IndraLogic - Bosch Rexroth

Transcription

IndraLogic
Electric Drives and Controls
Übersicht E-Planung 2006 | Norbert Sasse BRC/PRM3 | 01.12.2005
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1
System family IndraLogic
Marketing Strategy
Rexroth
IndraMotion
Rexroth
IndraLogic
...
IndraMotion
MTX
ndraMotion
MLP
IndraMotion
MLD
IndraLogic IndraLogic
VE
L40
IndraLogic
VS
IndraLogic
VP
IndraLogic
VPP21
IndraMotion
MLC
IndraLogic
L20
Motion & Logic Based
3 designs has already
been introduced to the
market
PLC-Based
2
IndraLogic Overview
What is IndraLogic ?
IndraLogic is...
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 MotionLogic solutions SYNAX 200, VisualMotion and
IndraMotion MTX, MLx
3
IndraLogic L Systems
Version timeline
Prototype
Basis
Basis IndraLogic
IndraLogic 1.x
1.x
(CoDeSys
2.x)
(CoDeSys 2.x)
02VRS
02VRS L20/L40.1
Series
03VRS
03VRS L20/L40.1
04VRS
04VRS L20/L40.2
1st Prototype
20VRS L40.2
21VRS L10/L20/L40.2
22VRS L10/L20/L40.2/
Basis
Basis IndraLogic
IndraLogic 2.x
2.x
(CoDeSys
(CoDeSys 3.x)
3.x)
20VRS
21VRS
22VRS
L45/L65
2005
2006
2007
2008
4
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
5
Version planning IndraLogic
• Accessing IndraLogic through Profibus (Master Class 2Tunneling)
• PLCopen –Parameter listing
• DeviceNet Master (VEP/Vxx)
• Integrated in IndraWorks 05VRs
6
IndraLogic
Advantages
powerful
performance by innovative
and aligned architectures of hardware
and software
PLC functionality through full
implementation of IEC 61131-3
handling and installation because
of easy mounting and wiring
7
IndraLogic
Advantages
powerful
scalable
controller platforms
Drives ==> Controller ==> PC
communication by consequently
supporting of open
and standardized interfaces
expansion by optional function
modules and the fine scalability of
Rexroth Inline-I/O
8
IndraLogic
Advantages
powerful
Programming conform IEC 61131-3
and PLCopen by common PLC
runtime
scalable
Engineering with the software
framework IndraWorks for all systems
and platforms
standard
network for controls and HMI by
standard software interfaces
9
PLCopen
10
IndraLogic Overview
System family IndraLogic
Rexroth IndraWorks
The EngineeringEngineering-Framework
Rexroth
IndraControl V
Rexroth
IndraControl L
Rexroth
IndraDrive
Drive based PLC solution
Controller based PLC solution
PC based PLC solution
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IndraLogic Overview
IndraMotion MLD - drive based solutions
The economic compact solution for
drive based one and multi axes
applications with integrated MotionLogic
based on the drives platform
Rexroth IndraDrive
optimized for modular and
decentralized machine
architectures with limited number of
axes
scalable as software PLC integrated
in drives or optional for multi axes
control
IndraDrive
12
IndraMotion MLD & Cross Communication
Expansion stages
Single drive MC MLD-S
Master
Control (optional)
1
Master
Control
HMI
1
Master
Control (optional)
2
1
HMI
or
Drive with advanced
technology function
1
- Fieldbus-slave or drive w/o
command communication
- Advanced or Basic
control section
- Firmware option
IndraMotion MLD
PC
e
Digital setpoint coupling
t
a
t
s master
(position, speed, torque,
e
p
axis position)
toty required
o
Norprogramming
P
1
- Fieldbus-slave
- Advanced control section
- Optional module CCD
Ethernet TCP/IP
HMI
- max. 3 (SYSTEM) -7(BASIC) slaves
PC
e
t
a
t
s
Multiple axis MotioneControl
p
(up to 7 slaves)
ty
o
t
o
Pr
1
- Fieldbus-slave or drive w/o
command communication
- Advanced control section
- Optional module CCD
- Firmware option IndraMotion MLD
2
- Basic control section with Sercos-III
sufficient
- Basic control section with Sercos-III
sufficient
2
2
Ethernet TCP/IP
PC
Single axis Motion Control
Multi axes MC MLD-M
Cross communication CCD
13
IndraMotion MLD & CCD
Fields of Application
Typical fields of
application are:

Single-Axis/Multi-axes motion control
anti backlash drive
position command value sync. (Gantry axes)
torque/force or speed synchronisation
virtual/real master axis synchronisation
Intelligent technology functions
14
IndraMotion MLD/Cross Communication
CCD Slaves

