing time typically 25µs (1000commands IL, bit and wordoperations)

functions forprogram test

breakpoint, single step,single cycle, write/force,monitoring, sampling, trace,online-change, simulation

I/O 126 modules decentralizedvia Profibus-DP (each 7kByte configurable)

includedlibraries

PLCopen, TCP/IP- and ser.communication, standardIEC61131-3 library

communicationinterfaces

RS232, Ethernet, USB,fieldbuses


IndraLogiccomparison between IndraLogic systems

technical features IndraLogic in Drives IndraLogic L20 IndraLogic L40 IndraLogic VPP21User memory 64 kB (on board),

512 kB (optional withMMC)

3 MB 8 MB 24 MB

retain memory 252 Byte (on board),32 kB (optional)

32 kB 64 kB 2 MB, battery buffered

number of tasks 4 8 16 32processing time (1000commands IL, bit andword operations)

typically 100 µs typically 150 µs typically 70 µs typically 50 µs

I/O digital: 11I/2O (onboard), 16I/16O or12I/8O (dep. of option)analogous: 1I/2O (onboard), 2I/2O (optional)

256 I/O (local),decentralized viaProfibus-DP (max. 126modules, each 8 kBI/O), 8I /8O on board

512 I/O (local),decentralized viaProfibus-DP (max. 126modules, each 8 kBI/O), 8I /8O on board

decentralized viaProfibus-DP (max. 126modules, each 7 kB I/O)

Programming interface RS232,Ethernet (in prep.)

Ethernet, RS232 Ethernet, RS232 Ethernet, RS232 ordirectly on control

Communicationinterfaceses

SERCOS interface,PROFIBUS, parallelinterface.in prep.: Ethernet,DeviceNet, CANopen



RS232, Ethernet, USBfieldbuses


IndraLogic System familyPerformance

IndraLogic M LD IndraLogic L20 IndraLogic L40 IndraLogic VP P 21P rogram m em ory 192 kB (on board),

512 kB (optiona l M M C )3 M B 8 M B 32 M B

R etain m em ory 250 B yte (on board),32 kB (O ption M D 1)

32 kB 64 kB 2 M B w ith ba tte ry

M ax. tasks 4 8 16 32P erform ance1000 linesInstruction lis t

typ ica l 100 µs typ ica l 150 µs typ ica l 70 µs typ ica l 50 µs

I/O ‘s dig ita l: 11 I/O (on board),16 I/16O or 12I/8O( O ption)ana log: 1I/O A (onboard), 2 I/2O (O ption)

256 I/O (zentra l),decentra l via D Pm ax. 126 s laves8kb I/O per s lave8/8 I/O on board

512 I/O (centra l),decentra l via D Pm ax. 126 s laves8 kb I/O per s lave8/8 I/O on board

decentra l via P rofibus-D P w ith m ax. 126slaves8 kB I/O per s lave

C om m unicationinterface

R S 232 E thernet, R S232 E thernet, R S232 E thernet, R S232

C om m andinterface

SE R C O S , P R O FIB U S,Para lle l-In te rface .

R S232, E thernet,P R O FIB U S -D P

R S 232, E thernet,P R O FIB U S -D P

R S 232, E thernet, U S BP rofibus, C A N bus

IndraLogic VE IndraLogic VS IndraLogic VP IndraLogic VPP21 User memory 12 MB 24 MB Retain memory 64 kB 2 MB (Harddisk, USP) 2 MB (Harddisk, USP) 2 MB, with battery Tasks 16 32 32 32 1000 orders in IL Bit- and Word

typical 100 µs typical 30 µs Typical 50 µs typical 50 µs

I/O Decentral Decentral Decentral decentral Fieldbus Profibus-DP (V1) Master

max. 7 kByte I/O per slave, max. 126 slaves

Profibus-DP (V1) Master max. 7 kByte I/O per slave, max. 126 slaves



Programming interface Ethernet or RS232 Ethernet, RS232 or direct

Ethernet, RS232 or direct

Ethernet, RS232 or direct

Programming languages

IEC61131-3: All supp. IEC61131-3: All supp. IEC61131-3: All supp. IEC61131-3: All supp.

