Sales Training Level 2 IndraMotion MLD / CCD - Bosch Rexroth

Sales Training 

Level 2 

IndraMotion MLD / CCD

Agenda 

�� General Information 

�� What is . . .? 

�� MLD-S MLD 

�� CCD 

�� MLD-M MLD 

�� IndraMotion MLD - scalable solutions 

�� Free programming 

�� Programming with technical function blocks 

�� Turn key solutions 

�� Connection to visualizations 

�� VCPs 

�� VEPs 

�� PCs 

�� Third party tools 

�� Application examples 

�� Summary 

Electric Drives and Controls Version 06/2007 PRM4 / Rüdiger Walther 

© All rights reserved by Bosch Rexroth AG, including the application of industrial property rights. We hold any power of disposition, such as the right to copy and 

pass this document on to third parties. 

2

IndraMotion MLD – 

Drive-Based 

Drive Based Automation Solution 

for Single-Axis Single Axis and Multiple-Axis Multiple Axis Applications 


�� ideal combination of 

motion and PLC functions 

�� Compact motion-logic motion logic system 

based on IndraDrive 

� Super ordinate controls no longer 

necessary 



3

IndraMotion MLD and CCD 

Unique On-Board Solution 

Only available from Bosch Rexroth: 

� Highly dynamic on-board solution 

� Almost free of charge 

� Very easy licensing 


KW-PLC1 PLC 

bmaXXdrivePLC 

All All PLC’s PLC require require 

additional additional hardware hardware 



Simotion D with 

Sinamics 120S ... 

Movi-PLC 

4

MLD 

IndraMotion MLD 

Why Drive-Based Motion-Logic ? 

� Cost-effective solution 

� Motion- and logic control directly in the drive 

� Compact design 

� Reduced switch cabinet space 

� Less wiring 

� Less EMC problems 

� Fast reaction / communication 

� Less interfaces 

� Reaction times within msecs 

� Low complexity 

� Faster startup 

� Easy diagnostics 

� easier engineering 

� Only one data backup of drive parameters and PLC program 

� Modern communication conception 

� Ethernet communication for all components 


very very short short 

"time "time to market" 

market" 



5

IndraMotion MLD and CCD 

Design and Function 

� Single-axis motion control 

or 

� Drive with higher 

technology function 

1 

1 

MLD-S single drive 

Higher-order 

control (optional) 

HMI 

PC 

- Field bus slave or drive 

without master communication 

- Advanced or basic 

control section 

- Optional IndraMotion MLD 

firmware 


CCD cross-communication 

1 2 

Higher-order 

control 

� Digital command value coupling 

(position, velocity, 

torque, leading axis position) 

� Very easy parameterization 

1 - Field bus slave 

- Advanced control 

- Optional CCD module 

2 

Ethernet TCP/IP 

� Multi-axis motion control 

(up to 8 axes) 

� IEC programming 



HMI 

PC 

- Basic control section with Sercos-III 

is sufficient 

Multi-axis motion MLD-M 

1 - Field bus slave or drive 

without master communication 

- Advanced control 

- Optional CCD module 

- Optional IndraMotion MLD firmware 

2 

1 2 

Higher-order 

control (optional) 

Ethernet TCP/IP 

HMI 

PC 

- Basic control section with Sercos-III 

is sufficient 

6

What is . . .? 

� MLD-S (1) without Sercos III /Ethernet 

engineering via RS232 

Visualization via RS232 

MLD-S MLD 

both via RS232 

� using feed-through mode 

Optional 


Motion Logic Drive – Single axis 

Characterized by the following main features: 

� No additional hardware 

� Activation via a firmware option 

� Can be run on advanced- and 

basic control sections 

� Single-axis motion control 

� Drive commands via PLCopen 

� Expansion of drive functionality 

� reactions in msec are possible (advanced) 

� Direct access to all drive parameters 

� Using the on-board I/Os in the PLC program 

VCPx.2 allows simultaneous engineering 

and visualization via RS232! 