All 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-III
Required 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-2
On 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 onboard
CSH1.2 only

Access to I/O‘s of all axes
15
IndraMotion MLD & CCD
System overview
Master Control
Pass trough
mode for all axes
Slave axes
Advanced or BASIC- Double axis / Single axis
Fieldbus
Optional card
Sercos-III for
ADVANCED
Option Sercos-III for
Basic / Double or
Advanced
CCD-System mode: max. 5
CCD -Expert mode: max. 7
MLD-M mode:
max. 7
Ethernet TCP/IP
Ethernet IP in MPx06 (07)
Sercos w/o direct
CC
MASTER
SLAVE 1
SLAVE 2
SLAVE 3
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IndraMotion MLD / CCD
Mode of operation
CCD SYSTEM mode
CCD slaves with direct logic connection to the field bus CCD master.
Command and process data via external control
MLD-M mode
CCD slaves without direct logic connection to the external control unit.
Command triggering and input of process data only via the MLD-M.
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CCD
Expert mode
„CCD Expert mode“
with fieldbus connection
Control
Control
Prerequisite:

Firmware:
Software:
Master unit:
Slave unit:
from MP*04VRS
IndraWorks and IndraLogic
CSH01.2 + „CCD“ (Option 3)
CSH01.1C/ CSB01.1C + „S3“
Main features:

Motion
command
CCD -S III
FB-Slave
S3-Slave
S3-Slave
SPS
MLD
MLD
MLD
CCD
Area of use:
Adv.
control
CC
Master

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 - slave
Free config. Real time channel with max 48 Byte (16 IDN ) per drive
Max. I/O-extension (distributed Slave periphery via Master)
7 * dig, I/O (16 Bit) via parameter inside Master : 114 dig. I/O
7 * analoge I/O (2 each) : 14 analog I/O
CC
Slaves

Distributed Motion control (via local MLD-S) or CCD between MLD-S
In case of setpoint coupling or synchronisation, one command interface
is required
Limitations:

no ProfiSafe solution
no SERCOS III as command interface on CCD Master
no Electric
directDrives
process
dataÜbersicht
gateway
via
external
control
to| Slave
and Controls
E-Planung
2006
| Norbert Sasse
BRC/PRM3
01.12.2005axes
18
CCD
SYSTEM mode
„CCD System mode“
with fieldbus connection
Motion
command
Control
Control
MC
Prerequisite:

Firmware:
Software:
Master unit:
Slave unit:
CCD -S III

CSH01.1C/ CSB01.1C + „S3“
Communication interface: Profibus, DeviceNet (on request: ProfiNet)
min. cycle time:
Parameter channel gateway (PKG) for acyclic access external control slaves
Free config. Real time channel with max 48 Byte (16 IDN ) per drive
FB-Slave
S3-Slave
S3-Slave

MLD
CCD
MLD
MLD
Area of use:
CCD
Master
Main features:
Fieldbus
CSH01.1
from MP*04VRS
CSH01.1
CSH01.1
CCD
Slaves

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

no CanOpen, Parallel, Analog, SERCOS II, SERCOS III for command values on CCD Master
Only
with
config.
Profile
Electric
Drives
andfree
Controls
Übersicht
E-Planung0xFFFE,
2006 | Norbert 0xFFFD
Sasse BRC/PRM3 | 01.12.2005
19
IndraMotion-MLD
MLD-M System mode
„MLD-M System mode“
Prerequisite:

with fieldbus
Control
Control
Fieldbus (Sercos, Parallel)
CCD -S III
FB-Slave
S3-Slave
S3-Slave
SPS
MC
MLD
MLD

CCD

CSH01.1C/ CSB01.1C + „S3“
Command interface: Profibus, DeviceNet, CanOpen, Parallel, Analog
and SERCOS-II, (on request: ProfiNet)
min. cycle time:
Parameter channel gateway (PKG) for acyclic access master - slave
Free config. Real time channel with max 16 Byte I/O per drive
Max. I/O-extension (distributed I/O)
7 * dig, I/O (16 Bit) via parameter inside Master : 114 dig. I/O
7 * 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, ..)
Advancedl
CCD
Master
from MP*04VRS
Main features:

Motion
command
Firmware:
Software:
Master unit:
Slave unit:
CCD
Slaves
Area of use:

complex command coupling with intelligent failure reaction
Drive integrated MotionControl -->System solution
Limitations:

Actually no SERCOS III command interface on CCD Master available
Electric Drives and Controls Übersicht E-Planung 2006 | Norbert Sasse BRC/PRM3 | 01.12.2005
No direct process data gateway from external control to Slaves
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IndraMotion MLD
Project Explorer with S-III
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IndraMotion MLD
MLD-M/CCD settings
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IndraMotion MLD
CCD status/control word
Use of Slave I/O‘s
23
Technology function „Flying shear“
Technology Function: Flying Shear
Job for flying cut systems
Material like plastic, paper, sheet
metal or tubes which are running
continuously will be cut to the
programmed lenght on the fly.
The material doesn‘t stop for cutting.
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MLD Technology Function
Cross cutter inside Technoly library (option)
Technology Function: Cross Cutter
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MLD Technology Function
Feeder
Technology Function: Cam Feeder
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IndraMotion MLD
Technology Function „ Rollfeed“
Technology Function (MLD-S) Rollfeed
IndraMotion for Metal Forming
Functionality
Different materials like sheet metal, plastic foil, wires and so on will be
transported with a rollfeed system under a press, shear or a punch.
Note: All application have to be confirmed by BRC/SIA (Karl Rapp)
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Rollfeed
Example with MLD-M
Cross communication of command speed, R/W of I/O and parameters
Roll-feed
Press
Straightener
Coil
I/Os and analog
signals
Motor feedback
Measuring wheel
Press-encoder
CCD
CCD
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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
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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
IndraControl L20
technology and communication
interfaces by function modules (only
IndraControl L40)
IndraControl L40
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IndraLogic L20
Characteristics
Complete stand-alone PLC-System

in the lower performance range
Based on the IndraControl platform
IndraControl L20
Expandable functionality
Inline-I/O
User-Friendly Programming
Conformant to IEC 61131-3 standards
Engineering-Framework IndraWorks
Simple Communication to the HMI
Control devices and sensor/actuators
(e.g. IndraDrive over Profibus)
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IndraLogic L20
Performance Feature
User Memory
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
I/O
included
librarys
breakpoint, single step,
single cycle, write/force,
monitoring, sampling, trace,
online change, simulation
PLCopen, TCP/IP and ser.
communication, standard
IEC61131-3 library
3 MB
8 Bit I (interruptable) +
8 Bit O on board
256 Bit I/O (Local)
126 decentralized modules
over DP-interface (each 8
kByte configurable)
32
IndraLogic L40
comfortable operating and diagnostic
Display with function keys, reset push
button, stop LED

