IndraMotion for Metal Forming 14VRS
Transcript of IndraMotion for Metal Forming 14VRS
IndraMotionfor Metal Forming 14VRSSequential Motion Control
Reference BookR911343865
Edition 02
IndraMotionfor Metal Forming 14VRSSequential Motion Control
Reference Book
DOK-IM*MF*-TF*SMC**V14-RE02-EN-P
RS-cafa5334ec81e684c0a802863bd961d1-2-en-US-5
The present manual informs on the operation, programming andfunctionalities of the system solution "IndraMotion for Metal Forming -Sequential Motion Control 14VRS".Parameters and connection diagrams are also described.
Change Record Edition 02, 2019-03Refer to tab. 1-1 "Change Record" on page 1
Copyright © Bosch Rexroth AG 2019All rights reserved, also regarding any disposal, exploitation, reproduction,editing, distribution, as well as in the event of applications for industrialproperty rights.
Liability The specified data is intended for product description purposes only and shallnot be deemed to be a guaranteed characteristic unless expressly stipulatedin the contract. All rights are reserved with respect to the content of thisdocumentation and the availability of the product.
Editorial Department System IndraLogic & Basis Motion Logic; HJD (TaDo/MePe)
Title
Type of Documentation
Document Typecode
Internal File Reference
Purpose of Documentation
IndraMotion for Metal Forming 14VRS Sequential MotionControl
Table of ContentsPage
1 About this documentation.............................................................................................. 11.1 Change Record....................................................................................................................................... 11.2 Validity of the documentation.................................................................................................................. 11.3 Using safety instructions......................................................................................................................... 11.3.1 Structure of the safety instructions...................................................................................................... 11.3.2 Explaining signal words and safety alert symbol................................................................................. 21.3.3 Symbols used...................................................................................................................................... 31.3.4 Explaining the signal alert symbol on the device................................................................................. 31.4 Names and abbreviations....................................................................................................................... 31.5 Customer feedback................................................................................................................................. 4
2 System presentation...................................................................................................... 52.1 Introduction............................................................................................................................................. 52.2 System overview..................................................................................................................................... 52.3 Technical data........................................................................................................................................ 62.4 Supported hardware............................................................................................................................... 82.4.1 Control units........................................................................................................................................ 82.4.2 EC option cards................................................................................................................................... 82.4.3 DA option card..................................................................................................................................... 82.4.4 Sercos III I/O modules......................................................................................................................... 92.4.5 Visualization devices........................................................................................................................... 92.4.6 Communication with an external PLC................................................................................................. 92.5 Data storage........................................................................................................................................... 9
3 Important instructions for use....................................................................................... 133.1 Intended use......................................................................................................................................... 133.1.1 Introduction........................................................................................................................................ 133.1.2 Scope of use and application............................................................................................................ 133.2 Improper use......................................................................................................................................... 14
4 Setting up and commissioning the system................................................................... 154.1 Prerequisites......................................................................................................................................... 154.2 Setting up and commissioning the drives............................................................................................. 154.2.1 General information........................................................................................................................... 154.2.2 Setting up Ethernet communication................................................................................................... 164.2.3 Commissioning the drives with IndraWorks....................................................................................... 184.3 Commissioning the Sercos III slaves (CCD configuration)................................................................... 204.4 Commissioning of the Sercos III I/O modules....................................................................................... 214.4.1 Using Sercos III I/O modules in the boot project............................................................................... 214.4.2 Using Sercos III I/O modules in the template project........................................................................ 244.5 Parameterization................................................................................................................................... 254.6 Creating an SMC program.................................................................................................................... 254.7 Switching from CLM/FLP to SMC......................................................................................................... 26
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4.7.1 General information........................................................................................................................... 264.7.2 Data areas......................................................................................................................................... 264.7.3 Online change................................................................................................................................... 264.7.4 Logic task.......................................................................................................................................... 274.7.5 Vectors.............................................................................................................................................. 274.7.6 Command block................................................................................................................................. 274.7.7 Flying cutoff....................................................................................................................................... 294.8 Service work......................................................................................................................................... 294.8.1 Replacing the controller..................................................................................................................... 294.9 Instructions for firmware replacement (release update)....................................................................... 33
5 Operating..................................................................................................................... 375.1 SMC-Editor........................................................................................................................................... 375.1.1 Overview............................................................................................................................................ 375.1.2 Runtime environment........................................................................................................................ 375.1.3 Installation......................................................................................................................................... 375.1.4 Version dependencies of the SMC-editor on the system.................................................................. 385.1.5 Source program format...................................................................................................................... 385.1.6 Input support...................................................................................................................................... 395.1.7 Functional description........................................................................................................................ 425.1.8 Tips & tricks....................................................................................................................................... 765.2 VCP control........................................................................................................................................... 765.3 Field bus............................................................................................................................................... 765.3.1 Overview............................................................................................................................................ 765.3.2 System configuration......................................................................................................................... 785.3.3 Communication types........................................................................................................................ 785.3.4 Field bus interface structure.............................................................................................................. 815.3.5 Configuring an IndraMotion MLC as Profinet Controller.................................................................... 925.3.6 Configuring an IndraMotion MLC as Sercos master.......................................................................... 965.4 Loading user program........................................................................................................................... 99
6 Programming............................................................................................................. 1016.1 General information............................................................................................................................ 1016.2 Multitasking......................................................................................................................................... 1016.2.1 General Information......................................................................................................................... 1016.2.2 Automatic tasks............................................................................................................................... 1036.2.3 Manual routine................................................................................................................................. 1046.2.4 Manual cut routine........................................................................................................................... 1066.2.5 Restart routine................................................................................................................................. 1076.2.6 Cyclic task....................................................................................................................................... 1076.2.7 Flying cutoff routines....................................................................................................................... 1096.3 Starting the user program................................................................................................................... 1096.4 Stopping the user program................................................................................................................. 1096.5 Variables............................................................................................................................................. 1106.5.1 General Information......................................................................................................................... 110
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6.5.2 Programmable variables.................................................................................................................. 1126.5.3 System variables............................................................................................................................. 1126.6 Flags................................................................................................................................................... 1196.6.1 General information......................................................................................................................... 1196.6.2 Programmable flags........................................................................................................................ 1196.6.3 System flags.................................................................................................................................... 1206.7 Digital inputs and outputs................................................................................................................... 1216.7.1 General Information......................................................................................................................... 1216.7.2 Process input image........................................................................................................................ 1246.7.3 Process output image...................................................................................................................... 1266.8 System inputs and outputs................................................................................................................. 1266.8.1 General Information......................................................................................................................... 1266.8.2 Configuring system inputs and outputs........................................................................................... 1276.8.3 Axis-independent system inputs...................................................................................................... 1276.8.4 Axis-dependent system inputs......................................................................................................... 1296.8.5 Axis-independent system outputs.................................................................................................... 1336.8.6 Axis-dependent system outputs...................................................................................................... 1346.8.7 Default configuration digital system inputs and outputs.................................................................. 1366.9 Language version............................................................................................................................... 1386.10 Overview on user commands............................................................................................................. 1386.11 Command description......................................................................................................................... 1446.11.1 General Information......................................................................................................................... 1446.11.2 ACC – Acceleration change............................................................................................................. 1446.11.3 AEA – Set/reset/toggle bit................................................................................................................ 1466.11.4 AKN – Acknowledge bit................................................................................................................... 1466.11.5 AKP – Parallel acknowledge with mask........................................................................................... 1466.11.6 APE – Parallel setting with mask..................................................................................................... 1486.11.7 BAC – Branch conditional on count................................................................................................. 1506.11.8 BCE – Branch conditional on bit...................................................................................................... 1516.11.9 BIC – Branch conditional on bit mask.............................................................................................. 1516.11.10 CIO – Copy bit field.......................................................................................................................... 1526.11.11 CMA – Cam axes: Activation........................................................................................................... 1536.11.12 CMC – Cam axis: Configuration...................................................................................................... 1546.11.13 CMM – Cam axis: Motion step......................................................................................................... 1556.11.14 CMP – Cam axis: Profile.................................................................................................................. 1606.11.15 CMS – Cam axis: Settings............................................................................................................... 1626.11.16 CON – Continuous operation........................................................................................................... 1646.11.17 COU – Counter................................................................................................................................ 1646.11.18 CPA – Position-coupled axes: Activation......................................................................................... 1656.11.19 CPJ – Compare and jump............................................................................................................... 1676.11.20 CPL – Clear position lag.................................................................................................................. 1676.11.21 CPS – Compare and set a bit.......................................................................................................... 1696.11.22 CRL – Set tailout length - Cam axis................................................................................................. 1696.11.23 CST – Clear subroutine stack.......................................................................................................... 1706.11.24 CTA – Torque-coupled axes: Activation.......................................................................................... 1716.11.25 CTC – Torque-coupled axes: Configuration.................................................................................... 173
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6.11.26 CVA – Velocity-coupled axes: Activation......................................................................................... 1746.11.27 CVC – Velocity-coupled axes: Configuration................................................................................... 1766.11.28 CVT – Converting variable <-> Bit pattern....................................................................................... 1776.11.29 EDG – Edge detection bit................................................................................................................ 1796.11.30 EOS – End of synchronization......................................................................................................... 1796.11.31 FAK – Multiplication factor for feed.................................................................................................. 1806.11.32 FOA – Phase-synchronous axes: Activation................................................................................... 1816.11.33 FOC – Phase-synchronous axis: Configuration............................................................................... 1826.11.34 FUN – Functions.............................................................................................................................. 1836.11.35 HOM – Home axis........................................................................................................................... 1856.11.36 JMP – Unconditional jump............................................................................................................... 1866.11.37 JSR – Jump to subroutine............................................................................................................... 1876.11.38 JST – Jump and stop....................................................................................................................... 1876.11.39 JTK – Unconditional jump task........................................................................................................ 1886.11.40 LMC – Part length by registration mark counter.............................................................................. 1906.11.41 LMK – Part length or registration mark............................................................................................ 1916.11.42 LML – Part length............................................................................................................................ 1916.11.43 LMR – Part length by registration mark........................................................................................... 1916.11.44 MAT – Mathematics......................................................................................................................... 1926.11.45 MLO – Material length output.......................................................................................................... 1926.11.46 MOM – Torque limit......................................................................................................................... 1936.11.47 NOP – No operation........................................................................................................................ 1946.11.48 PBK – Stop Motion.......................................................................................................................... 1946.11.49 PFA – Positioning, absolute to positive stop.................................................................................... 1946.11.50 PFC – Positioning to positive stop: Configuration............................................................................ 1956.11.51 PFI – Positioning, incremental to positive stop................................................................................ 1976.11.52 POA – Positioning, absolute with immediate block stepping........................................................... 1986.11.53 POI – Positioning, Incremental with Immediate Block Stepping...................................................... 1996.11.54 PSA – Positioning, absolute with in-position.................................................................................... 2006.11.55 PSI – Positioning, incremental with in-position................................................................................ 2016.11.56 REP – Registration position limit..................................................................................................... 2026.11.57 RMI – Registration mark interrupt.................................................................................................... 2026.11.58 RSV – Restart behavior................................................................................................................... 2056.11.59 RTS – Return from subroutine......................................................................................................... 2066.11.60 RWY – Read/write Y-parameter...................................................................................................... 2076.11.61 SAC – Set absolute counter............................................................................................................ 2086.11.62 SET – Set variable value................................................................................................................. 2096.11.63 SOA – Velocity-synchronous axes: Activation................................................................................. 2106.11.64 SOC – Velocity-synchronous axis: Configuration............................................................................ 2126.11.65 SPO – Position offset of synchronous axes..................................................................................... 2136.11.66 SRM – Search for registration mark................................................................................................ 2146.11.67 STC – Set task cycle counter.......................................................................................................... 2176.11.68 TAA – Torque Average: Activation.................................................................................................. 2196.11.69 TAC – Torque average: Configuration............................................................................................. 2216.11.70 VCC – Velocity change.................................................................................................................... 2216.11.71 VEO – Velocity override................................................................................................................... 224
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6.11.72 VOA – Velocity-coupled axis via PLC global register...................................................................... 2266.11.73 WAI - Waiting time........................................................................................................................... 228
7 Functions................................................................................................................... 2297.1 Operation modes................................................................................................................................ 2297.1.1 General information......................................................................................................................... 2297.1.2 Manual mode................................................................................................................................... 2297.1.3 Automatic mode............................................................................................................................... 2307.1.4 Parameter mode.............................................................................................................................. 2317.2 System commands............................................................................................................................. 2327.2.1 Overview.......................................................................................................................................... 2327.2.2 File selection with system commands............................................................................................. 2347.2.3 No system command 0: No system command................................................................................ 2347.2.4 System command 1: Load SMC program from microSD................................................................ 2347.2.5 System command 2: Reserved....................................................................................................... 2357.2.6 System command 3: Load default values........................................................................................ 2357.2.7 System command 4: Load SMC data from microSD....................................................................... 2357.2.8 System command 5: Save SMC data to microSD........................................................................... 2367.2.9 System command 6: Delete programmable variables..................................................................... 2377.2.10 System command 7: Delete programmable flags............................................................................ 2377.2.11 System command 8: Reset material length counter........................................................................ 2377.2.12 System command 9: Load single parameter set from microSD...................................................... 2377.2.13 System command 10: Save single parameter set to microSD........................................................ 2387.2.14 System command 11: Restore drive parameters from microSD..................................................... 2387.2.15 System command 12: Save drive parameters to microSD.............................................................. 2397.2.16 System command 13: Reserved..................................................................................................... 2397.2.17 System command 14: Reserved..................................................................................................... 2397.3 Optional encoder (measuring wheel mode)........................................................................................ 2397.4 External encoder................................................................................................................................. 2417.5 Velocity override................................................................................................................................. 2417.6 Parking axis........................................................................................................................................ 2427.7 Virtual axis.......................................................................................................................................... 2437.8 Overview on synchronization modes and axis coupling..................................................................... 2437.9 Synchronous axis............................................................................................................................... 2477.9.1 General............................................................................................................................................ 2477.9.2 Phase-synchronous axis................................................................................................................. 2487.9.3 Velocity-synchronous axis............................................................................................................... 2497.9.4 Cam axis.......................................................................................................................................... 2517.10 Axis coupling....................................................................................................................................... 2527.10.1 General information......................................................................................................................... 2527.10.2 Hardware prerequisites................................................................................................................... 2537.10.3 Parameterization............................................................................................................................. 2537.10.4 Description of the error reaction...................................................................................................... 2547.10.5 Position coupling (e.g., gantry group).............................................................................................. 2577.10.6 Velocity coupling (e.g., anti-backlash)............................................................................................. 2597.10.7 Torque coupling (e.g., master\slave)............................................................................................... 260
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7.11 Flying cutoff........................................................................................................................................ 2617.11.1 Overview.......................................................................................................................................... 2617.11.2 Configuring the measuring encoder................................................................................................ 2697.11.3 Flying cutoff commands................................................................................................................... 2717.11.4 Errors during flying cutoff motion commands.................................................................................. 2797.11.5 Program example if flying cutoff is used.......................................................................................... 2807.11.6 Flying cutoff functions...................................................................................................................... 2857.11.7 Sequence summary......................................................................................................................... 3037.12 Drive-integrated safety technology..................................................................................................... 3057.12.1 General............................................................................................................................................ 3057.12.2 Commissioning................................................................................................................................ 3067.12.3 Supported SMO hardware............................................................................................................... 3097.12.4 Supported safe operation modes.................................................................................................... 3107.13 Setup Mode........................................................................................................................................ 3137.14 Homing............................................................................................................................................... 3147.15 Lift rolls (electrically)........................................................................................................................... 3167.16 Positive stop drive procedure............................................................................................................. 3167.17 Clear outputs...................................................................................................................................... 3187.18 Presignal............................................................................................................................................. 3187.19 Watchdog............................................................................................................................................ 3187.20 Sercos analog converter..................................................................................................................... 3197.21 Multilingualism.................................................................................................................................... 3197.22 Abort program..................................................................................................................................... 3207.23 Restart................................................................................................................................................ 320
8 Programming examples............................................................................................. 3238.1 Simple program examples.................................................................................................................. 3238.1.1 Simple minimum program................................................................................................................ 3238.1.2 Programming conditional statements.............................................................................................. 3238.1.3 Programming loops......................................................................................................................... 3258.2 Product data management................................................................................................................. 3258.3 Phase-synchronous axis..................................................................................................................... 3278.4 Velocity-synchronous axis.................................................................................................................. 3288.5 Cam axis............................................................................................................................................. 3308.6 Position coupling................................................................................................................................. 3328.7 Velocity coupling................................................................................................................................. 3338.8 Torque coupling.................................................................................................................................. 3338.9 Roll feed.............................................................................................................................................. 3348.9.1 Roll feed – Press before feed.......................................................................................................... 3348.9.2 Roll feed – Feed before press......................................................................................................... 3358.10 Flying cutoff........................................................................................................................................ 3378.10.1 Example without registration sensor................................................................................................ 3378.10.2 Example with registration sensor..................................................................................................... 3388.10.3 Further examples............................................................................................................................. 340
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9 Diagnostics and backup............................................................................................. 3419.1 General information............................................................................................................................ 3419.2 General information on error detection............................................................................................... 3419.3 Diagnostic numbers............................................................................................................................ 3429.4 Error numbers..................................................................................................................................... 3459.5 Saving Y-parameters.......................................................................................................................... 3589.6 Restoring Y-parameters...................................................................................................................... 3599.7 Complete system backup................................................................................................................... 3599.8 Complete system restoration.............................................................................................................. 360
10 User-defined extensions............................................................................................ 36110.1 Overview............................................................................................................................................. 36110.2 PLC extensions................................................................................................................................... 36110.2.1 Overview.......................................................................................................................................... 36110.2.2 Notes............................................................................................................................................... 36110.2.3 Provision.......................................................................................................................................... 36210.2.4 Variable I/O link............................................................................................................................... 36210.2.5 Task configuration........................................................................................................................... 36710.2.6 Linking external and internal inputs and outputs............................................................................. 36910.2.7 Access to inputs, outputs, flags and variables................................................................................. 37310.2.8 Commanding the axes using PLCopen function blocks or axis interfaces...................................... 37710.2.9 Loading of SMC program blocks ("online change") ........................................................................ 37810.2.10 Programming example.................................................................................................................... 38210.2.11 Archiving and restoring projects...................................................................................................... 38310.3 Cyclic CCD data................................................................................................................................. 39110.3.1 Overview.......................................................................................................................................... 39110.3.2 Free process data............................................................................................................................ 39110.3.3 Signal control word / signal status word.......................................................................................... 393
11 Parameters................................................................................................................ 39511.1 General information............................................................................................................................ 39511.2 Axis-independent Y-parameters......................................................................................................... 39511.2.1 Overview.......................................................................................................................................... 39511.2.2 Detailed description......................................................................................................................... 39711.3 Axis-dependent Y-parameters............................................................................................................ 42511.3.1 Overview.......................................................................................................................................... 42511.3.2 Detailed Description........................................................................................................................ 42711.4 Y-Parameters for flying cutoff............................................................................................................. 45611.4.1 Overview.......................................................................................................................................... 45611.4.2 Detailed Description........................................................................................................................ 45711.5 Parameters Influenced by the SMC (S/P-Parameters)....................................................................... 47811.6 S/P-Parameters of IndraDrive............................................................................................................. 489
12 Connection diagrams................................................................................................. 49112.1 General information............................................................................................................................ 491
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12.2 Input/output assignment of the I/Os.................................................................................................... 49112.3 Input/output assignment of the parallel interface................................................................................ 49512.4 Connection diagrams of the Sercos III I/O modules........................................................................... 49612.4.1 Sercos III I/O module with digital inputs and outputs....................................................................... 49612.4.2 Sercos III I/O module with analog inputs and outputs..................................................................... 49612.5 Encoder connection............................................................................................................................ 496
13 Service and support................................................................................................... 499
Index.......................................................................................................................... 501
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1 About this documentation1.1 Change Record
Editions of this documentation
Edition ReleaseDate
Note
01 2018-01 First edition
02 2019-03 Chapter chapter 2.4.4 "Sercos III I/O modules" on page 9: Note supplementingChapter chapter 4.3 "Commissioning the Sercos III slaves (CCD configuration)" on page 20: TipchangedChapter chapter 6 "Programming" on page 101 revised and table of the axis-dependent systemvariables and axis-dependent system flags supplementedChapter chapter 11 "Parameters" on page 395: Chapter revised (e.g. pin assignment), newparameters: Yx049, Yx050, Yx051, Yx052, Yx053, Yx054
Tab. 1-1: Change Record
1.2 Validity of the documentationOverview on target groups and
product phasesIn the following illustration, the framed activities, product phases and targetgroups refer to the present documentation.In the product phase "Engineering", the target group "programmer" canexecute the activities "parameterizing, programming and configuring" usingthis documentation.
Presales Aftersales
Selection Mounting(assembly/installation) Engineering Commissioning Operation DecommissioningProduct
phases
Targetgroups
Activities
Design engineer
Programmer
Technologist
Processspecialist
Select
Prepare
Design
Construct
Mechanic/electrician
Unpack
Mount
Install
Programmer
Commissioning engineer
Parameterize
Program
Configure
Simulate
Technologist
Process specialist
Optimize
Test
Machineoperator
Maintenancetechnician
Service
Operate
Maintain
Removefaults
Createthe NC program
Mechanic/electrician
Disposal company
Dismount
Dispose
Fig. 1-1: Assigning this documentation to the target groups, product phasesand target group activities
1.3 Using safety instructions1.3.1 Structure of the safety instructions
The safety instructions are structured as follows:
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Burns and chemical burns due to wrongbattery treatment!
CAUTION
Safety alert symbolSignal word
Avoiding danger
Do not open the batteries and do not heat them over 80 °C.
Consequences andsource of danger
Fig. 1-2: Structure of the safety instructions
1.3.2 Explaining signal words and safety alert symbolThe safety instructions in this documentation contain specific signal words(danger, warning, caution, notice) and, if necessary, a safety alert symbol(according to ANSI Z535.6-2006).The signal word draws attention to the safety instruction and indicates therisk potential.The safety alert symbol (triangular safety reflector with exclamation marks),preceding the signal words Danger, Warning, Caution indicates hazards forpersons.
DANGER
In case of non-compliance with this safety instruction, death or serious injurywill occur.
WARNING
In case of non-compliance with this safety instruction, death or serious injurycan occur.
CAUTION
In case of non-compliance with this safety instruction, minor or moderateinjury can occur.
NOTICE
In case of non-compliance with this safety instruction, material damage canoccur.
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1.3.3 Symbols usedPointers are displayed as follows:
This is a note.
Tips are displayed as follows:
This is a tip.
1.3.4 Explaining the signal alert symbol on the device
krax
If this symbol is on your device, you have to observe thedocumentation on the device. The respectivedocumentation informs on the type of hazard as well asthe steps required to avoid this hazard.
1.4 Names and abbreviationsTerm Explanation
Zeroed Set value to 0
IL Instruction list
CANopen Field bus
CCD Cross Communication Drives - Sercos communication toconnect drives and I/Os
DeviceNet Field bus
Ethernet Communication interface
FB Function block
FBD Function block diagram
IWE IndraWorks Engineering
CA Criteria analysis
LD Ladder diagram
microSD Flash memory card
NC Numerical Control
OEM Original Equipment Manufacturer
POU Program organization unit
PROFIBUS-DP Field bus
Sercos Field bus
SFC Sequential function charts
ST Structured text
LCR Link result
Tab. 1-2: Terms and abbreviations used
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1.5 Customer feedbackCustomer requests, comments or suggestions for improvement are of greatimportance to us. Please email your feedback on the documentations [email protected]. Directly insert comments in theelectronic PDF document and send the PDF file to Bosch Rexroth.
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2 System presentation2.1 Introduction
The "Sequential Motion Control" (SMC) is a modular 6-axis control which canbe combined with maintenance-free, highly dynamic Rexroth AC servo drivesto provide a powerful and economically efficient drive and control system. Inaddition, the system uses the IndraDrive family featuring Safety-on-Board.Therefore, the system meets the current safety requirements for digital servodrives specified in the following new standards:● IEC 61800-5-2:2016● EN 61800-5-1:2007 (in excerpts)● EN 61800-3:2004 + A1:2012● EN 62061:2005 + AC:2010 + A1:2013 + A2:2015● EN ISO 13849-1:2015● EN 60204-1:2006 + A1:2009 + AC:2010 (in excerpts)● IEC 61508 Parts 1-7:2010Typical fields of application:● Feed axes● Synchronous separators● Linear and XY gantries● Packaging machines● Thermoforming machines● Handling devices● Automatic bending machines● Woodworking machines
2.2 System overviewThe SMC is a system solution which is based on "IndraDrive MLD" with up to6 axes. and is programmed in a block-oriented programming language.The SMC-Editor is used for programming Allows the user to load and executeprograms in the SMC. The program can be executed block-by-block(SingleStep debugging). Flags, variables and states can be monitored.Parameter input does not require any special programming unit. Productiondata can be transferred online via field bus or Ethernet (PC or HMI).Due to the powerful user program, the SMC is able to handle complicatedprocessing tasks.If combined with maintenance-free, highly dynamic Rexroth servo drives, theSMC helps to● considerably increase productivity through better system availability and
an enhanced feed performance● The quality can be improved significantly through increment-precise
control of position, velocity and acceleration● An additional PLC can be avoided in many cases, due to
comprehensive auxiliary functions and a PLC that complies with IEC61131
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● Programming is based on a practice-oriented language with the help ofthe SMC-Editor. PLC skills are not required to program a machine
● The user program can contain up to 3000 block commands which allowsplitting up of complex machine sequences
● Drive and machine data can be adjusted to the required conditions byentering the necessary parameters
● Since drives and measuring encoders are continuously monitored andthe certified safety technology which is integrated in the drives canoptionally be used, the SMC increases the reliability of the system
● The SMC can be combined with additional drive and I/O modules toform a compact control and drive package
The SMC 14VRS was developed to support the drive hardware of thegeneration 2G. The SMC is released as of the firmware release MPx 20V13.
Fig. 2-1: SMC system overview
2.3 Technical dataThe SMC is provided with the following technical data:Operation modes:● Parameter mode● Manual mode● Automatic modeSpecial operation modes:● Single step● Setup mode
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Control details:● Support of up to six axes● Support of up to four "Sercos III" I/O modules one of them can be a
"Sercos III" analog I/O module● Up to 208 digital inputs● Up to 142 digital outputs● Support of up to two external encoders● Units can be defined in mm, inches and degrees● Incremental or absolute positions programmable● Velocity preselection in % of the maximum velocity● Maximum system and setup velocities can be programmed via
parameters● Feed velocity can be programmed in the user program● Two touch probe inputs per axis, with a response time of 4 µsProgram data:● User program with up to 3000 command blocks● Any number of subroutines, nesting depth down to 16 levels● 2000 programmable variables, 1000 of them remanent● 1200 programmable flags, 200 of them remanent variables● 700 system variables● 700 system flags● Multitasking with up to four automatic tasks and one cyclic task● In addition, the partially open solution provides a programmable logic
task (acc. to IEC 61131-3)PLC functions:● IL, LD, FBD, SFC, ST, CFC editors● Programming according to IEC 61131-3● PLCopen librariesMaster communication:● Sercos III● Profibus● Profinet● Ethernet/IP● EtherCAT● Ethernet POWERLINKInterfaces:● Ethernet● Sercos IIIMeasuring systems:● MSM motor encoder● MSK motor encoder● Sin/cos encoder 1 Vss; HIPERFACE®● Sin/cos encoder 1 Vss; EnDat 2.1● Sin/cos encoder 1 Vss; with reference track
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● 5-V-TTL square wave encoder; with reference track● SSI● SSI combi encoder (combination of SSI and Sin-Cos encoders 1 Vss)● Resolvers (resolvers are not supported if an optional safety technology
"Safe Motion" is available at the same time)● Hall sensor box SHL02.1● Digital Hall sensor together with Hall sensor adapter box SHL03.1
2.4 Supported hardware2.4.1 Control units
The drive-integrated PLC of the IndraDrive (MLD) is used as control. Themaster control unit has to be of the type "IndraDrive Advanced":● IndraDrive Advanced (CSH02.xB-CC)● IndraDrive Advanced (CSH02.xB-ET)● IndraDrive Advanced (HCS01.1E...A..., Advanced design)Up to five slave control units can be used:● IndraDrive Advanced (CSH02)● IndraDrive Basic (CSB02)● IndraDrive Basic Double Axis (CDB02)● IndraDrive Economy (CSE02)● IndraDrive Cs Advanced (HCS01.1E...A...)● IndraDrive Cs Basic (HCS01.1E...B...)● IndraDrive Cs Economy (HCS01.1E...E...)
2.4.2 EC option cardsUp to two EC option cards are supported.These option cards provide an additional encoder interface:● MSM motor encoder● MSK motor encoder● Sin/cos encoder 1 Vss; HIPERFACE®● Sin/cos encoder 1 Vss; EnDat 2.1● Sin/cos encoder 1 Vss; with reference track● 5-V-TTL square wave encoder; with reference track● SSI● SSI combi encoder (combination of SSI and Sin-Cos encoders 1 Vss)● Resolvers (resolvers are not supported if an optional safety technology
"Safe Motion" is available at the same time)● Hall sensor box SHL02.1● Digital Hall sensor together with Hall sensor adapter box SHL03.1
2.4.3 DA option cardThe DA option card is supported in the CCD master. This option cardprovides two analog inputs and outputs each as well as six digital inputs, sixdigital outputs and two digital inputs/outputs Only digital inputs and outputsare supported in the slave control units.
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2.4.4 Sercos III I/O modulesIn addition, up to four Sercos III I/O modules can be connected (one of theman analog Sercos III I/O module). 16 inputs and 16 outputs are provided foreach module for the digital Sercos III I/O modules. Mixed operations are notsupported.
Only the block I/Os "R-ILB S3" (R-ILB S3 24 DI16 DIO16, R-ILBS3 AI4 A02) can be used.
When switching to the parameter mode, theoutputs of the Sercos III I/O modulestemporarily change to safe state.
NOTICE
When switching to the parameter mode, the outputs of the Sercos III I/Omodules temporarily go into safe state, i.e. the outputs are switched to "0V"or "FALSE". This fact has to be taken into account when configuring thesystem to avoid dangerous situations.This behavior does not result when exiting the parameter mode.
2.4.5 Visualization devicesA visualization is not included in the scope of delivery. It is planned to providea use case on the microSD card.
2.4.6 Communication with an external PLCThe master control unit features an option card for master communicationwith an external PLC.In addition to the I/Os, the "Profibus" or "Multi-Ethernet" master communica‐tion options allow to exchange the following data with the external PLC:● Y-parameters● System variables (VS) and freely programmable variables (VF, VFR)● System flags (MS) and programmable flags (MF, MFR)
2.5 Data storageSMC programs and parameter files are stored on the microSD memory cardof the master control unit. Thus, a microSD is always mandatory.The following file types are used:● Source text file with the entire SMC program incl. comments (*.SCS,
"Sequential Motion Control Source file")● Compiled binary file of the SMC program (*.SCB, "Sequential Motion
Control Binary file")● Backup file with all Y-parameters and single parameter sets (*.SCD,
"Sequential Motion Control Data file")
Since this data can be lost (e.g., defective or loss of microSD). Itis thus recommended that to back up this data outside of thecontrol as well. For example, data can be backed up on anexternal PC using a card reader.
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The "\User" directory on the supplied microSD additionally pro‐vides the following files and documentation:● Release version of the SMC system solution as boot project
(Application.app)● IndraWorks - Project archive
Sequential_Motion_Control_14VRS_Template.zip as partiallyopen solution with an integrated library for the variable I/Oconnections ("Sequential_Motion_Control_14VRS.lib")
● For the Profibus communication– Device master file (GSD file) of the IndraDrive
controller to configure the master● For the Profinet communication
– Device master file (GSDML file) of the IndraDrivecontroller to configure the controller
● For the EtherCat communication– Device master file (XML file) of the IndraDrive controller
to configure the master● For the Ethernet/IP communication
– Device master file (EDS file) of the IndraDrive controllerto configure the master
● For the "Sercos III" communication– Device master file (SDDML file) of the IndraDrive
controller to configure the master● Functional description – Sequential Motion Control 14VRS● Release notes
All required master axis parameters are stored on the microSD.A PC can read data from and write data to the microSD using a card reader.
The microSD can only be removed safely if the system is notconnected.
The microSD has the following folder structure and contains the followingdata:
The "Documentation" and "User" folders can be used to storeadditional data. Do not change the folder structure of the memorycard, as system data is stored within this folder structure.
The following table describes the content of the individual folders on themicroSD:
Folder Content
Backup Includes the parameter backup of the drive after executing the drivecommand C65000
Documentation This folder is not used
PLC PLC boot project of the SMC
Temp This folder is not used
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Folder Content
Tools This folder is not used
User Root directory for user data
...\Documentation Contains the documentation, the release notes and other relateddocuments
...\Documentation\DE Contains the German version of the user documentation
...\Documentation\EN Contains the English version of the user documentation
...\Examples Contains sample programs
...\Fieldbus Contains device description files and examples of the supported fieldbuses
...\Fieldbus\EtherCat Device master file (XML file) of the IndraDrive controller
...\Fieldbus\EthernetIP Device master file (EDS file) of the IndraDrive controller
...\Fieldbus\Profibus Device master file (GSD file) of the IndraDrive controller
...\Fieldbus\ProfiNet Device master file (GSDML file) of the IndraDrive controller
...\Fieldbus\Sercos3 Device master file (SDDML file) of the IndraDrive controller
...\IndraWorks_Projects IndraWorks project archive with complete PLC project
...\Saveset_orgThis folder includes a backup copy of the content of the folder "PLC"(upon delivery) and a parameter file for a new setup after loading thebasic parameters of the drive
...\Saveset_org\Parameter File with drive parameters to restore the SMC after loading basicparameters
...\Saveset_org\Plc Original PLC boot project
...\SetupContains installation filesSMC2G-EditorSetupxxVyy.exe (SMC-Editor)
...\Update
Required to execute the function "Restore device data" and "Backupdevice data" of the SMC Editor. The backup files for the Y-parameters("Y_Parameter_bak.scp") and the flags/variables ("M_V_Data_bak.scd")are saved and read out in this directory
...\Update\Axis1 Required to execute the function "Restore device data" of the SMC Editorto restore the PLC retain data ("Retain_MLD1.par").
Tab. 2-1: Folder structure and content of the microSD
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3 Important instructions for use3.1 Intended use3.1.1 Introduction
All Bosch Rexroth controls and drives are developed and tested inaccordance with the state of the art.As it is however impossible to follow up the ongoing development of allmaterials with which our controls and drives may come into contact (e.g.lubricants at machine tools), reactions with the materials used in our systemscannot be generally excluded.For this reason, before using new lubricants, cleaning agents etc., it has to beensured that they are compatible with the materials of our housings anddevices.The products may only be used in the proper manner. If they are not used asintended, situations may arise that can lead to personal injury or damage toproperty.
Bosch Rexroth, as the manufacturer of the products, will notassume any warranty, liability or payment of damages in case ofdamage resulting from a non-intended use of the products. If hefails to use the products as intended, the user will be solelyresponsible for any resulting risks.
Before using the Bosch Rexroth products, the following prerequisites must befulfilled to ensure that they are used as intended:● Any person who in any way whatsoever is involved in handling our
products must read and understand the corresponding safetyinstructions and the notes on intended use.
● To the extent that the products are hardware elements, they must be leftin their original state; i.e. no structural modifications must be carried out.Software products must not be decompiled and the source codes mustnot be modified.