7


� MLD-S (2) with Sercos III /Ethernet 

Visualization 

Ethernet 

MLD-S 

MLD 

Optional 


Motion Logic Drive – Single axis 

The new version with Sercos III / Ethernet 

enhances the functionality of the MLD-S: 

� Simultaneous engineering and 

visualization via Ethernet 

� RS232 interface still fully available 

� Visualization possible with all IndraControl-V devices 

� VCP/VCH 

� VEP/VEH 

� PCs 

� Data can be exchanged with third-party 

tools via OPC 

� Sercos III I/Os permit multiple expansion of the 

available I/Os 



8


� MLD-S Application Example 

1-msec msec 

cycle 


Integrated PLC: 

�Synchronizes web and varnishing axis on start of the varnish mode 

�Calculates online 4 cams per spray nozzle 

�Switches 12 spray nozzles exactly on the web 

�Communicates with the master PLC 

�Applies new process data (>600 bytes) 

�Returns error messages 

�Calculates and activates new data 

(also during varnishing) 



9

Ethernet 


� CCD 

MASTER SLAVE 1 SLAVE 2 


Cross Communication Drive 

CCD is the BRC interface for cross-communication 

among IndraDrive’s. 

The main characteristics are: 

� Ethernet hardware with Sercos III protocol 

� Independent of master communication 

� 1 master 

� Advanced control sections: CSH-01.2C-xx-xxx-xxx-CCDxx-x-.. 

� Up to 7 slaves (depending on operating mode) 

� Basic control sections : CSB-01.1C-S3-xxx-xx-x-.. 

� Advanced control sections: CSH-01.1C- S3 -xxx-xx-x-.. 

� Basic double-axis control sections : CDB - in preparation – 

� Up to 160 bytes of cyclic data for all axes in the group: 

� up to 48 bytes per slave (MDT, AT) 

� up to 16 parameters per slave (MDT, AT) 

� Engineering of all drives without cable reconnection 



10


� CCD Operating Modes 


� There are 3 different operating 

modes 

� CCD basic mode 

� CCD system mode 

� MLD-M system mode 

� Configuration through IndraWorks 



11

Power 

Power 

Power 


� CCD basic mode 

Dialog in IndraWorks 



� CCD not preconfigured 

� The complete interface can / must be 

configured by the customer 

� The master views 

� the CCD master 

� but not the CCD slaves 

� The CCD master gives commands to the CCD 

slaves 

� Up to 7 slaves possible 

� Successor of ECO-X (EcoDrive crosscommunication) 

� Typical applications 

� Gantry 

� Torque duplication 



12

Comparison of Prices 

Application Example 

Ecodrive / EcoX 

Field bus 

Parallel interface 2 

Components: 

4 x DKC21.3-040 

4 x 20-FWA (e.g. SGP20) 

3 x EcoX cable (e.g. IKB0035) 


Field bus 


IndraDrive / CCD 

Components: 

1 x HCS..-W0028 + CSH-xx-ENS-EN2-CCD... 

Optional: CCD, synchronization, 2nd encoder 

3 x HCS..-W0028 + CSB-S3-ENS… 

1 x MPH04 

3 x MPB04 

3 x Ethernet cable (e.g. RKBxxxx) 



-15% 

13

Comparison of Prices 

Application Example with Synchronization 

Ecodrive / EcoX 

Field bus 


Components: 

4 x DKC21.3-040 

4 x 20-FWA (e.g. SGP20) 

3 x EcoX cable (e.g. IKB0035) 


Field bus 


IndraDrive / CCD + ELS 

Components: 

1 x HCS..-W0028 + CSH-xx-ENS-EN2-CCD... 

Optional: CCD, synchronization, 2nd encoder 

3 x HCS..-W0028 + CSB-S3-ENS… 

1 x MPH04 

3 x MPB04 + ext. sync 

3 x Ethernet cable (e.g. RKBxxxx) 



-7% 

14


� CCD System Mode 

Power Power Power 




� CCD partly preconfigured 

� The interface is subdivided in data exchange 

with 

� master communication and CCD slave 

� CCD master and CCD slave 

� The master communication views and gives 

commands to 


� and all CCD slaves 



� The axes are moved sometimes 

synchronously and separately from the 

master communication 



15

CCD Cross-Communication 

Typical Applications 

Typical applications 

CCD cross-communication: 

Fast synchronous data transfer among 

drives through motion commands via 

an external control (local single axes 

with MLD-S are also possible). 