diagnostic
display of the status
handling of addresses
handling of parameters
switching: run/stop
locking outputs
reset of control
display of the status:
STOP
33
IndraLogic L40
Performance features
user memory
8 MB
runtime
61131-3)
retain memory
64 kByte
programming
languages
IEC61131-3 conform:
number of tasks 16
programming
system
Rexroth IndraWorks
kind of tasks
programming
interfaces
Ethernet or RS232
cyclic, free running, periodic,
controlled by external events
processing time typically 70 µs (1000
commands in IL, bit and
word operations)
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)
functions for
programm test single cycle, write/force,
included
PLCopen, TCP/IP and ser.
librarys
IEC61131-3 library
34
Competitive comparison
IndraLogic L40 vs. Rockwell Automation ControlLogix
technical features
IndraLogic L40
ControlLogix
user memory
8 MB
changeable memory
32 MB CF-Card (contains user data
and firmware)
retain memory
number of tasks
64 kB, autom. at NvRAM
16
processing time
(1000 commands IL, bit
and word operations)
I/O
typically 70 µs
750 kB, 1,5/3,5/7,5 MB (dep. on CPU
type)
pluggable memory module (opt. also
as non-permanent); memory module
always has to be plugged.
user memory, battery buffered
max. 32 (each task max. 32 programs
assignable)
80 µs for bit operations, for word
operations no information
fieldbuses
programming interface
programming language
realtime clock / buffering
time
communication interfaces
8 Bit I (interruptable) +
8 Bit O on board
512 Bit I/O (local)
1 Profibus-DP Master (DP-V1)
max. each 8 kByte I/O addressable
max. 126 modules
Ethernet or RS232
IEC61131-3: ST, IL, LD, SFC, FBD,
CFC
yes / typically 5 days
RS232, Ethernet, PROFIBUS-DP
max. 512 Bit I/O in rack with CPU
module
optional: ControlNet, DeviceNet,
Ethernet/IP, Universal Remote I/O
RS232C
IEC61131-3: ST, IL, FBD, SFC
no information
RS232C (more only via optional
communication modules)
35
IndraLogic L40
comparison vs. CLxx0 systems
technical features
IndraLogic L40
CL200, ZE200-DP
CL350 / CL400
CL550
128 kB (36 k commands
IL)
battery bufferered, total
memory incl. data,
flags, timer, counter
1
300 µs
256 kB (64 k / 128 k
commands IL)
memory incl. data,
1
250 µs (bit)
500 µs (word)
2,5 MB (200 k
commands IL)
memory incl. data,
1
80 µs (bit)
100 µs (word)
8 bit I (interruptable) +
8 bit O on board
512 bit I/O (local) +
decentralized via
Profibus-DP (max. 126
modules, each 8 kB I/O
Profibus-DP (V1) master
in prep.: slave
Ethernet oder RS232
IEC61131-3: ST, IL, LD,
SFC, FBD, CFC
yes, typically 5 days
192 bit I/128 Bit O +
auxiliary I/O field (local)
+ decentralized via
je 2048 Bit I/O (local)
decentralized via
Profibus-DP (V1) master optional: expansion
modul
RS232
RS232
IL, LD, CFC, SFC
IL, LD, FUP, AS
high level language „C“
yes, battery buffered
Profibus-DP (V1) master
optional: Interbus-S
Ethernet oder RS232
IL, LD, FUP, AS
RS232, Ethernet,
PROFIBUS-DP
RS232, PROFIBUS-DP
optional: Ethernet
Ethernet, RS232,
PROFIBUS-DP
user memory
8 MB
retain memory
64 kB
number of tasks
processing time (1000
commands IL, bit and
word operations)
I/O
16
typically 70 µs
fieldbuses
programming interface
programming
languages
realtime clock,
buffering time
communication
interfaces
RS232
optional: Ethernet, DP
36
IndraLogic L40
Integrated display - operating menu
37
IndraLogic L40
“Connectivity” - Profibus-DP
control +
local I/O
VCP02...
VCP25
HMI
decentralized I/O
Rexroth Inline/Fieldline
EcoDrive
IndraDrive
drives
38
IndraLogic L40
“Connectivity” - Profibus-DP
DP-DP Gateway
net 1
net 2
Interconnection of two DP
master nets via Gateway
multi master operation
not necessary
easy connection to
3rd party systems
39
IndraLogic L40
“Connectivity” - Ethernet
Router/ or directly
wye connection via hubs or
switches
Hubs/Switches
crosslink communication
via Ethernet protocol (3S)
easy connection to
3rd party systems
40
IndraLogic L40
“Connectivity” - Visualization
41
IndraLogic L40
“Connectivity” - controls
42
IndraLogic L40
“Connectivity” - peripheral and programming
43
IndraLogic overview
IndraLogic V - PC based solutions
Combination of software PLC
with 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
IndraControl V
44
IndraLogic VE
PLC system based on embedded PC
f PLC system based on IndraControl
VEP with operation and visualization
f Open interfaces for the interlinking via
f Connection of decentralized I/O via
fieldbus
f Generally in design, operation and
engineering
IndraControl
VEPxx
f IndraLogic VE (AV since 9/2005)
45
IndraLogic VE
Technology view IndraControl VEP
f Device variants
VEP50
(15‘‘ TFT)
f VEP30, VEP40, VEP50
f Touch-Screen, Keyboard as virtual
keyboard
VEP40
(12,1‘‘ TFT)