● Damaged or defective products must neither be installed nor be put intooperation.
● It must be guaranteed that the products are installed according to theinstructions mentioned in the documentation.
3.1.2 Scope of use and applicationBosch Rexroth drive controllers are intended to control electrical motors andmonitor their operation.To control and monitor the motor, it may be necessary to connect additionalsensors and actuators.
The drive controllers must only be used with the accessories andmounting parts listed in this Documentation. Components that arenot expressly mentioned must neither be attached nor connected.The same is valid for cables and lines.
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The operation must only be carried out with the componentconfigurations and combinations that were expressly mentionedand with the software and firmware indicated and specified in therespective functional description.
Before commissioning, every drive controller must be programmed to ensurethat the motor executes the appropriate functions for the application.The drive controllers have been developed for use in single and multi-axesdrive and control tasks.To allow for application-specific requirements in the drive controllers, ourproduct range comprises various device types with different drive powers andinterfaces.The drive controller must be operated only in the mounting and installationconditions, the position, and the ambient conditions (temperature, degree ofprotection, moisture, EMC, etc.) specified in this Documentation.
3.2 Improper useUse of the drive controllers in applications other than those specified ordescribed in the documentation and technical data is considered as"improper".Drive controllers must not be used if they …● are exposed to operating conditions which do not correspond to the
specified ambient conditions. Operation under water, under extremetemperature fluctuations or extreme maximal temperatures etc. isprohibited.
● Furthermore, the drive controllers must not be used in any applicationsnot expressly approved by Bosch Rexroth. For this, please read thestatements given in the general safety instructions!
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4 Setting up and commissioning the system4.1 Prerequisites
The commissioning requires the following hardware and software:The commissioning requires the following hardware components:● Drive controller with microSD for the master axis:
– IndraDrive Advanced (CSH02.xB-CC)– IndraDrive Advanced (CSH02.xB-ET)– IndraDrive Advanced (HCS01.1E...A...)
● Drive controller for the slave axes:– IndraDrive Advanced (CSH02)– IndraDrive Basic (CSB02)– IndraDrive Basic Double Axis (CDB02)– IndraDrive Economy (CSE02)– IndraDrive Cs Advanced (HCS01.1E...A...)– IndraDrive Cs Basic (HCS01.1E...B...)– IndraDrive Cs Economy (HCS01.1E...E...)
● IBM-compatible PC● Ethernet connection between PC and IndraDriveThe commissioning requires the following software components:● Drive firmware or higher for the master axis:
– MPC20V13 (FWA-INDRV*-MPC-20VRS-D5)● Drive firmware or higher for the slave axes:
– MPC20V13 (FWA-INDRV*-MPC-20VRS-D5)– MPB20V13 (FWA-INDRV*-MPB-20VRS-D5)– MPM20V13 (FWA-INDRV*-MPM-20VRS-D5)– MPE20V13 (FWA-INDRV*-MPE-20VRS-D5)
● Engineering system IndraWorks 14VRS or higher● SMC Editor 06V00 or higher
4.2 Setting up and commissioning the drives4.2.1 General information
The IndraDrive MLD with MPC firmware (master axis) contains an integratedmotion control with PLC complying with IEC 61131-3.This section describes the steps required for commissioning the drivesaccording to specifications.After completing the first startup, the defined application-specific parametervalues, which also include the production data, must be stored. The storedparameter values ensure that the drive behavior required for the particularmachine axis can be reproduced (see also chapter 9 "Diagnostics andbackup" on page 341).The initial state existing after first startup can be restored again by reloadingthe stored parameter values.
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The application-specific parameter values can be saved as follows:● microSD → copy the parameter values by means of a drive command
(separately for each drive)● IndraWorks commissioning tool → save the parameter values to an
external storage device● Control master → save the parameter values to the master-side data
carrier (microSD)
The selection of the appropriate drive power unit and the motorsize depends on the dynamic requirements of the application. Alldrive settings have to be provided by the user preferably inIndraWorks.
Ensure that the microSD is installed in the drive before poweringup the system. The SMC cannot initialize properly without thenecessary firmware which is directly read from the microSDduring power up.
4.2.2 Setting up Ethernet communicationChanging the network settings
Commissioning requires an Ethernet connection between the PC and themaster axis. An Ethernet connection can be established for IndraWorks andfor the SMC-Editor. The SMC-Editor can be used to transmit SMC programsto the microSD of the drive. via a FTP connection.Ensure that an Ethernet cable connects the Ethernet port X26 of the driveand the network.The system is provided with the following network settings by default:● IP address: 192 . 168 . 1 . 1● Subnet mask: 255 . 255 . 255 . 0● Gateway address: 0 . 0 . 0 . 0
When setting up the Ethernet communication on the CCD master,it must be noted that the engineering interface (X26) and the CCDinterface (X24/X25) must use different sub-networks.
Setting der IP address via the con‐trol panel
To set the IP address via the control panel, proceed as follows:1. Switch on the control voltage of the drive controller.2. Press on the control panel.3. Press / "Ethernet" and confirm with .4. Select the interface to configure via /
● IndraDrive Cs - Advanced PerformanceX26 - Engineering interface
● IndraDrive Cs - Basic PerformanceX22 / X23 - Sercos interface
5. Select the address to be configured or checked● IP address● MAC address
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● Gateway address● Network mask (subnet mask)
To apply the individual octets, press . Press to go back.
6. To apply the parameterization of the IP address, network mask andstandard gateway, switch off the control voltage of the drive controllerand switch it on again.
Testing the IP addressTo test the network settings, open a Windows command line and check theIP address of the drive. Ensure that PC and drive are connected to the samenetwork.
1. Select Start ▶ Run in Windows and enter "cmd" in the run window.2. Enter the following command into the command line:
ping 192.168.1.1 (use the IP address configured for the drive)The following figure shows a successful test data transmission between PCand drive:
Fig. 4-1: Testing the network settings using the command line
Going online with the SMC-Editor
The "SMC2G-EditorSetupxxVyy.exe" installation file for the SMC-Editor resides in the ".\User\Setup" director of the microSD of themaster axis or in the "\AddOns\Tools\SMC-Editor" directory of theIndraWorks data storage medium. To install the SMC-Editor, copythe file to the PC and execute the file. Follow the instructions ofthe installation wizard.
1. Start the SMC-Editor and configure the IP address of the drive in the"Manage target systems" dialog under "Target system, IP address".See also chapter "Target system toolbar" on page 51.
2. Then click on the "Login" button to establish the connection between theSMC-Editor and the drive.
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Fig. 4-2: Setting the IP address and logging in
4.2.3 Commissioning the drives with IndraWorksIndraDrive controllers are commissioned and configured with the"IndraWorks" commissioning software. This software is purchased in additionto the SMC application components.
Proceed as follows to commission the drives:1. Start IndraWorks Engineering (Start ▶ All Programs ▶ Rexroth ▶
IndraWorks ▶ Engineering)2. After having started IndraWorks Engineering, click on "Scan for devices"
to establish the connection to the drive.
Fig. 4-3: Scanning for devices with IndraWorks
3. The dialog allows you to select the devices and the connection type youwish the system to scan for.
The device type to be selected must be "IndraDrive".
In the example, the user wishes the system to scan for an IndraDrivewith Ethernet connection, see also chapter 4.2.2 "Setting up Ethernetcommunication" on page 16. The next step of the dialog requires thatthe connection settings be configured. Then the system will display theresult of the scan.
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Fig. 4-4: Scan for Devices dialog
4. After the scan for devices has been completed, a new project isautomatically created and opened. The drives can now beparameterized.
If Project Explorer fails to be opened automatically, you can find itin the View ▶ Project Explorer menu.The "PM" button allows access to the parameterization level,which can be exited with the "OM" button.
Fig. 4-5: IndraWorks ready for commissioning the drivesThe drives are then commissioned and parameterized in the appropriatedialogs.
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4.3 Commissioning the Sercos III slaves (CCD configuration)Additional Sercos devices are commissioned via IndraWorks. This requiresthat a project has been opened in IndraWorks and the connection to the SMChas been established (see chapter 4.2.3 "Commissioning the drives withIndraWorks" on page 18).For hardware supported by the SMC, please refer to chapter 2.4 "Supportedhardware" on page 8.
To commission additional Sercos slaves, proceed as follows:1. Switch the SMC to parameter mode. To achieve this, either use the
"parameter mode" input (see "Parameter mode" on page 128) or clickon the "PM" button in the tool bar of IndraWorks.
On delivery, the "parameter mode" input is assigned to connectorX31, pin 6 of the master axis.
2. Check whether all of the drives to be operated in the Sercos ring havethe same version and release. If not, problems may arise duringconfiguration of the Sercos ring.You can make this check on the display of the particular drive. Click onthe "Enter" button on the display. Click on the "up arrow" button until"Device Info" is displayed and confirm with "Enter". Now click on the"down arrow" button until "FW Info" is displayed. The firmware is nowdisplayed as scrolling text.
If the versions or releases in the drives differ from each other, thefirmware must be updated, see chapter 4.9 "Instructions forfirmware replacement (release update)" on page 33.
3. Connect the new Sercos devices to each other and to the Sercosmaster using a suitable Ethernet cable.
4. To open the dialog "CCD: Basic settings", right-click on the "Sercos III(CCD)" node in the Project Explorer.Configure the CCD basic settings: Activate the "Cross CommunicationDrive active" checkbox and for " Coupling phase at PM/OM of the CCDmaster" and the mode for the commanding master to "MLD-M in CCDmaster (MLD-M system mode)".
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CCD: Basic settings
Fig. 4-6: Configuring the CCD basic settingsThe dialog also displays the nodes found in the ring under "Addressfound" to the bottom right.
5. Enter the addresses found in the "Axis projecting" tabs and confirmeach address with "Apply".The "Topology/topology monitoring" tab shows the actual and targetaddresses of the sercos devices. Topology monitoring can also beconfigured.
The Sercos addresses of the devices may never exist in theSercos ring more than once. The Sercos addresses of thedevices may be changed in the "Topology/topology monitoring"tab.
After completed configuration, the communication phase changes to"P2".
6. The devices found under the Sercos node in the Project Explorer areupdated after the connection has been switched to offline and then toonline mode again. Thereafter, the devices can be parameterized viathe appropriate dialogs.
Troubleshooting If problems arise when exiting the "Parameter" operation mode, we recom‐mend proceeding as follows:● Read the documentation on the particular error message● Check the firmware versions of all drives● Load the basic parameters on those drives which display an error
message after switching to P4
4.4 Commissioning of the Sercos III I/O modules4.4.1 Using Sercos III I/O modules in the boot project
Three digital and one analog Sercos III I/O module are created in the PLCboot project of the SMC. These modules are disabled via the parameterY0051 by default. The Sercos addresses of the digital I/O modules are 55-57and the Sercos address of the analog I/O module is 59.
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Fig. 4-7: Sercos III I/O modules in the PLC boot projectTo use the I/O modules, the respective bits have to be set to 0 in theparameter Y0051. For the assignment of bits in Y0051 and the I/O modules,refer to the following table:
Bit of Y0051 Device Sercosaddress
0 Digital Sercos III I/O module 55
1 Digital Sercos III I/O module 56
2 Digital Sercos III I/O module 57
3 Analog Sercos III I/O module 59
Tab. 4-1: Assigning the bits of the Y0051 to the I/O modules created in theboot project
If for example two digital and one analog I/O module are used, the parameterY0051 has to be changed to "0100b" as shown in the following figure.
Fig. 4-8: Changing Y0051 in the “Debug” window of the SMC Editor
The parameter Y0051 can still be changed in the “Debug” windoweven if the parameterization mode is not reached due to missingSercos devices. However, the parameter box does not yet work.
After rebooting the master axis (interrupting the power supply or executingthe command C6400 via the parameter S-0-1350), the respective I/Omodules are enabled in the PLC project. The drive remains in phase 1 andissues the warning "E4013, Incorrect CCD addressing".The I/O modules have to be connected to the CCD master interface of controlunit now. Upon delivery, the Sercos address of the I/O modules is always 55.The command topology and the actual topology are displayed inIndraWorksDS under "CCD: Basic settings" (right-click on the Sercos node)in the "I/O configuration" tab.
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Fig. 4-9: I/O project planning in IndraWorks DsTo change the Sercos addresses of the I/O modules, the command addresshas to be entered into the drive parameter P-0-1801.0.2 in the correcttopological order.
Fig. 4-10: Command topology in the drive parameter P-0-1801.0.2These addresses are then renamed by executing the command "C7000,CCD: Command: Adjust slave addresses". Therefore, enter the value "0b11"into the parameter P-0-1801.0.5. After the message "Command executionsuccessful" has been displayed, the value has to be written again to "0b00".
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Fig. 4-11: Drive command "C7000, CCD: Command: Adjust slave addresses"in the parameter P-0-1801.0.5
If the Sercos addresses of the I/O modules are adjusted, the SMC is normallybooted in the parameterization mode or in the operating mode.
4.4.2 Using Sercos III I/O modules in the template projectThere are also three digital and one analog I/O module in the SMC templateprogram. They are disabled by default. To enable them, click on the icon inthe project tree. The changes are then applied upon the next projectdownload.
Fig. 4-12: Enabling an I/O module in the IndraWorks projectThe I/O modules can be deleted from or added to the template project, e.g. toadd a fourth digital I/O module instead of the analog I/O module. If an I/Omodule was inserted, the respective input/output variables of the SMC projecthave to be entered into the I/O mapping.
Fig. 4-13: I/O mapping of the I/O modulesThe respective variables have to be entered as shown in the following table.These variables can also be found in the input help (F2) underMX_Sequential_Motion_Control_14VRS ▶ SMC ▶ SMC_GVLs ▶ Global_Variables_Sercos_IOs.
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I/O module Input variable Output variable
First digital I/O module Application.ardwS3DigInputs_i[1]
Application.arwS3DigOutputs_q[1]
Second digital I/O module Application.ardwS3DigInputs_i[2]
Application.arwS3DigOutputs_q[2]
Third digital I/O module Application.ardwS3DigInputs_i[3]
Application.arwS3DigOutputs_q[3]
Fourth digital I/O module Application.ardwS3DigInputs_i[4]
Application.arwS3DigOutputs_q[4]
Analog I/O module Application.arwS3AnaInputs_i
Application.arwS3AnaOutputs_q
Tab. 4-2: Assigning input and output variables to the I/O modules
Other Sercos devices, e.g. bus couplers, can also be selected inIndraWorks, but they are not supported by the SMC.
4.5 ParameterizationThe configuration of S-parameters, P-parameters and Y-parameters can beadjusted to the specific application. For a detailed description of how to usethe parameters, please refer to chapter 11 "Parameters" on page 395.
A standard configuration of the digital system inputs and outputsis automatically configured by the SMC during startup (seechapter 6.8.7 "Default configuration digital system inputs andoutputs" on page 136).If this is not desired, parameter Y0010 (see chapter "Y0010:AutoConfig I/Os" on page 404) should be set to FALSE.Otherwise, the system inputs and outputs will be configured to thedefault values during each startup.
Y-parameters Y-parameters (system parameters) can be parameterized via
● SMC Editor● Field busY-parameters are stored in the non-volatile data memory of the PLC.
S-/P-parameters S- and P-parameters can be parameterized via● IndraWorks● SMC Editor● Field busS- and P-parameters are stored in the active memory of the controller.
4.6 Creating an SMC programAn SMC program can only be created with the SMC-Editor, page 37,.The created SMC program or one of the supplied example programs canthen be downloaded to and processed in the microSD of the drive via theSMC-Editor.
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1. Set up the connection to the master axis in the dialog Manage targetsystem..., page 51,.
2. Use the appropriate menu item for Login, page 47.This downloads the current SMC program to the microSD and to theinternal processing memory of the SMC.The SMC should not be in manual mode. The input "nStop" should beset to TRUE.
3. Click on the "Automatic" button to switch to "Automatic mode" and startthe SMC program with the "Start" input.The currently processed block number should change.
For an overview of the supplied example programs, please referto chapter 8 Program Examples, page 323. You can also findthese example programs in the ".\User\Examples" directory of themicroSD of the drive.
4.7 Switching from CLM/FLP to SMC4.7.1 General information
This section describes the (most important) differences between SMC andCLM/FLP and helps users to get a general overview.
Clearing cyclic "errors" causes damage to theinternal memory (flash or microSD)
NOTICE
Cyclic activation of "Clear Error" without correction of the error cause is notallowed, because it causes damage to the internal memory (flash ormicroSD) on the IndraDrive control section (see "F2100 Incorrect access tocommand value memory"). The number of write cycles to the internal devicememory is limited. Generation of an error message results in an entry ofdetailed error diagnostics into the drive logbook and therefore to access tothe internal device memory.
4.7.2 Data areasThe addressing scheme for the inputs and outputs of the hardware as well asfor flags and variables has been modified.The defined SMC syntax can be found in the following diagrams and tables:Inputs and outputs:, see chapter 6.7 "Digital inputs and outputs" on page121Flags:, see chapter 6.6 "Flags" on page 119Variables:, see chapter 6.5 "Variables" on page 110
4.7.3 Online changeOnline changes cannot be made, i.e., it is not possible to change individualcommand blocks while an SMC program is being processed using anextension in the PLC part, see chapter 10.2.9 "Loading of SMC programblocks (online change) " on page 378.However, the values of programmable flags and variables can still bechanged at runtime, e.g., by means of the SMC program, with the help of theSMC-Editor, or via field bus.
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4.7.4 Logic taskContrary to CLM, a free-running logic task of low priority is no longeravailable in addition to the tasks and routines in manual and automaticmodes. If necessary, such a functionality must be programmed by the user inIndraLogic. This functionality is therefore only available in partially open SMCprojects (see also chapter 10.2 "PLC extensions" on page 361).
4.7.5 VectorsGeneral Information
The vectors/vector programs known from the CLM are now called routines.For example, the manual vector of the CML is now referred to as "manualroutine".For a detailed description of the routines available with the SMC and theiruse, please refer to chapter 6.2 "Multitasking" on page 101.
RestartA restart vector/routine is supported.
InterruptThe SMC does not support any interrupt vector or routine.
4.7.6 Command blockAPE, AKP, BIC, CIO, VEO
The new hardware and I/O architecture affects the implementation of the fol‐lowing user commands:APE – Parallel setting with screen (max. 6 bits are queried; 8 bits
in case of CLM)AKP – Parallel query with screen (max. 6 bits are queried; 8 bits in
case of CLM)BIC – Branch conditional on bit field valueCIO – Copy bit fieldVEO – Velocity overrideThe use of these commands in the SMC is similar to that in the CLM.Fundamental features of the commands for the use of I/O data are:● The complete flag area (MS000…MS699, MF000…MF999, MFR000…
MFR199) can still be accessed without any restrictions.● If existing I/O hardware is accessed through these commands , the
maximum usable pin or bit area is automatically defined by the I/Ohardware addressed.Permitted areas are:– Inputs:
– X31:– Single axis: Pins 1- 8– Double axis: Pins 11 - 18 or Pins 21 - 28
– X35:– Single axes: Pins 16 - 19, Pins 26 - 29
– X36:– Double axes: Pins 14 - 16, Pins 24 - 26
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– X37:– Option DA: Pins 11 - 16, Pins 21 - 22
– Sercos I/O 1–4:Pins 1 – 16
– Field bus (word 1–6):Bits 0–15
– Outputs:– X31:
– Single axes: Pin 8– Double axes: Pin 18 or pin 28
– X35:– Single axes: Pin 16 - 26
– X36:– Double axes: Pins 14 - 16, Pins 24 - 26
– X37:– Option DA: Pin 21 - 28
– Sercos I/O 1–4:Pins 1 – 16
– Field bus (word 1–6):Bits 0–15
● If these commands are used to access non-cohering pin areas of I/Ohardware, the system internally makes an automatic jump to the nextpossible pin number. It is therefore possible to copy the complete input/output image of the X35 via the CIO command.
Example:
CIO I.A2.X35.PIN16 MF100 8→ All 8 inputs of the X31 are copied to the flag area, starting with MF100, i.e.,the pins 16 – 19 and 26 – 29
Possible access errors:● If the commands are used to access the pins or bits beyond the
maximum possible pin or bit area, the SMC generates an error.Example:
CIO I.A2.X35.PIN16 MF100 9→ Error, as the access area is beyond pin 29.
SACThis command moves the coordinate system or sets it to a specific value.The changes made with the SAC command take temporary effect.After a restart or switch to parameter mode, the original coordinate systemwill again be effective.The next block is selected after several cycles.Difference as compared with the CLM:In the CLM, the original coordinate system became active even after an error.The time required for executing the command has also changed.
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For a detailed description of the SAC command, please refer to chapter6.11.61 "SAC – Set absolute counter" on page 208.
CVTBCD conversion (decade switch) no longer possible, as was the case withthe CLM.For a detailed description of the CVT command, please refer to chapter6.11.28 "CVT – Converting variable <-> Bit pattern" on page 177.
CamsContrary to the FLP, the master axis start position may exceed the masteraxis end position. This is essential for roll feed applications. See also chapter7.9.4 "Cam axis" on page 251.
4.7.7 Flying cutoffImmediate cut
The immediate cut function can be activated even during the return motion ofthe slide, and not only at the start position. This allows handling of shortparts.
PSI / POIThe SMC provides the SPO user command for moving away the material.Motion commands (PSI, POI, PSA, POA) are not permitted for the flying axisas long as an LMx command (e.g., LML) is active.For a detailed description of the SPO command, please refer to chapter6.11.65 "SPO – Position offset of synchronous axes" on page 213.
Maximum stroke routineThe maximum carriage travel vector available with the CLM is now calledmaximum stroke routine.
4.8 Service work4.8.1 Replacing the controllerOverview
A controller of the IndraDrive range consists of the components powersection, control section and programming module / control panel (incl.firmware). The control section can be configured with additional components(e.g., optional safety technology module). The control section and powersection are firmly connected to each other. Only Bosch Rexroth serviceengineers or especially trained users are allowed to replace individualcomponents. The paragraphs below describe how to replace the completedrive controller.
The controller has to be replaced by a device of identical type.This is the only way to ensure that the originally configuredfunctions can be used in unchanged form.When using devices with integrated safety technology, make sureby organizational measures that only an authorized personreplaces the device, e.g., by a lockable control cabinet. Alsomake sure that the device replacement is not carried out forseveral axes at a time to avoid accidentally interchanging theaxes.
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A device intended for replacement that has already been inoperation (thus is not in the factory-new condition as supplied),has to be brought to the condition as supplied again ["loaddefaults procedure (factory settings)", command C0750] before itis used.
The figure below illustrates the basically required individual steps.
Fig. 4-14: Sequence of drive controller replacement
The "IndraDrive Service Tool (IDST)" allows accessing the drivesystem, e.g. for remote diagnostics. Besides, authorized userscan handle different service cases with IDST, such as replacingdrive components, loading parameters or updating/upgrading thedrive firmware.Further information on "IndraDrive Service Tool (IDST)" isdescribed in the separate documentation „Rexroth IndraDriveService Tool IDST“ (DOK-IM*MLD-IDST*******-RE**-EN-P; mat.No. R911380223).
How to proceed when replacing drive controllersReplacing the drive controller and
the programming module1. Open the main switch2. Make sure the main switch cannot be switched on again.3. Make sure drive controller is de-energized.
WARNING! Lethal electric shock from live parts with more than 50 V!Before working on live parts: De-energize system and secure powerswitch against unintentional or unauthorized reconnection. Wait at least30 minutes after switching off the supply voltages to allow discharging.Make sure voltage has fallen below 50 V before touching live parts!
4. Separate connection lines from controller.5. Dismount drive controller from control cabinet.6. Dismount programming module / control panel
● With IndraDrive C/M/Cs: Pull off programming module / controlpanel from defective device.
● With IndraDrive Mi: Remove programming module (X107) fromdefective device, note down positions of address selector switchesS4 and S5 (address selector switches below connections X103.1and X103.2).
7. Mount programming module / control panel● With IndraDrive C/M/Cs: Plug programming module / control panel
of defective device onto new controller.● With IndraDrive Mi:
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1. Set the address selector switches in the same way as for thedefective device.
2. Dismount cover above slot X107.3. Plug programming module of defective device onto
replacement device.4. Mount cover above slot X107.
NOTE: Damage to the programming module caused bypenetrating dirt or moisture. When mounting the cover ofX107, make sure that the sealing ring is undamaged and isseated correctly.
8. Mount new controller.
The controller has to be replaced by a device of identical type.This is the only way to ensure that the originally configuredfunctions can be used in unchanged form.
9. Connect device according to machine circuit diagramPutting drive controller and ma‐
chine into ready-for-operationstate
1. Restore control voltage.2. Put machine into ready-for-operation state again according to the
machine manufacturer's instructions.3. Activate safety technology (only with active Safe Motion with Sx‑option)
With single-axis devices, the following message appears on the displayof the control panel during the booting process:"Load new Safety?"With double-axis devices, the following message appears on the displayof the control panel during the booting process:".1 Load new Safety?" for Axis 1 or ".2 Load new Safety?" for Axis 2Pressing the "Enter" key at the control panel acknowledges themessage. The safety technology parameters are now loaded from thecontrol panel to memory of the optional safety technology module.
IndraDrive Mi does not feature a control panel. This is why theparameter image of safety technology has to be activated byexecuting the command "P‑0‑3231.0.3, C8300 SMO: CommandActivate parameter image", e.g., using IndraDrive Service Tool(IDST).The error "F8330, SMO: Configuration data record has not beenactivated" generated during boot-up signals that the active imageidentifier on the programming module does not comply with theimage identifier that was stored on the safety technologyhardware. After the command C8300 has been successfullyexecuted, the error has to be cleared using the "clear error"command (C0500). The command execution is described in theFunctional Description of the firmware, see chapter "Commandprocessing".
4. Check functions of the drive.5. Check safety technology parameters (only with active Safe Motion with
Sx‑option)
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Completing the process, it is necessary to check, with activated safetytechnology, whether the correct safety technology parameters havebeen loaded for the drive.The device exchange must be logged in the machine log. The data ofthe following safety technology parameters are to be documentedaccordingly and checked for correctness (they can be queried via thecontrol panel in the "SMO info" menu. At IndraDrive MI, the data has tobe read out, e.g. via IndraDrive Service Tool (IDST), as no control panelis available.● P‑0‑3230, SMO: Password level● P‑0‑3235.0.1, SMO: Active axis identifier● P‑0‑3234.0.1, SMO: Configuration checksum● P‑0‑3234.0.2, SMO: Operating hours at last change of
configuration● P‑0‑3234.0.3, SMO: Configuration change counter● P‑0‑3234.0.4, SMO: Parameterization checksum● P‑0‑3234.0.5, SMO: Operating hours at last change of
parameterization● P‑0‑3234.0.6, SMO: Parameterization change counter
Possible problems during controller replacementDisplay defective or programming
module defectiveIn case of a defect at the programming module/display, the parameter valuessaved after initial commissioning have to be loaded.
There are restrictions regarding theparameter values saved after initialcommissioning and their suitability to restorethe function of the drive after controllerreplacement!
NOTICE
Actual position values and active target positions must be checked beforedrive enable!
If firmware and drive parameters are to be transferred to the replacementcontroller, the required firmware and a parameter backup of the respectiveaxis have to be available.1. Restore the control voltage supply of the controller.2. Carry out firmware update, also see chapter "Firmware replacement"3. Via the "IndraWorks" commissioning tool or the control master, load
parameter file to controller:● "IndraWorks" commissioning tool
Load parameter values saved after initial commissioning tocontroller.
● "IDST" service toolLoad parameter values saved after initial commissioning tocontroller.
● Control masterLoad axis-specific parameter values saved after initialcommissioning [according to list parameters "S‑0‑0192, IDN-list of
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all backup operation data" and "P‑0‑0195, IDN list of retain data(replacement of devices)"].
With active Safe Motion, initial or serial commissioning of thedrive controller is required after the programming module hasbeen replaced!
The steps necessary to do so are described in thedocumentation "Integrated safety technology"Safe Motion" (as ofMPx‑18)" under the keyword "Serial commissioning, copy of anaxis".
In the case of drives with absolute value encoder and moduloformat, the position data reference has to be established againafter having loaded the parameter values saved after initialcommissioning, even if the actual position values are signaled tobe valid via the parameter "S‑0‑0403, Position feedback valuestatus"!
4.9 Instructions for firmware replacement (release update)Drive firmware Prior to the firmware exchange of the SMC, it has to be checked if the
required drive firmware is available on the master axis.The following points always have to be complied with if the drive firmwarehas to be updated:● The firmware may only be replaced by qualified personnel.● Use IndraWorks to easily change the firmware: Context menu item
"Firmware management" on the respective driveThe current version of the drive firmware can be retrieved on the display ofthe IndraDrive via "Device Info".The drive firmware release version should be identical on all axes.
Firmware option - SMC The following points have to be complied with in the specified order and thespecified actions are to be carried out in order to ensure a successfulexchange of the SMC firmware option:A device in running order with the following SMC firmware version isrequired.FWS-MLDTFA-SMC-14V02-D0 or above1. Check the SMC firmware version in parameter "Y0047: SMC FW
version".This verifies that the above requirement is met.
2. Read the release documentation.The release documentation can be found, amongst others, on themicroSD of the master axis under the ".\User\Documentation" directory.
3. Switch to parameter mode.4. Backup the entire system.
See also chapter 9.7 "Complete system backup" on page 359.5. Save the drive parameters.
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Save all drive parameters (S- and P-parameters) of the master axis andslave axis to an external data carrier (hard disk, USB or the like) via the"IndraWorks Ds/D/MLD" commissioning tool.
6. Back up the Y-parameters, the remanent variables and the remanentflags on the microSD.Save the Y-parameters and the retain data (VFR and MFR) usingsystem command 5 "Save SMC data to microSD", see chapter 7.2.8 "System command 5: Save SMC data to microSD" on page 236.The system command can be started using the SMC-Editor or the fieldbus.
7. Upload new release.
The microSD can be accessed using FTP or a memory cardreader. The drive has to be disconnected before removing themicroSD when using a memory card reader.
Please ensure that the microSD backup was completed successfully.Subsequently, delete all directories on the microSD:● all subdirectories in the "\User\.." directory but not the files of the
"\User\.." directory (these files consist of SMC programs, backupfiles, language files,..) and the "\Update\.." sub-directory
Please copy the following data of the new SMC release to the microSD:● from the "\Plc\.." directory, the files "Application.app" and
"Application.crc" (these files contain the PLC boot project)● all subdirectories in the "\User\.." directory but not the files of the
"\User\.." directory● more user-specific data which is to be copied to the microSD
8. Switch off the drive and on again.9. Switch the drive to parameter mode.
The drive display shows PM or P2.
10. Reload the backed up Y-parameters, the remanent variables and theremanent flags from the microSDLoad the Y-parameters, remanent variables and remanent flags backedup under the point via the system command 4, refer to chapter 7.2.7 "System command 4: Load SMC data from microSD" on page 235.To execute system command 4, the PLC has to be in operation and thedrive has to be in parameter mode.
11. Upload the backed up drive parametersLoad the drive parameter values saved under point 5 (S- and P-parameters) to the master axis and slave axes via the "IndraWorksDs/D/MLD" commissioning tool.
12. Switch to operating modeThe system is now in running condition with the new firmware.
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If error "Invalid SMC program" (error number "90h") is reportedduring loading of the SMC program, the SMC program has to berecompiled and downloaded again to the control. The SMC-Editorof the current release has to be used for this operation.The SMC program is only compiled when the SMC program haschanged. This means that it might be necessary to change theprogram to a minor degree (e.g., by adding an NOP command) toforce compilation. Subsequently, this change can be undone.The current SMC-Editor release is contained in the "\User\Setup\.." directory of the microSD. Please install the current release ofthe SMC-Editor.
13. Check the functionsCheck the functionality of the converted system thoroughly after thefirmware exchange.The S-/P-/Y-parameter values should be identical to the values beforethe release update. Check the SMC firmware version in parameter"Y0047: SMC FW version".
The previous version can be restored at any time by deleting themicroSD. Subsequently, the microSD image backup has to becopied to the microSD.
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5 Operating5.1 SMC-Editor5.1.1 Overview
The SMC-Editor serves to create, manage and commission the SequentialMotion Control programs.The application programs are entered and processed with the SMC-Editor.The programs are compiled to binary format for the interpreter of the targetsystem prior to transfer to the target system.After having been activated on the target system with Sequential MotionControl, the desired program can be started, stopped or operated in single-step mode for debugging purposes.In addition, the values of predefined variables and flags or of variables andflags selected during runtime can be displayed and edited.
IndraMotion for Handling is not supported anymore by the SMC-Editor 06V00 and above.
5.1.2 Runtime environmentThe SMC Editor requires the following runtime environment:● Windows 7 / Windows 10● Microsoft .NET Framework 4.0
5.1.3 InstallationEasy installation
Installation of the SMC-Editor can be started by double-clicking theinstallation file SMC-EditorSetupXXVxx.exe. Finally, the different dialogs ofthe installation routine have to be followed!
Installation in the silent setup (unattended installation)The installation routine of the SMC-Editor supports the installation in silentmode. With this type of installation, no input is necessary on the part of theuser during the installation. The input necessary in the "easy installation" areinitialized with predefined default values. Installation in silent mode may e.g.be useful if the installation of the SMC-Editor is to be called in the installationroutine of external programs.The installation in silent mode can be started by means of the command lineparameter -s or /s.If the installation is started without more command line parameters, the other‐wise necessary information is initialized as follows:● Installation language: German (in the first start, the SMC-Editor starts in
the German version)● Installation directory:
– <Windows User Directory>\Rexroth\SMC-Editor upon newinstallation
– installation directory selected in advance with update installation● Installed components:
– Example files
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– Help files● Creation of a desktop link Using the optional switch -f2 or /f2, a log file can be created for analyzing theinstallation success.Example:SMC-EditorSetup05V26.exe -s -f2C:\Setup.logThis call starts the installation of the SMC-Editor in silent mode and entersthe installation success in the [ResponseResult] section in the "Setup.log"file. If the installation is successful, ResultCode = 0 is entered.
5.1.4 Version dependencies of the SMC-editor on the systemThe release version of the SMC Editor 06Vxx is not downward-compatible. It can only be logged in to the firmware versions ofthe Sequential Motion Control 14VRS. However, programs ofolder versions can be opened and edited.
The version dependencies of the Sequential Motion Control (SMC) on theSMC Editor are shown in the following tables.
Sequential Motion Control (SMC) SMC-Editor
14V02 06V00 or later release
Tab. 5-1: Compatible version combinations of the Sequential Motion Control14VRS and the SMC Editor
5.1.5 Source program formatInput window for the program code
Each program line consists of:
Label (optional) Command Parameter (optional)
The individual program line components are separated by tabs or blankspaces, as shown in the following example:
Fig. 5-1: Program lines, Sequential Motion Control (length program)Basic program structure of the Sequential Motion Control:● Comments without format:
The apostrophe symbol (" ' ") comments the rest of the line.● A label (jump target) has to begin in the first column.● Label names must begin with a letter or an underline character.
Numbers and special characters may not be used as the first characterof label names.
● Names of variables may contain nothing but letters, numbers andunderline character.
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The first character must be a letter or an underline character.● A command can only begin starting with the second column.● Independent of the country setting in the operating system, real
numbers (e.g., in parameters) always have to be entered with a point(".") as a decimal separator.