Examples: gantry, master-slave, 

antibacklash ... 


� SERCOS III 

� Cycle times: 0.5..4 msec 

� Parameter gateway 

� Automatic phase handling 

� Configurable error reaction 

� CCD system mode: 

� Profile interpreter 

� Process data gateway 

� ELS structures / command value 

generator 



16

optional 

MLD-M MLD 

Power 

Power 

Power 


� MLD-M System Mode 




� CCD is preconfigured for MLD-M operation 

� The interface can be expanded 

� Master communication is not necessary 

� The master communication does not give any 

commands to the axes 

� The master communication views 


� but not the CCD slaves 



� Compact multiple-axis control 



17


� Expandable by SERCOS III I/O 


�� SERCOS III block I/O digital 

� 16 digital inputs 

� 16 freely configurable inputs or outputs 

�� SERCOS III block I/O analog 

� 4 analog inputs 

� 2 analog outputs 

� Registration and output of current and 

voltage signals 

� Resistance measurement 

� Temperature measurement 

�� SERCOS III bus coupler 

SERCOS III bus coupler 

� 8 digital inputs, 4 digital outputs on 

board 

� Expansion with max. 62 standard Inline 

modules 



18

IndraMotion MLD-M 

Typical Applications 

Typical applications � SERCOS III 

IndraMotion MLD: 

Machine designs with up to 8 axes and 

low I/O and sensor requirements. 

Fast synchronous data exchange 

among drives with integrated multiaxis 

motion control MLD-M. 

Examples: Conveyor systems, 

synchronously running separation 

equipment, handling and palletizes in 

the network 


� Cycle times: 0.5..4 msec 

� MLD-M configuration 

� I/O data channel 

� Axis addressing (Axis_Ref) 

� AXIS_DATA support 

� Parameter channel (read/write) 

� Operating phase control 

� Motion command interface 

� Real-time channel 



19


Scalable Solutions 

Turn Key Solutions 

�� IM for metal forming 

�� Rollfeed standard 

�� IndraMotion for 

Handling 



Scalable and customized programming 

Programming with technical 

function blocks 

�� Flying shear TechFB 

�� Register controller 

function block 

�� … 



Free 

programming 

�� Enclosed 

PLCopen motion 

library and 

support of all IEC 

61131 languages 

20


Free Programming 


Free 

programming 

�� Enclosed 

PLCopen motion 

library and 

support of all IEC 

61131 languages 



21


Creating a Project 


� New project 

� Select a name and a directory 



� Ready! 

22


Searching a Drive 

� Scan for Drives 


� Select an interface 

� Select IP address 

� Drive found! 



� Ready! 

23


Creating a Project / Searching a Drive 


Project Project completed completed ! ! 



24


Activation of Functions 


� Check the Functional Packages 

� Synchronization Function Package ? 

� Drive PLC activated ? 



Synchronization: 

� Mandatory for synchronous axis movements 

� Must also be activated for the CCD 

slave axes 

25


CCD Settings 


� Activate the CCD 

� Set the CCD mode 

� Insert the slaves 



� Configuring the CCD 

� The slaves are 

available in the project 

26


Configuring the Data Exchange 


� CCD is preconfigured for MLD-M operation 

� The interface can be expanded 

� It can be configured individually for each slave 

� If you configure in 

� AxisData 

� Digital I/O 

� your configurations are automatically 

entered here! 



27

MLD Settings 

Configuration 


� If this option is activated, only the MLD can 

give commands to the drive 

� If this option is not activated, the Master 

Communication commands the drive 

Using the PLCopen function block 

MX_SetControl 

you can switch between 

MLD and MC commands 

� For representing cyclic axis data 

in the MLD 



28


Diagnosis 

� MLD state 


Allows you to request the following 

information for diagnostic purposes: 

� Values of MLD inputs and outputs 



� Values of global PLC registers 

29


Technology Functions 


� Allows you to upload technology functions 

to the drive 

� e.g. preventive maintenance 

Very simple handling, 

cause IndraLogic is 

not needed! 