RTC yes yes yes yes Communication interface

RS232, Ethernet, PROFIBUS-DP





IndraMotion MLC


Development planning 2006 IndraMotion MLC – Control hardware

Expanding functionality forcommunications and Technology module (max. 4)

Expanding functionality forcommunications and Technology module (max. 4)

Cam builder FM

SERCOS III

Cross communication

DeviceNet Master

PROFIBUS Master

MLC 02VRS

MLC 03VRS

MLC 03VRS

MLC 02VRS

MLC 03VRS

I/O extension by direct connection the Inline I/O modules

I/O extension by direct connection the Inline I/O modules

IndraControl L40


HMI (optional) IndraControl VSP/VPPIndraControl VEP/VEHIndraControl VCP

Hardware IndraControl L40CML40.1-SP-220-NA-NNNN-NW

Connector setR-IB IL CML S01-PLSET

Function modules (optional)CFL01.1-D1 (DeviceNet Master)CFL01.1-Q2 (Cross Communication)

DrivesIndraDrive M/C

- Firmware MPx03- Firmware MPx04*

* new MPx04 functionality is not supported

IndraMotion MLC 02VRSSystem Component Hardware


FWA-CML40*-ML*-V02RS-DO

Real-time OS VxWorks

MLC Motion-Logic RuntimeMax. 16 axes

SWA-IWORKS-ML*-V02-DO-CD700

MLC Engineering incl. technologies

WinStudio Lite Editor & Runtime

Cam Builder (SWS-IWORKS-CAM-03VRS-DO)

Ethernet

Engineering PC

IndraControl L40

SoftwareSoftware

FirmwareFirmware

Add-OnStandard

IndraLogic Programming

Standard

Standard and technology functions

IndraMotion MLC 02VRSSystem components software/firmware


IndraMotion MLC 02VRSOffline parameter setup

Activation of offline parameter setup

Activation of offline parameter setup

Complete offline parameter setup of control and drivesvia hardware emulation

Activation via context menu in project tree

Access to all C, A, S and P parameter via „Online dialogues“

Parameter comparison via switching Online Offline

Online

Import/Export of parameter is possible anytime

Status is offlineStatus is offline

Dialogues and data are activeDialogues and data are active

r4

r4 ralashqar, 1/19/2006


IndraMotion MLC 02VRSLink ring – control configuration

Automatic call of wizards for basic configuration

Automatic call of wizards for basic configuration

MLC link ring corresponds to cross communication of SYNAX/VMMax. 64 controlscan communicate via link ring (8 ms SERCOS cycle time)


IndraMotion MLC 02VRSLink ring – configuration per Drag & Drop

Insert of function module for cross communication per

Drag & Drop

Insert of function module for cross communication per

Drag & Drop

New library „FM“(Function module)New library „FM“

(Function module)


IndraMotion MLC 02VRSLink ring – parameter setup

Setup of link axes via context menue in project treeLink axes are taken from Link ringAll Axis types (Virtual, Real, Encoder) can be used within the link ring

New node „Link Axes“ in project tree

New node „Link Axes“ in project tree

Selection of available link axes

Selection of available link axes


IndraMotion MLC 02VRSParking and deactivation of real axes

New motion interface for

Activation/deactivation of real axes, access to A parameter is possible

Parking of real axes,access to A, S and P parameter is possible, drive follows SERCOS phases

Activation/Parking of an axis via

context menu

Activation/Parking of an axis via

context menu


MLC‘s Robot Control

RoCo FeaturesMLC03VRS

- MLC: 32 axes over all- 1 Kinematics with max. 8 axes (position, orientation, belts)- Transformation for XYZ-, Scara- and Delta-Robot released- Pool of more than 90 transformations available- Belt synchron motion (up to 4 belts)- Buffered/Blended motion (Block_Slope, Progr_Slope)- World coordinate shifting- RCL-Subprograms- PTP, LINEAR, CIRCULAR movements with:

– Conditional break, – Setting binary output at exact position or time– Time movement (v = s/t)



RoCo FeaturesMotion

- Synchron PTP* (all axes start and end at same time)(absolute or relative)

- Linear interpolation* (absolute or relative)- Circular interpolation* (absolute or relative)- Programable speed and acceleration

(A, V, AFACTOR, DFACTOR, AFIX, V_PTP)- Sinus² acceleration- Speed can depend on programmed time (v=s/t)- Motion break on signal- Signal out on exact position- Block_Slope, Progr_Slope (Buffered/Blended motion)

* The programmed points can be in WCS or JCS (world- or joint coordinate system)



RCL Features (Robot Control Language)

RCL means „Robot Control Language“.In the past it is also known as BAPS (Bewegungs- und Ablauf-Programmier-Sprache).

RCL is a sequential programming language (in contrast to the PLC program)

RCL has all features of a modern programming language

Programable workspace

Belt synchron movements (up to 4 belts)



SetupIndraWorks

- Kinematics Wizard- Dialogs to configure the Kinematics (K-parameter)- RCL-program editor- RCL point table editor- RCL compiler (generates IRD-program and Point-table)- Up-/Download of RoCo files- RCL-program debugger (MLC 04VRS)


MLC‘s Robot Control setup

Axes Definition StandardIndraWorks MLC

IndraWorks MLCKinematics wizard

KinematicsConfiguration

Edit RCL-Programm

IndraWorks MLCRoCo-Editor

Edit PLC Programm IndraLogic

RCL-programcompile, download

StandardIndraWorks MLC


IndraWorks‘ workflow for the Robot Control




Edit RCL-Programm





Axes Definition (name, #, …)

Axes type (lin./rot., abs./mod., …)

Axes max. speed, acc., moving range,.