Input window for variablesVariables can be entered in the input window at the lower edge of the screen.Symbolic names can be assigned to the individual variables. These namesare stored along with the source text of the program.There is one tab each for flags and variables in the "Sequential Motion Con‐trol" programs:
Fig. 5-2: Input window for variables with Sequential Motion Control (variablesinput window)
5.1.6 Input supportIntellisense
After the first character for the command has been entered, a command list isdisplayed as a drop-down list, starting with the first character that has beenentered. A command list is also displayed when using the key combination<Ctrl>+<space key>, starting with the letter "A".
Fig. 5-3: Intellisense, drop-down list
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The selected command in the list can be executed using the <Return>,<Space> or <Tab> key. <Escape> can be used to close the list withoutapplying a value.The user can continue to make entries even if the list is opened. The list willclose automatically once the command input has been completed.After the command has been applied, a "tool tip" is displayed with the com‐mand structure and all required parameters:
Fig. 5-4: Intellisense, tool tip (CPJ Value1 comparison condition – Free varia‐ble)
The current parameter to be entered is displayed in bold print.The drop-down list contains all defined variables which can be entered here(of course a constant value or a variable name that has not yet been definedcan be entered here, too).If there are selection values for certain parameters, then these values aredisplayed in the drop-down list.For jump targets, all jump labels defined in the file are displayed in the list:
Fig. 5-5: Intellisense, drop-down list (CPJ Value1 Comparison condition – Val‐ue1 < Value2)
No lists are displayed for parameters, for which only constant values arepermitted and for which no selection values are defined.
Symbolic addressingDigital inputs and outputs: The digital inputs and outputs can also be addressed with the Intellisense
function. This function is provided if a command parameter of the bit type isexpected. Digital inputs and outputs are selected in 4 steps.
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which are described in more detail below.1.Select the I/O code:
#
Fig. 5-6: Symbolic addressing, selecting the I/O code (I/O Code – AKNBit Job – Q – Output)
2. Press "." to switch to the HW address selection.
Fig. 5-7: Symbolic addressing, selecting the HW address (I/O Code –AKN Bit Job – A6 – Axis 6 (Slave 5))
3. Select the word address in the next step
Fig. 5-8: Symbolic addressing, selecting the word address (I/O Code –AKN Bit Job – X32 – Connector X32)
4. Selection of the pin number:
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Fig. 5-9: Symbolic addressing, selecting the pin number (I/O Code –AKN Bit Job – Pin7)
Flags: Flags are selected in a single step. In addition, it is only necessary to enterthe number of the desired flag.
Automatic formattingUpon confirming the entry of the current line by pressing the <Return> key,this line is automatically formatted.In general, automatic formatting can be switched off using theTools ▶ Options ▶ Display menu or undone using the undo function (<Ctrl>+<Z>).The menu Edit ▶ Format selection or the right mouse button and the contextmenu can be used to manually format previously selected lines (irrespectiveof the settings made under Options).
5.1.7 Functional descriptionFile menu
New... (Ctrl + N) Creates a new program.Various different program templates and program types (default or user-defined templates) can be selected.The default template is "Standard.scs".
Open... (Ctrl + O) Opens the file dialog to load an existing program file.Close Closes the current program file.
If necessary, a query is displayed, asking the user whether the changesshould be saved.
Save (Ctrl + S) Saves all changes to the current program file.Save as... Saves the current program under another file name.
Import... This function can be used to select a binary handling program (*.HPR) andimport it to the editor.The symbolic names of the default template (Standard.has) are used for thevariables and points during recompilation to the source format.
Page setup... Opens a dialog which can be used to enter print settings such as paperformat, page layout and margins.
Header and footer... Opens the dialog for defining the header and footer for printing.The following placeholders can be inserted here:
$FileName ... Name of current program file
$FilePath ... File path of current program file
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$FileDate ... Modification date of current program file
$FileTime ... Modification time of current program file
$PrintDate ... Print date
$PrintTime ... Print time
$Page ... Page number
Tab. 5-2: PlaceholderPrint... (Ctrl + P) Opens the print dialog.
The printer, the pages to be printed, the number of copies, etc. can be set inthis dialog and printing can be started.
Print preview Opens a preview that shows how a printout of the current document wouldlook. Settings from the page setup dialog and the selected header and footerare taken into consideration here.
Recent files Quick access to the most recently loaded programs.Exit Exit the SMC-Editor.
Edit menuUndo (Ctrl + Z) Undoes the most recent change.Redo (Ctrl + Y) Recovers the most recently undone change.
Cut (Ctrl + X) Deletes the currently selected text and copies it to the clipboard.Copy (Ctrl + C) Copies the currently selected text to the clipboard.Paste (Ctrl + V) Inserts text that was copied to the clipboard at the current cursor position.Find... (Ctrl + F) Opens the "Find" dialog to search for a specific text.
Find Next (F3) Repeats the most recent search.Replace... (Ctrl + H) Opens the "Replace" dialog, which can be used to find a specific text and
replace it with another text.Go to... (Ctrl + G) Opens a dialog which can be used to place the cursor in a specific program
line or a specific program block.Next error (F4) Places the cursor in the next error location found in the most recent compiler
run.Previous error (Shift + F4) Places the cursor in the previous error location found in the most recent
compiler run.Format selection All selected program lines are reformatted.
Select all (Ctrl + A) Selects the entire program text.Font... Opens a dialog to set the font used in the editor.
Colors... Opens a dialog to set the colors that are used to highlight commands, keywords, etc. (also refer to the menu "Options / Display " on page 47).
Monitor variable Applicable only to Sequential Motion Control programs and open debugger.The variable or flag present at the cursor position is included in the list ofwatch variables.
View menuParameter box (Alt + F10) Opens or closes the window for reading or inputting parameter values (see
also chapter "Parameter box" on page 59).Message window (Alt + F11) Opens or closes a window with the messages of the most recent compiler
run.
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Variables window (Alt + F12) Opens or closes the window for entering variables (see also chapter "Inputwindow for variables" on page 39).
Block I/Os (Alt + F9) Opens or closes the window to read the configured digital or analog block I/O(see also chapter "Block I/Os" on page 69)
Build menuCompile program (F11) Compiles the current program file.
If needed, the most recent program changes are automatically saved first.Then the compiler is started. After successful completion of the compilation,the binary program with the extension "*.SCB" is saved to the directory whichalso contains the source program.The message window is opened during the compiling process (see Options:Use internal compiler):
Fig. 5-10: Message window ("Build" menu – Messages)Any error messages are displayed here.Double-click on an error message or use ""Next error (F4) " on page 43", toposition to jump to the error in the source text.In the event of an compilation error, the background color of the messagewindow turns to light-red. This allows the user to identify that compilationfailed. Each open source program has its own "logical" message window. As aresult, the message window displays the messages of the currently activeprogram if more programs than one are opened.
Tools menuFTP debug output Opens or closes an output window, in which the current FTP communication
is logged for diagnostic purposes.
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Options / General
Fig. 5-11: Tools / Options / GeneralLegend:● User interface language
The user interface language can be selected.Restart the SMC-Editor to activate the selected language.
● Network timeoutThe timeout time (for download and PLC connection) can be set.
● Poll time for watch variablesThe rate at which the watch variables are refreshed can be set.
● Load last program on Start-upThis specifies whether the most recently loaded program shouldautomatically be reopened upon starting the SMC-Editor.If a program file is transferred via the command line (e.g., by double-clicking or via a link), this file has higher priority. In other words, the filein the command line is opened. In other words, the file in the commandline is opened.
● Log PLC handlerIt can be helpful to activate the log file of the PLC handler for testingpurposes. This file is called "PLCLog.txt" and is found in the SMC-Editorprogram directory. This option will only become effective after the SMC-Editor has been restarted.
● Use internal compilerThis is used to specify whether compiling is carried out using theinternal compiler or using the external console program "SMC-Comp.exe".
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The internal compiler displays error messages directly in an outputwindow of the editor (see menu "Message window (Alt + F11)" on page43 and menu: "Next error (F4) " on page 43).
● SMC language versionThe language version specifies the version of the language that can beinterpreted by the Sequential Motion Control. Every SMC firmwarerelease is only able to interpret certain language versions. The ReleaseNotes for the Sequential Motion Control contain an overview of whichlanguage versions can be interpreted by the individual SMC releases. Inthe installation of the SMC-Editor, all previous language versions of theSequential Motion Control are installed. The active language version ofthe Sequential Motion Control is determined by the SMC-Editor in thedownload of programs or when changing to the online mode andadjusted accordingly for the editor.
Fig. 5-12: Adjustment of the language versionThe language version for offline operation can, however, also beexplicitly set manually. After opening of the option dialog, the currentlyactive language version in the SMC-Editor is displayed in the "SMClanguage version" line.In the selection box, all installed language versions are displayed in thedrop-down list. Selection of the desired language version andsubsequent confirmation by means of OK activates the selectedlanguage version for the SMC-Editor.
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Options / Display
Fig. 5-13: Tools / Options / DisplayLegend:● Colors
The font colors used to highlight commands, key words, etc. can be sethere.To achieve good legibility on the screen, the use of dark or strong colorsis recommended.Click on Default to reset the colors to the default setting.
● Tabulator widthsSpecifies the tabulator widths of the first and the following columns.
● Parameter separatorSpecifies whether spaces or tabulators are inserted between theparameters upon (automatic or manual) formatting of a program line.
● Automatic formattingTick the box if the currently entered program line is to be formattedautomatically after pressing Enter.
Online menuGeneral informationBy means of the online menu, a connection to the target system can beestablished. The target systems can be managed, programs can be loaded tothe target systems and files can be copied from the target system to the PC.
Login (F12) Establishes a connection to the target system.If necessary, the program in the active window of the SMC-Editor is firstcompiled and stored.
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The connection to the target system can only be established(login) if the program in the active window of the SMC-Editor canbe compiled without any errors.
If the current source program in the SMC-Editor is different from the activeprogram on the target system (difference in name or source text), the currentprogram of the SMC-Editor can be immediately activated upon login. Toachieve this, the current program is transmitted to the target system; aprogram having the same name, if any is already existing in the targetsystem, is overwritten; and, if necessary, the active program on the targetsystem is stopped. Subsequently, the debug mode is opened for SequentialMotion Control programs.If it is not intended to activate the current program in the SMC-Editor uponlogin, only the connection to the target system is established and thedebugger is opened to display the current status.
Logout (Shift + F12) Exits the debugger and closes the connection to the target system.Download This function transfers the current program in the SMC-Editor (binary and
source programs) to the set target system. If no compiled binary programexists for the current program, then a dialog is displayed in which you caninitiate the compiling process. The download process can take some timedepending on the size of the program and the target system's (network)speed. Notes pertaining to the current communication status are displayed inthe message window.The Tools ▶ FTP debug output command can be used to open a window, inwhich the current communication is logged for diagnostic purposes.
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Upload This function can be used to select any files from the target system and toupload it to the PC:
Fig. 5-14: Online menu, Upload (upload program from the target system"MyMLD(192.168.1.1)")
The upload functions differ depending on the file type selected:● Upload (all file types):
The selected file is uploaded to the directory displayed in the "Uploaddirectory" box.
● Upload and open in editor (all file types except Sequential MotionControl (*.SCB) and Handling binary programs (*.HPR)):The selected file is uploaded to the directory displayed in the "Uploaddirectory" box and is opened in the SMC-Editor.
In addition to the upload function, the toolbar supports the following functions:● Delete (<Del>):
Deletes the file selected from the target system.● Rename (<F2>):
The file selected from the target system can be renamed.● Refresh (<F5>):
The displayed list of the files existing on the target system is updated.● Open upload directory:
The directory displayed in the "Upload directory" box is opened in theWindows Explorer.
● Sorting order:The alphabetical sorting order of the files existing on the target systemis inverted.
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Start parameter mode Starts the parameter mode. The menu item is only visible if the connection tothe target system is active (online mode).
Exit parameter mode Exits the parameter mode. "Delete error" is automatically triggered beforephase switching. The menu item is only visible if the connection to the targetsystem is active (online mode).
Archive device data Starts the backup of the device data. The device data can only be backed upif the connection to the target system is active (online mode). Also refer tochapter "Save/restore device data (only for Sequential Motion Control)" onpage 52.
Restore device data Starts restoring the device data. The device data can only be restored if theconnection to the target system is active (online mode). Also refer to chapter"Save/restore device data (only for Sequential Motion Control)" on page 52.
Manage target system... Opens the target system manager.
Fig. 5-15: Managing target systemsDefine the target system settings and save them under user-defined name:1. Use the Add button to create a new target system. A target system is
created with the standard name "Target 1". Enter a user-defined, uniquename in the "Name of target system" field.
2. Enter the IP address of your target system in the "IP address". The IPaddress has to consist of four numbers that can assume values rangingfrom 0 to 255 and they have to be separated by a point.
3. In the "System" field, the control system can be selected. When workingwith the control system "Sequential Motion Control", select the input"SMC (IndraMotion MLD)". This system is selected by default whencreating a new target system.
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When selecting a control system, the values for the fields "Username", "Password" and "Download directory" are already setcorrectly by default. These settings need to be selected for thedownload of sequential program to the control. After a controlsystem has been selected, the data is read-only and is only usedfor information purposes.
If you want to select a control system that is not contained in thedrop-down list or if you want to specify the download directory onthe control, select "User-defined" in the drop-down list. Thevalues in the "User name" and "Password" fields for the FTP loginat the target system can then be entered by the user. Thedownload directory can then be selected by the user. Whendownloading a file to the target system using the SMC-Editor, thefile is transmitted to the selected download directory on thecontrol. If the download directory does not exist in the file systemof the control, it is created prior to the file download.
Select the created target systems in the target system field of the targetsystem tool bar after closing the dialog with OK..
Fig. 5-16: Selecting the created target systems in the target system field
Target system toolbarSequential Motion Control
Fig. 5-17: Target system toolbarTarget system box Select the target system. You can use the drop-down list box to easily access
the stored target systems or open the target system manager.Login button Establishes a connection to the target system. See also "Login (F12)" on
page 47.Logout button Exits the debugger and closes the connection to the target system.
Download button Transfers the current program (binary and source program) to the set targetsystem (see also "Download" on page 48).
Upload button This function can be used to select any files desired from the target systemand to upload it to the PC (see also "Upload" on page 49).
Archive device data Starts the backup of the device data. The device data can only be backed upif the connection to the target system is active (online mode). Also refer tochapter "Save/restore device data (only for Sequential Motion Control)" onpage 52.
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Restore device data Starts the restoration of the device data. The device data can only berestored if the connection to the target system is active (online mode). Alsorefer to chapter "Save/restore device data (only for Sequential MotionControl)" on page 52.
PM button Starts the parameterization mode. The button is only visible if the connectionto the target system is active (online mode).
OM button Ends the parameterization mode. "Delete error" is automatically triggeredbefore phase switching. The button is only visible if the connection to thetarget system is active (online mode).
Save/restore device data (only for Sequential Motion Control)General informationSMC-specific device data can be saved and restored using the following but‐tons:
● Archive device data
● Restore device dataThe function allows an existing system to be duplicated. The backed up datacan be saved on your PC and restored to the same or another existing SMCsystem if necessary.
System requirementsAt the least the following release versions are required to save or restore thedevice data:● SMC-Editor release: 05V36 or later release● SMC firmware release: 12V06 or later release
Device data can only be saved or restored in parameter modeand with an active connection to the SMC (online mode via theLogin button).
A SMC system ready for execution is always required to restore abackup file. A backup file cannot be restored without anexecutable SMC system.
The same number of drives, as on the SMC system on which thebackup was created, must be connected on the master axis onthe SMC system on which the backup file should be restored. Ifthe number of axes deviate between the backup and restorationsystem, the device data cannot be restored.
Archive device dataThe device data is saved in a zip compressed file. Click the Save device data
button to select the storage location of the backup file. The name of thebackup file is automatically generated by the SMC-Editor with the date andtime stamp according to the following format:SMC_Backup_YYYY-MM-DD-hh-mm-ss.zip
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Another name other than the recommended name for the backupfile can be used. For example, the backup file can be assignedany name.
Fig. 5-18: Defining file names and the directory for saving device dataClick Save to start saving the device data. The current process status isdisplayed in the wizard for the device backup. The device data backup maytake several minutes.
Fig. 5-19: Wizard for saving device dataAfter the device data backup is started, the following data is first saved on themicroSD of the master axis by the SMC:● Backup of the drive parameters (S- and P-parameters), the PLC retain
data and the PLC boot project. The backup is carried out by starting the"C6500 Archive device data" drive command. The backup files arecreated in the ".\User\Backup\.." directory on the microSD of the masteraxis.
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● Backup of the Y-parameters in the "Y_Parameter_bak.scp" parameterfile and the flags and variables of the SMC in the "M_V_Data_bak.scd"file. The files are saved in the ".\User\Update" directory.
The files and directories required for restoring the SMC system are archivedin the zip-compressed backup file on the PC. The following files anddirectories are saved in the ZIP archive:Data required for restoring the SMC system
Directory path Saved filesSaved sub-directories,including files and sub-directories
.\Plc1) All -
.\User2) All \Backup3) + \Update4)
Tab. 5-3: Saved files in the zip-compressed backup file1) Typically, the following PLC files are in the ".\Plc" directory:● Application.app: PLC boot project● Application.crc: Boot project checksum2) Apart from additional user-specific files, the following SMC system files arein the ".\User" directory:● *.SCS files: All source files of the SMC sequence programs● *.SCB files: All binary files of the SMC sequence programs● *.SCL files: User-specific language files● Prog_Assign.sca: Mapping file of file names and file numbers for system
commands● SCD files: Backup files of SMC data3) The ".\User\Backup" directory is created during the execution of the "C6500Archive device data" drive command and contains the parameter backups ofthe drive parameters (S- and P-parameters) required for restoring the SMCsystem.4) The following data is created in the ".\User\Update" directory:● "Y_Parameter_bak.scp": Backup of all Y-parameters● "M_V_Data_bak.scd": Backup of all variables and flags (MS, MF, MFR,
VS, VF, VFR)● "SMCDriveInfo.dat": Information file that at least contains the required
release versions of the supported drive firmware of the SMC release.
The two files "SMC_Backup.log" and "SMC_BackupInfo.txt" arealso included in the backup file. All actions executed during thebackup are entered along with the time stamp and status(successful/failed) in the "SMC_Backup.log" file. The"SMC_BackupInfo.txt" file contains information on the SMCsystem on which the backup was performed. The SMC firmwarerelease, the number of the operated axes and their firmwarerelease versions are entered.
Restore device data
Click Restore Device Data to select the storage location of the zip-compressed backup file that you would like to restore.
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Fig. 5-20: Select the backup file to be restored
WARNING
When a backup file is restored, all files that are contained in the backup fileare transferred to the microSD of the master axis. Files with the same namethat already exist on the microSD are overwritten in the process.
Fig. 5-21: Confirming data restoration of the backup fileAfter confirming with Next, an overview is displayed that shows thedifferences between the current configuration of your SMC system and theconfiguration of the backup file. If differences are detected, one or severalwarning icons or error icons are displayed in the overview.The following parameters are compared:● SMC firmware release: If the SMC firmware release of the backup file
differs from the SMC firmware release of the system, the SMC firmwarerelease of the backup file is restored when the backup file is restored.
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● Drive firmware:– The drive firmware is not contained in the SMC backup file. If
differences are detected with the drive firmware, the overviewdialog merely indicates this. Various releases of the drive firmwarein the backup file and the SMC system currently operated are eachlisted.
The different releases of the drive firmware are not updated whenthe backup file is restored.
– Number of drives: If the number of drives differs, the backup filecannot be restored. In this case, make sure that there is the samenumber of drives on the SMC system on which you would like torestore the device data as the number of drives connected to themaster axis on the SMC system on which the backup file wascreated.
Fig. 5-22: Overview prior to the start of restoring the device data
For each firmware release of the Sequential Motion Control(SMC), there are specific minimum requirements concerning thedrive firmware releases for the respective drives. When thebackup file is restored, an analysis is performed to determinewhich firmware release of the SMC is to be restored. If the drivefirmware versions of the SMC system currently operated do notmeet the minimum requirements for the SMC firmware release tobe restored, the restoration process is aborted with an errormessage. The error message lists the minimum firmware releaseversions required for the drives. In this case, first update thefirmware of the drives before starting to restore the SMC backupfile.
After confirming the overview dialog with Finish, the process for restoring thedevice data begins. The current process status is displayed in the wizard forthe device restoration. The entire restoration step runs automatically so thatno user entries are required until a confirmation message on the successfulrestoration is displayed.
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After the files are transferred from the backup archive, the masteraxis is automatically restarted. The process for restoring thedevice data is automatically continued after the drive is restarted.
Fig. 5-23: Restarting the master axis
The process for restoring the device data may take severalminutes.
Debug functionsGeneral information on debug functionsAfter the debugger has been opened (login), the name of the current programin the editor is compared with the name of the loaded program. If the namesare identical, it is no longer possible to make any changes to the currentprogram (incl. flags and variables) because the program is write-protected.The background color of the program window turns to gray. In the Run state(program was started), the current program line is highlighted in the editorwindow. If the checksum of the program in the editor is identical to that in theSMC, the current program line is highlighted with a blue bar in the editor. Ifthe checksums are different (the program in the editor does not correspond tothe program in the SMC), the current program line is only highlighted by blueborders. Any other programs opened in the editor can still be edited. Oncethe debugger is exited (logout), the active program is no longer write-protected.
Fig. 5-24: Debug functions (dialog: Debugger)
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The debugger window is separated into two parts.The left side is for controlling the SMC and provides information pertaining toits current status.
"Clear Error" button All existing errors (faults) are cleared with a positive edge at the "Clear Error"input. Errors can be cleared in parameter mode and in operation mode.However, while phase switching is active, e.g., from parameter mode tooperation mode, it is not possible to execute the "Clear Error" function.
"Automatic" button The SMC provides three operation modes:- Parameter mode- Automatic mode- Manual modeThe individual operation modes are activated through two system inputs. Ifneither the "Parameter mode" input nor the "Automatic mode" input is appliedas operation mode, the SMC is set to manual mode.If the "Automatic mode" input is applied, the SMC is set to automatic mode.
"Start" button (F8) After a positive edge at the input "Start", the program sequence of theautomatic tasks is started in automatic mode. The program can only bestarted if drive enable (see "Yx015: Drive enable, In-config") is set for allactive axes.
"nStop" button The user program run is stopped immediately if there is no signal at the"nStop" input any longer.If following a straight line, the motion of the axis is immediately deceleratedwith the programmed delay until it comes to a rest. If there still remains aresidual distance to be traveled, this distance is stored and will be the first tobe traveled upon restart. There will be no dimensional loss of reference.Without the "nStop" signal, no jogging and homing motions are possible inmanual mode.Ongoing jogging and homing motions are stopped immediately.
If the "Flying Cutoff" application type is configured, the removal of the "nStop"input acts as a cycle stop, i.e., motions that have already been started will becompleted before they are stopped.
"Single Step" button Upon activation of the single step mode, a positive edge at the "Start" inputalways triggers only one command (current command) of the task or routineselected to be processed.Once the command is completed, the next command of the task or routinewill not be started before the next positive edge at the "Start" input.Only one task or routine can be processed at a time in single step mode.This task or routine can be one of the 4 automatic tasks, the cyclic tasks orthe manual routine or manual cut routine. Processing of the other active tasksor routines is continued in "normal" cycles. Since this has a considerableeffect on the timing sequence, it must be ensured that no unintentionalactions or motions are carried out.The task or routine for single step mode can be selected with the SMC Editorin online mode on the debugger window.
"Error" LED If there is a malfunction, this output is disabled immediately.The error can only be acknowledged via a positive edge→ at the input "Clear error"→ via the "Clear error" button in the “Debugger” window of the SMC-Editor
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"Automatic" LED If the SMC is in the "Automatic" mode, this output is activated.If a new user program is loaded (e.g., via the SMC Editor) or if a runningprogram is prematurely terminated (cf. "Abort program"), this output iscleared and not set again until successful completion.
"Run" LED This output indicates that a user program is currently processed in anautomatic task or in the manual routine or manual cut routine. It is set if astart signal has been given and there is no stop signal. If the program wasstopped (e.g., by the "nStop" signal, by the "JST" command or afterswitchover to "Manual" mode), this output is cleared.
Active program The "Active Program" field displays the program that is loaded. All programsavailable on the target system are displayed by extending the list. A newprogram can be loaded.The background color of the program name can have the following states:● Green:
The current program in the editor corresponds to the loaded program.That means that both the checksum and the name of the current sourceprogram are identical to the checksum and the name of the loadedbinary program.
● Yellow:The current program in the editor does not correspond to the loadedprogram.That means that either the checksum or the name of the current sourceprogram is not identical to the checksum and the name of the loadedbinary program.
● Red:An error occurred while a program was loaded. In this case, "Error" isalways displayed as active program.
Task drop-down list box The task whose program counter is displayed in the "SetNbr" box and whichcan be processed in single step mode can be defined in the task drop-downlist box.
"Auto Scroll" checkbox If the "Auto Scroll" checkbox is activated, the current program line of the settask is always scrolled to the visible area. If necessary, the "Auto Scroll"checkbox can be deactivated to view a different program area.The right side of the "Debugger" window shows the watch variables. Thedisplay is updated automatically each time values are changed.The context menu ("Add Watch") can be used to apply flags and variablesfrom the program text or the flag and variable grid to the watch window. Thevariables which have thus been dynamically included in the list (not thevariables predefined in WatchVars_SCS.ini) can be resorted by drag-and-drop and edited (e.g., display format) or removed from the context menu.
Parameter boxGeneral informationThe window for reading or to enter parameter values can be opened via themenu View ▶ Parameter box. The parameter box is used for thecommissioning and for diagnostic purposes of the control system.When the Sequential Motion Control program is opened, the parameter boxcan be opened in offline and in online mode.If the connection to the target system is active (online mode), there is directaccess to all Y-parameters of the Sequential Motion Control as well as to allparameters of the operated drives.
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By means of the parameter export, backup of the parameter values in aparameter file (file extension *.scp) can be prepared on the PC. With theimport function, parameter backups can be opened in offline mode andloaded into the SMC in online mode.
Fig. 5-25: Parameter box in online mode
Online modeGeneral informationIn online mode, there is direct access to all Y-parameters of the control aswell as to all S- and P-parameters of the operated drives.
By double-clicking on a line in the "Source" column, the potentialparameter sources (System, FlyingCutoff as well as axesoperated with the SMC) are displayed in a drop-down list box. Inthis drop-down list, the desired parameter source can beselected.
ToolbarNew Inserts a new blank line in the parameter box.
If a cell or line within the parameter box is highlighted, the new blank line isinserted below the highlighted line or the highlighted cell. If no line or cell ishighlighted, the new blank line is inserted below the last line in the parameterbox.After insertion of a new line, system is entered by default in the sourcecolumn. In the IDN column, the desired parameter ident number can then beentered. Also refer to chapter "Entering the Parameter Ident Number" onpage 63.
Delete Deletes one or several lines in the parameter box.
If one cell in the parameter box is highlighted, the line with the highlighted cellis deleted. If several lines are marked, all marked lines are deleted (see alsochapter "Highlighting entire lines" on page 67).
Highlighted lines can be deleted using the <Del> key.
Import parameters Imports the parameters of a Sequential Motion Control parameter file (file
extension *.scp).During the import, all parameters contained in a parameter file are loadedinto the parameter box and displayed.
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In online mode, before the parameter import, it can be selected whether theparameter values are also to be imported into the SMC or into the drive pa‐rameters:
Fig. 5-26: Optional: parameter value import● Yes: During import, the parameter values are first of all written into the
drive or control parameters. If the import has been completedsuccessfully, the parameter file content is displayed in the parameterbox. The current parameter values are read out of the control or thedrives.
● No: The parameters in the parameter file are displayed in the parameterbox and the current parameter values are read out from the control orthe drives.
By selecting Yes in the parameter value import dialog, it is checked if thedrives are in mode PM. If not, phase switching to parameterization mode PMcan be selected. The following import dialog is displayed following asuccessful phase switching:
Fig. 5-27: Parameter import displayIf errors occur during the parameter import, error messages are displayed inthe import dialog.
Export parameters Exports the parameters displayed in the parameter box into a Sequential
Motion Control parameter file (file extension *.scp).During parameter export in the online mode, the parameters contained in theparameter box are read and written into a parameter file. The parametervalues are entered sorted by sources ("system", "Flying Cutoff", axis 1-6).
Load system parameters Loads all relevant Y-parameters.
In online mode, the following Y-parameters are loaded:● All axis-independent Y-parameters (system)
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● All Flying Cutoff Y-parameters● All axis-dependent Y-parameters of the operated axesAfter loading of the Y-parameters in the parameter box, the Y-parameters areread by the SMC in online mode and the parameter values read out aredisplayed in the parameter box.
Offline modeGeneral informationIn offline mode, existing parameter backups can be loaded using theparameter box and edited. There is no direct access to the parameters of theSequential Motion Control or the drives. To save changed parameter values,a parameter export (backup in a parameter file) is to be carried out.In offline mode, no individual new parameters can be added to the parameterbox. The "Source" and "IDN" columns are write-protected and can thereforenot be edited.When changing to the online mode (login), the current values of the parame‐ters in the parameter box can be imported. I.e., the parameter values can bewritten to the SMC or drive parameters:
Fig. 5-28: Importing the parameter values when changing from offline mode toonline mode
● Yes: During import, the parameter values are first of all written into thedrive or control parameters. After the import has been completedsuccessfully, the current values of the parameters contained in theparameter box are read out of the control or the drives.
● No: The parameter values of the parameters contained in the parameterbox are read out of the control or the drives. The parameter values thathave been entered in the parameter box offline are updated with theparameters values read out of the control or the drives.
● Cancel: Login is canceled. The parameter values entered offline areretained.
By selecting Yes in the parameter value import dialog, it is checked if thedrives are in mode PM. If not, phase switching to parameterization mode PMcan be selected. The parameter import is started after a successful phaseswitching.
ToolbarDeleting
Deletes one or several lines in the parameter box.If one cell in the parameter box is highlighted, the line with the highlighted cellis deleted. If several lines are marked, all marked lines are deleted (see alsochapter "Highlighting entire lines" on page 67).
Highlighted lines can be deleted using the <Del> key.
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Import parameters Imports the parameters of a Sequential Motion Control parameter file (file
extension *.scp).During the import, all parameters contained in a parameter file are loadedinto the parameter box and are displayed. The parameter values can beedited after the import.
To save changed parameter values, the parameters in theparameter box have to be exported to a parameter file. Whenchanging to the online mode, the current values of the parametersin the parameter box can be imported to the SMC or the drives.The notes regarding "Import parameters" on page 60 apply.
Export parameters Exports the parameters displayed in the parameter box into a Sequential
Motion Control parameter file (file extension *.scp).During parameter export in offline mode, the parameters contained in theparameter box are written into a parameter file. The parameter values areentered sorted by sources ("system", "Flying Cutoff", axis 1-6).
Load system parameters Loads all Y-parameters.
In offline mode, the following Y-parameters are loaded:● All axis-independent Y-parameters ("system")● All Flying Cutoff Y-parameters● All axis-dependent Y-parameters of axes 1 to 6.
General Operating InstructionsEntering the Parameter Ident NumberGeneral InformationIn online mode, a new parameter ident number can be entered in the IDNcolumn or the parameter ident number can be changed in an existing line.Simplified input formats are supported for the parameter ident numbers.
Entering the Parameter Ident NumberThe following rules apply when entering the parameter ident number:● To typify the parameter, the letters "Y", "S" or "P" are admissible for type
designation.● If the parameter ident number is entered without type designation
(without "Y", "S" or "P"), the parameter is interpreted as Y-parameter bydefault and "Y" is prefixed to the ident number.
● In the parameter entry of drive parameters, the short form is supported.For example of parameter "P-0-4025.0.0", the following entries are rec‐ognized:– P-0-4025.0.0– P-0-4025– P-4025.0.0– P-4025– P4025.0.0– P4025With parameters with leading zeroes (e.g. "S-0-0001.0.0"), the leadingzeros can be omitted in the entry.
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● Y-parameters have to be entered in format "YXXXX".
Leading zeroes can be omitted when entering the parameter identnumber!
Value EntryWhen entering parameter values in the "Value" column, there is after theentry an automatic conversion to the display format necessary for theparameter.Depending on the parameter display format, the following entries are suppor‐ted:
Display format Supported entry formats
BOOL Bool format
UDINT (decimal number without sign andwithout decimal places)
Decimal format without decimal places
Hexadecimal format
Binary format
REAL (decimal number with sign andwith decimal places) Decimal format with decimal places
STRING Text
DINT (decimal number with sign andwithout decimal places)
Decimal format without decimal places
Hexadecimal format
Binary format
BIN (binary format)
Decimal format without decimal places
Hexadecimal format
Binary format
HEX (hexadecimal format)
Decimal format without decimal places
Hexadecimal format
Binary format
Input (only with SMC) Input
Output (only with SMC) Output
Parameter ident number (only with SMC) Parameter ident number format
Entry formats:● Boolean format:
The following inputs are possible:– "TRUE", "TRU", "TR", "T", "1"– "FALSE", "FALS", "FAL", "FA", "F", "0"
● Decimal format without decimal places:The following characters are permissible:– "+", "-"– Numbers from 0 - 9
● Decimal format with decimal places:
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The following characters are permissible:– "+" and "-" to determine the sign– Numbers from 0 - 9– "." and "," before entry of the decimal places
● Hexadecimal format:To designate the hexadecimal format, the prefix "0x" has to be used.Apart from that, the following characters are permissible:– Numbers from 0 - 9– "A", "B", "C", "D", "E", "F"
● Binary format:To designate the binary format, the prefix "0b" has to be used.Apart from that, the following characters are permissible:– The numbers "0" and "1"– The point "." can be used as separator between 4 bit each.
● Input / output: (Only with Sequential Motion Control)With inputs/outputs, the fully qualified name of the input or output has tobe specified as text.
● Parameter ident number (Only with Sequential Motion Control):See also chapter "Entering the Parameter Ident Number" on page 63.
Limit value verificationWhen entering parameter values, the entered values are checked for theparameter limit values, if possible.If the entered parameter value is outside the parameter limit values, an errormessage is displayed in the SMC-Editor status line indicating the current pa‐rameter limit values in a message box:
Fig. 5-29: Error message in case of limit value exceedanceThe limit value is verified in the following cases:● In online mode, the limit values of all parameters are checked.● In offline mode, only the limit values of the Y-parameters are checked
the limit values of which are fixedly determined. I.e. if the parameter limitvalue depends on another parameter or its limit value, there is no limitvalue verification (for example parameter Yx004 of the SMC).With drive parameters (S- and P-parameters), there is no limit valueverification in offline mode!
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When changing from offline mode to online mode, the parametervalues of the parameters in the parameter box can be imported. Ifany parameter value entered offline is outside the parameter limitvalues, a corresponding error message is displayed in the importdialog during the import. The original parameter value of theparameter is retained. See also "Import parameters" on page 60.
List parametersGeneralList parameters are parameters with a variable number of parameter valuesof the same data type. The number of parameter values (elements) of a listparameter results from the current list length. The individual elements of a listparameter can be referenced by means of the index.
Fig. 5-30: List parameter P-0-1531.0.0
Only with Sequential Motion Control:If list parameters are displayed in the parameter box, this hasnegative influence on the refresh velocity of the parameter values.Reasons: The parameter values in the parameter box are readsequentially from top to bottom. I.e., the more parameters arecontained in the parameter box, the lower is the refresh rate of acertain parameter value. If a list parameter is in the parameterbox, all elements of the list parameter are always read even if notall elements of the list parameter are displayed in the parameterbox.