30


AxisData 


Allows you to expand the AxisData interface 

individually. 

� Very easy configuration 

� Data is exchanged directly between MLD and drive 

(without read/write parameters) 

� expansion for all axes possible 

� Data are exchanged cyclically 

� Checkbox checked: 

"AxisData structure supported" 



31


Distributed I/O 


CCD slave I/Os can be used from the MLD. 

The configuration is handled in by this dialog! 

� Very easy configuration 

� No additional hardware necessary 

� Data are exchanged cyclically 



32

Master Axis Generator (Virtual Master Axis) 

Configuration and Benefits 


� starting from MPX 04 the master axis generator is included 

� The master axis generator is integrated in the firmware 

to command the generator by the MLD PLCopen is used 

� Easy and familiar handling 

� The master axis generator provides 

new possibilities: 

� Cam functionality in single-axis applications 

without additional encoder 

� Coupled axes in the operating modes 

� velocity synchronization 

� position synchronization 

� Cam 



33


CAM 

� Create the cam through CAM Builder 

� CAMBuilder license required! 


� Download the cam to a drive 



� Select / activate 

with CAM_IN 

34

How How is is the 

? 

programming programming procedure procedure 


It's It's very very easy easy 

! 



35

From IndraWorks to IndraLogic 


� When IndraLogic is started for the first time, 

all necessary configurations are made automatically. 

automatically 

� Essentially, these are 

� required libraries 

� axis data structure 

� firmware (target) 



36

Necessary Libraries 


� Axis control requires the following 

libraries: 

� MX_Base.lib 

� for administrative duties 

� MX_PLCopen.lib 

� for motion commands 



37

single axis function blocks (overview) 

Motion_Readiness 

� MC_Power 

� Turns the axis on and off 

� MC_Reset 

� change from "error stop" to "standstill" 

Motion_Velocity function blocks 

� MC_MoveVelocity 

� moves the axis in velocity mode 

� MC_Stop 

� changes to the PLCopen state "stop" 

Motion_Positioning function blocks 

� MC_Home 

� starts homing 

� MC_MoveAbsolute or Relative 

� Positioning 

� MC_MoveAdditive 

� adds a position value to the target position during the positioning 

Motion_Administrative: 

� MC_ReadAxisError 

� reads drive errors 

� MC_ReadParameter 

� reads drive parameters 




38

multi axis function blocks (overview) 

Multi-axis functions of the motion library 

� Supplementing the system, multi-axis functionalities are based on the 

single-axis programming library. 

� Motion Control Multi Axis allows coupled and synchronous path 

movement of multiple axes. 

Cam: 

� MC_CamIn 

� starts a synchronous motion with a cam 

� MC_CamOut 

� completes a synchronous motion with a cam in a defined manner 

ElectronicGear: 

� MC_GearIn 

� starts synchronous axis coupling with defined ration 

� MC_GearOut 

� completes synchronous axis coupling 




39

Drive Positioning 


� Moving an axis requires two function blocks 

� MC_Power 

� changes the state of the drive from AB to AF 

� MC_MoveAbsolut 

� moves the drive to a target position 

� The drive is defined by the input “Axis” 

� Axis1 � is the CCD master 

The drive is moved in the following mode: 

"Drive-controlled positioning" 



40

Communication with Drive Parameters 

� In the MLD, drive parameters can be used in 4 different ways: 

Example: 

� Input 

P-0-1390 bit 0 � %IX0.0 

� Output 

%QX0.0 � P-0-1410 bit 0 

on one's own axis only 


� Through inputs and outputs 

� drive parameters are defined to act as input 

or output in the MLD 

� Through direct variables 

� therefore the MX_Base.lib 

provides global variables 

� Through the AxisData structure 

� Through function blocks 



41


Programming with Technical Function Blocks 


Programming with technical 

function blocks 

�� Flying shear TechFB 

�� Register controller TechFB 

�� … 



42


Supported Programming 

� Application-oriented programming with 

technology function blocks 

� The technology CD contains: 

� IndraLogic Library MX_Technology.lib 

� Documentation for startup, etc. 