VEP30
(8,4‘‘ TFT)
f 400 MHz , 128 MB
f optional extendable:
f 64/128 MB Compact Flash, internal
f 64/128 MB Compact Flash, external
f Windows CE.NET 4.2
f 1 x Ethernet, 2 x USB
f Short time UPS for the data saving on
Compact Flash
f Standard fieldbus master
46
IndraLogic VE
System architecture of plc solutions on embedded PC
Programmiergerät (PC..)
.Net Framework
Bedienoberfläche
Engineering
Werkzeuge
PC Betriebssystem
Einheitliche API
(Application Programmer´s Interface)
TCP/IP - Treiber
TCP/IP
VEP
IndraControl
VEPxx
Windows
CE-Visu
CE 4.x
Windows
CE 4.x
OPC
SPS
47
IndraLogic VE
Performance
User memory
12 MB (4 MB/8 MB)
Runtime
IndraLogic (conformal to the
IEC 61131-3)
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
Processing time typically 100µs (1000 instr.
in IL, bit- and wordcommands)
Programming
interfaces
Ethernet, RS232
Functions for
program test
I/O
Provided
libraries
Breakpoint, single step,
PLCopen, TCP/IP and serial
IEC61131-3 library
(code / data)
Retain memory
Communication
interfaces
126 devices decentralized
via Profibus DP (7 kByte,
each)
RS232, Ethernet, USB,
fieldbuses
48
IndraLogic VS
Technical Data
Technical Data
IndraLogic VS
PC Hardware
IndraControl VSP16/40, VSB40
Operating Systems
Windows XP
Real-Time
VxWorks/VxWin
Runtime System
IndraLogic
User Memory (Code/Data)
24MB (8MB/16MB)
NVRAM
2MB on hard drive (with USV)
Number of Tasks
32
Task Types
cyclic, free running, event-controlled
Processing Time (1,000 instructions in IL with bit and word
processing
typical, 30 µs
I/O
decentralized, via Profibus DP (max. 126 units, per 7 kB I/O)
Programming Software
IndraWorks
Programming Languages (IEC61131-3)
IL, LD, FBD, ST, SFC
Programming Interfaces
Ethernet, RS232 or directly on the target hardware
Communication Interfaces
RS232, USB, Ethernet
Included Libraries
PLCopen, Communications, IEC 61131-3
Functionality for Program Test
breakpoint, single-step, single-cycle, write/force, monitoring, sampling trace, simulation, online
change
49
IndraLogic VP
Technical Data
Technical Data
IndraLogic VP
PC Hardware
IndraControl VPP16/40/60, VPB40, IndraControl BTV16/40/60, IPC40
Operating Systems
WindowsXP/Windows2000
Real-Time
VxWorks/VxWin
Runtime System
IndraLogic
User Memory Code/Data)
24 MB (8MB/16MB)
NVRAM
2MB on hard drive (with USV)
Number of Tasks
32
Task Types
cyclic, free running, event-controlled
Processing Time(1,000 instructions in IL with bit and word processing)
typical, 50 µs
I/O
decentralized via Profibus DP (max. 126 units, per 7 kB I/O)
Programming Software
IndraWorks
Programming Languages (IEC61131-3)
IL, LD, FBD, ST, SFC
Programming Interfaces
Ethernet, RS232 or directly on the target hardware
Communication Interfaces
RS232, USB, Ethernet
Included Libraries
PLCopen, Communication, Standard IEC 61131-3
Functionality for Program Testing
breakpoint, single-step, single cycle, write/force, monitoring, sampling trace,
simulation, online change
50
IndraLogic VPP21
System architecture of the IPC-based PLC
solutions
.Net Framework
operator
interface
engineering
tools
PC operating system
uniform API
(Application Programmer`s Interface)
internal TCP/IP oriented communication
IndraLogic VPP21
PLC
VxWorks
realtime operating system
51
IndraLogic VPP21
IPC-based PLC solution
f PLC solution based on IndraControl V
with operation and visualization
f Open interfaces for networking via
f Connection of decentralized I/Os via
fieldbus
f Identical in design, operation and
engineering
IndraLogic VPP21
f First available variant is IndraLogic
VPP21 (AWP since 5/2004)
f More VPP- and VEP-variants will be
followed at the end of 2004
52
IndraLogic VPP21
Technical features
user memory
24 MB
runtime
61131-3)
retain memory
2 MB, battery buffered
programming
language
IEC61131-3 conform:
programming
system
Rexroth IndraWorks
programming
interfaces
Ethernet, RS232 or direct on
the destination hardware
functions for
program test
online-change, simulation
PLCopen, TCP/IP- and ser.
IEC61131-3 library
number of tasks 32
kind of tasks
processing time
I/O
communication
interfaces
cyclic, free running,
periodic, controlled by
external events
typically 25µs (1000
commands IL, bit and word
operations)
126 modules decentralized
via Profibus-DP (each 7
kByte configurable)
RS232, Ethernet, USB,
fieldbuses
included
libraries
53
IndraLogic
comparison between IndraLogic systems
technical features
IndraLogic in Drives
IndraLogic L20
IndraLogic L40
IndraLogic VPP21
User memory
64 kB (on board),
512 kB (optional with
MMC)
252 Byte (on board),
32 kB (optional)
4
typically 100 µs
3 MB
8 MB
24 MB
32 kB
64 kB
2 MB, battery buffered
8
typically 150 µs
16
typically 70 µs
32
typically 50 µs