Inserting a new list parameterIf a new list parameter is inserted into the parameter box in online mode, thevalue of element 0 of the list parameter is displayed first. The element indexof the list parameter is displayed in the "#" column.Changing the element indexWith list parameters, the element index can be changed in the "#" column. Ifthe element index is changed in online mode, a new line is automaticallyinserted above the edited line. So two lines will be displayed after theelement index has been changed. The top line shows the element with thenewly entered index. The lower line still contains the original index. So anynumber of elements of a list parameter can be displayed.Parameter export with list parameters
1. Online mode: If a list parameter is exported in online mode, all elementsof the list parameter are exported to the parameter file even if not allelements of the list parameter are displayed in the parameter box.
Only with Sequential Motion Control:Depending on the list length, the parameter export of a listparameter in online mode may possibly take several minutes.
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2. Offline mode: In offline mode only those elements of a list parameter areknown that are displayed in the parameter box. In the parameter exportof a list parameter in offline mode, only the elements displayed in theparameter box can be exported. For the unknown elements, a blank lineis entered in the parameter file.
Parameter import with list parameters1. Online mode: If a parameter file with a list parameter is imported in
online mode, all elements of the list parameter in the parameter file willbe written. If the parameter file to be imported was created by aparameter export in online mode, the parameter file contains allelements of the list parameter. Upon creation of the parameter file inoffline mode, only the elements in the parameter file at the time of theparameter export in offline mode are exported.
After a parameter import with list parameters, the list parametersalways show the element 0 in the parameter box. If moreelements are to be displayed, they have to be inserted manuallyby changing the index column.
2. Offline mode: If a parameter file with a list parameter is imported inoffline mode, only element 0 of the list parameter in the parameter boxwill always be displayed. In offline mode, no other elements of the listparameter will be imported! When subsequently changing to the onlinemode with parameter import, only element 0 of the list parameter willconsequently be imported. I.e. to import all elements of the listparameters which are in the parameter file, the parameter import has tobe repeated in online mode.
Highlighting entire linesIn the parameter box, one or several entire lines can be marked.To highlight an entire line, left-click on the line header (see area highlighted inred):
Fig. 5-31: Highlighting an entire lineSeveral lines can be highlighted as follows:● Highlighting of several lines with the left mouse button:
– To highlight several lines above or below each other, the lineheads of the lines to be highlighted are to be highlighted bykeeping the left mouse button pressed.
– Press <Ctrl> and the left mouse button to highlight several lines byselection of the line heads (using the mouse).
● Highlighting any line using the left mouse button and subsequenthighlighting of the line by means of the keyboard: By pressing <Shift> +<Down arrow> or <Up arrow> at the same time, several lines above orbelow the line highlighted first can be highlighted.
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By clicking the topmost left cell (line head of the header) in theparameter box using the left mouse button, all lines available inthe parameter box are highlighted.
Fig. 5-32: Highlighting all lines in the parameter box
Invalid parametersParameters with invalid sourcesIf parameters are contained in the parameter box that do not exist on the con‐trol or whose sources have not been enabled, the lines of these parametersare write-protected and are grayed out:
Fig. 5-33: Lines with invalid parameters are write-protected and grayed outDepending on the system used, the following sections explain exemplary howthis condition can come about.
Sequential Motion Control Loading the system parameters in offline mode (see also "Load systemparameters" on page 63) loads the axis-dependent Y-parameters of allsupported axes (axis 1 to 6) in the parameter box. If, however, the SMCactually operates fewer axes, the parameters of axes which are not operatedare write-protected and shown in gray when changing into the online mode.The graphic above shows the presentation of the parameter if the SMCoperates two axes. The parameters of the third axis cannot be edited inonline mode.Parameters highlighted in redIn the parameter box, all parameters for which the necessary internal data forreading/writing this parameter are not available are highlighted in red.
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This can e.g. be achieved if a drive parameter (S- or P-parameter) is enteredinto the parameter box which does not exist in the drive:
Fig. 5-34: Parameters highlighted in red
Error messagesIf errors occur while entries are being made in the parameter box, the errormessages are displayed in a message box as well as in the status line of theSMC-Editor:
Fig. 5-35: Error message when making entries in the parameter box
Block I/OsTo open the window to read configured analog or digital block I/Os, go to themenu and select View ▶ Block I/Os.The overview on block I/Os is used for commissioning and for diagnosticpurposes of the control system.When the Sequential Motion Control program is open, the “Block I/Os”window can only be opened in online mode. When going into the offlinemode, the “Block I/Os” window is closed automatically. The target system canonly be opened again upon the subsequent login.The configured Block I/Os are displayed in a specific sequence. First, theconfigured digital inputs/outputs and at the end the configured analog input/outputs. The display sequence is specified and cannot be changed.
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Fig. 5-36: Block I/Os
Backup/restoring all Y-parametersGeneral information The following sections describe the principle for backing up and restoring all
Y-parameters.Backup of all Y-parameters Backup of all Y-parameters is possible in "online mode" using the parameter
box. For this purpose, all Y-parameters are to be displayed in the parameterbox then be exported to a parameter file. During parameter export, theparameters contained in the parameter box are read and saved to thespecified target directory on the PC under the specified file name. Theparameter values are entered into the file sorted by sources ("System","Flying Cutoff", "Axes").
We recommend the following procedure to back up all Y-parameters:1. Change to "online mode" via Login.
Fig. 5-37: Login2. Show all Y-parameters using Load system parameters. Execution first of
all removes all entries from the parameter box. Subsequently, all Y-parameters are loaded into the parameter box.
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Fig. 5-38: Load system parameters3. Start the export via the Y-parameter using Export parameters.
Fig. 5-39: Export parameters4.Enter a file name in the target directory and start the backup via Save:
#
Fig. 5-40: Start backup5. Wait until the backup of the Y-parameters is completed. After the Y-
parameters have been backed up successfully, the "Export parameters"dialog is automatically closed. All Y-parameters are stored under thespecified file name.
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Fig. 5-41: Backup activeRestoration of All Y-Parameters Restoring all Y-parameters is possible in "online mode" using the parameter
box. For this purpose, the control is to be in parameter mode. Duringparameter import, the parameter values are first of all written into the Y-parameters. After the import is completed, the Y-parameters in the parameterfile are displayed in the parameter box and the current parameter values areread from the control.
We Recommend the Following Procedure for the Restoration of all Y-Parameters:
1. Change to "online mode" via Login.
Fig. 5-42: Login2. Switch to parameterization mode using PM.
Fig. 5-43: Activating the parameter mode3. Start the parameter import using Import parameters.
Fig. 5-44: Import parameters4.Enter the file name with the Y-parameter backup in the source directory. Sub‐
sequently, start the restoring using the Open button:#
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Fig. 5-45: Starting the restoration5.Confirm the parameter value import in the dialog with Yes:
#
Fig. 5-46: Confirmation: Import parameters6. Wait until restoring of the Y-parameters is completed. After the Y-
parameters have been restored successfully, the "Import" dialog box isautomatically closed.
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Fig. 5-47: Parameter import
If the parameter import is not started in parameterization mode,phase switching to PM is possible. The parameter import isstarted after a successful phase switching. If errors occur duringthe parameter import, the errors are entered in the "Import..."dialog. In case an error occurs, the dialog is not closedautomatically.
External CompilerApart from the internal compiler, the SMC-Editor also provides an externalcompiler. The external compiler is started using the "SMC-Comp.exe"console program. The "SMC-Comp.exe" console program is located in theinstallation directory of the SMC-Editor.
Use of the external compiler ("SMC-Comp.exe") requirescomplete installation of the SMC-Editor.
After the external compiler has been started, the source text file with thecomplete SMC ("*.SCS") including the comments and the binary file with theextension "*.SCB" is saved in the same directory as the source program. Thebinary file is, however, only created if compilation by the external compilerwas completed without errors. For this purpose, the source file does notnecessarily have to be created using the SMC-Editor.The created binary file can then be transmitted to the control (SMC or IM-HA)and loaded as active program.In case of errors in the compilation, the error messages of the eternalcompiler are directly output in the console. The error output contains theincorrect set number with line indication as well as a related error message. The call syntax of the external compiler is:<InstallationPath of the SMC-Editor>\smc-comp.exe <FileName>If the external compiler is called without the transfer parameter <FileName>,the current version of the SMC-Editor and a description of the call parametersare output.If necessary, the compiler output can also be redirected into a file:<InstallationPath of the SMC-Editor>\smc-comp.exe <FileName> ><OutputFileName>
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Calling the external compiler with‐out program file
Fig. 5-48: Calling the external compiler without program fileCalling the external compiler with
error-free program file
Fig. 5-49: Calling the external compiler with error-free program fileCalling the external compiler with
erroneous program file
Fig. 5-50: Calling the external compiler with erroneous program fileProgram example: The following batch file (*.bat) compiling several source files by calling the
batch is used as example of the application of the external compiler. Theoutput of the external compiler is redirected to files with the same name asthe source file however with the file extension "*.err". If there is a compilationerror, an error message is output and the batch file can be canceled bymeans of <CTRL>+<C>. The call is for example to be effected in thecommand line with "SMC-Compile *.scs" to compile all SMC programscontained in the directory.
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Example: External compiler: 2011-04-05, SMC-Compile.bat:: Compiles the SMC and Handling source file(s) at the command line.: Wildcards are supported.:: See *.err files for compile errors.:: Adjust compiler path if necessary!:FOR %%1 in (%1) DO CALL :DoCompile %%1@GOTO END:DoCompile @ECHO Compiling %1 @C:\Programme\Rexroth\SMC-Editor\SMC-Comp.exe %1>%1.err @IF Errorlevel 1 GOTO Error @GOTO END:Error @ECHO Error occurred! (To abort compiling press CTRL+C) @PAUSE:END
5.1.8 Tips & tricksUseful shortcuts
F6 Toggles the cursor position between the program text and the table editor forflags and variables at the bottom.
Alt + F6 Toggles between the flag and variable tables (or message window anddebugger window).
F8 This key can be used to control the Start button when the debugger isactivated.
Alt + F10 Opens or closes the window for reading or inputting parameter values.F11 Compiles the current program file.
If needed, the most recent program changes are automatically saved first.Alt + F11 Opens or closes a window with the messages of the most recent compiler run
and the program download.F12 Establishes a connection to the target system and opens the debugger, if
possible.Shift + F12 Exits the debugger and closes the connection to the target system.
Alt + F12 Opens or closes the "Variables" window.Ctrl + space bar Activates the Intellisense input in the program text.
This opens a list containing the commands or command parameters availableat the current position.
5.2 VCP controlThe HMI is not included in the SMC 14VRS upon delivery.
5.3 Field bus5.3.1 Overview
The SMC supports the following field bus protocols:● Profibus● Profinet● Ethernet/IP
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● EtherCAT● Sercos IIITo be able to use field bus interface, either the option card "PB" (Profibus) or"ET" (Multi-Ethernet) has to be available as master communication in theCCD master control unit.By default, each field bus is equipped with a master and slave devices.Different terms are available for the different field buses, listed in thefollowing table. That is why it is only referred to the different field buses asmaster and slave.Terms
Field bus Master Slave Remarks
Profibus Master Slave ---
Profinet Controller Device ---
Ethernet/IP Scanner Adapter ---
EtherCAT Master Slave ---
Sercos III Master Slave ---
Tab. 5-4: Different field bus termsBy means of the field bus interface, the Sequential Motion Control (SMC) canbe controlled and monitored by a master PLC. In this configuration, the SMCsystem is the field bus slave and the external PLC is the field bus master.By means of this interface, control and status signals are cyclicallyexchanged with the field bus master.In addition to these signals, the field bus interface provides access to the fol‐lowing data:● Y-parameters● System commands● System flags and system variables (MS, VS)● Programmable flags and variables (MF, MFR, VF, VFR)
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5.3.2 System configuration
Fig. 5-51: SMC system configuration with field bus interfaceThe field bus interface connects the SMC (MLD) system to a master PLC.The configuration of the field bus interface can be changed in IndraWorksusing the "Basic master communication settings" dialog. If the multi Ethernetcard is available as option card for the master communication, Profinet,Ethernet/IP, EtherCat and Sercos III can be selected.
A description file has to be selected for the SMC when configuringthe field bus master. The required file can be found in the "\User\PROFIBUS" directory on the microSD.
5.3.3 Communication typesCyclic communication
The field bus interface to the SMC system uses 11 words for the controlchannel and 11 words for the status channel.If Y-parameter Y0010 (AutoConfig I/Os) is set to TRUE, the control andstatus channels of the field bus are configured automatically, see chapter6.8.7 "Default configuration digital system inputs and outputs" on page 136.Automatic configuration takes place during power up.In addition to the cyclic exchange of I/Os, the following data exchange mech‐anism allows data communication via the field bus:● Use of a control word (32 bits, P-0-1270) and a data container (32 bits,
P-0-1271) in the control channel.● Use of a status word (32 bits, P-0-1272) and a data container (32 bits,
P-0-1273) in the status channel.
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(see chapter "Data communication" on page 81):Field bus control channel
Word no. Driveparameter
s
Meaning Address in the SMCprogram
1 P-0-4077 Field bus control word ---
2 P-0-13942 Input word 1 I.FB.W1.Bit...1
3 P-0-1395 Input word 2 I.FB.W2.Bit...1
4 P-0-1396 Input word 3 I.FB.W3.Bit...1
5 P-0-1397 Input word 4 I.FB.W4.Bit...1
6 P-0-1398 Input word 5 I.FB.W5.Bit...1
7 P-0-1399 Input word 6 I.FB.W6.Bit...1
8 P-0-1270 Control word (high) ---
9 P-0-1270 Control word (low) ---
10 P-0-1271 Data container (high) ---
11 P-0-1271 Data container (low) ---
1) SMC10VRS: I.PB.....2) S-0-0000 is still added for word no. 2 (i.e., between P-0-4077
and P-0-1394) for Ethernet/IP to allow for DWORD addressing.All of the following parameters shift by one word.
Tab. 5-5: Field bus request scheme (control channel)Field bus status channel
Word no. Driveparameter
s
Meaning Address in the SMCprogram
1 P-0-4078 Field bus status word ---
2 P-0-14142 Output word 1 Q.FB.W1.Bit...1
3 P-0-1415 Output word 2 Q.FB.W2.Bit...1
4 P-0-1416 Output word 3 Q.FB.W3.Bit...1
5 P-0-1417 Output word 4 Q.FB.W4.Bit...1
6 P-0-1418 Output word 5 Q.FB.W5.Bit...1
7 P-0-1419 Output word 6 Q.FB.W6.Bit...1
8 P-0-1272 Status word (high) ---
9 P-0-1272 Status word (low) ---
10 P-0-1273 Data container (high) ---
11 P-0-1273 Data container (low) ---
1) SMC10VRS: Q.PB.....2) S-0-0000 is still added for word no. 2 (i.e., between P-0-4078
and P-0-1414) for Ethernet/IP to allow for DWORD addressing.All of the following parameters shift by one word.
Tab. 5-6: Field bus response scheme (status channel)
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Word 1 in the control and status channels is required by IndraDrive but is notused for the SMC system.
● As of SMC12VRS, cyclical communication is possible whenthe SMC is in parameter and operating mode.
● With the SMC10VRS, cyclical communication is onlypossible in operating mode of the field bus, see also chapter"Communication via parameter channel" on page 80. If theSMC is in parameterization mode, direct acyclic read or writeaccess to the drive parameters is required. The currentstatus of the field bus can be read from the field bus statusword (drive parameter P-0-4078, bit1 and bit0) (10b =operation mode, 00b = parameterization mode).
● Writing to the IndraDrive control word during runningoperation can affect the application and create unwantedmachine motions.
Words 2 to 7 contain the control and status I/O signals of the SMC system.Words 8 and 9 contain the data request by the field bus master and thestatus response by the slave.Words 10 and 11 contain the data to be written to the system and requestedby the system, respectively.Words 8, 9, 10 and 11 respectively function as double word DINT units andallow the transfer of different data types such as BOOL, DINT, DWORD andREAL.
● The field bus is automatically configured by the SMC systemif parameter "Y0010, AutoConfig I/Os" is set to "TRUE".The configuration can be extended by the user. Refer to therelevant IndraDrive manual for details.
Communication via parameter channelIn addition to cyclic communication which is only available in operation modeof the field bus (i.e., not in parameter mode), communication can also beachieved via the parameter channel. The parameter channel is available in allphases.
● As of SMC12VRS, cyclical communication is also availablevia the Profibus if the SMC is in parameter mode, i.e.,communication over the parameter channel is no longernecessary.
● With SMC10VRS, cyclical communication is only availablevia the Profibus if the SMC is in operating mode, i.e., inparameter mode communication is only possible via theparameter channel.
The following data can be exchanged via the parameter channel:● Y-parameters● System commands● System flags and system variables (MS, VS)● Programmable flags and variables (MF, MFR, VF, VFR)
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PLC registers P-0-1283 to P-0-1286 (SMC10VRS: P-0-1274 to P-0-1277) areavailable for communication via parameter channel. The communicationprotocol for the data exchange via cyclical communication and the parameterchannel is identical (see chapter 5.3.4 "Field bus interface structure" on page81).To allow using the parameter channel and the cyclic communication function,the field bus master has to be configured as follows:● ParamCh 5 words (parameter channel)● F-module not used (unused)● Input 11 words (cyclic communication)● Output 11 words (cyclic communication)Settings for the field bus slave (i.e., the SMC) are not required for using theparameter channel.
Drive parameters Meaning
P-0-1283* / P-0-1274** Control word
P-0-1284* / P-0-1275** Control channel data container
P-0-1285* / P-0-1276** Status word
P-0-1286* / P-0-1277** Status channel data container
* As of SMC12VRS** SMC10VRSTab. 5-7: Drive parameters used for the parameter channel
5.3.4 Field bus interface structureData communication
Unlike the control and status signals of the SMC system, which areexchanged cyclically, the following data has to be requested individually bythe field bus master:● Y-parameters● System commands● System flags and system variables (MS, VS)● Programmable flags and variables (MF, MFR, VF, VFR)The master must send a request contained in words 8 and 9 of the controlchannel for this access. Incoming requests are polled by the field buscommunication handler. New incoming requests are processed accordinglyby the SMC system and a response is sent back to the master including ahandshake. Every request from the field bus master is executed exactlyonce.
Field bus master request schemeTo read and write data in the SMC system, the field bus master has to sendthe following request scheme. contained in word 8 (high word) and word 9(low word).
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The following table depicts the scheme:
Word Bits Description
Data requestHigh word (P-0-1270)
Bits: 31 - 28 ● Bit 31: Read/write (read = 0)● Bit 30: Toggle bit (must be toggled for every new request)● Bits 28 – 29: Reserved
Bits: 27 – 24 Data type of the element:● 0 0 0 1 = System flag (MS)● 0 0 1 0 = Freely programmable flag (MF)● 0 0 1 1 = Programmable non-volatile flag (MFR)● 0 1 0 0 = System variable (VS)● 0 1 0 1 = Programmable variable (VF)● 0 1 1 0 = Programmable non-volatile variable (VFR)● 0 1 1 1 = Y-parameter● 1 0 0 0 = System command (e.g., load SMC parameters)
Bits: 23 – 16 Reserved
Data requestLow word (P-0-1270)
Bits: 15 – 0 Index for flags, variables, system command or parameter number (0 – 65535)
Tab. 5-8: Master data request words
● With SMC10VRS, cyclic communication is active only if thedevice is in Sercos phase 4 (manual/automatic mode). Thatis why any data (flags, variables, Y-parameters, systemcommands, etc.) which can be written in Sercos phase 4 canbe written by means of the cyclic channel. Any data that canonly be written in Sercos phase 2 (parameter mode) must bewritten via the parameter channel of the device (see chapter"Communication via parameter channel" on page 80).
● As of SMC12VRS, cyclical communication is possible whenthe SMC is in parameter and operating mode.
Request high word Bit 31 of the high word determines whether the request is a write request (=1) or a read request (= 0).For a write request, the relevant data has to be contained in words 10 and11.Bits 27 – 24 specify the type of the requested element:● System flag● System variable● Y-parameters● etc.
Request low word Bits 15 – 0 determine the index (0...65535) of the requested data element foraccessing the flag, variable or Y-parameter.
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Field bus slave request schemeThe field bus slave responds to every new data request with the schemeshown below in the status channel words 8 and 9:
Word Bits Description
Status responseHigh word (P-0-1272)
Bits: 31 – 28 Access type:● Bit 31: Read/write (read = 0)● Bit 30: Toggle bit (handshake bit for request)● Bit 29: Error bit● Bit 28: Reserved
Bits: 27 – 24 Data type of the element:● 0 0 0 0 = BOOL (1 byte)● 0 1 0 0 = UINT or WORD (unsigned, 2 bytes)● 0 1 1 0 = INT (signed, 2 bytes)● 0 1 1 1 = DINT (signed, 4 bytes)● 0 1 0 1 = UDINT or DWORD (unsigned, 4 bytes)● 0 0 1 1 = REAL (4 bytes)
Bits: 23 – 16 Reserved
Status ResponseLow word (P-0-1272)
Bits: 15 – 0 When bit 29 (Error bit) = 0:● Index of flags, variables or Y-parameters (0 – 65535)When bit 29 (error bit) = 1:● Error code
Tab. 5-9: Field bus slave response schemeStatus response high word Bit 31 mirrors the write request bit of the master.
Bit 30 saves the toggle bit of the master.Bit 29 is set in case an error occurs while processing the request. Refer tochapter "Error description of a status response" on page 91.Bits 27 – 24 provide the data type of the information that was accessed or –in the event of an error – the type of error that occurred (for error codes, seechapter "Error description of a status response" on page 91).
Status response low word The low word of the response mirrors the low word of the request. Thisprovides a handshake to the master that the request has been fullyprocessed and that the data presented in words 8 and 9 refer to thatparticular request.Together with the status response words, the slave provides thecorresponding information in data words 10 and 11.In case of a successful write request, the data presented is the data that hasbeen written to and read back out of system memory.In the event of an error involving a write request (value is read-only or valueis out-of-range) the information that is currently held in system memory willbe sent back.All data is sent as a 4-byte binary representation of its data type. REALvalues are represented by their IEEE binary format. The interpretation of aBoolean value is:0000.0000b = false; every other value is interpreted as true.In a response, a true is always represented as 0000.0001b.
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Field bus communication examples:OverviewThe examples in this section describe the bit settings of the field bus masterdata request words (P-0-1270) and the field bus slave status words(P-0-1272) when cyclic communication is used. Each example will also showthe data container words for the request as well as the status response.
The examples given also apply to communication via parameterchannel.However, the following parameters must be used:● P-0-1283 (P-0-12741) instead of P-0-1270 (control word)● P-0-1284 (P-0-12751) instead of P-0-1271 (control channel
data container)● P-0-1285 (P-0-12761) instead of P-0-1272 (status word)● P-0-1286 (P-0-12771) instead of P-0-1273 (status channel
data container)1 = SMC10VRS
The following figures show the structure of the master data and slave status words:
Fig. 5-52: Field bus master data request
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Fig. 5-53: Field bus slave status response
Example 1: Reading a value from system flag MS109Read request for MS109 The following example shows the bit structure of the field bus master request
when reading system flag MS109.The following bits are set in the command word (P-0-1270):● Bits 0 – 15 contain the number of the flag:
In this example it is 109, which is represented as 0110.1101b.● Bits 24–27 contain the type of the requested element.
In this example, it is a system flag and is therefore represented as0001b.
● Bit 30 is the Toggle bit.It should be toggled between 0 and 1 for every new request.
● Bit 31 is the read / write bit.In this example, it is set to 0 to read the value of MS109.
The data container is not used for a master read request.
Fig. 5-54: Master read request for system flag MS109Status word for MS109 The result of the requested element MS109 is available in the status word
(P-0-1272) and the value is stored in data container P-0-1273, in this case0001b for the Boolean value "TRUE".
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The following bits are set in the status word (P-0-1272):● Bits 0–15 return the index of the flag if no error is detected:
In this example it is 109, which is represented as 0110.1101b. In theevent of an error, bit 29 is set to 1 and bits 0 – 15 then contain the errorcode.
● Bits 24–27 return the data type of the requested element.In this example, it is a Boolean value and is therefore represented as0000b.
● Bit 30 returns the current state of the Toggle bit.The state of the toggle bit depends on whether the request wasprocessed by the slave, as it was assumed for this example (seechapter "Handshaking" on page 92).
● Bit 31 mirrors the write request bit of the master.
Fig. 5-55: Slave status response from system flag MS109
Example 2: Writing a value to programmable variable VF210Write request for VF210 The following example shows the bit structure of the field bus master request
when writing to programmable variable VF210.
The values used for variables are IEEE floating point values.
The following bits are set in the command word (P-0-1270):● Bits 0–15 contain the number of the variable:
In this example it is 210, which is represented as 1101.0010b.● Bits 24–27 contain the type of the requested element.
In this example, it is a programmable variable and is thereforerepresented as 0101b.
● Bit 30 is the toggle bit.It should be toggled between 0 and 1 for every new request.
● Bit 31 is the read / write bit. In this example, it is set to 1 to write a valueto VF210.
● The data container (P-0-1271) contains the value to be written.
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Fig. 5-56: Master write request example for programmable variable VF210Status response for VF210 The result of the write request for the programmable variable VF210 is
available in the status word (P-0-1272) and the value is stored in datacontainer P-0-1273.The following bits are set in the status word (P-0-1272):● Bits 0–15 return the number of the variable if no error is detected:
In this example it is 210, which is represented as 1101.0010b.In the event of an error, bit 29 is set to 1 and bits 0 – 15 then contain theerror code.
● Bits 24–27 return the data type of the requested element.In this example, it is a floating point and is therefore represented as0011b.
● Bit 30 returns the current state of the Toggle bit.The state of the toggle bit depends on whether the request wasprocessed by the slave, as it was assumed for this example (seechapter "Handshaking" on page 92).
● Bit 31 mirrors the write request bit of the master.● The data container (P-0-1273) reflects the value that was written.
Fig. 5-57: Slave status response from programmable variable VF210
Example 3: Writing a value to Y-parameter Y167Write request for Y167
The following example shows the bit structure of the field bus master requestwhen writing a value of 20 (represented as 0001.0100b) to Y-parameterY1067.The following bits are set in the command word (P-0-1270):● Bits 0–15 contain the number of the Y-parameter: In this example it is
1067, which is represented as 0000.0100.0010.1011b.
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● Bits 24–27 contain the type of the requested element. In this example, itis a Y-parameter and it is represented as 0111b.
● Bit 30 is the Toggle bit.It should be toggled between 0 and 1 for every new request.
● Bit 31 is the read / write bit.In this example, it is set to 1 to write a value of 20 to Y1067.
Fig. 5-58: Master write request example for Y-parameter Y1067Status response for Y1067 The result of the write request for element Y1067 is available in the status
word (P-0-1272) and the value is stored in data container P-0-1273.The following bits are set in the status word (P-0-1272):● Bits 0–15 return the index of the Y-parameter if no error is detected:
In this example it is 1067, which is represented as0000.0100.0010.1011b.In the event of an error, bit 29 is set to 1 and bits 0 – 15 then contain theerror code.
● Bits 24–27 return the data type of the requested element.In this example, it is a DINT and is therefore represented as 0111b.
● Bit 30 returns the current state of the Toggle bit.● Bit 31 mirrors the write request bit of the master.● Bits 0–15 of the data container (P-0-1273) mirrors the value written by
the master request.
Fig. 5-59: Slave status response for Y-parameter Y1067
Example 4: Executing system command 1Write request for system com‐
mand 1The following example shows the bit structure of the field bus master requestwhen executing system command 1.
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The following bits are set in the command word (P-0-1270):● Bits 0–15 contain the number of the system command.
In this example, system command 1 is executed, which will berepresented as 0001b.
● Bits 24–27 contain the type of the requested element.In this example, it is a system command which is represented as 1000b.
● Bit 30 is the Toggle bit.It should be toggled between 0 and 1 for every new request.
● Bit 31 is the read / write bit.In this example, it is set to 1 to write system command 1.
● Data container P-0-1271 stores the parameter for the system command.In this example it is program number 2 which is represented as 0010b.
Fig. 5-60: Master write request example for system command 1Status response for system com‐
mand 1The result of the write request for system command 1 is available in thestatus word (P-0-1272) and the value stored in data container P-0-1273 is thevalue of the parameter.The following bits are set in the status word (P-0-1272):● Bits 0–15 return the index of the system command if no error is
detected:In this example it is 1, which is represented as 1b.In the event of an error, bit 29 is set to 1 and bits 0 – 15 then contain theerror code.
● Bits 24–27 return the data type of the requested element.In this example, it is a DWORD and is therefore represented as 0101b.
● Bit 30 returns the current state of the Toggle bit.● Bit 31 mirrors the write request bit of the master.● Bits 0–15 of the data container (P-0-1273) mirrors the value written by
the master request.● Data container P-0-1273 stores the status of the system command (see
chapter 7.2 "System commands" on page 232).In this example it is 2 for "system command successfully completed"which is represented as 0010b.
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Fig. 5-61: Slave status response for system command 1
Example 5: Reading system command 5The execution of a system command can take some time to be completed(e.g., saving the parameters to the microSD). A currently active commandreturns a status of "active". The field bus master polls the slave until a "Done"or "Error" status is returned.
Read request for system com‐mand 5
The following example shows the bit structure of the field bus master requestwhen reading the status of system command 5.The following bits are set in the command word (P-0-1270):● Bits 0–15 contain the number of the system command.
In this example, the status of system command 5 is read, which isrepresented as 0101b.
● Bits 24–27 contain the type of the requested element.In this example, it is a system command which is represented as 1000b.
● Bit 30 is the Toggle bit.It should be toggled between 0 and 1 for every new request.
● Bit 31 is the read / write bit.In this example, it is set to 0 to read the status of system command 5.
Fig. 5-62: Master read request example for system command 5Status response for system com‐
mand 5The value filed in data container P-0-1273 corresponds to the status of thesystem command.The following bits are set in the status word (P-0-1272):● Bits 0–15 return the index of the system command if no error is
detected:In this example it is 5, which is represented as 0101b.In the event of an error, bit 29 is set to 1 and bits 0 – 15 then contain theerror code (see chapter 7.2 "System commands" on page 232).
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● Bits 24–27 return the data type of the requested element.In this example, it is a DWORD and is therefore represented as 0101b.
● Bit 30 returns the current state of the Toggle bit.● Bit 31 mirrors the read request bit of the master.● Data container P-0-1273 stores the status of the system command (see
chapter 7.2 "System commands" on page 232).In this example it is 2 for "system command successfully completed"which is represented as 0010b.
Fig. 5-63: Slave status response for system command 5
Error description of a status responseThe following error codes can occur during a request (bits 3 - 0 of the statusresponse low word):
Code Error Description
1001b Ambiguous data type selection
The request declared that it did not want to read any information orwanted to read multiple types of information.Bits 27 – 24 of the high word of the data request were not assignedaccording to the table in Field bus master data request scheme, page 81.
1010b Data index exceeded The index submitted in the request has exceeded the available numberof items.
1011b Access to data type not possible The Y-parameter cannot be accessed. Cause: The data type (e.g.,STRING) cannot be represented.
1100b Value too smallOn each data write request, the data is checked for meaningful values.This error means that the value is too small.
1101b Value too largeOn each data write request, the data is checked for meaningful values.This error means that the value is too high.
1110b Value is invalidOn each data write request, the data is checked for meaningful values.This error means that the value is invalid.
1111b Value is read-onlyA write attempt has been made for information that is read-only.The response telegram will contain the original data / value in the SMCsystem.
Tab. 5-10: Status response error description
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Data checkThe data value of each write request is checked to ensure that it is within thevalid range and can be edited in the current mode. The allowable range isdetermined by the limits of the Y-parameter.
The range check does not ensure that the value of the Y-parameter will be accepted by the SMC system. The value mustbe within the validity range and writable in the current mode (seechapter 11 "Parameters" on page 395).
HandshakingAfter every field bus master request, the SMC system mirrors the high wordof the master request to the high word of the status response. Also, the writerequest bit is mirrored in the high word.This allows the master to identify when a request has been completed andthat the data received, via the status channel, refers to the original request.
Only one request is executed at a time. Request queues are notsupported.
In the low word, the data written or read is sent back and an error code isassigned.Toggle bit connection in control and status word:
Control word togglebit
Status word togglebit Status
0 0 No activity
1 0 Request from master
1 1 Request to slave (SMC) has beencompleted
1 1 No activity
0 1 Request from master
0 0 Request to slave (SMC) has beencompleted
0 0 No activity
Tab. 5-11: Handshake order
5.3.5 Configuring an IndraMotion MLC as Profinet ControllerThe SMC system supports Profinet communication to a master PLC. Toestablish the Profinet communication between both devices, a configurationis required. This section describes the steps required to establish a Profinetcommunication between a master PLC (IndraMotion MLC) and the SMC.
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● When configuring the Profinet master, "IndraDrive" has to beselected as GSD file for the SMC. The required GSDML filecan be found in the "\User\Fieldbus\Profinet" directory on theMMC.
● For Rexroth products such as IndraMotion MLC andIndraDrive, the IndraWorks Engineering softwareenvironment is used to configure each device. Each devicerequires its own PLC project.
After a master PLC is configured and connected to the device via an Ethernetcable, communication is established once the SMC has been started up andno errors have been detected.The Profinet interface in IndraMotion MLC is configured by adding anIndraDrive as a Profinet device to the IndraWorks project and configuring the11 input words and 11 output words. These input and output words define thecommunication channels used for reading and writing data via cycliccommunication.If the parameter channel is used, "ParamCh 5 Words" must be configured.Use the following steps to configure IndraMotion MLC as Profinet controllerPLC:
1. Start IndraWorks Suite by selecting:Program Files ▶ Rexroth ▶ IndraWorks... ▶ Engineering.
2. From the main menu, select File ▶ New ▶ Project.3.Name the project and select a directory and project language:
#
Fig. 5-64: Creating a new IndraWorks project (dialog: Creating a newProfinet project)
4.Move an IndraMotion MLC control from the drive and control library to thenewly created project with Drag&Drop:
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Fig. 5-65: Adding an IndraMotion MLC to a project (dialog: IndraWorksEngineering - Project Explorer - Library - Drive and Control)
If the Library window is not visible, select View ▶ Library from themain menu.
5. In the IndraMotion MLC general settings, please select the name of thedevice (no spaces), insert an optional comment and click on Next >>.
6. Assign an IP address for the device, select the desired programminglanguage and click on the Next >> button.The option "PROFINET IO Controller" has to be selected in theInterfaces dialog for the "Slot1 configuration (X7E3/X7E4)".
The entered IP address has to match the IP address already setin the IndraMotion MLC control.
Once all options are selected, click on the Finish button.Wait until all required IndraWorks components are created andinitialized. A progress window will open indicating the differentsections being initialized.
7. Expand the folder of the control in the Project Explorer to view additionaloptions.
8. Select Periphery from the Library window and open Profinet IO andDrives.
9.Click on the IndraDrive icon and drag&drop it from the library toPROFINET_IO_Controller:
#
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Fig. 5-66: Using an IndraDrive as a Profinet device (dialog: IndraWorksEngineering - Project Explorer - Library - Periphery)
This configuration defines the device type that will be accessedvia the Profinet interface. It does not configure the IndraDriveitself, but the input and output words that will be used to read andwrite the SMC data.