� Demo programs (program templates) 

The new CD 02VRS is now available 

Type code: 

SWA-IM*MLD-LTE-01VRS-D0-CD650-COPY 

Parts Parts no: no: R911311747 




43


Integration of Technical Function Blocks 


� Add the "MX_Technology.lib" 

library to the user project 

� Create a instance of the needed FB 

� Call the Tech FB in the PLC 

program 

� Set parameters according to Tech- 

FB documentation 



44


Selected Technology Functions 

Flying Saw 

Cross-cutter 

Register controller 




45


Expandability 


Turn Key Solutions 

�� IM for metal forming 

�� Rollfeed standard 

�� IndraMotion for Handling 



46


Turn Key Solution IM-HA 

�� IndraMotion for Handling is the system solution for efficient coordination 

coordination 

of axis movements in fully automated production. 

�� Fields of application: 

�� Handlings in fully automated production: 

injection molding machines, assembly, logistics, machine tools, … 

�� Palletizing 

�� Pick and place 

�� Laboratory automation 

�� Retrofits 

�� Special machines 




47

Turn Key Solution IM-HA 

Hardware Architecture 

VCP08 

IndraDrive 

Advanced 

+ 

CCD 

+ 

MLD-M 

Ethernet 


Handheld 

VCH08 

IndraDrive 

Basic 



48

And And what what about about Visu Visu 

? 


Just Just a a second second 

! 



49

IndraMotion MLD – Visu 

Possible Visualizations 

Sercos-III CCD 

master CSH01.2 

Ethernet 

engineering interface 

Serial 

Ethernet 


VCP VI Composer 

VEP 

VSP 

VPP 



WinStudio 

OPC Server 

BR Driver 

WinStudio 

OPC Server 

Third party 

OPC Server 

VCP VI Composer 

50

VCP’s VCP first first (VCH08) (VCH08) 

! 




51


Visualizations with IndraControl VCP 

Rexroth VI Composer 

2.xx 

Ethernet 

Serial 

VI Composer is a purchased item! 

� Orginal: TSWin from Sütron 


2 ways of communication: 

� Serial 

� Ethernet 

2 possibilities of data exchange: 

� between VCP and MLD 

� directly between VCP and drive parameters 



52


Settings in IndraLogic 


� Generate a symbol file 



� MMC must be fitted to the 

IndraDrive! 

� Download the symbol file 

53

VI-Composer - Creating a Project 

� add a VCP via drag and drop to the project 


� select a VCP08 and enter the IP address 

� Ready! 



54


VI Composer – Setting the Communication 

� Define the communication layer / Symbol file path 


� Set the connection parameters 



� Ready ! 

Variables are 

available 

55


Engineering 


Additionally to reading and writing 

variables, much more functions are 

available, like: 

� message systems 

� recipe handling 

� user management 

� online language switch-over 

and many more 

� The UNICODE capability of the terminals allows 

language conversions to almost any language 

� The integrated scripting function relieves the PLC 

and provides many options for data processing 

� The easy and fast download to the terminal 

ensures efficient operation 



56

Next Next the VEP’s VEP (VEH30) (VEH30) 

! 




57


Visualizations with IndraControl VEP 

Ethernet 

Rexroth WinStudio 

6.xx 

WinStudio is purchased! 

� Orginal: WebStudio from Indusoft 


Communication takes place through Ethernet! 

The visualization can be run as 

� Stand Alone 

� WinStudio Runtime only 

� IndraWorks Operation 

� WS Runtime + Rexroth expansions 

on the VEPs 



58


Stand Alone �� InraWorks Operation 

� IndraWorks Operation 

Create a screen in WinStudio 


Configuration in IndraWorks 



Runtime on 

the VEP 

M-panels 

Header 

F-panels 

59


Stand Alone �� InraWorks Operstion 

� Stand Alone, for example Bosch Bühl 




60


Settings in IndraLogic 


� Generate a symbol file 



� MMC must be fitted to the 

IndraDrive! 