256 I/O (local),
decentralized via
modules, each 8 kB
I/O), 8I /8O on board
Ethernet, RS232
512 I/O (local),
decentralized via
modules, each 8 kB
I/O), 8I /8O on board
Ethernet, RS232
decentralized via
modules, each 7 kB I/O)
RS232, Ethernet,
PROFIBUS-DP
RS232, Ethernet,
PROFIBUS-DP
retain memory
number of tasks
processing time (1000
commands IL, bit and
word operations)
I/O
digital: 11I/2O (on
board), 16I/16O or
12I/8O (dep. of option)
analogous: 1I/2O (on
board), 2I/2O (optional)
Programming interface RS232,
Ethernet (in prep.)
Communication
SERCOS interface,
interfaceses
PROFIBUS, parallel
interface.
in prep.: Ethernet,
DeviceNet, CANopen
Ethernet, RS232 or
directly on control
RS232, Ethernet, USB
fieldbuses
54
IndraLogic System family
Performance
P ro g ra m m e m o ry
R e ta in m e m o ry
M a x . ta s k s
P e rfo rm a n c e
1 0 0 0 lin e s
In s tru c tio n lis t
I/O ‘s
C o m m u n ic a tio n
in te rfa c e
Com m and
in te rfa c e
User memory
Retain memory
Tasks
1000 orders in IL
Bit- and Word
I/O
Fieldbus
Programming interface
In d ra L o g ic M L D
In d ra L o g ic L 2 0
In d ra L o g ic L 4 0
In d ra L o g ic V P P 2 1
1 9 2 kB (o n b o a rd ),
5 1 2 kB (o p tio n a l M M C )
2 5 0 B yte (o n b o a rd ),
3 2 k B (O p tio n M D 1 )
4
typ ic a l 1 0 0 µ s
3 MB
8 MB
32 M B
32 kB
64 kB
2 M B w ith b a tte ry
8
typ ic a l 1 5 0 µ s
16
typ ic a l 7 0 µ s
32
typ ica l 5 0 µ s
d ig ita l: 1 1 I/O (o n b o a rd ),
1 6 I/1 6 O o r 1 2 I/8 O
( O p tio n )
a n a lo g : 1 I/O A (o n
b o a rd ), 2 I/2 O (O p tio n )
RS232
2 5 6 I/O (ze n tra l),
d e c e n tra l via D P
m a x. 1 2 6 s la ve s
8 k b I/O p e r s la ve
8 /8 I/O o n b o a rd
E th e rn e t, R S 2 3 2
5 1 2 I/O (c e n tra l),
d e c e n tra l via D P
m a x. 1 2 6 s la ve s
8 k b I/O p e r s la ve
8 /8 I/O o n b o a rd
d e c e n tra l via P ro fib u s D P w ith m a x. 1 2 6
s la ve s
8 k B I/O p e r s la ve
S E R C O S , P R O F IB U S ,
P a ra lle l-In te rfa ce .
R S 2 3 2 , E th e rn e t,
P R O F IB U S -D P
R S 2 3 2 , E th e rn e t,
P R O F IB U S -D P
R S 2 3 2 , E th e rn e t, U S B
P ro fib u s , C A N b u s
IndraLogic VE
IndraLogic VS
IndraLogic VP
IndraLogic VPP21
12 MB
64 kB
16
typical 100 µs
24 MB
2 MB (Harddisk, USP)
32
typical 30 µs
2 MB (Harddisk, USP)
32
Typical 50 µs
2 MB, with battery
32
typical 50 µs
Decentral
Profibus-DP (V1) Master
max. 7 kByte I/O per
slave, max. 126 slaves
Ethernet or RS232
Decentral
Ethernet, RS232 or
direct
IEC61131-3: All supp.
Decentral
Ethernet, RS232 or
direct
decentral
Ethernet, RS232 or
direct
yes
RS232, Ethernet,
PROFIBUS-DP
yes
RS232, Ethernet,
PROFIBUS-DP
Programming
languages
RTC
yes
yes
Communication
RS232, Ethernet,
RS232, Ethernet,
interface
PROFIBUS-DP
PROFIBUS-DP
Electric Drives and Controls Übersicht E-Planung 2006 | Norbert Sasse BRC/PRM3 | 01.12.2005
55
IndraMotion MLC
56
IndraMotion MLC – Control hardware
Expanding
Expanding functionality
functionality for
for
communications
communications and
and Technology
Technology
module
module (max.
(max. 4)
4)
I/O
I/O extension
extension by
by direct
direct
connection
connection the
the Inline
Inline I/O
I/O
modules
modules
IndraControl L40
Cross communication MLC 02VRS
DeviceNet Master MLC 02VRS
PROFIBUS Master MLC 03VRS
SERCOS III MLC 03VRS
Cam builder FM
MLC 03VRS
57
IndraMotion MLC 02VRS
System Component Hardware
HMI (optional)
IndraControl VSP/VPP
IndraControl VEP/VEH
IndraControl VCP
Hardware IndraControl L40
CML40.1-SP-220-NA-NNNN-NW
Connector set
R-IB IL CML S01-PLSET
Function modules (optional)
CFL01.1-D1 (DeviceNet Master)
CFL01.1-Q2 (Cross Communication)
Drives
IndraDrive M/C
- Firmware MPx03
- Firmware MPx04*
*
new MPx04 functionality is not supported
58
System components software/firmware
SWA-IWORKS-ML*-V02-DO-CD700
Software
Cam Builder (SWS-IWORKS-CAM-03VRS-DO)
WinStudio Lite Editor & Runtime
MLC Engineering incl. technologies
IndraLogic Programming
Engineering PC
Standard
Add-On
Ethernet
FWA-CML40*-ML*-V02RS-DO
Firmware
MLC Motion-Logic Runtime
Max. 16 axes
IndraControl L40
Standard and technology functions
Real-time OS VxWorks
Standard
59
Offline parameter setup
Complete offline parameter r4
setup of control and drives
via hardware emulation
Activation
Activation of
of offline
offline
parameter
parameter setup
setup
Activation via context menu
in project tree
Access to all C, A, S and P
parameter via „Online
dialogues“
Parameter comparison via
switching OnlineÎOffline
ÎOnline
Import/Export of parameter
Dialogues
Dialogues and
and
data
are
active
data are active
is possible anytime
Status
Status is
is offline
offline
60
Slide 60
r4
ralashqar, 1/19/2006
Link ring – control configuration
MLC link ring