10. Expand the IndraDrive subtree by clicking on "+".11. Right-click on "Input_1_Word (Input 1 Word)" and select Set
Device ▶ Input 11 Words.12. Repeat step 11 for "Output 11 Words".13. Double-click on "Input_11_Words (Input 11 Words)" and select the PNIO
Module I/O Mapping tab.Double-click on an input word to assign a name to that word.The individual BOOLEAN under each word can be left blank.
This process has to be repeated for the Output 11 Words as well:
Fig. 5-67: Naming the Profinet controller input and output words (dialog:IndraWorks Engineering - Project Explorer - Input_11_Words(Input 11 Words))
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14. Load the IndraWorks project in IndraMotion MLC by selectingProject ▶ Switch Device Online....This will download the PLC configuration to the control.
15. The IP address of the Profinet device is set in the Find Devices dialog.Right-click on PROFINET_IO_Controller and select "Find devices..." to openthe device. After clicking on "Find devices", the available devices are dis‐played and can be subsequently identified (Identify), baptize (Baptizing) andan IP address can be assigned (Auto-IP).
Fig. 5-68: Find available devices
The configuration of the status data (AT) and the control data(MDT) for each axis is configured by the SMC system.
5.3.6 Configuring an IndraMotion MLC as Sercos masterThe SMC system supports Sercos communication to a master PLC. Toestablish the Sercos communication between both devices, a configuration isrequired. This section describes the steps required to establish Sercoscommunication between a master PLC (IndraMotion MLC) and the SMC.
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● When configuring the Sercos master, "IndraDrive" has to beselected as SDDml file for the SMC. The required SDDml filecan be found in the "\User\Fieldbus\Sercos3" directory onthe MMC.
● For Rexroth products such as IndraMotion MLC andIndraDrive, the IndraWorks Engineering softwareenvironment is used to configure each device. Each devicerequires its own PLC project.
After a master PLC is configured and connected to the device via an Ethernetcable, communication is established once the SMC has been started up andno errors have been detected.The Sercos interface in IndraMotion MLC is configured by adding anIndraDrive as a Sercos device to the IndraWorks project and configuring the11 input words and 11 output words. These input and output words define thecommunication channels used for reading and writing data via cycliccommunication.Use the following steps to configure IndraMotion MLC as the Sercos mastercontroller PLC:
1. Start IndraWorks Suite by selecting:Program Files ▶ Rexroth ▶ IndraWorks... ▶ Engineering.
2. From the main menu, select File ▶ New ▶ Project.3. Name the project and select a directory and project language.4. Move an IndraMotion MLC control from the drive and control library to
the newly created project with Drag&Drop.
If the Library window is not visible, select View ▶ Library from themain menu.
5. In the IndraMotion MLC general settings, please select the name of thedevice (no spaces), insert an optional comment and click on Next >>.
6. Assign an IP address for the device, select the desired programminglanguage and click on the Next >> button.
The entered IP address has to match the IP address already setin the IndraMotion MLC control.
Once all options are selected, click on the Finish button.Wait until all required IndraWorks components are created andinitialized. A progress window will open indicating the differentsections being initialized.
7. Expand the folder of the control in the Project Explorer to view additionaloptions.
8. Select Periphery from the Library window and open Sercos III.9.Click the IndraDrive pictogram and drag it from the library to FWA-INDRV*-
MPC08V04-D5-1-SNC-MA:#
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Fig. 5-69: Using an IndraDrive as a Sercos device (dialog: IndraWorksEngineering - Project Explorer - Library - Periphery)
This configuration defines the device type that will be accessedvia the Sercos interface. It does not configure the IndraDriveitself, but the input and output words that will be used to read andwrite the SMC data.
10. Right-click the Sercos node and open the "Configuration of Sercosdevices" dialog to set the Sercos address.
11. Double-click "Drive (Drive)" and select the driver inputs and outputs tab.The configuration must be carried out as displayed in the followingimage. The configured parameters can be named as desired.
Fig. 5-70: Configuring the Cyclic Data12. Load the IndraWorks project in IndraMotion MLC by selecting
Project ▶ Switch Device Online....This will download the PLC configuration to the control.
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The following instructions refer to a Sercos master and an Ether‐CAT master:● The configuration of the status data (AT) and the control
data (MDT) for each axis is configured by the master.● If the master communication is switched to P2, the axes of
the SMC must be disabled beforehand (i.e., to "Ab" and/or"Bb").
● When P2 is reached, the master communicationautomatically switches the SMC into parameter mode andthe CCD ring to P2.
● When P2 is exited, the master communication automaticallyswitches the SMC back into manual mode and the CCD ringto P4.
5.4 Loading user programA new user program (SMC program) can be loaded at any time as long asthe current program is not active (exception: cyclic task). In this case, the"Run" output is not set.While loading, the output "Automatic mode" is deleted. An active cycle task isaborted. While loading, no program can be started in manual or automaticmode.The user program can be loaded as follows:● Via the SMC-Editor● Via the system command 1 "Load SMC program from microSD"
After restarting the user program, the automatic tasks and the manual routineor the manual cut routine start again with their starting blocks. The cyclic taskstarts with its starting block directly after loading if configured.If there is a valid user program in the internal processing memory of theSMC, i.e. loading was successful, this is acknowledged via the output "SMCprogram valid".
● During an active phase switching from the parameterizationmode to the operating mode, no user program can beloaded (processing of the internal program check).
● A running program can be closed at any time via the "Abortprogram" input.Also refer to chapter 7.22 Abort program, page 320.
Any active axis movement is stoppedimmediately!
WARNING
The "Abort program" function should only be used if any hazards to man andmachine are excluded.For example, the program should not be aborted, if the tool is in engagementin the "Flying Cutoff" application type. This might destroy the tool!
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6 Programming6.1 General information
The programming language for the user program (SMC program) consists ofa code similar to the "BASIC" programming language.The user program can have a scope of a maximum of 3,000 program blocksand commands. Block counting starts with "0". Each program block alwayscontains only one command and up to five related command parameters.The processing time required for one block depends on the selected NCcycle time (cf. chapter "Y0001: Cycle time" on page 398).Subsequently, the block with the block number increased by one isprocessed (unless it is a jump command). For commands which involvewaiting for an event to occur, the processing time is always extended by thecycle time until the event has occurred.In most commands, both constants and variables ("indirect access") can beused for command parameters. In chapter 6.11 "Command description" onpage 144, you can find an "Indirect access" column in the description ofeach command.It has the following meanings:● "not possible" = command parameters only possible as constant● "possible" = command parameters possible as constant or variable
The user program has to be entered via the SMC-Editor, page 37, andtransferred to the control.
6.2 Multitasking6.2.1 General Information
The SMC provides a total of 7 tasks for processing an SMC program:Tasks 1–4: Automatic tasks 1–4Task 5: Manual routineTask 6: Manual cut routine (only in Flying Cutoff mode)Task 7: Cyclic taskAll tasks process the same SMC program, however in different areas. Oneblock or command is processed in each task within the cycle time (cf. chapter"Y0001: Cycle time" on page 398).The starting blocks of the individual tasks are defined in the user program inthe SMC-Editor based on the system labels used.
Task no. Task name System label in SMC-Editor (starting block) Diagnostic parameter forstarting block number
1 Automatic task 1 BEGIN_AUTO_TASK_1 Not available; always "0"2 Automatic task 2 BEGIN_AUTO_TASK_2 Y00033 Automatic task 3 BEGIN_AUTO_TASK_3 Y00044 Automatic task 4 BEGIN_AUTO_TASK_4 Y00055 Manual routine BEGIN_MANUAL_ROUTINE Y00066 Manual cut routine1) BEGIN_FC_MANUAL_CUT_ROUTINE Yx5007 Cyclic task BEGIN_CYCLIC_TASK Y0007
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Task no. Task name System label in SMC-Editor (starting block) Diagnostic parameter forstarting block number
Maximum strokeroutine1), 2) BEGIN_FC_MAX_STROKE_ROUTINE Yx501
Rapid stop routine1), 2) BEGIN_FC_RAPID_STOP_ROUTINE Yx502 Restart routine2) BEGIN_RESTART_ROUTINE Y0048
1) Only available with "Flying Cutoff" application type2) No independent task; is processed within automatic task 1, i.e.,
if the event occurs, the current block number of automatic task1 is changed and a jump to the routine occurs
Tab. 6-1: Assignment of starting lines to system labels in the SMC-Editor The SMC provides the respective current block numbers of tasks 1–7 insystem variables VS000 to VS006 (cf. chapter "Axis-independent systemvariables" on page 112) as diagnostics.● VS000: Active block number of automatic task 1 (task 1)● VS001: Active block number of automatic task 2 (task 2)● VS002: Active block number of automatic task 3 (task 3)● VS003: Active block number of automatic task 4 (task 4)● VS004: Active block number of manual routine (task 5)● VS005: Active block number of manual cut routine (task 6)● VS006: Active block number of cyclic task (task 7) The SMC can process the following tasks at the same time, depending on themode:● Automatic mode:
Automatic tasks 1–4 and cyclic task● Manual mode:
Manual routine or manual cut routine (with Flying Cutoff) and cyclic task● Parameter mode:
No tasks are processed.
Task 1 Task 2 Task 3 Task 4 Task 1 Task 2 Task 3 Task 4 …
Sercos cycle (cycle time) Sercos cycle (cycle time) …
Tab. 6-2: Task scheduling in automatic mode without cyclic task
Task1
Task2
Task3
Task4
Task7
Task1
Task2
Task3
Task4
Task7 …
Sercos cycle (cycle time) Sercos cycle (cycle time) …
Tab. 6-3: Task scheduling in automatic mode with cyclic task
Tasks 5/6 Tasks 5/6 …
Sercos cycle (cycle time) Sercos cycle (cycle time) …
Tab. 6-4: Task scheduling in manual mode without cyclic task
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Tasks 5/6 Task 7 Tasks 5/6 Task 7 …
Sercos cycle (cycle time) Sercos cycle (cycle time) …
Tab. 6-5: Task scheduling in manual mode with cyclic task
While programming tasks 1 to 7, please comply with the followinginstructions:● The same subroutine cannot be called up by several tasks at
the same time!● Motions of one axis cannot be initiated by several tasks at
the same time!● Commands resulting in an axis movement are not allowed in
the cyclic task.● Tasks 1 to 7 are equivalent.
In the NC cycle, the task processing order is 1, 2, 3, 4, 7 inautomatic mode and 5/6, 7 in manual mode.(Example: An output set in automatic task 1 is processed asset in automatic task 4.)
● The number of task cycles within a Sercos cycle can bechanged with a STC command, see chapter 6.11.67 "STC –Set task cycle counter" on page 217.
6.2.2 Automatic tasksIn automatic mode, "automatic tasks 1–4" can be processed simultaneously.These tasks "share" an SMC program, i.e., all 4 tasks use the same program,however in different blocks. The tasks have the same priority and aresequentially processed in each Sercos cycle, i.e., exactly one block(command) is processed in each task within the same cycle time. The tasksare scheduled in the SMC.An automatic task is automatically configured as soon as the particularsystem label "BEGIN_AUTO_TASK_1", "BEGIN_AUTO_TASK_2","BEGIN_AUTO_TASK_3", or "BEGIN_AUTO_TASK_4", is used in the SMC-Editor in the user program. The particular system label"BEGIN_AUTO_TASK_x" defines the starting block (cf. chapter "Y0003:Starting block automatic task 2" on page 401, chapter "Y0004: Starting blockautomatic task 3" on page 401 and chapter "Y0005: Starting block automatictask 4" on page 402) for automatic tasks. The starting block of automatictasks cannot be included in program parts which are already used by othertasks or routines.
Automatic task 1 is always active and always starts with block "0".
Please note the following when using automatic tasks 1–4:● A running automatic task is signaled via the "Run" output (see also
system diagnostics "A Automatic active").● The defined system labels "BEGIN_AUTO_TASK_1",
"BEGIN_AUTO_TASK_2", "BEGIN_AUTO_TASK_3" and"BEGIN_AUTO_TASK_4" have to be used for automatic tasks 1–4 in theSMC-Editor in the user program. Otherwise, these tasks will not beexecuted.
● Automatic tasks have to be used in ascending order.
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● Automatic tasks 1, 2, 3 and 4 are equivalent. Within the cycle time, theorder of processing of these tasks is 1, 2, 3, 4. An output set in task 1 isprocessed as set in task 4.
● Any change in the task configuration (different system label) is notdetected before the automatic mode is reactivated.
● If an error has occurred, the automatic tasks are canceled.● For the automatic tasks 2-4, the parameters Y0003, Y0004 and Y0005
are available to display the current starting block number.● The currently active block number is displayed in the system variables
VS000, VS001, VS002 and VS003.
Fig. 6-1: Example program for using automatic tasks 1–4 in the SMC-Editor
6.2.3 Manual routineThe "manual routine" (task 5) can be used to process a user program inmanual mode.As is the case with "automatic tasks 1–4", the command blocks are located inthe same SMC program. The "JSR" and "RTS" commands allow execution ofsubroutines. The manual routine has to be completed with an RTS commandif there no subroutine is called anymore (the stack is empty).If the operating mode is changed from "manual mode" to "parameter mode",any running manual routine is aborted. While the manual routine is running,any change of mode to "automatic" is suppressed until the manual routine isexited. The manual routine is started via a rising edge at the programmedinput in parameter Y0018 (see chapter "Y0018: Manual routine, In-config" onpage 408).If no input is programmed in Parameter Y0018, the manual routine can onlybe started by changing the operating mode.Any start of the manual routine after a change from "automatic mode" to"manual mode" must be enabled in parameter Y0008 (see chapter "Y0008:Manual routine after automatic mode" on page 403).The manual routine is automatically configured as soon as the system label"BEGIN_MANUAL_ROUTINE" is used in the user program. The system label"BEGIN_MANUAL_ROUTINE" defines the starting block (cf. chapter "Y0006:Starting block manual routine" on page 402) for the manual routine. The
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starting line of the manual routine may not be included in program partswhich are already used by other tasks or routines.Manual routines are not accepted while jogging or homing is active in"manual mode". Jogging or homing is not possible while a manual routine isrunning.The "nStop" input can be used to interrupt the manual routine. After havingbeen stopped, the manual routine must be restarted via the "Start" input. Ifthe "nStop" is not set, the manual routine cannot be started or continued. If"nStop" is no longer applied, the manual routine is immediately stopped. Axismovements are decelerated to standstill with the programmed deceleration. Ifthere still remains a residual stroke to be traveled, this stroke is stored andwill be the first to be traveled upon restart. There will be no dimensional lossof reference.
Axis movements, e.g., feed motions, can be programmed in themanual routine.However, it must be noted that the jogging and homing functionsare not possible for all axes while the manual routine isprocessed.
Please observe the following while using the manual routine:● A running manual routine is signaled via the "Run" output (see also
system diagnostics "M Manual routine active").● In the user program, the system label "BEGIN_MANUAL_ROUTINE"
must be used for the manual routine. Otherwise, this routine cannot beactivated.
● Where the manual routine is concerned, parameter Y0006 is availablefor displaying the current starting block number.
● The currently active block number is displayed in system variableVS004.
● While the manual routine is active, the manual cut routine (cf. FlyingCutoff) cannot be started.
● After an error has occurred, the manual routine is aborted.● Within task scheduling, the manual routine is called prior to calling the
cyclic task, i.e., an output set in the manual routine is processed as setin the cyclic task.
● A new SMC program can only be loaded in manual mode if the manualroutine is not active. After loading, processing again starts with thestarting block.
Fig. 6-2: Example program for using the manual routine in the SMC-Editor
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6.2.4 Manual cut routineThe "manual cut routine" (task 6) can be used to process a user program inmanual mode.However, the manual cut routine can only be called if the "Flying Cutoff"application type has been configured in parameter Y1000 for axis 1.As is the case with automatic tasks 1-4, the command blocks reside in thesame SMC program. The "JSR" and "RTS" commands allow execution ofsubroutines. The manual cut routine must be ended with an RTS command ifthere is no open subroutine remaining (the stack is empty).If the operating mode is changed from "manual mode" to "parameter mode",any running manual cut routine is aborted. While the manual cut routine isrunning, any change of mode to "automatic" is suppressed until the manualcut routine is exited. The manual cut routine is started via a rising edge at theprogrammed input in parameter Yx522 (see chapter "Yx522: Immediate cut,In-config" on page 469).The manual cut routine is automatically configured as soon as the systemlabel "BEGIN_FC_MANUAL_CUT_ROUTINE" is used in the user program.The system label "BEGIN_FC_MANUAL_CUT_ROUTINE" defines thestarting block (cf. chapter "Yx500: Starting line manual cut routine" on page457) for the manual cut routine. The starting block of the manual cut routinemay not be included in program parts which are already used by other tasksor routines.Manual cut routines are not accepted while jogging or homing is active in"manual mode". Jogging or homing is not possible while a manual cut routineis running.The "nStop" input can be used to interrupt the manual cut routine. Afterhaving been stopped, the manual cut routine must be restarted via the "Start"input. If the "nStop" is not set, the manual cut routine cannot be started orcontinued. If "nStop" is no longer applied, the manual cut routine isimmediately stopped. Axis movements are decelerated to standstill with theprogrammed deceleration. If there still remains a residual stroke to betraveled, this stroke is stored and will be the first to be traveled upon restart.There will be no dimensional loss of reference.
● However, it must be noted that the jogging and homingfunctions are not possible for all axes while the manual cutroutine is processed.
● The manual cut routine can only be called if the "FlyingCutoff" application type has been configured in parameterY1000 for axis 1.
Please observe the following while using the manual cut routine:● A running manual cut routine is signaled via the "Run" output (see also
system diagnostics "M Manual cut routine active").● In the user program, the system label
"BEGIN_FC_MANUAL_CUT_ROUTINE" must be used for the manualcut routine. Otherwise, this routine cannot be activated.
● Where the manual cut routine is concerned, parameter Y1500 isavailable for displaying the current starting block number.
● The currently active block number is displayed in system variableVS005.
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● While the manual cut routine is active, the manual routine cannot bestarted.
● After an error has occurred, the manual cut routine is aborted.● Within task scheduling, the manual cut routine is called prior to calling
the cyclic task, i.e., an output set in the manual cut routine is processedas set in the cyclic task.
● A new SMC program can only be loaded in manual mode if the manualcut routine is no longer active. After loading, processing again startswith the starting block.
Fig. 6-3: Example program for using the manual cut routine in the SMC-Editor
6.2.5 Restart routineThe restart routine is automatically configured as soon as the system label"BEGIN_RESTART_ROUTINE" is used. The system label"BEGIN_RESTART_ROUTINE" defines the starting block (cf. chapter"Y0048: Starting block restart routine" on page 422) for the restart routine.The starting block of the restart routine may not be included in program parts,which are already used by other tasks or routines.This routine is not an independently running task. Instead, it is a routinewhich is controlled in relation to an event and is running in the context of theautomatic task 1.For more information, refer to chapter 7.23 "Restart" on page 320.Please observe the following while using the restart routine:● In the user program, the system label "BEGIN_RESTART_ROUTINE"
must be used for the restart routine. Otherwise, this routine cannot beactivated.
● Where the restart routine is concerned, parameter Y0048 is available fordisplaying the current starting block number.
● No automatic tasks are processed during the active restart routine.● After an error has occurred, the restart routine is aborted.● Within task scheduling, the restart routine is called prior to calling the
cyclic task, i.e., an output set in the restart routine is processed as set inthe cyclic task.
6.2.6 Cyclic taskThe "cyclic task" (task 7) can be used to run a user program with higherpriority in any operating mode (except in parameter mode).The "Start" or "nStop" do not have any effect on processing of the program inthe cyclic task.If the mode is changed to "parameter mode", any cyclic task that might berunning is prematurely terminated.
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As is the case with tasks 1–6, the command block resides in the same SMCprogram.The cyclic task is automatically configured as soon as the system label"BEGIN_CYCLIC_TASK" is used in the user program. The system label"BEGIN_CYCLIC_TASK" defines the starting block (cf. chapter "Y0007:Starting block cyclic task" on page 403) for the cyclic task.The starting block of the cyclic task may not be included in program partswhich are already used by other tasks or routines.The program run of the cyclic task automatically starts immediately afteroperating mode has been reached. The cyclic task is switched off inparameter mode. In the event of an error and in case of an E-stop, the cyclictask continues to be running. That means that closing lockouts can bemonitored.
Commands resulting in an axis movement are not allowed in thecyclic task.
Please observe the following while using the cyclic task:● After switchover from parameterization mode to operation mode, the
cyclic task does not start until operation mode has been reached withoutany error message from the SMC.
● A running cyclic task does not set the "Run" output.● Activation of the JST command ("immediate stop") stops all tasks with
the exception of the cyclic task. The command counter of the cyclic taskis set to the jump target.
● If an error occurs in the cyclic task itself, it is restarted with the currentstarting block after there is a positive edge at the "Clear Error" input.
● Within task scheduling, the cyclic task is called subsequent to calling theautomatic tasks or manual routine/manual cut routine, i.e., an output setin the automatic task (or manual routine/manual cut routine) isprocessed as set in the cyclic task.
● If a new SMC program is loaded (e.g., via the SMC-Editor), the cyclictask is prematurely terminated and not restarted before the userprogram has been successfully loaded. Processing will then start withthe new starting block.
● In the user program, the system label "BEGIN_CYCLIC_TASK" must beused for the cyclic task. Otherwise, this task cannot be activated.
● Where the cyclic task is concerned, parameter Y0007 is available fordisplaying the current starting block number.
● The currently active block number is displayed in system variableVS006.
Fig. 6-4: Example program for using the cyclic task in the SMC-Editor
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6.2.7 Flying cutoff routinesRapid Stop Routine
The "rapid stop routine" is only effective with the "Flying Cutoff" applicationtype.This routine is not an independently running task. Instead, it is a routinewhich is controlled in relation to an event and is running in the context of ahigher-order task (e.g., automatic task 1).For more detailed information about calling the rapid stop routine and adescription of its principle of operation, please refer to the chapter 7.11 Flying Cutoff, page 261.
Maximum stroke routineThe "maximum stroke routine" is only effective with the "Flying Cutoff"application type.This routine is not an independently running task. Instead, it is a routinewhich is controlled in relation to an event and is running in the context of ahigher-order task (e.g., automatic task 1).For more detailed information about calling the maximum stroke routine anda description of its principle of operation, please refer to the chapter7.11 Flying Cutoff, page 261.
6.3 Starting the user programA user program can only be started in automatic mode. Exceptions to thisrequirement are the "manual routine" and the "manual cut routine".The program starting block is defined to be "0" for automatic task 1 wheneverthe operating mode has been changed or the SMC has been restarted. Thestarting lines for automatic tasks 2 to 4 as well as for the manual routine andthe manual cut routine are defined through the appropriate system labels.In automatic mode, the program is started via the "Start" input (see chapter6.8 "System inputs and outputs" on page 126).Being of a higher order, the cyclic task runs in any operating mode (however,not in parameter mode) and is not affected by the "Start" or "nStop" inputs.The starting block is defined through the appropriate system label.
6.4 Stopping the user programThe program run can be stopped at any time.There are three possibilities:
1. Program stop from the outside via "nStop" input(see chapter 6.8 "System inputs and outputs" on page 126)
2. Program stop via the "JST" user command(see chapter 6.11.38 "JST – Jump and stop" on page 187)
3. Program abortion from the outside via "Abort program" input, With a"hard" program abortion; see also chapter 7.22 "Abort program" onpage 320.This input should only be used of it is not possible to stop the program,e.g., if an endless loop has been programmed because of aprogramming error.
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If the "Flying Cutoff" application type is configured, the removal ofthe "nStop" input acts as a cycle stop, i.e., motions that havealready been started will be completed before they are stopped.
If the operating mode was not changed after such a stop, the program will becontinued at the point of interruption after a positive edge at the "Start" input.In addition, there are two further possibilities to interrupt the user program.Contrary to the program stop function, the program does not have to be star‐ted after the cause of interruption has been eliminated, but is immediatelycontinued at the point of interruption.
1. Program interruption by means of a signal at the "nInterrupt" input2. Program interruption by means of a signal at the "nFeedControl" input
For a description of the principle of operation of these two inputs, please referto chapter 6.8 "System inputs and outputs" on page 126.
● If the "Flying Cutoff" application type is configured, the "JST"command may not be programmed. Moreover, the"nInterrupt" and "nFeedControl" inputs are ineffective (seechapter 7.11 "Flying cutoff" on page 261).The "nStop" acts as a cycle stop, i.e., any movements thathave already been started will be completed before they arestopped.
● A running program can be aborted at any time via the "Abortprogram" input. Any active axis movement is stoppedimmediately.After having been restarted, the user program again startswith the appropriate starting blocks. See also chapter 7.22 "Abort program" on page 320
Automatic tasks are also stopped in the following cases:● Error message issued by the SMC (also stops the manual routine and
the manual cut routine)● Removal of the "Automatic mode" inputAny running axis movement is stopped immediately! After the error has beeneliminated or automatic mode has been reactivated, the program can only becontinued with the configured starting lines (cf. system labels in the SMC-Editor).Exception: Refer to chapter 7.23 "Restart" on page 320
If the "Flying Cutoff" application type is configured, the removal ofthe "Automatic mode" input acts as a cycle stop, i.e., motions thathave already been started will be completed before they arestopped. The "Restart" function is not supported.
6.5 Variables6.5.1 General Information
Command parameters (data) are an integral part of a command block.Command parameters may be constants or variables.Constants cannot be changed in the user program.
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Instead of constants, variables can be programmed. That means thatcommand parameters can also be edited at runtime.The names of variables start with "V.." and the data type of all variables isREAL. If necessary, the data type can be automatically converted to INT,e.g., in case of quantities or axis indices.If a variable is used in a command, its value is checked at runtime. The valuerange of variables is equal to that of the constants which are allowed at thispoint. If the content of the variables is above or below the permissible range,an error message is displayed.
● The signs of the variables are always taken into account.● The REAL data type is stored as a 4-byte floating-point
number with single precision. It represents a 32-bit valuewith single precision according to IEEE 754. The REAL datatype can represent positive and negative numbers in a rangefrom 1.175494351e-38 to 3.402823466e+38 with a precisionof about 7 digits.
Variables can be programmable variables (volatile - "VF" and non-volatile -"VFR") as well as system variables ("VS").The table below shows the names, the permissible data areas and the mem‐ory type of the variables:
Variable type Volatile Remanent Access
Programmablevariables VF000 - VF999 VFR000 -
VFR999 Read and write
System variable
Axis-independent Axis-dependent
Variable-specific (cf.chapter "Axis-independent systemvariables" on page 112and chapter "Axis-dependent SystemVariables" on page115)
VS000 - VS099 VSx00 - VSx99
x stands for axis numbers 1 to 6Tab. 6-6: Programmable variables and system variables Examples:The positioning command POI (see chapter 6.11.53 "POI – Positioning,Incremental with Immediate Block Stepping" on page 199) is shown withdifferent entries:
With constants
Fig. 6-5: Command block with constantsIn the example above, the feed length has a value of "123456.123" and thevelocity a value of "12.3%".
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With variables VF600 = 123456.123VF601 = 100VF602 = 123.123VF603 = -100VF604 = -1234.123POI 1 VF600 VF601The value 123456.123 is taken from variable VF600.The value 100 is taken from variable VF601.POI 1 VF602 VF603The value 123.123 is taken from variable VF602.The value of variable VF603 is negative. An error message is generated.POI 1 VF604 VF601The content of variable VF604 is negative, i.e., the resulting feed length isnegative.
6.5.2 Programmable variablesProgrammable variables can be volatile variables or non-volatile variables.
Programmable volatile variables Programmable volatile variables are labeled VF.They allow read and write access, are assigned to variable numbers "VF000to VF999" and can be used to program the user programs.The content of these variables gets lost in the event of a power failure.
Programmable non-volatile varia‐bles
Programmable non-volatile variables are labeled VFR.They allow read and write access, are assigned to variable numbers"VFR000 to VFR999" and can be used to program the user programs.The content of these variables does not get lost in the event of a powerfailure.
6.5.3 System variablesAxis-independent system variables
In general, axis-independent system variables only allow read and no writeaccess:
No. Meaning Description Access
VS000 Current block of task 1 Current program block of automatic task 1 Read-only
VS001 Current block of task 2 Current program block of automatic task 2 Read-only
VS002 Current block of task 3 Current program block of automatic task 3 Read-only
VS003 Current block of task 4 Current program block of automatic task 4 Read-only
VS004 Current block of task 5 Current program block of manual routine Read-only
VS005 Current block of task 6 Current program block of manual cut routine Read-only
VS006 Current block of task 7 Current program block of cyclic task Read-only
VS007 Memory display Utilization of the commands used in the SMC user programin % of the maximum value
Read-only
VS008 Current utilization of MotionTask Current load of the MotionTask in % Read-only
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No. Meaning Description Access
VS009 Maximum load of the MotionTasksince Clear Error
Maximum (relative) load of the MotionTask in %. Is reset inthe event of Clear Error.
Read-only
VS010 Current load of PlcTask Current utilization of the PlcTask in % Read-only
VS011 Maximum load of the PlcTask sinceClear Error
Maximum (relative) load of the PlcTask in %. Is reset in theevent of Clear Error.
Read-only
VS012-VS022
Indexed variables For implementing user-side product data management Read andwrite
VS023-VS024
Reserved -- --
VS025 Maximum load of the MotionTasksince power on
Maximum (absolute) load of the MotionTask in %. Is onlyreset after power on/off.
Read-only
VS026 Maximum load of the PlcTask sincepower on
Maximum (absolute) load of the PlcTask in %. Is only resetafter power on/off.
Read-only
VS027 Master axis position Master axis position of the global master axis (cf. parameterY0028)
Read-only
VS028-VS030
Reserved -- --
VS031Analog input channel 1 Value at the analog input channel 1 of the analog Sercos III
I/O module.Note: Value range can be configured with IndraWorks.
Read-only
VS032Analog input channel 2 Value at the analog input channel 2 of the analog Sercos III
I/O module.Note: Value range can be configured with IndraWorks.
Read-only
VS033Analog input channel 3 Value at the analog input channel 3 of the analog Sercos III
I/O module.Note: Value range can be configured with IndraWorks.
Read-only
VS034Analog input channel 4 Value at the analog input channel 4 of the analog Sercos III
I/O module.Note: Value range can be configured with IndraWorks.
Read-only
VS035Analog output channel 1 Value at the analog output channel 1 of the analog Sercos III
I/O module.Note: Value range can be configured with IndraWorks.
Read andwrite
VS036Analog output channel 2 Value at the analog output channel 2 of the analog Sercos III
I/O module.Note: Value range can be configured with IndraWorks.
Read andwrite
VS037-VS040
Reserved -- --
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No. Meaning Description Access
VS041Number of task cycles for task 1 Current number of task cycles for each Sercos cycle of
automatic task 1Note: Can be changed with STC command.
Read-only
VS042Number of task cycles for task 2 Current number of task cycles for each Sercos cycle of
automatic task 2Note: Can be changed with STC command.
Read-only
VS043Number of task cycles for task 3 Current number of task cycles for each Sercos cycle of
automatic task 3Note: Can be changed with STC command.
Read-only
VS044Number of task cycles for task 4 Current number of task cycles for each Sercos cycle of
automatic task 4Note: Can be changed with STC command.
Read-only
VS045Number of task cycles for task 5 Current number of task cycles for each Sercos cycle of the
manual routineNote: Can be changed with STC command.
Read-only
VS046Number of task cycles for task 6 Current number of task cycles for each Sercos cycle of the
manual cut routineNote: Can be changed with STC command.
Read-only
VS047Number of task cycles for task 7 Current number of task cycles for each Sercos cycle of the
cyclic taskNote: Can be changed with STC command.
Read-only
Tab. 6-7: Axis-independent system variablesIndexed variables (VS012 -
VS022)There are 11 indexed variables which allow addressing of variables withindices even in program loops. The function within the field of variables isdetermined and allows a variable address to be calculated by means of theformula:
[VS01x] Content of VS012 – VS019Fig. 6-6: Calculation formula for indexed variablesThe contents of system variables VS020 and VS021 are multiplied with eachother and added to the content of system variable VS01x. The resulting valueis the calculated variable number (VFxxx or VFRxxx) which is then processedin the calling function. The memory range to be addressed (volatile - VF, non-volatile - VFR) is selected by means of system variable VS022.
System variable Meaning
12 No. of basic variable 1
13 No. of basic variable 2
14 No. of basic variable 3
15 No. of basic variable 4
16 No. of basic variable 5
17 No. of basic variable 6
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System variable Meaning
18 No. of basic variable 7
19 No. of basic variable 8
20 Offset factor
21 Index of variable
22 Memory range selection (0 = VF, 1 = VFR)
Tab. 6-8: Indexed variablesIf write-accessed via OPC, field bus or by the SET command, no index iswritten to these variables (direct write access).
For a detailed program example of applying indexed variables,please refer to the chapter 8.2 Product Data Management, page325.
Axis-dependent System VariablesIn general, axis-dependent system variables only allow read and no writeaccess. They are available for each axis and have variables VSx00 – VSx36assigned to them. The "x" in the variable number stands for the number ofthe axis.
No. Meaning Description Access
VSx00-VSx03
Reserved -- --
VSx04 Probe - measured value 1 Probe - current measured value 1, positive edge, connector X31pin 3 (cf. drive parameter S-0-0130) or X31 pin 4 with right axis ofa double axis device
Read-only
VSx05 Analog input 1 Current value at analog input 1 (cf. drive parameter P-0-0210)● Connector X32 - pins 2/3 (single axis)● Connector X32 - pins 12/13 (double axis - Axis 1)● Connector X32 - pins 22/23 (double axis - Axis 2)Value range: ±10V
Read-only
VSx06 Reserved -- --
VSx07 Actual position of optionalencoder
Current position feedback value of the optional encoder (encoder 2or measuring wheel, cf. drive parameter S-0-0053)
Read-only
VSx08 Actual position Currently active position feedback value (cf. drive parameterS-0-0386)Depending on the setting, the active position feedback value eitheroriginates from the motor encoder or from the optional encoder.