� Download the symbol file 

61


Creating a Project in IndraWorks 

� Select a VEP from the device library and add it to the project 


� Set the basic configuration 

� Ready! 



62


Setting the Communication in WinStudio 

� Start WinStudio from IndraWorks 


� Select the driver BR_WS 

� VEPs do not allow any 

communication via OPC! 

� Set the connection parameters 



63


Driver Sheets for Communication 

� Add the variables to the project using a browser 


� Establish the connection to the Visu 

variables in driver sheets 

The driver sheets allow ideal control of 

data traffic, since 

� there are various updating options 

� triggered or cyclical 

� reading and/or writing 

� the number of driver sheets is not limited 



64


Engineering 


�� WinStudio allows you to create your 

individual applications fast, easily and 

efficiently 

�� The Windows look and feel simplifies 

the first steps 

� Various tool bars and a great number of supplied 

objects 

simplifies designing the screen 

� The included controls allow the use of more 

complex functions (e.g. trends, event registration, spreadsheets) 

simply by configuration 

� Additional functions can be used in the form of ActiveX 

controls 



65


Engineering 


�� The freely configurable user management 

allows a easy configuration of access rights 

�� The new embedded Visual Basic Script is the ideal 

supplement to the "standard mathematics" 

�� Further functions: 

�� Alarm and trend management 

�� Recipe and report handling 

�� Schedule functions 

�� Online language switch-over switch over (Unicode-capability) 

(Unicode capability) 

�� Debugging functions for troubleshooting 

Owing to its functionality and its easy handling, WinStudio 

is the ideal projecting tool for our embedded PCs 



66


Management and Download 


� Using the screen editor integrated 

in IndraWorks, the 

� screen calls 

� function keys 

� machine keys 

� are organized 

� The download function transmits all 

necessary files to the VEP easily and 

quickly 



If WinStudio is used 

"stand alone", everything 

is handled in WinStudio! 

67

And And now now the PC‘s PC 

! 




68

IndraMotion MLD - Visu 

IPC‘s 

Ethernet 


IndraWorks Operation 

WinStudio 

BRC drivers 

OPC client 

OPC server 



Both ways work 

parallel to each other ! 

69


And And finally finally 

third third party party tools 

tools 



70

IndraMotion MLD - Visu 

Third Party Tools 

Ethernet 


Example: Example 

Excel 

OPC client 

OPC server 

At present, our OPC server is 

only installed with IndraWorks! 



71

+ Easy 

+ 

+ 

- 

- 


Decision Support (1) 

WinStudio 

VEP‘s VEP 

engineering with in 

complex applications 

(much greater scope of functions) 

Consistency from VEP’s to PC’s 

(the application can be converted 

easily) 

Better scaling through a 

multi-layer license model 

Much more expensive than 

a VCP solution 

Work-intensive configuration of 

communication between the terminal 

and the PLC 


VI Composer 

VCP‘s VCP 



+ Fast 

+ 

+ 

- 

- 

and easy integration 

of communication variables 

Fast and ideal engineering of 

small to medium applications 

Terminals with function and 

system keys are available 

Less embedding in IndraWorks 

Only 1 terminal with color display and 

touch screen is available 

72

+ The 

+ 

+ 

- 

- 


Decision Support (2) 

IndraWorks Operation WinStudio "Stand Alone" Alone 

organization of screen changes, 

F-panels and M-panels is handled 

by IW-Operation 

Ideal embedding of Visu in the 

IW framework (e.g. archiving) 

Use of all Rexroth "add-ons". 