Axes blending rangefor PTP movements



KinematicsDefinition (Name,

Trafo-type)

Assign Axes to theKinematics

Trafo values (lengthof arms, …)

Name of cartesiancoordinates




Edit RCL-Programm






IndraWorks‘ Kinematics Wizard


RCL-Programminglanguage also known as BAPSSequencial -ProgrammingSyntax HighlightingGoto ErrorDebugging / BreakpointsCompile to IRD-programDownload





Edit RCL-Programm






IndraWorks‘ created RCL Program


IndraWorks‘ RCL Editor

Program name

Auto complete

Program header



axes power on

maybe homing

add axis to kinematics (group)

select IRD-program

start program




Edit RCL-Programm







Download selectionbox




Edit RCL-Programm





IndraMotion for Handling

October 2006BRC/PMRami Al-Ashqar


Cartesian kinematics only

no (circular)

coordination transformations

up to 6 Axis3 main axis3 orientation axis

IndraMotion for HandlingLinear and Gantry robots


IndraMotion for HandlingHardware architecture with MLC

Hardware combination in IndraMotion for Handling

HT06 VEH30

VCP08.2 MLC

IndraDrive EcoDrive DKC No EcoDrive Cs No

IndraDrive

IndraMotionIndraMotionMLCMLC

Rexroth Inline I/O

handheldVEH30

Ethernet

HMIVCP08


IndraMotion for HandlingFunctionality and Customer Benefits (1/2)

Turn key system solutionSaving engineering costs at OEMOpen Source - Machine builder can do easily modificationsthe only PLC-based motion system solution on the market

Complete PLC basedScaleable with MLC, L40, L20

Simple Motion programmingSimple, end-user oriented motion programming, easy to learnUser programs created independent of PLCOperating /programming menus as an OpenSource exampleTeaching/Programming with hand-held or cabinet HMI

Coordinated PTP moves with up to 6 axiscycle time optimized movements

Movements with blending


IndraMotion for HandlingFunctionality and Customer Benefits (2/2)

Several Jogging options implemented Continuos jogging with 2 velocitiesIncremental joggingSoftware limit switches on the control

Ready-made Speed override Speed can be manipulated by the operator at any time

Single Step functionality on boardSimple commissioning of the automatic cycle

Open Diagnosis systemopen for error messages of the machine builder


IndraMotion for HandlingMotion Programs

200 steps per program *

up to 256 programs on flash card

50 position points per program Point name defined by user, i.e. Home, LoadPos,...

10 (recent) programs in memory

100 integer variables / 100 real variables

Easy Program (File Backup) via FTP, Ethernet or card reader

200 steps per program *

up to 256 programs on flash card

50 position points per program Point name defined by user, i.e. Home, LoadPos,...

10 (recent) programs in memory

100 integer variables / 100 real variables

Easy Program (File Backup) via FTP, Ethernet or card reader


Example for blending with 2 axis

Y

P1

P2 P3

R

R=10MOVE VIA P2MOVE P3

IndraMotion for HandlingBlending move

Cycle time optimized movement with blending

Increase in productivity

easy to program

Cycle time optimized movement with blending

Increase in productivity

easy to program


IndraMotion for HandlingApplication Fields

Loading/Unloading handlings for fully automated production:Plastic machines, mounting, tool machines, logistics,…Handling in rough environment: foundry, …PalletizingPick and Placelaboratory automationsystem solution with BRL (CMS)retrofittingspecial machines….


IndraMotion for HandlingTarget Application Palletizing


IndraMotion for HandlingPalletizing plastic bottles

76000 bottles

per day !


IndraMotion for HandlingCustomer Applications for Palletizing

Palletizing at Robot Systems in BerlinPalletizing machines for paper/printing industry

Components: VCP08, L20 and IndraDrive with safety technology

Replacing a B&R solution


IM-HA Version 2New Functionality

Multi-KinematicsUp to 4 machines can be operated by one L40 and one HMI

Protection areasUp to 4 protection areas can be defined.

Scaling in INCH

Enhanced position profile accuracy Increase profile accuracy while acceleration phase

SubroutinesGlobal and local subroutines


IndraMotion for HandlingEase-of-Use template


IndraMotion for HandlingMain-Screen

Jog axis Programmingcreatemodifystart /stop

Operation-ModeManualAutomatic

DiagnosisSystemUser

* with similarscreens


IndraMotion for HandlingJogging function

Axis move‘s

Overridechangea

ble

Jog-mode changeable

continuousInc : 0,01Inc : 0,1Inc : 1Inc : 10

V

t

2 Jog Speeds

indralogic electric drives and controls

Documents