Read-only
VSx09 Velocity feedback value Currently active velocity feedback value (cf. drive parameterS-0-0040)
Read-only
VSx10 Torque/force feedback value Currently active torque/force feedback value (cf. drive parameterS-0-0084)
Read-only
VSx11 Override value Current override value in %, see also chapter 7.5 "Velocityoverride" on page 241
Read-only
VSx12 Remaining feed Currently remaining feed Read-only
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No. Meaning Description Access
VSx13 Commanded feed length Currently commanded feed length, e.g., via PSI command Read-only
VSx14 Current feed length - activeposition feedback value
Current feed length of the active position feedback value.Measurement must have been activated with the FUN command.Note: Measurement of the active position feedback value (cf. driveparameter S-0-0386), i.e., either motor encoder or optionalencoder (measuring wheel), depending on the setting
Read-only
VSx15 Intermediately stored feedlength - active positionfeedback value
Intermediately stored feed length of the active position feedbackvalue.Measurement must have been activated with the FUN command.Note: Measurement of the active position feedback value (cf. driveparameter S-0-0386), i.e., either motor encoder or optionalencoder (measuring wheel), depending on the setting
Read-only
VSx16 Current feed length -measuring wheel
Current feed length of the measuring wheel (optional encoder, cf.drive parameter S-0-0053).Measurement must have been activated with the FUN command
Read-only
VSx17 Intermediately stored feedlength - measuring wheel
Intermediately stored feed length of the measuring wheel (optionalencoder, cf. drive parameter S-0-0053)Measurement must have been activated with the FUN command
Read-only
VSx18 Reserved -- --
VSx19 Passed material length Flying Cutoff:Addition of all movements in manual and automatic modesregistered by the measuring wheel. If the length of "1000000mm"or "1000000in" is exceeded, the material length is deleted. Thenumber of overflows is counted in the "VSx24" system variables.The resulting total length is calculated as follows:Total length [mm or in] = (VSx24 * 1000000) + VSx19This value of the total length can be deleted by the input defined inparameter Yx526. See also chapter 7.2.11 "System command 8:Reset material length counter" on page 237
Read andwrite
VSx20 Passed product length Flying Cutoff:The product length is the material having currently run through themachine in relation to the current tool position.See also chapter 7.11.6 "Flying cutoff functions" on page 285Note: The system variable is established only if axis 1 is homed
Read-only
VSx21 Material velocity Flying Cutoff:Current value of the material velocity
Read-only
VSx22 Material velocity for tailoutmachining
Flying Cutoff:Current value of the material velocity for tailout machining. Seealso chapter "Tailout" on page 300
Read andwrite
VSx23 Available tailout length Flying Cutoff:Currently available tailout length for tailout machining. See alsochapter "Tailout" on page 300
Read-only
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No. Meaning Description Access
VSx24 Material length overflows Number of the overflows of the passed material length "VSx19"over "1000000mm" (1km) or "1000000in". If the number ofoverflows exceeds "99999", the system variable is deleted, i.e.reset to "0"
Read andwrite
VSx25 Last cut lengthFlying Cutoff:Last cut length in [mm] or [inch]
Read-only
VSx26 Selected SI operating status Display of the selected safety technology operating status (cf. driveparameter P-0-3215)
Read-only
VSx27 Active safety technologyoperating status
Display of the active safety technology operating status (cf. driveparameter P-0-3213 and P-0-0106, respectively)
Read-only
VSx28 Average torque Display of the calculated average torque in [%]. See also chapter6.11.68 "TAA – Torque Average: Activation" on page 219.Note: The average torque is only calculated for the master axis.
Read-only
VSx29 Passed production length Flying Cutoff:Addition of all movements in automatic modes registered by themeasuring wheel. If the length of "1000000mm" or "1000000in" isexceeded, the production length is deleted. The number ofoverflows is counted in the "VSx30" system variables.The resulting total length is calculated as follows:Total length [mm or in] = (VSx30 * 1000000) + VSx29This value of the production length can be deleted by the inputdefined in parameter Yx540.
Read andwrite
VSx30 Overflows of productionlength
Number of the overflows of the passed production length "VSx29"over "1000000 mm" (1km) or "1000000 in". If the number ofoverflows exceeds "99999", the system variable is deleted, i.e.reset to "0"
Read andwrite
VSx31 Analog input 1 Current value at analog input 1, connector X32 - pins 2/3 of therespective axis (cf. drive parameter P-0-0210) Read-only
VSx32 Analog input 2 Current value at analog input 2, connector X35 - pins 1.1/1.2 of theCCD master (cf. drive parameter P-0-0211) Read-only
VSx33 Analog input 3 Current value at analog input 3, connector X35 pins 2.1/2.2 of theCCD master (cf. drive parameter P-0-0228) Read-only
VSx34 Analog input 4Current value at analog input 4, connector X38 pins 2.1/2.2 of theCCD master (cf. drive parameter P-0-0229)Note: Only present with option card DA.
Read-only
VSx35 Analog input 5Current value at analog input 5, connector X38 - pins 2.4/2.5 of theCCD master (cf. drive parameter P-0-0208)Note: Only present with option card DA.
Read-only
VSx36 Analog output 1 Current value at analog output 1, connector X35 pin 1.4/1.5 of theCCD master (cf. drive parameter P-0-0139)
Read andwrite
VSx37 Analog output 2 Current value at analog output 2, connector X35 pin 2.4/2.5 of theCCD master (cf. drive parameter P-0-0140)
Read andwrite
VSx38 Analog output 3Current value at analog output 3, connector X35 pin 1.1/1.2 of theCCD master (cf. drive parameter P-0-0414)Note: Only present with option card DA.
Read andwrite
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No. Meaning Description Access
VSx39 Analog output 4Current value at analog output 4, connector X35 pin 1.4/1.5 of theCCD master (cf. drive parameter P-0-0415)Note: Only present with option card DA.
Read andwrite
VSx40
Strokes per minute "Press stokes per minute" in [S/min] when using the applicationtype "Roll feed" (c.f. "Yx000" = 1)Note: The calculation of system variables is based on the inputsignal in the parameter Yx026, Feed monitoring of the respectiveroll feed.
Read-only
VSx41
Load of the feed range "Load of the feed range" in [%] for the application type "Roll feed"(cf. "Yx000" = 1)Note: The calculation of system variables is based on the inputsignal in the parameter Yx026, Feed monitoring of the respectiveroll feed.
Read-only
VSx42
Average line velocity "Average line velocity" in [m/min] or [inch/min] for the applicationtype "Roll feed" (cf. "Yx000" = 1)Note: The calculation of system variables is based on the inputsignal in the parameter Yx026, Feed monitoring of the respectiveroll feed.
Read-only
VSx45 Registration mark counterFlying Cutoff:The current counter values of the registration marks for the LMCcommand
Read-only
VSx46 Force controller, controldeviation [N]
Command value (parameter 3 of the PFC command) - Actual value(selected analog input * analog constant) Read-only
VSx47 Force controller, controlvariable [N]
Control variable (controller output) of the controller. The controlvariable is added to the tension command value of parameter 3 ofthe PFC command. The resulting value is converted into a torqueand specified as torque limit in the parameter S-0-0092 "Torque/force limit"
Read-only
VSx48 Actual force value [N] Converting the selected analog input into Newton using therespective constant (Yx050 or Yx053) Read-only
VSx49 PFx command, calculatedtorques 1
Converted torque [%] if forces are specified in the PFC command(Yx049 unequal to 0), torque for parameter 2 of the PFC command Read-only
VSx50 PFx command, calculatedtorque 2
Converted torque [%] if forces are specified in the PFC command(Yx049 unequal to 0), torque for parameter 3 of the PFC command Read-only
x Axis numbers 1 to 6Tab. 6-9: Axis-dependent system variablesThe meaning of the safety technology operating statuses in system variablesVSx26 and VSx27 is as follows:0 = Normal operation (NO)1 = E-STOP active (SMES)2 = Special mode safe standstill with STO activated (SMST1)/special mode“Safe standstill with SOS activated” (SMST2)3 = Special mode “Safe motion 1” (SMM1)4 = Special mode “Safe motion 2” (SMM2)5 = Special mode “Safe motion 3” (SMM3)6 = Special mode “Safe motion 4” (SMM4)7 = Special mode “Safe motion 5” (SMM5)
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8 = Special mode “Safe motion 6” (SMM6)9 = Special mode “Safe motion 7” (SMM7)10 = Special mode “Safe motion 8” (SMM8)11 = Special mode “Safe motion 9” (SMM9)12 = Special mode “Safe motion 10” (SMM10)13 = Special mode “Safe motion 11” (SMM11)14 = Special mode “Safe motion 12” (SMM12)15 = Special mode “Safe motion 13” (SMM13)16 = Special mode “Safe motion 14” (SMM14)18 = Special mode “Safe motion 15” (SMM15)17 = Special mode “Safe motion 16” (SMM16)18 = Parking axisSee also chapter 7.12 "Drive-integrated safety technology" on page 305.
6.6 Flags6.6.1 General information
The names of flags start with "M.." and the data type of all flags is BOOL.They can be programmed and edited in parameters and commands.Flags can be programmable flags (volatile - "MF" and non-volatile- "MFR") aswell as system flags ("MS").The table below shows the names, the permissible data areas and the mem‐ory type of the flags:
Flag type Volatile Remanent Access
Freelyprogrammable
flagsMF000 - MF999 MFR000 -
MFR199Read and
write
System flag
Axis-independent
Axis-dependent
-- Read-onlyMS000 - MS099 MSx00 -
MSx99
x stands for axis numbers 1 to 6Tab. 6-10: Freely programmable flags and system flags
6.6.2 Programmable flagsProgrammable flags can be volatile flags or non-volatile flags.
Freely programmable, volatileflags
Programmable volatile flags are labeled MF.They allow read and write access, are assigned to flag numbers "MF000 toMF999" and can be used to program the user programs.The content of these flags gets lost in the event of a power failure.
Freely programmable, remanentflags
Programmable non-volatile flags are labeled MFR.They allow read and write access, are assigned to flag numbers "MFR000 toMFR999" and can be used to program the user programs.The content of these flags does not get lost in the event of a power failure.
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6.6.3 System flagsAxis-independent System Flags
Axis-independent system flags only allow read and no write access.
No. Meaning Description
MS000-MS099
Reserved --
Tab. 6-11: Axis-independent system flags
Axis-dependent System FlagsAxis-dependent system flags only allow read and no write access.They are available for each axis and are assigned to the flags MSx00 –MSx99. The "x" in the flag number stands for the number of the axis. Theyare processed at the beginning of a task cycle.
No. Meaning Description
MSx00--MSx07
Reserved --
MSx08 Synchronous axis Synchronous axis in the synchronization windowPhase synchronous axis and cam axis:Specifies whether the axis is inside the synchronization window (cf. "S-0-0228,Position synchronization window"), i.e., the amount of the difference betweenthe position command value and the position feedback value is less than thesynchronization window.Velocity synchronous axis:Specifies whether the axis is outside the synchronization window (cf."S-0-0183, Velocity synchronization window"), i.e., the amount of the differencebetween the velocity command value and the velocity feedback value is lessthan the synchronization window
MSx09 Optional encoder active Indication of the encoder that is active for control:0 = motor encoder1 = optional encoder (encoder 2 or measuring wheel)
MSx10 Synchronization completed Signals that the adjustment of the position offset is completed for synchronousaxes and for Flying Cutoff after the SPO command has been called as well asthat synchronization is completed by the FOA or CMA command afteractivation of synchronous axes (cf. drive parameter P-0-0152, bit 0)
MSx11 Tailout machining active Indicates that tailout machining is active and that the material velocity is nolonger set by the measuring wheel but by the axis-dependent system variableVsx22. Also refer to chapter "Tailout" on page 300
MSx12 Tailout done Indicates that tailout has been done. See also chapter "Tailout" on page 300
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No. Meaning Description
MSx13 Coupled axes synchronous The system flag is when all coupled axes (cf. "Yx000") of an axis group aresynchronous with the related master axis.Position coupling (cf. CPA command):As soon as the differences in position of all slave axes in relation to the masteraxis are less than the specified maximum position difference, monitoring of themaximum position difference of the slave axes in relation to the master axis isactivated and the system flag is set on the master axis of the axis group.Velocity coupling (cf. CVA command):If the current difference in velocity of all coupled axes in relation to theparticular effective command velocity is less than the maximum differencespecified by the CVA command, the system flag is set on the master axis of theaxis group
MSx14 Active suppression of shortparts
The system flag is set if the suppression of a short part has been detected(refer to "Yx519, bit 11"). It is deleted the next time an EOS command is calleddue to an immediate cut or crop cut.(see also chapter "Short Parts" on page 296)
MSx15 Force controller is active(InOperation)
The PI tension controller for the tension control at the positive stop (PFxcommands) is active
MSx16 Force controller HighLimit isactive
The PI tension controller for the tension control at the positive stop (PFxcommands) is in the upper limit
MSx17 Force controller LowLimit isactive
The PI tension controller for the tension control at the positive stop (PFxcommands) is in the lower limit
x Axis numbers 1 to 6Tab. 6-12: Axis-dependent system flags
6.7 Digital inputs and outputs6.7.1 General Information
The assignment of the external I/O periphery to the internally used systeminputs and outputs as well as their query require a defined syntax if made inthe SMC-Editor. The syntax uses symbolic addresses corresponding to thenames of the interfaces. As a result, inputs, outputs and flags are clearlydistinguished during programming and parameterization.
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The following figure illustrates the syntax required to access the I/O periph‐ery:
a I/O typeb Hardware addressc Word addressd Pin or bit numberFig. 6-7: Structure of the naming of inputs and outputs
In the SMC-Editor, symbolic names can be assigned to the usedI/O signals.These symbolic names can then be used for evaluating the I/Osignals in the user program.See also chapter "Symbolic addressing" on page 40.
Inputs Inputs are labeled "I".They can be programmed and processed in parameters and commands.They are read within the time interval of the cycle time.
OutputsOutputs are labeled "Q".They can be programmed and edited in parameters and commands. Theyare set within the time interval of the cycle time.Example:
Using the I/O syntax in the SMC-Editor
-------------- Inputs --------------AKN I.A1.X31.Pin3 OnAKN I.A2.X35.Pin16 OnAKN I.SD1.W1.Bit0 OnAKN I.SD4.W1.Bit0 OnAKN I.FB.W1.Bit0 OnAKN I.FB.W6.Bit15 On------------- Outputs -------------AEA Q.A1.X31.Pin8 Set
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AEA Q.A2.X35.Pin17 SetAEA Q.SD1.W1.Bit0 SetAEA Q.SD4.W1.Bit0 SetAEA Q.FB.W1.Bit0 SetAEA Q.FB.W6.Bit15 Set
The permitted selection of possible I/O signals is described in the followingtable:
I/O type Hardware address Word address Pin or bit number
I
A1 - A6
X31
Pin 1-8 (Advanced,Basic, Economy)
Pins 11-18 (doubleaxis)
Pins 21-28 (doubleaxis)
X35
Pin 16-19(IndraDrive
Advanced, Basic)Pin 26-29
(IndraDriveAdvanced, Basic)
X36
Pins 14-16 (doubleaxis)
Pins 24-26 (doubleaxis)
X37
Pins 11-16 (optionDA)
Pins 21-22 (optionDA)
SD1 - SD4 W1 Bits 0 - 15
FB W1 - W6 Bits 0 - 15
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I/O type Hardware address Word address Pin or bit number
Q
A1 - A6
X31
Pin 8 (Advanced,Basic, Economy)
Pin 18 (double axis)Pin 28 (double axis)
X35Pin 16-19
(IndraDriveAdvanced, Basic)
X36
Pins 14-16 (doubleaxis)
Pins 24-26 (doubleaxis)
X37 Pins 21-28 (optionDA)
SD1 - SD4 W1 Bits 0 - 15
FB W1 - W6 Bits 0 - 15
Tab. 6-13: Permitted I/O signals
The process mapping of the inputs and outputs of the analog anddigital Sercos I/O modules is not mapped anymore in theparameters P-0-1390 - P-0-1393, P-0-1402 - P-0-1405, P-0-1410- P-0-1403 und P-0-1428 - P-0-1429, as they are linked via thePLC project.
● If the field bus master communication is used, it is notpossible to use a parallel interface and vice versa.
● In general, the onboard I/Os (X31/X35/X36/X37) areprovided via the free CCD process data. This also applies tothe master. The inputs of the master are thus processed withthe same CCD clock as the onboard inputs of the slaves.
● The digital Sercos III I/O modules 1-4 (SD1-4) areaddressed according to the detected line topology (wiring),i.e., "Sercos III I/O module 1" corresponds to the Sercos IIII/O module that is "the first" to be connected to the CCDmaster (see IndraWorks dialog "CCD Basic Settings").Example: If there is an analog Sercos III I/O module which iswired to the CCD master and a digital Sercos III I/O modulewhich is wired to the analog Sercos III I/O module, then thedigital Sercos III I/O module is addressed with "SD2",because it is found as second I/O (note: Correspondingparameters Y0039 and Y0043). The analog Sercos III I/O isalways addressed with VS031 to VS036 (note:Corresponding parameters Y0038 and Y0042).There are 16 inputs and 16 outputs available for each digitalmodule. Mixed operations are not supported.
6.7.2 Process input imageAt the beginning of each task cycle, the switching states at the inputs areread and stored in the "Process input image" (PII) before the internal program
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code is called. This information is then passed to the system solution where itis processed.The following configuration is predefined for the process input image (but canbe edited in the partially open project, see chapter 10 "User-definedextensions" on page 361) and is used by the system solution:
Axis Axis type Input assignment PLC register Max. number of inputs
Sercos digital E1 P-0-1390 16
Sercos digital E2 P-0-1391 16
Sercos digital E3 P-0-1392 16
Sercos digital E4 P-0-1393 16
Axis 1 Master Master communication:● Parallel interface Q1
S-0-0145 16
Axis 1 Master Field bus I1 P-0-1394 16
Field bus I2 P-0-1395 16
Field bus I3 P-0-1396 16
Field bus I4 P-0-1397 16
Field bus I5 P-0-1398 16
Field bus I6 P-0-1399 16
Sercos analog E1, channel 1 P-0-1402 Analog value
Sercos analog E1, channel 2 P-0-1403 Analog value
Sercos analog E1, channel 3 P-0-1404 Analog value
Sercos analog E1, channel 4 P-0-1405 Analog value
Not used P-0-1406
Not used P-0-1407
Not used P-0-1408
Not used P-0-1409
Axis 1 Master Onboard X31/X35/X37 P-0-1440 5/6
Axis 2 Slave 1 Onboard X31/X35/X36/X37 P-0-1441 5/6/6/5
Axis 3 Slave 2 Onboard X31/X35/X36/X37 P-0-1442 5/6/6/5
Axis 4 Slave 3 Onboard X31/X35/X36/X37 P-0-1443 5/6/6/5
Axis 5 Slave 4 Onboard X31/X35/X36/X37 P-0-1444 5/6/6/5
Axis 6 Slave 5 Onboard X31/X35/X36/X37 P-0-1445 5/6/6/5
Not used P-0-1446
Not used P-0-1447
Tab. 6-14: Process input image
All registers have a defined preconfiguration by default.
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6.7.3 Process output imageThe states of the "Process output image" (POI) are transferred to the physicaloutputs at the end of each task cycle after the completion of the programcode.The following configuration is defined for the process output image (but canbe edited in the partially open project, see chapter 10 "User-definedextensions" on page 361) and is used by the system solution:
Axis Axis type Output assignment PLC register Max. number ofoutputs
Sercos digital Q1 P-0-1410 16
Sercos digital Q2 P-0-1411 16
Sercos digital Q3 P-0-1412 16
Sercos digital Q4 P-0-1413 16
Axis 1 Master Master communication:● Parallel interface Q1● Field bus Q1
P-0-1414 16
Field bus Q2 P-0-1415 16
Field bus Q3 P-0-1416 16
Field bus Q4 P-0-1417 16
Field bus Q5 P-0-1418 16
Field bus Q6 P-0-1419 16
Axis 1 Master Onboard IO P-0-1422 4
Axis 2 Slave 1 Onboard IO P-0-1423 4
Axis 3 Slave 2 Onboard IO P-0-1424 4
Axis 4 Slave 3 Onboard IO P-0-1425 4
Axis 5 Slave 4 Onboard IO P-0-1426 4
Axis 6 Slave 5 Onboard IO P-0-1427 4
Sercos analog A1, channel 1 P-0-1428 Analog value
Sercos analog A1, channel 2 P-0-1429 Analog value
Tab. 6-15: Process output image
All registers have a defined preconfiguration by default.
6.8 System inputs and outputs6.8.1 General Information
The SMC system solution features axis-independent and axis-dependentsystem inputs and outputs. The assignment of the internal system inputs andoutputs to the external I/O periphery (I/O assignment) can be configured.On delivery, the master communication (field bus - FB) and the onboardconnectors (X31, X35, X36, X37) have a default assignment (cf. chapter6.8.7 "Default configuration digital system inputs and outputs" on page 136).
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This default assignment can be restored at any time via parameter Y0010(see chapter "Y0010: AutoConfig I/Os" on page 404).Within the SMC, the individual system inputs and outputs are cyclicallyprocessed in the PlcTask (10ms) or MotionTask (Y0001).
Digital inputs are read-only and do not allow write access.Digital outputs allow read and write access.
6.8.2 Configuring system inputs and outputsAll system inputs and outputs can be configured as desired, i.e., they can beassigned to any hardware address of the I/O periphery via a Y-parameter.Each signal is provided with its own Y-parameter for configuration of thesystem inputs and outputs. The desired hardware address must be entered inthis Y-parameter to define the assignment of the hardware signal to thesystem input or output.It is therefore possible to link each signal separately with a specific hardwareinput or output.For a detailed description of the corresponding parameters, please refer tochapter "Y0010: AutoConfig I/Os" on page 404.
6.8.3 Axis-independent system inputsThe following are the axis-independent system inputs featuring theirdescribed functionality:
Input Function Processing clock Parameter Note
Automatic mode Automatic or manual modeon/off PlcTask Y0011
Clear error Clear error PlcTask Y0012
Single step Single step for user program PlcTask Y0013
Parameter mode Parameter mode PlcTask Y0014
nE-Stop E-Stop MotionTask Y0015Fixedly via X31, pin 3 (cf. driveparameter P-0-0223) of themaster axis
Start Starts automatic mode PlcTask Y0016
nStop Stops the user program MotionTask Y0017
Manual routine Starts the manual routine inmanual mode PlcTask Y0018
Abort program Aborts a running SMC program PlcTask Y0019
Restart Starts the restart routine PlcTask Y0049
Tab. 6-16: Axis-independent system inputsAutomatic mode The SMC provides three operation modes:
- Parameter mode- Automatic mode- Manual mode
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The individual operation modes are activated through two system inputs. Ifneither the "Parameter mode" input nor the "Automatic mode" input is appliedas operation mode, the SMC is set to manual mode.If the "Automatic mode" input is applied, the SMC is set to automatic mode.
Clear error All existing errors (faults) are cleared with a positive edge at the "Clear Error"input. Errors can be cleared in parameter mode and in operation mode.However, while phase switching is active, e.g., from parameter mode tooperation mode, it is not possible to execute the "Clear Error" function.
Damage to the internal memory (flash ormicroSD) if activated cyclically
NOTICE
Cyclic activation of "Clear Error" without correction of the error cause is notallowed, because it causes damage to the internal memory (flash ormicroSD) on the IndraDrive control section (see "F2100 Incorrect access tocommand value memory"). The number of write cycles to the internal devicememory is limited. Generation of an error message results in an entry ofdetailed error diagnostics into the drive logbook and therefore to access tothe internal device memory.
Single step Upon activation of the single step mode, a positive edge at the "Start" inputalways triggers only one command (current command) of the task or routineselected to be processed.Once the command is completed, the next command of the task or routinewill not be started before the next positive edge at the "Start" input.Only one task or routine can be processed at a time in single step mode.This task or routine can be one of the 4 automatic tasks, the cyclic tasks orthe manual routine or manual cut routine. Processing of the other active tasksor routines is continued in "normal" cycles. Since this has a considerableeffect on the timing sequence, it must be ensured that no unintentionalactions or motions are carried out.The task or routine for single step mode can be selected with the SMC Editorin online mode on the debugger window.
Parameter mode This input is used to switch the SMC over to parameter mode. In thisoperation mode, parameters can be configured. Usually, the parameter modeis only required for the initial commissioning to enter the machine data. In thisoperation mode, the power unit is switched off.Switching over to parameter mode is possible only if automatic mode is notactive.
nE-Stop +24 V must be applied to this input in the operating state. If this input isremoved, the Ready-for-operation contact (bb) of the master axis is openedand the drives are stopped.
Start After a positive edge at the input "Start", the program sequence of theautomatic tasks is started in automatic mode. The program can only bestarted if drive enable (see "Yx015: Drive enable, In-config") is set for allactive axes.
nStop The user program run is stopped immediately if there is no signal at the"nStop" input any longer.If following a straight line, the motion of the axis is immediately deceleratedwith the programmed delay until it comes to a rest. If there still remains aresidual distance to be traveled, this distance is stored and will be the first tobe traveled upon restart. There will be no dimensional loss of reference.
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Without the "nStop" signal, no jogging and homing motions are possible inmanual mode.Ongoing jogging and homing motions are stopped immediately.
If the "Flying Cutoff" application type is configured, the removal of the "nStop"input acts as a cycle stop, i.e., motions that have already been started will becompleted before they are stopped.
Manual routine A positive edge at this input starts the manual routine in manual mode.Abort Program A positive edge at the input "Abort program" immediately stops all running
automatic tasks and the manual routine or the manual cut routine. The cyclictask is not interrupted. The "Run" output is reset. Any running axis movementis stopped. Also refer to Chapter 7.22 Abort program, page 320.
Restart If automatic mode is selected, the restart routine program sequence is startedafter a positive edge at the "Restart" input. The restart can only be started ifdrive enable (see "Yx015: Drive enable, In-config") is set for all active axes.
6.8.4 Axis-dependent system inputsThe following are the axis-dependent system inputs featuring their describedfunctionality:
Input Function Processing clock Parameter Note
Drive enabledInternal axis enable and activationof the drive enabled output (withtorque)
PlcTask Yx015This input is automatically activeif no hardware input has beenassigned via Yx015
nInterrupt Interruption of the traversingmovement MotionTask Yx016
This input is automatically activeif no hardware input has beenassigned via Yx016
Lift Rolls Rolls are lifted MotionTask Yx017
Rolls Closed Rolls are closed MotionTask Yx018
Optional Encoder Activates the optional encoder PlcTask Yx019
Jog + Jog forward PlcTask Yx020
Jog - Jog backward PlcTask Yx021
Homing Homing PlcTask Yx022
Reference switch Reference switch MotionTask Yx023Defined via X31, pin 7 (cf. driveparameter S-0-0400) if activatedin Yx023
Setup mode Setup mode for PSI command PlcTask Yx024
Setup end Setup end for PSI command PlcTask Yx025
nFeedControl Feed control MotionTask Yx026This input is automatically activeif no hardware input has beenassigned via Yx026
Registration mark Measured value detection MotionTask Yx027Fixedly via X31, pin 1 (cf. driveparameters P-0-0401 andP-0-0402) if activated in Yx027
Cut Inhibit Inhibition of the carriagesynchronization process MotionTask Yx520 Only in Flying Cutoff mode
Return inhibit Inhibition of the carriage returnmovement MotionTask Yx521 Only in Flying Cutoff mode
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Input Function Processing clock Parameter Note
Immediate cut
Execution of an immediate cut inautomatic mode or execution ofthe manual cut routine in manualmode
MotionTask Yx522 Only in Flying Cutoff mode
Crop cut Execution of a crop cut MotionTask Yx523 Only in Flying Cutoff mode
Return Optimization Optimization of the carriage returnbehavior MotionTask Yx524 Only in Flying Cutoff mode
Rapid stop Execution of a rapid stop MotionTask Yx525 Only in Flying Cutoff mode
Reset materiallength counter Resets the material length counter PlcTask Yx526 Only in Flying Cutoff mode
Test mode Activates the test mode PlcTask Yx527 Only in Flying Cutoff mode
Reset product lengthcounter Resets the product length counter PlcTask Yx528 Only in Flying Cutoff mode
No material Detects the end of material MotionTask Yx538 Only in Flying Cutoff mode
Reset productioncounter
Resets the production lengthcounter PlcTask Yx540 Only in Flying Cutoff mode
Tab. 6-17: Axis-dependent system inputsDrive enabled The drive enable input serves to enable the controller enable (torque) for
each axis separately. If there is no enable, the drive enable output of theparticular axis is switched off. All axis enable signals of the active axes mustbe applied on selection of automatic mode. Otherwise, a diagnostic messageis displayed. Drive enable disabling is not possible in manual and automaticmode. In automatic mode, however, the drive enable can only be switched offif the automatic program is not active, i.e., the output "Run" on page 134(see Y0025) is not set.In manual mode, jogging and homing is only possible with enabled axis.If the "Enable" signal is removed, an axis that was homed with anincremental encoder will remain in its home position in manual mode. Theabsolute position reference does not get lost. It is delayed with the value fromchapter "Yx006: Maximum acceleration" on page 431.
● To ensure that the remaining distance is correctly processedafter an incremental positioning step is interrupted (e.g., viaPSI command) with activation and deactivation of the driveenabled output, the axis must be referenced or remainedreferenced.
● The signal is only effective for the real axis. The signal isalways set to "TRUE" for the virtual axis.
nInterrupt If the signal is removed from the specified input , feed motions that havealready been initiated will not be executed and running feed motions will bestopped. The processing of all blocks not containing any feed lengths will becontinued. If the program run encounters a block with feed length, the SMCstops in this block until a signal is applied to the input. If the other operatingstate is maintained, the feed motion is executed or continued as soon as thesignal is set or reset, respectively.This function is effective both in manual and automatic modes. Active jogmovements are stopped in manual mode.
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Lift rolls This input is used to activate the electric lift rolls function. The "Lift rollsactive" output is set synchronously with the "Lift Rolls" input. The axis isswitched to a torque-free state. The torque at the axis is not reactivated untilthe "Rolls closed" signal is applied.
Rolls closed This input is used to query whether the rolls are closed. The feed is delayeduntil the input is "1".
Optional encoder In manual or automatic mode, this input can be used to switch positioncontrol from the motor encoder over to the optional encoder (encoder 2 ormeasuring wheel encoder). The optional encoder can also be used asmeasuring wheel encoder (friction-fitting on passing material) to compensatefor a slippage between the material and the feed rolls (see also chapter 7.3 "Optional encoder (measuring wheel mode)" on page 239).
Jog + If a signal is applied to this input, the axis moves● forward (in positive direction) at the velocity entered into the parameter
Yx003 during manual mode(see chapter "Yx003: Jog velocity" on page 430)
● forward (in positive direction) at the velocity entered into the parameterYx005 during setup mode(see chapter "Yx005: Setup velocity" on page 431)
The jog movement is started by a positive edge at the input and remainsactive as long as the signal is set.Acceleration and deceleration are carried out● with the value entered in parameter Yx006 in manual mode
(see chapter "Yx006: Maximum acceleration" on page 431)● with the programmed value in setup mode (cf. ACC command)There is no movement if the "nStop", "nInterrupt" or "nFeedControl" signal ismissing.
Jog - If a signal is applied to this input, the axis moves backward at the velocity● backward (in negative direction) at the velocity entered into the
parameter Yx003 during manual mode(see chapter "Yx003: Jog velocity" on page 430)
● backward (in negative direction) at the velocity entered into theparameter Yx005 during setup mode(see chapter "Yx005: Setup velocity" on page 431)
The jog movement is started by a positive edge at the input and remainsactive as long as the signal is set.Acceleration and deceleration are carried out● with the value entered in parameter Yx006 in manual mode
(see chapter "Yx006: Maximum acceleration" on page 431)● with the programmed value in setup mode (cf. ACC command)There is no movement if the "nStop", "nInterrupt" or "nFeedControl" signal ismissing.
Homing Homing of the axis is started by a positive edge at this input signal. The inputis only effective in manual mode while the manual routine and the manual cutroutine are not active. An absolute dimensional reference is generated (seechapter 7.14 "Homing" on page 314).If absolute evaluation is possible and active with the encoder (cf. driveparameter S-0-0277, bits 6/7), the dimensional reference is established viathe "P-0-0012, C0300 Set absolute position procedure command" drive
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command. If absolute evaluation is not possible or active, the dimensionalreference is established via the "S-0-0148, C0600 Drive-controlled homingprocedure command" drive command.Whether or not homing was successfully completed, can be verified byquerying the parameterized output in parameter Yx030 (see chapter "Yx030:In reference, Out-config" on page 443).
Reference switch This input is used to read the switching state of the homing switch connectedto the axis. Evaluation of the homing switch must be activated in parameterYx023 (see chapter "Yx023: Homing switch, In-config" on page 439).
Setup mode If a user program is active, this input can be used to activate setup mode.Once the program calls a PSI command and the "Setup" is set, setup modeis active and the "Setup active" output is set.In setup mode, the feed length can only be traversed via the two jog inputs.
Setup end The end of setup mode and therefore block stepping to the next command isachieved as soon as a positive edge has been detected at this input. Anypossible remaining distance is ignored.
nFeedControl If no signal is applied to this input, there will be no feed movement. The SMCprocesses all blocks not containing any feed lengths. If the program runencounters a block with feed length, the SMC stops in this block until a signalis applied to the input. If the signal drops during the feed movement, an errormessage is displayed.This function is effective both in manual and automatic modes. Active jogmovements are stopped in manual mode.
Registration mark This input is a "rapid" signal input (registration in 1 µs). This input is only usedwith the "RMI", "SRM", "LMC", "LMK", and "LMR" program commands.
Cut Inhibit A rising edge at this input triggers the inhibition of a cut, i.e., the carriagestops at the initial position. Cut inhibition can only be canceled with a risingedge at the "Immediate cut" or "Crop cut" input.This input is only evaluated with the "Flying Cutoff" application type.
Return inhibit If the carriage decelerates after the end of synchronization and stops, thereturn movement is usually initiated by a Flying Cutoff motion command.Where this input is concerned, the return movement to the initial position isinhibited until the signal is no longer set.This input is only evaluated with the "Flying Cutoff" application type.
Immediate cut A rising edge at this input immediately accelerates the synchronous axis tomaterial velocity irrespective of the length specified, and the machiningprogram of the length block is started.This input is only evaluated with the "Flying Cutoff" application type.
Return Optimization If this input is set, the SMC calculates the acceleration and the velocity of thereturn movement of the carriage. This is intended to prevent damage fromthe mechanics and to minimize energy losses.This input is only evaluated with the "Flying Cutoff" application type.
Crop cut A rising edge at this input sets the crop cut length entered in parameterYx509 (see chapter "Yx509: Crop cut length" on page 462).This input is only evaluated with the "Flying Cutoff" application type.
Rapid stop This input serves to rapidly remove the tool from the material and to stop thecarriage.If the material is just machined during the synchronous run and a signal isapplied to the "Rapid stop" input, the machining program is immediatelystopped and the tool is rapidly moved out of the material. The starting block
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of the rapid stop routine is defined in parameter Yx502 (see chapter "Yx502:Starting line rapid stop routine" on page 459).This input is only evaluated with the "Flying Cutoff" application type.
Reset material length counter If there is a rising edge at this input, the material length counter in systemvariable VSx19 and VSx24 is reset (set to zero).This input is only evaluated with the "Flying Cutoff" application type.
Reset production length counter If there is a rising edge at this input, the production length counter in thesystem variables VSx29 and VSx30 is reset (set to zero).This input is only evaluated with the "Flying Cutoff" application type.
Test mode This input is used to start the virtual axis in test mode at the velocityconfigured in parameter Yx516 (see chapter "Yx516: Test mode velocity" onpage 465) and at the acceleration configured in parameter Yx517 (seechapter "Yx517: Test mode acceleration" on page 466).This input is only evaluated with the "Flying Cutoff test mode" applicationtype.
Reset product length counter If there is a rising edge at this input, the product length counter in systemvariable VSx20 is reset (set to zero). This creates a new reference for thenext cut (as is the case with a crop cut except that, in this case, there is nocut).This input is only evaluated with the "Flying Cutoff" application type.
When the product length counter is reset, monitoring for themaximum part length is no longer possible.
No material If there is a rising edge at this input, the end of the material is detected toinitiate tailout machining.This input is only evaluated with the "Flying Cutoff" application type.
6.8.5 Axis-independent system outputsThe following are the axis-independent system outputs featuring their descri‐bed functionality:
Output Function Processing clock Parameter Note
nError Error (failure) MotionTask Y0020
Automatic mode Automatic mode active PlcTask Y0021
Manual mode Jog mode, system setup active PlcTask Y0022
Parameter mode Parameter mode active PlcTask Y0023
Drive enabled Torque applied to all active axes PlcTask Y0024
Run Automatic task or manual routine/manualcut routine active PlcTask Y0025
SMC program valid Valid user program loaded PlcTask Y0026
Operating barrier Operating barrier at at least one of the axes PlcTask Y0027
Restart is possible The SMC program can be restarted PlcTask Y0050
Tab. 6-18: Axis-independent system outputsnError If there is a malfunction, this output is disabled immediately.