Future features can also be 

integrated 

At present, the handling is 

a bit complicated 

After a modification has been downloaded, 

the result is not shown 

directly (Runtime must be restarted) 




+ individually 

+ 

+ 

- 

- 

engineering 

The application can be easily converted 

to a different platform 

(e.g. from VEP to PC) 

Faster engineering, because 

everything is made in WinStudio 

Screens must be managed 

by the user himself 

Rexroth "add-ons" cannot be 

integrated 

(e.g. ProVi-Diagnosis) 

73


Some Some 

applications 

applications 



74

IndraMotion 

MLD-M Multi-Axis Applications 


References 

� Schuler, D 

- Conveyor system (2–7 axes and safety on 

board) 

� Knauf, D 

- Synchronized dual cross-cutter 

- chain conveyor (5 axes) 

�� Fischer Edelstahl, D 

- "On-the-fly" cut with 4 additional axes 

� Eagle Precision, Kanada 

- pipe-end treatment (2 axes) 

�� Bewo bv, bv, 

NL 

- Automatic saw (6 axes) 

� Bosch PA Viersen 6-axis motion logic 

� FMC Schweinfurt 2-axis motion logic 

(high-speed packaging) 

�… 



75


Schuler 

� Schuler, D: Material feeder for single press or press line 


� Indramotion MLD with SERCOS III 

� Drive Motion Logic with up to 7 Slaves 

� 500 µs cycle time 

� Communication between drives 

� Drive integrated Safety on board 

� Reduced complexity: 

IndraMotion MLD controls all required 

movements for the material transport 

� Higher productivity with Safety: Drive 

integrated Safety functions: Safe stop, safe 

movement and Online safety check 



76

IndraMotion MLD-M 

Fresenius Medical – Renal Dialysis Machine 

Drive 1 

Move up/down 

Drive 2 

screw 


� operator loads screw and 

membrane by hand and starts cycle 

� ‘Safety Related Operational Stop’ 

when light curtain is activated 

� Drives synchronized to master for 

screw thread pitch 

� one master turn = one cycle 

� drive cams 



77

VCP05 

MLD-M 

Fresenius Medical – Renal Dialysis Machine 

Sercos-III 

CCD Master 

RS232 serial 


MASTER 

Encoder 

real master 



SLAVE 1 

Drive integrated safety 

Sercos III 

Ethernet based 



light curtain 

78


Bewo 

� Bewo bv, NL: Saw automat (6-axes) 


� High precision saw machine 

� Productivity: 8.000 pieces/h 

� High precise measuring during 

running process 

Benefits from customer point of view: 

� No extra encoder signal calculation for 

synchronization required 

� Easier and faster programming with virtual 

master 

� 100% Synchronization of transprot line 

on both ends 

� 15% cost reduction 



79


Bosch PA 

BONBON Wrapper / Confectionery Wrapper 

1 

Main drive 


2 

Foil transport 

Cross-seal 



3 

Rotating 

knife 

4 

5 

Gripper 

6 

Removal 

80

Bosch Packaging of Sweets 

System Architecture 

I/Os 

DP 

Digitec WinCE 

- Visualization 

- CoDeSys Soft 

-DP master 

Control section 

I/Os 

Operating mode 

electronic motion 

profile 

A1 

Main drive 

Basic 

Reference 

switch 

Linear profile 

3S network 

variable 

A2 

Foil transport 

Advanced 

CCD-Master 

1 Probe Input 

2 IL Inputs 

1 PLS Output 

3 IL Outputs 



A3 

Cross-seal 

Reference 

switch 

Cross seal 

profile 

A4 

Rotating knife 

Reference 

switch 

Non linear 

profile 

A5 

Gripper 

Reference 

switch 




Basic 

Basic 

Basic 

SIII 

A6 

Removal 

Basic 


81


Summary 

� Integration of PLC, motion control and drive control in a single device 

� Scalable as single-axis or multi-axis control 

� Electronic synchronization with up to 8 servo-axes 

� High performance, short reaction times because of a reduction of 

interfaces 

� Shorter start-up times 

� High flexibility: e.g. format change "on the fly" through onboard motion 

� One engineering tool for programming, commissioning, 

maintenance and diagnostics � IndraWorks 

� PLC programming according to IEC 1131 with standard function blocks 

(PLCopen) and prepared functions 

� Modern consistent communication concept 

– with Ethernet from HMI via controller to the I/O terminal 

� Additional software options, such as 

� function libraries 

� technology packages and 

� turn key solutions 




82


Thank you 

very much! 

much 



83

Sales Training Level 2 IndraMotion MLD / CCD - Bosch Rexroth

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?