corresponds to cross
communication of
SYNAX/VM
Max. 64 controls
can communicate via
link ring (8 ms
SERCOS cycle time)
Automatic
Automatic call
call of
of wizards
wizards for
for
basic
basic configuration
configuration
61
Link ring – configuration per Drag & Drop
New
New library
library „FM“
„FM“
(Function
(Function module)
module)
Insert
Insert of
of function
function module
module for
for
cross
cross communication
communication per
per
Drag
Drag &
& Drop
Drop
62
Link ring – parameter setup
Setup of link axes via

context menue in project
tree
Link axes are taken from
Link ring
All Axis types (Virtual,
Real, Encoder) can be
used within the link ring
New
New node
node „Link
„Link
Axes“
Axes“ in
in project
project tree
tree
Selection
Selection of
of available
available
link
link axes
axes
63
Parking 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
Activation/Parking of
of an
an
axis
axis via
via
context
context menu
menu
64
MLC‘s Robot Control
RoCo Features
MLC03VRS
-
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)
65
RoCo Features
Motion
- 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)
66
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)
67
Setup
IndraWorks
-
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)
68
MLC‘s Robot Control setup
Axes Definition
Standard
IndraWorks MLC
Kinematics
Configuration
IndraWorks MLC
Kinematics wizard
Edit RCLProgramm
IndraWorks MLC
RoCo-Editor
Edit PLC
Programm
IndraLogic
RCL-program
compile, download
Standard
IndraWorks MLC
69
IndraWorks‘ workflow for the Robot Control
Axes Definition
Standard
IndraWorks MLC
Kinematics
Configuration
IndraWorks MLC
Kinematics wizard
Edit RCLProgramm
IndraWorks MLC
RoCo-Editor
Axes type (lin./rot.,
abs./mod., …)
Axes max. speed,
acc., moving range,.
Edit PLC
Programm
IndraLogic
RCL-program
compile, download
Axes Definition
(name, #, …)
Standard
IndraWorks MLC
Axes blending range
for PTP movements
70
Axes Definition
Standard
IndraWorks MLC
Kinematics
Configuration
IndraWorks MLC
Kinematics wizard
Edit RCLProgramm
IndraWorks MLC
RoCo-Editor
Edit PLC
Programm
IndraLogic
RCL-program
compile, download
Standard
IndraWorks MLC
Kinematics
Definition (Name,
Trafo-type)
Assign Axes to the
Kinematics
Trafo values (length
of arms, …)
Name of cartesian
coordinates
71
IndraWorks‘ Kinematics Wizard
72
Axes Definition
Standard
IndraWorks MLC
Kinematics
Configuration
IndraWorks MLC
Kinematics wizard
Edit RCLProgramm
IndraWorks MLC
RoCo-Editor
Edit PLC
Programm
IndraLogic
RCL-program
compile, download
Standard
IndraWorks MLC
RCL-Programming
language also known as
BAPS
Sequencial -Programming
Syntax Highlighting
Goto Error
Debugging / Breakpoints
Compile to IRD-program
Download
73
IndraWorks‘ created RCL Program
74
IndraWorks‘ RCL Editor
Program header
Program name
Auto complete
75
Axes Definition
Standard
IndraWorks MLC
axes power on
Kinematics
Configuration
IndraWorks MLC
Kinematics wizard
maybe homing
Edit RCLProgramm
IndraWorks MLC
RoCo-Editor
add axis to
kinematics (group)
Edit PLC
Programm
IndraLogic
select IRD-program
RCL-program
compile, download
Standard
IndraWorks MLC
start program
76
Axes Definition
Standard
IndraWorks MLC
Kinematics
Configuration
IndraWorks MLC
Kinematics wizard
Edit RCLProgramm
IndraWorks MLC
RoCo-Editor
Edit PLC
Programm
IndraLogic
RCL-program
compile, download
Standard
IndraWorks MLC
Download selection
box
77
IndraMotion for Handling
October 2006
BRC/PM
Rami Al-Ashqar
Linear and Gantry robots
Cartesian kinematics only
no (circular)
coordination transformations
up to 6 Axis
3 main axis
3 orientation axis
79
Hardware architecture with MLC
handheld
VEH30
HMI
VCP08
Ethernet
IndraMotion
MLC
Rexroth Inline I/O
IndraDrive
Hardware combination in
9
HT06
VEH30
9
VCP08.2
9
MLC
9
IndraDrive
9
No
EcoDrive DKC
No
EcoDrive Cs
80
Functionality and Customer Benefits (1/2)
Turn key system solution
Saving engineering costs at OEM
Open Source - Machine builder can do easily modifications
the only PLC-based motion system solution on the market
Complete PLC based
Scaleable with MLC, L40, L20
Simple Motion programming
Simple, end-user oriented motion programming, easy to learn
User programs created independent of PLC
Operating /programming menus as an OpenSource example
Teaching/Programming with hand-held or cabinet HMI
Coordinated PTP moves with up to 6 axis
cycle time optimized movements
Movements with blending
81
Functionality and Customer Benefits (2/2)
Several Jogging options implemented
Continuos jogging with 2 velocities
Incremental jogging
Software limit switches on the control
Ready-made Speed override
Speed can be manipulated by the operator at any time
Single Step functionality on board
Simple commissioning of the automatic cycle
Open Diagnosis system
open for error messages of the machine builder
82
Motion Programs
200steps
stepsper
perprogram
program**
200
upto
to256
256programs
programson
onflash
flashcard
card
up
50position
positionpoints
pointsper
perprogram
program
50
Pointname
namedefined
definedby
byuser,
user,i.e.
i.e.Home,
Home,LoadPos,...
LoadPos,...
Point
10(recent)
(recent)programs
programsin
inmemory
memory
10
100integer
integervariables
variables//100
100real
realvariables
variables
100
EasyProgram
Program(File
(FileBackup)
Backup)via
viaFTP,
FTP,Ethernet
Ethernetor
or
Easy
cardreader
reader
card
83
Blending move
Y
P2
P3
R
Cycletime
timeoptimized
optimized
Cycle
movementwith
with blending
blending
movement
R=10
MOVE VIA P2
MOVE P3
Increasein
inproductivity
productivity
Increase
easyto
toprogram
program
easy
P1
Example for blending with 2 axis
84
Application Fields
Loading/Unloading handlings for fully automated production:

Plastic machines, mounting, tool machines, logistics,…
Handling in rough environment:
foundry, …
Palletizing
Pick and Place
laboratory automation
system solution with BRL (CMS)
retrofitting
special machines
….
85
Target Application Palletizing
86
Palletizing plastic bottles
76000 bottles
per day !
87
Customer Applications for Palletizing
Palletizing at Robot Systems in Berlin
Palletizing machines for paper/printing industry
Components: VCP08, L20 and IndraDrive with safety technology
Replacing a B&R solution
88
IM-HA Version 2
New Functionality
Multi-Kinematics
Up to 4 machines can be operated by one L40 and one HMI
Protection areas
Up to 4 protection areas can be defined.
Scaling in INCH
Enhanced position profile accuracy
Increase profile accuracy while acceleration phase
Subroutines
Global and local subroutines
89
Ease-of-Use template
90
Main-Screen
* with
similar
screens
Jog axis
Programming
fcreate
fmodify
fstart /stop
Diagnosis
fSystem
fUser
Operation-Mode
fManual
fAutomatic
91
Jogging function
V
Axis move‘s
t
2 Jog Speeds
Jog-mode
changeable
fcontinuous
fInc : 0,01
fInc : 0,1
fInc : 1
fInc : 10
Override
changea
ble
92

IndraLogic - Bosch Rexroth

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