The error can only be acknowledged via a positive edge
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→ at the input "Clear error"→ via the "Clear error" button in the “Debugger” window of the SMC-Editor
Automatic mode If the SMC is in the "Automatic" mode, this output is activated.If a new user program is loaded (e.g., via the SMC Editor) or if a runningprogram is prematurely terminated (cf. "Abort program"), this output iscleared and not set again until successful completion.
Manual mode If the SMC is in "Manual" mode, this output is activated.
Parameter mode This output is activated, if the SMC is in parameter mode.
Drive enabled If there is no error and torque is applied to all enabled axes (cf. "Enable"input), this output is set.
Run This output indicates that a user program is currently processed in anautomatic task or in the manual routine or manual cut routine. It is set if astart signal has been given and there is no stop signal. If the program wasstopped (e.g., by the "nStop" signal, by the "JST" command or afterswitchover to "Manual" mode), this output is cleared.
SMC program valid This output is set if a valid user program was downloaded to the internalprocessing memory of the SMC.If this output is not set, the user program cannot be started in manual orautomatic mode.
Operating barrier This output is set if a motion command (e.g., PSI) cannot be executed, forexample because the interrupt or feed monitoring signal is set or the driveenabled signal is missing in jog mode.
Restart is possible This output is set if the SMC program can be continued using a restart.
6.8.6 Axis-dependent system outputsThe following are the axis-dependent system outputs featuring their descri‐bed functionality:
Output Function Processing clock Parameter Note
Drive enabled Torque applied to drive PlcTask Yx029
In reference Axis in reference PlcTask Yx030
Lift rolls enabled Rolls are lifted MotionTask Yx031
Optional encoderactive
Optional encoder (encoder 2 or measuringwheel) activated (control with externalencoder)
PlcTask Yx032
In position Target position reached, cf. drive parameter"S-0-0338, Status "In target position""
MotionTask Yx033
Velocity achieved Command velocity reached PlcTask Yx034
Setup active Setup mode is active PlcTask Yx035
Setup start position Start position reached PlcTask Yx036
Setup end position End position reached PlcTask Yx037
Presignal active Presignal for feed command MotionTask Yx038
Scrap cut active Scrap cut active PlcTask Yx529 Only in FlyingCutoff mode
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Output Function Processing clock Parameter Note
Cut Inhibit Cut Inhibit active PlcTask Yx530 Only in FlyingCutoff mode
Return Optimization Return optimization active PlcTask Yx531 Only in FlyingCutoff mode
Return Inhibit Return inhibit active PlcTask Yx532 Only in FlyingCutoff mode
Maximum part lengthreached
Maximum part length reached PlcTask Yx533 Only in FlyingCutoff mode
Travel Pulse Travel pulse (defined length has passedthrough)
MotionTask Yx534 Only in FlyingCutoff mode
Presync Pulse Presync pulse (defined length or time priorto synchronization)
MotionTask Yx535 Only in FlyingCutoff mode
Tailout done Tailout machining has been done MotionTask Yx539 Only in FlyingCutoff mode
Tab. 6-19: Axis-dependent system outputsDrive enabled This output is set if the axis is provided with power and torque.
In reference This output is set if the axis is homed (see also chapter 7.14 "Homing" onpage 314).
Lift rolls enabled This output is set if the lift rolls enabled function is active, i.e., there is notorque applied to the axis (see also chapter 7.15 "Lift rolls (electrically)" onpage 316).
Optional encoder active This output is set if the optional encoder (encoder 2 or measuring wheel) isactivated as control encoder. In this case, the drive controls based on themeasured values of the connected optional encoder or measuring wheel (seealso chapter 7.3 "Optional encoder (measuring wheel mode)" on page 239).
In position This output is set if the axis has reached the command position (cf. driveparameter S-0-0338, bit 0).
Velocity achieved This output indicates whether the axis has reached the command velocity.The output is set if the difference between the internally generated velocitycommand value and the actual velocity of the axis ("S-0-0040, Velocityfeedback value") is less than the parameterized velocity window. The velocitywindow is defined via parameter "S-0-0157, Velocity window".
The SMC reads the value of parameter "S-0-0157, Velocitywindow" once after switchover from parameter mode to operatingmode. In operating mode, the SMC no longer detects changes inthe parameter.
Setup active This output is set if setup mode is active and the axis can be jogged betweenthe start and end positions (see also chapter 7.13 "Setup Mode" on page313).
Setup start position This output is set if the axis is positioned at the start position of setup mode.Setup end position This output is set if the axis is positioned at the end position of setup mode.
Presignal active This output is applicable for each feed command (POI, PSI, POA, PSA). Assoon as the distance still to be traveled becomes smaller than theprogrammed presignal distance, this output is activated. The output remainsactivated constantly or for the programmed time. Whenever a feed block isre-entered, the output is deactivated (see also chapter 7.18 "Presignal" onpage 318).
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Scrap cut active This output is set if a scrap cut (i.e., the cut length does not correspond to theprogrammed length) is active.This output is only used with the "Flying Cutoff" application type.
Cut Inhibit active This output is set if the cut inhibition is active. Any active cut inhibition canonly be canceled with a rising edge at the "Immediate cut" or "Crop cut" input.This output is only used with the "Flying Cutoff" application type.
Return optimization active This output is set if return optimization is active, i.e., the SMC calculates thereturn velocity and the return acceleration.This output is only used with the "Flying Cutoff" application type.
Return Inhibit active This output is set if return inhibition is active. An active return inhibition canonly be cancelled by removing the "Return inhibit" input.This output is only used with the "Flying Cutoff" application type.
Maximum part length reached This output is set if the length configured in parameter Yx510 (see chapter"Yx510: Maximum part length" on page 463) has been reached. In this case,the error reaction configured in parameter Yx511 (chapter "Yx511: Errorreaction max. part length" on page 463) is executed.This output is only used with the "Flying Cutoff" application type.
Travel Pulse This output is set if the material length defined in parameter Yx518 (seechapter "Yx518: Material pulse distance" on page 466) has passed through.This output is only used with the "Flying Cutoff" application type.
Presync Pulse This output is set as soon as the carriage is in parameter Yx536 for a definedtime or distance before synchronization (see chapter "Yx536: Presync value"on page 475), i.e., as soon as the carriage has synchronized successfully.Either a distance is given in mm or a time in ms, depending on bit 6 ofparameter Yx519.
If "Time" is selected as unit in Yx519, bit 6, a constant materialvelocity is assumed. Otherwise, signal accuracy cannot beensured.
This output is only used with the "Flying Cutoff" application type.Tailout done This output indicates that tailout machining has been completed.
This output is only used with the "Flying Cutoff" application type.
6.8.7 Default configuration digital system inputs and outputsThe following tables show the assignment of the digital inputs and outputs tothe hardware addresses on delivery. The default configuration is setwhenever parameter mode is exited, provided parameter Y0010 (see chapter"Y0010: AutoConfig I/Os" on page 404) is set to TRUE.Axis-independent system inputs and system outputs:
I/O Signal Function Parameter Hardware address
I Parameter mode Parameter mode Y0014 I.A1.X31.Pin6
I Automatic mode Manual/automatic mode Y0011 FB: I.FB.W1.Bit0No master communication:IN_UNUSED
I Start Starts automatic mode Y0016 FB: I.FB.W1.Bit1No master communication:IN_UNUSED
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I/O Signal Function Parameter Hardware address
I nStop Stops the user program Y0017 FB: I.FB.W1.Bit2No master communication:IN_UNUSED
I Clear error Clears pending errors Y0012 FB: I.FB.W1.Bit3No master communication:IN_UNUSED
O Manual mode Manual mode active Y0022 FB: Q.FB.W1.Bit0No master communication:OUT_UNUSED
O Automatic Automatic mode active Y0021 FB: Q.FB.W1.Bit1No master communication:OUT_UNUSED
O SMC program valid Valid user program inworking memory
Y0026 FB: Q.FB.W1.Bit2No master communication:OUT_UNUSED
O Run SMC program is beingprocessed
Y0025 FB: Q.FB.W1.Bit3No master communication:OUT_UNUSED
O Drive enabled Torque applied to all activeaxes
Y0024 FB: Q.FB.W1.Bit4No master communication:OUT_UNUSED
O Operating barrier Operating barrier at least oneof the axes
Y0027 FB: Q.FB.W1.Bit5No master communication:OUT_UNUSED
O nError Error (failure) Y0020 FB: Q.FB.W1.Bit6No master communication:OUT_UNUSED
FB Field busNo master communication Master communication is not available or is deac‐
tivated1) "x" stands for the number of the CCD master axisTab. 6-20: Default configuration of axis-independent system inputs and system
outputs Axis-dependent system inputs:
I/O Signal Function Parameter Hardware address
I Jog + Manual mode Yx020 I.Ax.X31.Pin41) 2)
I Jog - Manual mode Yx021 I.Ax.X31.Pin51) 2)
I Homing Homing Yx022 I.Ax.X31.Pin21) 2)
1) "x" stands for the number of the axis2) No default configuration of the axis-dependent system inputs is
available for the "IndraDrive double axis - axis 2".Tab. 6-21: Default configuration of axis-dependent system inputs
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Axis-dependent system outputs are not configured by default.
6.9 Language versionThe language version specifies the version of the language that can beinterpreted by the Sequential Motion Control. An SMC firmware release caninterpret one or several language versions. The latest SMC Editor versionalways installs all previous language versions while the SMC Editor is beinginstalled.The language versions of the Sequential Motion Control (SMC) used areshown in the following tables.
Sequential Motion Control Language version
14V02 14V01
Tab. 6-22: Supported language versions of the SMC firmware release 14VRS
Sequential Motion Control Language version
12V14P1 SMC 12V04
12V14 SMC 12V04
12V12 SMC 12V04
12V10 SMC 12V04
12V08 SMC 12V04
12V06 SMC 12V04
12V04 SMC 12V03
12V02 SMC 12V01
Tab. 6-23: Supported language versions of the SMC firmware release 12VRS
Sequential Motion Control Language version
10V12 or aboveSMC 10V04SMC 10V03
10V10SMC 10V04SMC 10V03
10V08 SMC 10V03
10V06 SMC 10V03
10V04 SMC 10V02
Tab. 6-24: Supported language versions of the SMC firmware release 10VRS
6.10 Overview on user commandsThe following table provides an overview of all commands available in theSMC program:
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Command Description Languageversion required
ACC (see page 144) Acceleration change SMC 10V03
AEA (see page 146) Set / reset / toggle bit SMC 10V03
AKN (see page 146) Acknowledge bit SMC 10V03
AKP (see page 146) Parallel query with screen SMC 10V03
APE (see page 148) Parallel setting with screen SMC 10V03
BAC (see page 150) Branch conditional on count SMC 10V03
BCE (see page 151) Branch conditional on bit SMC 10V03
BIC (see page 151) Branch conditional on bit field value SMC 10V03
CIO (see page 152) Copy bit field SMC 10V03
CMA (see page 153) Cam axes: activation SMC 10V03
CMM (see page 155) Cam axis: Motion step SMC 12V04
CMC (see page 154) Cam axis: Configuration SMC 10V03
CMP (see page 160) Cam axis: profile SMC 10V03
CMS (see page 162) Cam axis: settings SMC 12V04
CON (see page 164) Continuous operation SMC 10V03
COU (see page 164) Counter SMC 10V03
CPA (see page 165) Position-coupled axes: Activation SMC 12V01
CPJ (see page 167) Compare and jump SMC 10V03
CPL (see page 167) Clear following distance SMC 10V03
CPS (see page 169) Compare and set a bit SMC 10V03
CRL (see page 169) Set remaining length - Cam axis SMC 10V03
CST (see page 170) Clear subroutine stack SMC 10V03
CTA (see page 171) Torque-coupled axes: activation SMC 12V04
CTC (see page 173) Torque-coupled axes: Configuration SMC 12V04
CVA (see page 174) Velocity-coupled axes: activation SMC 12V01
CVC (see page 176) Velocity-coupled axes: Configuration SMC 12V01
CVT (see page 177) Converting variable <-> Bit pattern SMC 10V03
EDG (see page 179) Edge detection bit SMC 10V03
EOS (see page 179) End of synchronization SMC 10V03
FAK (see page 180) Multiplication factor for feed SMC 10V03
FOA (see page 181) Phase synchronous axes: activation SMC 10V03
FOC (see page 182) Phase synchronous axis: Configuration SMC 10V03
FUN (see page 183) Functions SMC 10V03
HOM (see page 185) Homing SMC 10V03
JMP (see page 186) Unconditional jump SMC 10V03
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Command Description Languageversion required
JSR (see page 187) Jump to subroutine SMC 10V03
JST (see page 187) Jump and stop SMC 10V03
JTK (see page 188) Unconditional jump task SMC 12V03
LMC (see page 190) Part length by registration mark counter SMC 10V03
LMK (see page 191) Part length or registration SMC 10V03
LML (see page 191) Part length SMC 10V03
LMR (see page 191) Part length by registration mark SMC 10V03
MAT (see page 192) Mathematics SMC 10V03
MLO (see page 192) Material length output SMC 10V03
MOM (see page 193) Torque limit SMC 10V03
NOP (see page 194) No-operation instruction SMC 10V03
PBK (see page 194) Stop motion SMC 10V03
PFA (see page 194) Positioning, absolute to positive stop SMC 12V01
PFC (see page 195) Positioning, incremental to positive stop: Configuration SMC 12V01
PFI (see page 197) Positioning, incremental to positive stop SMC 12V01
POA (see page 198) Positioning, absolute with immediate block stepping SMC 10V03
POI (see page 199) Positioning, incremental with immediate block stepping SMC 10V03
PSA (see page 200) Positioning, absolute with in-position SMC 10V03
PSI (see page 201) Positioning, incremental with in-position SMC 10V03
REP (see page 202) Registration position limit SMC 10V03
RMI (see page 202) Registration mark interrupt SMC 10V03
RSV (see page 205) Restart behavior SMC 12V03
RTS (see page 206) Return from subroutine SMC 10V03
RWY (see page 207) Read/write Y-parameter SMC 10V03
SAC (see page 208) Set absolute counter SMC 10V03
SET (see page 209) Set variable value SMC 10V03
SOA (see page 210) Velocity synchronous axes: activation SMC 12V01
SOC (see page 212) Velocity synchronous axis: Configuration SMC 12V01
SPO (see page 213) Position offset of synchronous axes SMC 10V03
SRM (see page 214) Search for registration mark SMC 10V03
STC (see page 217) Set task cycle counter SMC 12V03
TAA (see page 219) Torque average: activation SMC 12V04
TAC (see page 221) Torque average: Configuration SMC 12V04
VCC (see page 221) Velocity change SMC 10V03
VEO (see page 224) Velocity override SMC 10V03
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Command Description Languageversion required
VOA (see page 226) Velocity-coupled axis via PLC global register SMC 10V04
WAI (see page 228) Waiting time SMC 10V03
Tab. 6-25: Overview on user commands The following table provides an overview of the usability of all commandsavailable in the SMC program:
Application type (Yx000) <> FlyingCutoff Application type (Yx000) = Flying Cutoff
Command
Function
package
required
Commandallowed
for virtualaxis
Autotask 1
Autotasks 2
- 4
Manualroutine
Cyclictask
AutoTask 1
Autotasks 2
- 4
Manualroutine
Manualcut
routine
Cyclictask
ACC --- x x x x x x x x x x
AEA --- o x x x x x x x x x
AKN --- o x x x x x x x x x
AKP --- o x x x x x x x x x
APE --- o x x x x x x x x x
BAC --- o x x x x x x x x x
BCE --- o x x x x x x x x x
BIC --- o x x x x x x x x x
CIO --- o x x x x x x x x x
CMA SNC --- x x x x --- --- --- --- ---
CMM SNC --- x x x x --- --- --- --- ---
CMC SNC --- x x x x --- --- --- --- ---
CMP SNC --- x x x x --- --- --- --- ---
CMS SNC --- x x x x --- --- --- --- ---
CON --- x x x x --- --- --- --- --- ---
COU --- o x x x x x x x x x
CPA --- --- x x x x --- --- --- --- ---
CPJ --- o x x x x x x x x x
CPL --- --- x x x x --- --- --- --- ---
CPS --- o x x x x x x x x x
CRL --- --- x x x --- --- --- --- --- ---
CST --- o x x x x x x x x x
CTA --- --- x x x x --- --- --- --- ---
CTC --- --- x x x x --- --- --- --- ---
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Application type (Yx000) <> FlyingCutoff Application type (Yx000) = Flying Cutoff
Command
Function
package
required
Commandallowed
for virtualaxis
Autotask 1
Autotasks 2
- 4
Manualroutine
Cyclictask
AutoTask 1
Autotasks 2
- 4
Manualroutine
Manualcut
routine
Cyclictask
CVA --- --- x x x x --- --- --- --- ---
CVC --- --- x x x x --- --- --- --- ---
CVT --- o x x x x x x x x x
EDG --- o x x x x x x x x x
EOS --- --- --- --- --- --- x --- --- --- ---
FAK --- o x x x x --- --- --- --- ---
FOA SNC --- x x x x --- --- --- --- ---
FOC SNC --- x x x x --- --- --- --- ---
FUN --- --- x x x x x x x x x
HOM --- x x x x --- x x x --- ---
JMP --- o x x x x x x x x x
JSR --- o x x x x x x x x x
JST --- o x x x x --- --- --- --- ---
JTK --- o x x x x x x x x x
LMC SNC --- --- --- --- --- x --- --- --- ---
LMK SNC --- --- --- --- --- x --- --- --- ---
LML SNC --- --- --- --- --- x --- --- --- ---
LMR SNC --- --- --- --- --- x --- --- --- ---
MAT --- o x x x x x x x x x
MLO --- --- x x x x x x x x x
MOM 2 --- --- x x x x x x x x x
NOP --- o x x x x x x x x x
PBK --- x x x x x x x x --- ---
PFA --- --- x x x --- --- --- --- --- ---
PFC --- --- x x x --- --- --- --- --- ---
PFI --- --- x x x --- --- --- --- --- ---
POA --- x x x x --- x x x --- ---
POI --- x x x x --- x x x --- ---
PSA --- x x x x --- x x x --- ---
PSI --- x x x x --- x x x --- ---
REP --- --- x x x --- --- --- --- --- ---
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Application type (Yx000) <> FlyingCutoff Application type (Yx000) = Flying Cutoff
Command
Function
package
required
Commandallowed
for virtualaxis
Autotask 1
Autotasks 2
- 4
Manualroutine
Cyclictask
AutoTask 1
Autotasks 2
- 4
Manualroutine
Manualcut
routine
Cyclictask
RMI SNC orSRV 1 x x x --- --- --- --- --- --- ---
RSV 2 --- o --- --- --- --- --- --- --- --- ---
RTS --- o x x x x x x x x x
RWY --- o x x x x x x x x x
SAC SNC orSRV --- x x x x --- --- --- --- ---
SET --- o x x x x x x x x x
SOA SNC --- x x x x --- --- --- --- ---
SOC SNC --- x x x x --- --- --- --- ---
SPO SNC --- x x x --- x --- x x ---
SRM SNC orSRV 1 --- x x x --- --- --- x --- ---
STC --- o x x x x x x x x x
TAA --- --- x x x x --- --- --- --- ---
TAC --- --- x x x x --- --- --- --- ---
VCC --- x x x x --- --- --- --- --- ---
VEO --- x x x x x x x x x x
VOA --- x x x x x --- --- --- --- ---
WAI --- o x x x x x x x x x
x Command is allowed--- No function package required or command not allowed, re‐
spectivelyo IrrelevantSNC Synchronization function package (SNC)SRV Servo function package (SRV)1 Function package only required if probe 1 (X31, pin 3) is used
as "registration mark" input2 Command is only allowed in the restart routineTab. 6-26: Overview of the usability of user commands
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6.11 Command description6.11.1 General Information
A single command block in the user program consists of the following ele‐ments:
Element Command
Parameter1
Parameter2
Parameter3
Parameter4
Parameter5
Datatype UINT REAL REAL REAL REAL REAL
Example POI 1 VF101 VF102 - -
A command block consists of one command and up to five commandparameters.The content of command parameters 1 to 5 is always interpreted in REALformat.If necessary, the data type is automatically converted to INT, e.g., in case ofquantities or axis indices (e.g., 34.2 → 34, i.e., potential decimal places will berounded).In most commands, both constants and variables ("indirect access") can beused for command parameters. The commands which are described in thesections below each have an "Indirect access" column assigned to them inthe related table.It has the following meanings:● "not possible" = command parameters only possible as constant● "possible" = command parameters possible as constant or variable
6.11.2 ACC – Acceleration changeCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Acceleration in % Acceleration in % (0.001 to 100) of the value programmed inparameter Yx006
Possible
Parameter 3 Deceleration in % Deceleration in % (0.001 to 100) of the value programmed inparameter Yx006
Possible
Tab. 6-27: Acceleration changeThis command allows changing the acceleration and deceleration values ofan axis.The set acceleration and deceleration values take effect while the axis is jog‐ged in manual mode as well as for axis movements which are triggered bythe following commands:● CON - Continuous operation● PFA – Positioning, absolute to positive stop● PFI – Positioning, incremental to positive stop● POA - Positioning, Absolute with Immediate Block Stepping● POI - Positioning, Incremental with Immediate Block Stepping● PSA - Positioning, Absolute with In-Position● PSI - Positioning, Incremental with In-Position
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● SRM - Search for registration mark● VOA – Velocity-coupled axis over PLC Global RegisterNew acceleration and deceleration values are applied immediately. The newacceleration and deceleration values remain the same until they are changedby the next ACC command. If entered, a value of "0" corresponds to 100%.After switchover to parameter mode or from automatic to manual mode, aftera malfunction and on restart, the acceleration and deceleration programmedin parameter Yx006 (see chapter "Yx006: Maximum acceleration" on page431) is always applicable.
Program example: Continuation to the next block immediately takes place:
Fig. 6-8: Program example of acceleration change
Fig. 6-9: Velocity curve relating to the acceleration change program example
● If a positioning procedure is already in the decelerationramp, a smaller deceleration value does not take immediateeffect. In this case, higher priority is given to reaching thetarget position. If specified during the deceleration ramp, agreater deceleration value takes immediate effect providedthe residual distance is far enough. In this case, the axisaccelerates again.
● In the "Flying Cutoff" application type, the command doesnot affect the synchronization acceleration or the returnacceleration if the return has been triggered using themotion command LML, LMR, LMK or LMC (see Yx519,Bit5).
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6.11.3 AEA – Set/reset/toggle bitCommanddata
Content Note Indirect access
Parameter 1 Bit Q, MF, MFR Not possible
Parameter 2 Task Clear (0) = reset bitSet (1) = set bitToggle (2) = toggle bit
Possible
Tab. 6-28: Setting/clearing/toggling bitThis command has an effect on the status of the programmed bit.Hardware outputs are set at the end of the current task cycle. Commands inthe current block of a task with a higher task number evaluate the change inthis bit directly.Stepping to the next block takes place after one task cycle.
6.11.4 AKN – Acknowledge bitCommandData
Content Note Indirect access
Parameter 1 Bit I, Q, MS, MF, MFR Not possible
Parameter 2 Task Off (0) = wait until the status of the bit is "0"On (1) = wait until the status of the bit is "1"
Possible
Tab. 6-29: Acknowledge bitThe status of the programmed bit is checked. Block stepping takes place assoon as the bit has the required status.
6.11.5 AKP – Parallel acknowledge with maskCommandData
Content Note Indirect access
Parameter 1 Starting bit I, Q, MS, MF, MFR Not possible
Parameter 2 Task screen Task for bit field 1..6→ Counting is from right to left.
Possible
Tab. 6-30: Parallel query with screenThis command is an extension of the AKN command.Up to 6 states can be checked at the same time using this command:● I - inputs● Q - outputs● MS - system flags● MF - programmable flags● MFR - programmable non-volatile flagsStepping to the next block takes place if all inputs, outputs and/or flags havemet the conditions. Otherwise, the program waits in this block until allconditions have been fulfilled.
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There are 3 different tasks (conditions):
0 = the input / output / flag is checked for "0".
1 = The input/output/flag is checked for "1".
2 = the status of the input / output / flag is not checked.
Example:
AKP I.A1.X31.Pin1 021110
In this example, the inputs pin 1 to pin 6 of the terminal strip X31 areaddressed on axis 1.● The output pin1 is checked for "0".● The output pin2 is checked for "1".● The output pin3 is checked for "1".● The output pin4 is checked for "1".● The output pin5 is not checked.● The output pin6 is checked for "0".Stepping to the next block does not take place before all inputs have reachedthe proper status.
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If existing I/O hardware is accessed through the AKP command,the maximum usable pin or bit area is automatically defined bythe I/O hardware addressed.The permissible areas are● Inputs
– X31:– "Single axis": Pins 1- 8– "Double axis": Pins 11 - 18 or Pins 21 - 28
– X35:– "Single axis": Pins 16 - 19, Pins 26 - 29
– X36:– "Double axis": Pins 14 - 16 or Pins 24 - 26
– X37:– "Option DA:" Pins 11 - 16, Pins 21 - 22
– Sercos I/O 1-4:Pins 1 - 16
– Field bus (word 1-6):Bit 0 - 15
● Outputs– X31:
– "Single axis": Pin 8– "Double axis": Pin 18 or pin 28
– X35:– "Single axis": Pin 16 - 19
– X36:– "Double axis": Pins 14 - 16 or Pins 24 - 26
– X37:– "Option DA": Pin 21 - 28
– Sercos I/O 1-4:Pins 1 - 16
– Field bus (word 1-6):Bit 0 - 15
If this command is used to access non-cohering pin areas of I/Ohardware, the system internally makes an automatic jump to thenext possible pin number.
6.11.6 APE – Parallel setting with maskCommandData
Content Note Indirect access
Parameter 1 Starting bit Q, MF, MFR Not possible
Parameter 2 Task screen Task for bit field 1..6→ Counting is from right to left.
Possible
Tab. 6-31: Parallel setting with screen
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This command is an extension of the AEA command.Up to 6 states can be changed at the same time using this command:● Q - outputs● MF - programmable flags● MFR - programmable non-volatile flagsEach bit can be affected separately here. There are 3 different tasks (conditions):
0 = the output / flag is set to "0".
1 = The output/flag is set to "1".
2 = the status of the output / flag remains as it is.
Stepping to the next block takes place after one task cycle. Example:
APE Q.SD1.W1.PIN1 021110
In this example, the outputs pin 1 to pin 6 of the Sercos I/O module 1 areaddressed.● The output PIN1 is reset.● The output PIN2 is set.● The output PIN3 is set.● The output PIN4 is set.● The output PIN5 remains as it is.● The output PIN6 is reset.
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If existing I/O hardware is accessed through the APE command,the maximum usable pin or bit area (bit number equal to pinnumber) is automatically defined by the I/O hardware addressed.The permissible areas are● Outputs
– X31:– "Single axis": Pin 8– "Double axis": Pin 18 or pin 28
– X35:– "Single axis": Pin 16 - 19
– X36:– "Double axis": Pins 14 - 16 or Pins 24 - 26
– X37:– "Option DA": Pin 21 - 28
– Sercos I/O 1-4:Pins 1 - 16
– Field bus (word 1-6):Bit 0 - 15
If this command is used to access non-cohering pin areas of I/Ohardware, the system internally makes an automatic jump to thenext possible pin number.
6.11.7 BAC – Branch conditional on countCommandData
Content Note Indirect access
Parameter 1 Jump target Jump label Possible
Parameter 2 Actual quantity VF, VFR Has to bevariable
Parameter 3 Command quantity Possible
Tab. 6-32: Branch conditional on countAs is the case with the COU command, this command also allows countingmachining cycles, quantities and other events.First the quantity is increased. Then the actual quantity is compared to therequired quantity setpoint.If the programmed command quantity is not reached yet, there will be a jumpto the jump label.If the command quantity has been reached, then the actual quantity is set tozero and the program steps to the next block.Stepping to the next block or to the jump label takes place after one taskcycle.
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Program example: a) Counting after the event
Fig. 6-10: Branch conditional on count, counting after the event10 feed movements are performed and then the system waits for a new startsignal (see chapter 6.11.38 "JST – Jump and stop" on page 187).
Program example: b) Counting before the event
Fig. 6-11: Branch conditional on count, counting before the event9 feed movements are performed and then the system waits for a new startsignal (see chapter 6.11.38 "JST – Jump and stop" on page 187).
6.11.8 BCE – Branch conditional on bitCommandData
Content Note Indirect access
Parameter 1 Jump target Jump label Possible
Parameter 2 Bit I, Q, MS, MF, MFR Possible
Parameter 3 State Off (0) = jump if status is "0"On (1) = jump if status is "1"
Possible
Tab. 6-33: Branch conditional on bitThe jump to the jump label is carried out if the programmed bit meets theselected condition.If the condition is not met, then the program proceeds with the following blocknumber.Stepping to the next block takes place after one task cycle.
6.11.9 BIC – Branch conditional on bit maskCommandData
Content Note Indirect access
Parameter 1 Block offset Jump label Possible
Parameter 2 Jump width Maximum value = 99 Possible
Parameter 3 Starting bit I, Q, MS, MF, MFR Not possible
Parameter 4 Number of bits 1 to 8 Not possible
Tab. 6-34: Branch conditional on bit field value
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This command executes a jump to a calculated target block. The targetdepends on the status of the programmed bits. Up to 8 bits are taken intoaccount. If the result is a target block which exceeds the maximum blocknumber used in the program, an error message is generated.Stepping to the target block takes place after one task cycle.The evaluated bits can be the following:● I - inputs● Q - outputs● MS - system flags● MF - programmable flags● MFR - programmable non-volatile flags The target block is calculated as follows:
Fig. 6-12: Calculating the target block Example:
BIC Label 11 Q.A1.X37.PIN23 5
In this example, the outputs pin 23 to pin 27 of the DA option (X37) areaddressed on axis 1.
Outputs X37 of axis 2 Pin 27 Pin 26 Pin 25 Pin 24 Pin 23
Binary significance 24 23 22 21 20
Corresponds to decimal 16 8 4 2 1
Input status 1 0 1 1 0
Tab. 6-35: Example for BIC command Resulting target block = label + (16 + 4 + 2) * 11
6.11.10 CIO – Copy bit fieldCommandData
Content Note Indirect access
Parameter 1 Copy source I, Q, MS, MF, MFR Not possible
Parameter 2 Copy target Q, MF, MFR Not possible
Parameter 3 Number of bits tobe copied
0 to 16 Possible
Tab. 6-36: Copy bit fieldThis command can be used to copy bit statuses. The maximum number ofinput, output or flag statuses that can be copied is 16.This command has special significance for security programs. Saving atregular intervals can ensure status specific reentry after an error.Stepping to the next block takes place after one task cycle.
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Example:
CIO I.A2.X37.PIN1 MF900 6
In this example, the 6 inputs of pins 1 to 8 of the DA option on axis 2 arecopied to the programmable flag area MF900 – MF907.
6.11.11 CMA – Cam axes: ActivationCommandData
Content Note Indirect access
Parameter 1 Axis configuration 0 0 0 0 0 0 → axis numbers 1-6, counting is started from the right.Meaning:0 = cam axis offThe axis is stopped. The "Drive Halt (AH)" status is activated. Theaxis is brought to a standstill with the deceleration specified inparameter Yx006 (see chapter "Yx006: Maximum acceleration" onpage 431).1 = cam axis onThe axis is activated as cam axis ("AU" or "AF"). If automatic modeis exited, the cam axis is switched off. This option is not permittedin the cyclic task nor in the manual routine or manual cut routine.2 = unchanged3 = Cam axis onThe axis is activated as cam axis ("AU" or "AF"). The cam axisremains active even after automatic mode has been exited, i.e., inmanual mode. (This option is permitted in the cyclic task and in themanual routine or manual cut routine.)
Possible
Tab. 6-37: Cam axes: ActivationThis command causes the axis to follow the selected master axis as a camaxis. The CMA command can be used to activate or deactivate the functionof the cam axis. Axes 1 to 6 can be activated and deactivated at the sametime. The CMC and CMP commands can be used to configure the cam axis.After the operating mode is changed from manual to automatic or vice versa,the status of the previous parameterization can be preserved with the CMCor CMP command.Any position offset defined via the SPO command has an additive effect tothe synchronous position command value of the cam axis. The velocityparameterized in the SPO command adds up to the current synchronousvelocity of the cam axis.If the amount of the difference between the position command value and theposition feedback value is less than the value in parameter "S-0-0228,Position synchronization window", system flag "MSx08" is set.The nInterrupt input does not have any effect on the cam axis.Stepping to the next block takes place after one task cycle.
Behavior in case of "Stop" If a measuring encoder is used as master axis, "Stop" to stops the axis withthe value defined in the parameter "Yx006: Maximum acceleration". If theaxis was activated with option "1" (cf. parameter 1), the cam axis will notbecome active again until the SMC program has been restarted (cf. input"Start"). If the axis was activated with option "3" (cf. parameter 1), the cam
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axis will become active again as early as "Stop" is removed, i.e., absolutesynchronous axes will perhaps carry out a synchronization motion.If no measuring encoder is used as master axis, the cam axis remains active.The axis is brought to standstill "indirectly" by stopping the master axis.
Interaction with positioning com‐mands
The POI and PSI commands can be used to deactivate the cam axis,increase and reduce the current position command value by the distanceprogrammed in the POI and PSI commands and move to the commandposition at the velocity specified.The POA and PSA commands can be used to deactivate the cam axis andmove it to the absolute position specified in the POA and PSA commands atthe velocity specified.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● The cam axis can only be used if the "SNC"(synchronization) function package is activated on theparticular axis.
● See also chapter 7.9.4 "Cam axis" on page 251.
6.11.12 CMC – Cam axis: ConfigurationCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Master axis GlobalMaster (0) = global master axisThe axis follows the global master axis specified in parameterY0028 (see chapter "Y0028: Master axis selection of the system"on page 412).LocalEncoder (1) = local measuring encoderThe axis follows its locally connected measuring encoder.
Possible
Parameter 3 Synchronizationdirection
ShortestWay (0) = shortest distanceCatchUp (1) = positive directionSlowDown (2) = negative direction
Not possible
Parameter 4 Synchronizationtype
Absolute (0) = absolute synchronization; synchronization once onactivation of the operating modeRelative (1) = relative synchronization; synchronization once onactivation of the operating modeAbsoluteAlwaysSyncUp (2) = absolute synchronization;synchronization on activation of the operating mode and afterchanges in configurationRelativeAlwaysSyncUp (3) = relative synchronization;synchronization on activation of the operating mode and afterchanges in configuration
Not possible
Tab. 6-38: Cam axis: ConfigurationThis command can be used to configure the cam axis and select theassociated master axis.The available types of synchronization are absolute and relative. If absolutesynchronization is selected, the position and velocity are adjusted; if relativesynchronization is selected, only the velocity is adjusted. If "Absolute (0)" or
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"Relative (1)" is set for the synchronization type, the synchronization processonly takes place after the operating mode has been activated. If theconfiguration is changed during the active operating mode, thesynchronization process is not repeated. The synchronization type"AbsoluteAlwaysSyncUp (2)" or "RelativeAlwaysSyncUp (3)" can be set torepeat the synchronization process each time the configuration is changed.During the synchronization process, the "P-0-0143, Synchronization velocity"and "P-0-0142, Synchronization acceleration" drive parameters have aneffect on the real axis.Synchronization can be achieved by a movement in the positive direction andin the negative direction, along the shortest distance. This movement isspecified in the synchronization direction parameter.Stepping to the next block takes place after one task cycle.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● The cam axis can only be used if the "SNC"(synchronization) function package is activated on the axis.
● See also chapter 7.9.4 "Cam axis" on page 251.
6.11.13 CMM – Cam axis: Motion stepCommanddata
Content Note Indirect access
Parameter 1 Axis, set and stepselection
Selection of the axis, MotionProfile set and the motion step via athree-digit value "ABC" with the following meaning:● "A" = Selection of the axis
Axis numbers 1 to 6● "B" = MotionProfile set
MotionProfile set "0" or "1"● "C" = Motion step
Number of the motion step 1-8
Possible
Parameter 2 Master axis startposition
Master axis position where the motion step starts (see P-0-0705,P-0-712)0.0000 – 359.9999: master axis start position in degrees-999999: Unchanged, i.e., current master axis start position isretainedNote:For the motion step "1" , the degree "0" must always be specifiedfor the master axis start position. Otherwise, an error is generated.
Possible
Parameter 3 Distance Cam stroke in the motion step (see P-0-0707, P-0-0714)-999999: Unchanged, i.e., current stroke is retained
Possible
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Commanddata
Content Note Indirect access
Parameter 4 Cam profile Mode of the curve profile (see P-0-0706, P-0-0713):1: CamTable1 - free cam table 1 (P-0-0072)2: CamTable2 - free cam table 2 (P-0-0092)3: CamTable3 - free cam table 3 (P-0-0780)4: CamTable4 - free cam table 4 (P-0-0781)5: CamTable5 - free cam table 5 (P-0-0782)6: CamTable6 - free cam table 6 (P-0-0783)7: CamTable7 - free cam table 7 (P-0-0784)8: CamTable8 - free cam table 8 (P-0-0785)9: Poly5 - rest-in-rest with 5th order polynomial10: sine curve - rest-in-rest with inclined sine curve11: VelLimit - rest-in-rest with velocity limitation12: RestInVel - Rest-in-Velocity with polynomial 5th order13: VelInRest - Velocity-in-Rest with polynomial 5th order14: ConstVel - Constant velocity15: VelInVel - Velocity in velocity with polynomial 5th order-999999: Unchanged, i.e., current cam profile is retained
Possible
Parameter 5 Slave axis velocity Slave axis velocity at the end of the motion step (see P-0-0708,P-0-0715)-999999: Unchanged, i.e., current slave axis velocity is retainedNote:The information of the slave axis velocity is required if one of thestandard profiles R-V (rest-in-velocity), V-R (velocity-in-rest) or V-V(velocity-in-velocity) is selected.
Possible
Tab. 6-39: Cam axis: Motion stepWith this command, the motion parameters for an individual motion step canbe defined in the "MotionProfile" operating mode.With parameter 1, the axis, the MotionProfile set and the number of themotion step are selected for which the MotionProfile parameters are to beconfigured. Parameter 2 "Master axis start position" is used to set the masteraxis position from which the motion step (steps "1" to "8") is to start.Parameter 3 "Distance" is used to specify the length that is to be traveled inthe motion step. In Parameter 4 "Cam profile", the cam profile to be used inthe motion step is selected. If one of the standard profiles "RestInVel" (Rest-in-Velocity), "VelInRest" (Velocity-in-Rest) or "VelInVel" (Velocity-in-Velocity)is selected in the motion step, the slave axis velocity at the end of the motionstep must be specified using parameter 5 "Slave axis velocity".Stepping to the next block takes place after 3 task cycles.
Using the command, for example, only the "distance" of a motion step can bechanged. The "MotionProfiles" can also be configured via IWorks (see dialogMotionProfile configuration).
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Example:
Pressing transfer
A specific distance is to be traveled forward or backwards within a masteraxis revolution. The traveling range is to extend from 150° to 250° and from350° to 50°. In the first master axis range, the axis is to travel forwards (+10mm) and in the second backwards (-10 mm). Since the initial master axispositions must increase, the configuration is displaced by 150° (seeP-0-0061). For the "MotionProfile", four motion steps are configured with therequired master axis ranges. For the individual feed angle areas, "Poly5" isset as the cam profile, i.e., a "rest-in-rest" motion with polynomial 5th order.
Fig. 6-13: SMC program, pressing transfer
Fig. 6-14: MotionProfile configuration, pressing transfer
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Fig. 6-15: Oscilloscope recording, pressing transfer
Example:
Traveling a circle
With an X- and Y-axis, a circle with a variable diameter (adjustable by thestroke, 20 mm in the example) is to be milled. The X-axis must travel a sinecam table and the Y-axis a cosine cam table. To achieve this, a sine curve isloaded for both axes in cam table "1", however, a 270° offset for the table isparameterized (see P-0-0061) for the second axis (cosine). For the"MotionProfile", a motion step from 0° to 360° is configured with cam table"1".
Fig. 6-16: SMC program, traveling a circle
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Fig. 6-17: MotionProfile configuration, traveling a circle
Fig. 6-18: Oscilloscope recording, traveling a circle
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● The initial master axis positions of the used motion stepsmust increase and be less than 360 degrees.
● It is determined that motion step "1" always starts with theinitial master axis position "0", i.e., the initial master axisposition (parameter 2) "0" must be specified via thecommand for motion step "1".
● When using free cam tables 1-8, keep in mind that the firsttable element of a cam table must be "0" and the last tablevalue must be at the end angle (360°) (see P-0-0086).
● The command only changes the parameters of the motionset (parameters 2, 3 and 4) if the command parameterschange. To do this, the existing command parameters areinstalled one time from parameter mode to operating modeduring start-up. Subsequent changes to the S- or P-parameters that are not performed via the CMM command(e.g., via IWorks) are no longer detected.
● The "MotionProfile" operating mode can be activated withthe command "CMA – Cam axes: Activation". It is notnecessary to set the "MotionProfile" parameters using theCMM commands. Instead, it can also be done via IWorks.
● See also chapter 6.11.15 "CMS – Cam axis: Settings" onpage 162.
6.11.14 CMP – Cam axis: ProfileCommandData
Content Note Indirect access
Parameter 1 Slave axis Axis numbers 1 to 6 Possible
Parameter 2 Switch-on angle Starting angle of the feed range Possible
Parameter 3 Switch-off angle Stopping angle of the feed range Possible
Parameter 4 Distance Cam stroke in the feed range (feed length) Possible
Parameter 5 Cam profile CamTable1 (1) = free cam table 1 (P-0-0072)CamTable2 (2) = free cam table 2 (P-0-0092)CamTable3 (3) = free cam table 3 (P-0-0780)CamTable4 (4) = free cam table 4 (P-0-0781)CamTable5 (5) = free cam table 5 (P-0-0782)CamTable6 (6) = free cam table 6 (P-0-0783)CamTable7 (7) = free cam table 7 (P-0-0784)CamTable8 (8) = free cam table 8 (P-0-0785)Poly5 (9) = rest-in-rest with 5th order polynomialSinoide (10) = rest-in-rest with inclined sine curveVelLimit (11) = rest-in-rest with velocity limitation
Possible
Tab. 6-40: Cam axis: ProfileThis command defines the traversing profile of a cam axis. The CMPcommand can be used to program the feed range of the cam, the stroke(feed length) and the cam profile.Stepping to the next block takes place after several task cycles (approx. 300ms in case of the slave axis).
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If the cam axis is activated with the CMA command without callingthe CMP command once, the current settings which were, forexample, made in IndraWorks are active for the axis.
Position data processing Position data for the cam axis can be processed relatively or absolutely. Thissetting is not defined via the CMP command but must be parameterized bythe user via the "MotionProfile configuration" IndraWorks dialog (cf.parameter "P-0-0088, Control word synchronization modes (bit 10))".With the "Roll feed" application type, relative processing of the position datamust be available (P-0-0088, bit 10 equal to "1'") to ensure that strokes ofany size desired can be specified.With absolute processing (P-0-0088, bit 10 equal to "0"), the stroke must be amultiple of the modulo value if module position scaling (cf. chapter "Yx008:Scaling type" on page 432) is selected; otherwise drive error "F2004" isgenerated.
"Rest-in-rest with velocity limita‐tion" cam profile
The cam profile VelLimit (11), i.e., "rest-in-rest with velocity limitation" iscalculated by means of parameter Yx040 (see chapter "Yx040: Max. numberof press strokes" on page 447). The value of the velocity limitation is definedby parameter Yx004 (see chapter "Yx004: Maximum velocity" on page 430).If this profile is selected, the maximum axis velocity is calculated from thevalues specified for the max. number of press strokes (cf. Yx040), the strokeand the feed range (switch-on and switch-off angles). If this velocity is lowerthan the maximum velocity specified (cf. Yx004), a 5th order polynomial isused. If the maximum velocity were exceeded, the step is separated intothree partial steps, i.e., "rest-in-velocity", "constant velocity" and "rest-in-velocity". The central step is the section where the axis moves at maximumvelocity (cf. Yx004).If it is not possible to separate the step into the 3 partial steps as, forexample, the stroke is too large, the error "F2004" is generated. In this case,the appropriate error number (81 … 88; the meaning can be found in the"F2004, Error in MotionProfile" diagnostics description) is displayed in themotion profile block concerned (P-0-0702 - set 0, P-0-0709 - set 1).The following remedies can be used:● Reduce the feed length or stroke● Increase the feed range● Increase the maximum velocity of the axis (Yx004)● Reduce the maximum number of press strokes (Yx040)If the "rest-in-rest" profile is separated into the three steps "rest-in-velocity","constant velocity" and "velocity-in-rest", acceleration values occur in the firstand last partial sections, which are considerably higher than if the profile withthe simple 5th order polynomial is used. Acceleration values are notmonitored!
Effectiveness of changes in con‐figuration via the CMP command
The function of the cam axis is based on the "Electronic MotionProfile" modein the drive. The electronic motion profile provides blocks "0" and "1" forconfiguring the motion profile, with only one block being active at a time. Afterthe cam axis has been reactivated via the CMA command, block "0" is usedby default. If the CMP command is used to make changes (e.g., stroke) withthe cam axis already having been activated, the new configuration isparameterized in the block that is not active at that time. Stepping to the newblock with the different configuration (e.g., new stroke) will not take placebefore the master axis position exceeds the "master axis switching position"(cf. drive parameter P-0-0700) thereafter.
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The CMP command writes the P-0-0700, master axis switching position driveparameter to a greater switch-off angle of block "0" or "1".The CMP command must also be used to make an adjustment in theP-0-0061, Angle offset begin of table drive parameter in relation to thestarting and stopping angles. If the CMP command is called, the valuerequired is immediately written to parameter P-0-0061, Angle offset begin oftable.Generation of P-0-0061, Angle offset begin of table:● Starting angle < stopping angle → P-0-0061 = 0°● Starting angle > stopping angle → P-0-0061 <> 0° (depending on the
starting angle)
● The minimum or maximum possible feed area depends onthe value of the parameter "Yx040: Max. number of pressstrokes" (see also drive error "F2003 Motion stepexceeded"). If the feed area is invalid, parameter 3 "Endangle" is reported as faulty (too small or large).
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● The cam axis can only be used if the "SNC"(synchronization) function package is activated on theparticular axis.
● See also chapter 7.9.4 "Cam axis" on page 251.
6.11.15 CMS – Cam axis: SettingsCommandData
Content Note Indirect access
Parameter 1 Slave axis Axis numbers 1 to 6 Possible
Parameter 2 MotionProfile set Selection of MotionProfile set "0" or "1" (see P-0-0088, bit 9)0: Set0 - MotionProfile set 01: Set1 - MotionProfile set 1-999999: Unchanged, i.e., current MotionProfile set remains active
Possible
Parameter 3 Number of steps Number of the motion steps for the selected MotionProfile set inparameter 2 (see P-0-0703, P-0-0710)1: 1Step - 1 motion step2: 2Steps - 2 motion steps3: 3Steps - 3 motion steps4: 4Steps - 4 motion steps5: 5Steps - 5 motion steps6: 6Steps - 6 motion steps7: 7Steps - 7 motion steps8: 8Steps - 8 motion steps-999999: Unchanged, i.e., current number of motion steps areretained
Possible
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CommandData
Content Note Indirect access
Parameter 4 Angle offset Access to the "MotionProfile" is negatively displaced by this anglecompared to the master axis position (see P-0-0061).0.0000 – 359.9999: displacement in degrees-999999: Unchanged, i.e., current angle offset is retained
Possible
Parameter 5 Following factor Gear factor (+/-)The sign of this factor defines the direction in relation to the masteraxis.
Possible
Tab. 6-41: Cam axis: SettingsIn the "MotionProfile" operating mode, 2 motion sequences with up to 8motions steps per master axis revolution can be used. With the "CMS – Camaxis: Settings" command, settings can be defined for the"MotionProfile".Parameter 2 "MotionProfile set" is used to select which of the two motionsequences (set "0" or "1") is to be used in the operating mode. Withparameter 3 "Number of steps", the number of motion steps can be set foreach MotionProfile to values between "1" and "8". Access to the"MotionProfile" can be negatively displayed compared to the master axisposition with parameter 4 "Angle offset". The velocity specification of themaster axis can be manipulated with a following factor (+/-) using parameter5 "Following factor".The gear factor has the following effect:
Fig. 6-19:Stepping to the next block depends on the selected axis and whichparameter must be changed. If the selected axis is the CCD master axis,stepping to the next block always takes place after a task cycle. If a CCDslave axis selected and the parameter "Number of steps" or "Angle offset"must be changed, stepping to the next block only takes place after severaltask cycles (acyclic write access). Otherwise, stepping to the next block takesplace after a task cycle, also for the CCD slave axis.Using the command, for example, only the "MotionProfile set" of a motionstep can be changed. The "MotionProfiles" can also be configured via IWorks(see dialog MotionProfile configuration).
● The command only changes the parameters of the motionset (parameters 2, 3 and 4) if the command parameterschange. To do this, the existing command parameters areinstalled one time from parameter mode to operating modeduring start-up. Subsequent changes to the S- or P-parameters that are not performed via the CMS command(e.g., via IWorks) are no longer detected.
● The "MotionProfile" operating mode can be activated withthe command "CMA – Cam axes: Activation". It is notnecessary to set the "MotionProfile" parameters using theCMS commands. Instead, it can also be done via IWorks.
● See also chapter 6.11.13 "CMM – Cam axis: Motion step"on page 155.
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6.11.16 CON – Continuous operationCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 On/Off Off (0) = continuous operation offOn (1) = continuous operation on
Possible
Parameter 3 Velocity in % Velocity in % (-100 to 100) of the value programmed in parameterYx004
Possible
Tab. 6-42: Continuous operationThis command activates and deactivates continuous operation of an axis.The sign of the velocity defines the direction of motion of the axis.The command can also be used with homed axes. When doing this,however, travel range limits (see chapter "Yx044: Travel limit, maximumvalue" on page 450 and chapter "Yx045: Minimum travel limit" on page 450)must be observed if axes with an absolute position data format are used.Continuous operation can be switched off in the program with this commandor with the "JST - Jump and stop" command. A change in mode (e.g., fromautomatic to manual) deactivates continuous operation. The current valuesparameterized in the ACC command are always used for acceleration anddeceleration.Stepping to the next block takes place after one task cycle.
● This command may not be called in the cyclic task.● If the "Flying Cutoff" application type is used, this command
may not be programmed for the synchronous axis.
6.11.17 COU – CounterCommandData
Content Note Indirect access
Parameter 1 Actual quantity VF, VFR Has to bevariable
Parameter 2 "Commandquantity reached"bit
Bit (Q, MF, MFR) which is set if the "command quantity has beenreached"
Not possible
Parameter 3 Command quantity Possible
Tab. 6-43: CounterAs is the case with the BAC command, this command also allows countingevents, machining cycles, and quantities. The quantity is increased each timethe block with this command is processed. Then the actual quantity iscompared to the required quantity setpoint. Once the command quantity hasbeen reached, the programmed bit is set and the actual quantity is deleted.The programmed bit is only set here. If it is necessary to delete this bit, then ithas to be carried out at another point in the application program. Quantitycounters can be set anywhere and as often as needed in the applicationprogram.Stepping to the next block takes place after one task cycle.
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The current actual quantity of each quantity counter is preservedeven in case of an error, a change in mode or switch-off provideda "programmable non-volatile variable - VFR" is used for theactual quantity.
6.11.18 CPA – Position-coupled axes: ActivationCommandData
Content Note Indirect access
Parameter 1 Axis configuration 0 0 0 0 0 0 → axis numbers 1-6, counting is started from the right.Meaning:0 = position-coupled axis offThe axis is stopped.The "Drive Halt (AH)" status is activated. The axis is brought to astandstill with the deceleration specified in parameter Yx006 (seechapter "Yx006: Maximum acceleration" on page 431).1 = position-coupled axis onThe axis is activated as position-coupled axis ("AU" or "AF"). Ifautomatic mode is exited, the position-coupled axis is switched off.This option is not permitted in the cyclic task nor in the manualroutine or manual cut routine.2 = unchanged3 = Position-coupled axis onThe axis is activated as position-coupled axis ("AU" or "AF"). Theposition-coupled axis remains active even after automatic modehas been exited, i.e., in manual mode. This option is permitted inthe cyclic task and in the manual routine or manual cut routine.
Possible
Parameter 2 Master axis Axis numbers 1 to 6The master axis must be configured for each position-coupledslave axis via parameter "Yx000".
Possible
Parameter 3 Max. positiondifference
Maximum allowed position difference of the slave axes in relationto the master axis
Possible
Tab. 6-44: Position-coupled axes: ActivationThis command causes the axis to follow the selected master axis as aposition-coupled axis. The position coupling of the coupled axis is achievedinternally via a "position-controlled" operation mode. The master axis isdefined via parameter 2. This value must match the specifications inparameter "Yx000: Application type".One of the following parameters must be selected as master axis source sig‐nal from "Yx000":● "S-0-0051, Position feedback value 1"● "S-0-0053, Position feedback value 2"● "S-0-0386, Active position feedback value"● "P-0-0434, Position command value of controller"● "P-0-0457, Position command value generator"The CPA command is used to activate or deactivate the function of theposition-coupled axis. Axes 1 to 6 can be activated and deactivated at thesame time.
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After the position-coupled axis has been activated, the axis is subjected to asynchronization process, i.e., based on the synchronization parameters theaxis internally generates a smooth transition of the internal position commandvalue from the current feedback position to the new command value behaviorspecified by the master axis. After completion of the synchronization process,the axis follows the position command values specified by the master axis.Drive parameters "P-0-0142, Synchronization acceleration" and "P-0-0143,Synchronization velocity" are in effect during the synchronization process.Parameter 3 is used for the position-coupled axes to define a maximumposition difference of the synchronized slave axes in relation to the masteraxis. If the current position difference of a synchronized axis exceeds thismaximum difference, the SMC generates an error and the error reaction setfor the master and slave axes is carried out. Monitoring of the maximumposition difference is not activated before all slave axes are synchronizedwith the master axis. The status of the "MSx13" system flag of the masteraxis indicates whether the synchronization phase is completed. This systemflag is set as soon as the current position differences of all slave axes inrelation to the master axis are less than the specified maximum positiondifference after the synchronization phase has been completed.
System flag "MSx13" is only set for the master axis of thecoupling group.
The position-coupled axis is deactivated with a new travel command (e.g.,PSI, CON, ...). Input "Feed interrupt" (cf. "Yx016") is not effective for theposition-coupled axis.Stepping to the next block takes place after one task cycle.
● This command only allows activating and deactivating theposition-coupled axes that are assigned to the same masteraxis (cf. "Yx000").
● The command is only permitted if one of the followingparameters was selected as source signal in the parameter"Yx000: Application type": "S-0-0051, Position feedbackvalue 1", "S-0-0053, Position feedback value 2", "S-0-0386,Active position feedback value", "P-0-0434, Positioncommand value of controller" or "P-0-0457, Positioncommand value generator".
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● The command may not be programmed for the virtual axis.
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6.11.19 CPJ – Compare and jumpCommandData
Content Note Indirect access
Parameter 1 Value 1 Possible
Parameter 2 Comparisoncondition
= (1): Value 1 = Value 2 (with tolerance field)> (2): Value 1 > Value 2< (3): Value 1 < Value 2>= (4): Value 1 >= Value 2<= (5): Value 1 <= Value 2<> (6): Value 1 <> Value 2 (with tolerance field)
Not possible
Parameter 3 Value 2 Possible
Parameter 4 Tolerance field Possible
Parameter 5 Jump target Jump label Possible
Tab. 6-45: Compare and jumpThe jump to the jump label is carried out when the comparison is met. If thecondition is not met, then the program proceeds with the following commandblock.With the comparison conditions "equal to" and "not equal to", the condition isfulfilled when the difference between the two operands is inside or outsidethe tolerance field.Stepping to the next block takes place after one task cycle.Example:
CPJ VF600 >= VF601 0000.00 JMP_SET
VF600 = 100.000VF601 = 90.000This command branches to the JMP_SET label.
For more examples of how to use the CPJ command, please referto "CASE statement" on page 324.
6.11.20 CPL – Clear position lagCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Tab. 6-46: Clear following distanceThe following distance of the axis is set to zero once. This command sets theposition command value of the axis to the current actual position. The currentactual position is determined via the "S-0-0386, Active position feedbackvalue" drive parameter. Depending on whether "optional encoder" is set, thisvalue is either the motor encoder position ("S-0-0051, Position feedbackvalue 1") or the position of the optional encoder or the measuring wheelposition ("S-0-0053, Position feedback value 2").System variables "VSx12, Remaining feed" and "VSx13, command feedlength" are reset to "0" for the axis used.
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The "In position" output (cf. Yx033) is set if all of the following conditions aremet:● The "actual position" is inside the "position window" (cf. drive parameter
S-0-0057, Position window).● The "following distance" is less than the "Position window".● The "actual velocity" is inside the "standstill window" (cf. drive parameter
S-0-0124, Standstill window).Stepping to the next block takes place after two task cycles.If the feed motion was started via the POI, POA, PSI or PSA command,execution of the CPL command (e.g., via a second task) causes thesecommands to be aborted, the axis movement to be stopped, and thecommand block to be stepped to the next block in case of the PSA and PSIcommands.Calling up the CPL command temporarily switches off the operating mode, ifthe operating mode was activated for the axis via the following commands:● CMA – Cam axes: activation● FOA – Phase-synchronous axes: Activation● VOA – Velocity-coupled axis over PLC Global RegisterThe CPL command is executed. Thereafter, the operating mode that wasactive beforehand is reactivated. If necessary, absolute position synchronousaxes make a synchronization movement. The CPL command should only becalled at standstill. Otherwise, the axis briefly stops and resynchronizes.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed.
● The command may not be programmed for the virtual axis.● If the CPL command is called (e.g., via a second task) while
one of the following commands is processed, an errormessage is generated.– CON– CPA– CTA– CVA– HOM– PFA– PFI– SOA– SRM
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6.11.21 CPS – Compare and set a bitCommandData
Content Note Indirect access
Parameter 1 Value 1 Possible
Parameter 2 Comparisoncondition
= (1): Value 1 = Value 2 (with tolerance field)> (2): Value 1 > Value 2< (3): Value 1 < Value 2>= (4): Value 1 >= Value 2<= (5): Value 1 <= Value 2<> (6): Value 1 <> Value 2 (with tolerance field)
Not possible
Parameter 3 Value 2 Possible
Parameter 4 Tolerance field Possible
Parameter 5 Result bit Result bit: Q , MF, MFR Not possible
Tab. 6-47: Compare and set a bitThe result bit is set if the comparison condition is fulfilled. Otherwise theresult bit is deleted.With the comparison conditions "equal to (=)" and "not equal to(<>)", thecomparison condition is fulfilled when the difference between the twooperands is inside or outside the tolerance field.Stepping to the next block takes place after one task cycle.
6.11.22 CRL – Set tailout length - Cam axisCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Tab. 6-48: Set tailout length - Cam axisThis command sets the displayed command feed length (cf. system variableVSx13) for the active cam axis (cf. CMA command) to the current strokevalue of the cam axis (cf. CMP command). At the same time, this alsoactivates calculation and output of the current remaining feed of the axis (cf.system variable VSx12).If active feed motions of a cam axis are interrupted (e.g., by special mode“Safe standstill” with SOS activated "SMST2"), the currently displayedremaining feed can be evaluated (e.g., traverse rest distance via PSIcommand). If cam axes are used as feed axes, this command typically iscalled shortly before the feed motion is started.Stepping to the next block takes place after one task cycle.
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● This command does not change the feed length of a camaxis but only activates the output of the command feedlength (VSx13) and the current remaining distance (VSx12)in the axis-specific system variables. The feed length to betraversed with cam axes must be specified via the CMPcommand (see chapter 6.11.14 "CMP – Cam axis: Profile"on page 160).
● This command may not be called in the cyclic task.● If the "Flying Cutoff" application type is used, this command
may not be programmed for the synchronous axis.
6.11.23 CST – Clear subroutine stackCommandData
Content Note Indirect access
Parameter 1 Task or routine Task or routine number:1 = automatic task 12 = Automatic task 23 = Automatic task 34 = Automatic task 45 = manual routine6 = manual cut routine7 = cyclic task
Not possible
Parameter 2 Correction value 0 = clear subroutine stack1 = correct subroutine stack by 1 level2 = correct subroutine stack by 2 levels…16 = Correct subroutine stack by 16 levels
Not possible
Tab. 6-49: Clear subroutine stackThe subroutine stack can be corrected using this command.If several subroutines are opened in a single task, then a direct return acrossseveral levels is not possible with the RTS command. If the subroutine stackwas corrected with the CST command, a subsequent RTS command willcause a direct return across several levels.Stepping to the next block takes place after one task cycle.
If all subroutine stacks have been cleared, the CST command(see chapter 6.11.23 "CST – Clear subroutine stack" on page170) may not be followed by an RTS command (see chapter6.11.59 "RTS – Return from subroutine" on page 206);otherwise, an error message will be generated.
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Example
Fig. 6-20: Example of the Clear subroutine stack command
6.11.24 CTA – Torque-coupled axes: ActivationCommandData
Content Note Indirect access
Parameter 1 Axis configuration 0 0 0 0 0 0 → axis numbers 1-6, counting is started from the right.Meaning:0 = Torque-coupled axes offThe axis is stopped.The "Drive Halt (AH)" status is activated. The axis is brought to astandstill with the deceleration specified in the parameter Yx006(see chapter Yx006: Maximum acceleration, page 431).1 = Torque-coupled axis onThe axis is activated as a torque-coupled axis ("AU" or "AF"). Ifautomatic mode is exited, the torque-coupled axis is switched off.This option is not permitted in the cyclic task nor in the manualroutine or manual cut routine.2 = unchanged3 = Torque-coupled axis onThe axis is activated as a torque-coupled axis ("AU" or "AF"). Thetorque-coupled axis remains active even after automatic mode hasbeen exited, i.e., in manual mode. This option is permitted in thecyclic task and in the manual routine or manual cut routine.
Possible
Parameter 2 Master axis Axis numbers 1 to 6The master axis must be configured for each coupled axis viaparameter "Yx000".
Possible
Tab. 6-50: Torque-coupled axes: activation
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This command causes the axis to follow the selected master axis as atorque-coupled axis. The torque coupling of the axis is achieved internally viaa "torque-controlled" operation mode. In this case, the torque command valuefor the coupled axis is specified through the cyclic writing of parameter"S-0-0081, Additive torque/force command value". The master axis is definedvia parameter 2. This value must match the specifications in parameter"Yx000: Application type".One of the following parameters must be selected as master axis source sig‐nal from "Yx000":● "P-0-0049, Effective torque/force command value"● "S-0-0084 Torque/force feedback value"The CTA command is used to activate or deactivate the function of thetorque-coupled axis. Axes 1 to 6 can be activated and deactivated at thesame time.An offset value (+/-) and a multiplication factor (+/-) can be used tomanipulate the effective torque command value. The settings for this aremade by the CTC command. The resulting torque command value of theslave axis is limited to the maximum of the "Yx007: Maximum torque" in thepositive and in the negative direction. Changes to the torque command value("S-0-0081, Additive torque/force command value") are carried out directly.After the operating mode is changed from manual to automatic or vice versa,the status of the previous parameterization can be preserved with the CVCcommand.The torque-coupled axis is deactivated with a new travel command (e.g., PSI,FOA, ...).Input "Feed interrupt" (cf. "Yx016") is not effective for the torque-coupledaxis.Stepping to the next block takes place after one task cycle.
Behavior in case of "Stop" If the "Stop" is set, the axis remains in the "torque-controlled" operatingmode, i.e., no "Drive Halt" (AH) is commanded. Instead, it is "indirectly"stopped by halting the master axis. Any existing torque offset (see CTCcommand) is internally deleted for this. If the axis was activated with option"1" (see Parameter 1), the torque offset is first reset after the CTC commandis called. If the axis was activated with option "3" (see parameter 1), thetorque offset will become active again as early as "Stop" is removed, i.e., anyexisting torque offset takes immediate effect.
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● This command only allows simultaneously activating thecoupled axes that are assigned to the same master axis (cf."Yx000").
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● The command may not be programmed for the virtual axis.● The command is only permitted if one of the following two
parameters is selected as source signal in the parameter"Yx000: Application type": The parameter "P-0-0049, Activetorque/force command value" or "S-0-0084, Actual torque/force value".
● Torque coupling does not allow dead time compensation.The torque command value in the slave axis is delayed by 2(master axis is CCD master) or 3 cycle times (master axis isCCD slave) as compared with the command value in themaster axis.
● The command is not permitted if the torque average isalready activated for the torque-coupled axis (see TAAcommand).
● In order not to falsify the error reaction, the "S-0-0081,Additive torque/force command value" is always internallywritten with "0" in case of a drive-internal error reaction bythe drive firmware.
6.11.25 CTC – Torque-coupled axes: ConfigurationCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Offset Torque offset (+/-) in [%]Default value: 0%
Possible
Parameter 3 Factor Multiplication factor (+/-) for specified torque of master axisDefault value: 1
Possible
Tab. 6-51: Velocity-coupled axes: ConfigurationThis command can be used to set a torque offset and a multiplication factorfor a torque-coupled axis. After the torque-coupled axis is activated via theCTA command, the effective command torque is generated taking intoconsideration the current torque offset (parameter 2) and the multiplicationfactor (parameter 3). The resulting torque command value of the axis iscalculated according to the following formula:
Fig. 6-21:Additionally, the command value is limited to the maximum of the “Yx007:Maximum torque” in the positive and in the negative direction. The effectivetorque command value is specified directly, i.e., without a ramp or filter.
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Excessive torque impacts can damagemachinery and materials.
WARNING
To avoid excessive torque impacts through changes to the offset or factor,necessary value changes with relatively small deviations must be carried out.Under certain circumstances, it may be necessary to implement a "rampgenerator" by calling up the CTC command several times for this.
Stepping to the next block takes place after one task cycle.
● It is only necessary to call up the CTC command if valuesother than the default values must be set for the offset or thefactor.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● The command may not be programmed for the virtual axis.
6.11.26 CVA – Velocity-coupled axes: ActivationCommandData
Content Note Indirect access
Parameter 1 Axis configuration 0 0 0 0 0 0 → axis numbers 1-6, counting is started from the right.Meaning:0 = velocity-coupled axis offThe axis is stopped.The "Drive Halt (AH)" status is activated. The axis is brought to astandstill with the deceleration specified in parameter Yx006 (seechapter "Yx006: Maximum acceleration" on page 431).1 = velocity-coupled axis onThe axis is activated as velocity-coupled axis ("AU" or "AF"). Ifautomatic mode is exited, the velocity-coupled axis is switched off.This option is not permitted in the cyclic task nor in the manualroutine or manual cut routine.2 = unchanged3 = velocity-coupled axis onThe axis is activated as velocity-coupled axis ("AU" or "AF"). Thevelocity-coupled axis remains active even after automatic modehas been exited, i.e., in manual mode. This option is permitted inthe cyclic task and in the manual routine or manual cut routine.
Possible
Parameter 2 Master axis Axis numbers 1 to 6The master axis must be configured for each coupled axis viaparameter "Yx000".
Possible
Parameter 3 Max. velocitydifference
Maximum velocity difference of the axes Possible
Tab. 6-52: Velocity-coupled axes: activationThis command causes the axis to follow the selected master axis as avelocity-coupled axis. The velocity coupling of the axis is achieved internallyvia a "velocity-controlled" operation mode. The master axis is defined viaparameter 2. This value must match the specifications in parameter "Yx000:Application type".
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One of the following parameters must be selected as master axis source sig‐nal from "Yx000":● "S-0-0040, Velocity feedback value"● "S-0-0156, Velocity feedback value 2"● "P-0-0048, Effective velocity command value"The CVA command is used to activate or deactivate the function of thevelocity-coupled axis. Axes 1 to 6 can be activated and deactivated at thesame time. The CVC command is used to configure the velocity-coupledaxis. The offset value and the multiplication factor must be specified via theCVC command.The axis follows the effective command velocity with maximum acceleration.Parameter 3 is used for the coupled axes to define a maximum velocitydifference of the synchronized slave axes in relation to the master axis. If thecurrent velocity difference of all coupled axis, in relation to the particulareffective command velocity, is less than this maximum difference, system flag"MSx13" is set on the master axis. Otherwise, system flag "MSx13" is not set.In this case, the SMC will not carry out any error reaction.
System flag "MSx13" is only set for the master axis of thecoupling group.
After the operating mode is changed from manual to automatic or vice versa,the status of the previous parameterization can be preserved with the CVCcommand.The velocity-coupled axis is deactivated with a new travel command (e.g.,PSI, FOA, ...).Input "Feed interrupt" (cf. "Yx016") is not effective for the velocity-coupledaxis.Stepping to the next block takes place after one task cycle.
Behavior in case of "Stop" If the "Stop" is set, the axis remains in the "velocity-controlled" operatingmode, i.e., no "Drive Halt" (AH) is commanded. Instead, it is "indirectly"stopped by halting the master axis. Any existing velocity offset (see CVCcommand) is internally deleted for this. If the axis was activated with option"1" (see Parameter 1), the velocity offset is first reset after the CVC commandis called. If the axis was activated with option "3" (see parameter 1), thevelocity offset will become active again as early as "Stop" is removed, i.e.,any existing velocity offset takes immediate effect.
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● This command only allows simultaneously activating thecoupled axes that are assigned to the same master axis (cf."Yx000").
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● The command may not be programmed for the virtual axis.● The command is only permitted if one of the following
parameters was selected as source signal in the parameter"Yx000: Application type": "S-0-0040, Velocity feedbackvalue", "S-0-0156, Velocity feedback value 2" or "P-0-0048,Effective velocity command value".
● The command is only permitted, if Yx047, bit0 is configuredto "FALSE", see also chapter "Yx047: Configuration cyclicCCD – Process data" on page 451.
● Velocity coupling does not allow dead time compensation.The velocity command value in the slave axis is delayed by2 (master axis is CCD master) or 3 cycle times (master axisis CCD slave) as compared with the command value in themaster axis.
6.11.27 CVC – Velocity-coupled axes: ConfigurationCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Offset Velocity offset (+/-) Possible
Parameter 3 Factor Multiplication factor (+/-) for specified velocity of master axis Possible
Tab. 6-53: Velocity-coupled axes: ConfigurationThis command can be used to set a velocity offset and a multiplication factorfor a velocity-coupled axis. After the velocity-coupled axis has been activatedvia the CVA command, the effective command velocity is established with thecurrent velocity offset and the multiplication factor being taken into account.An offset value (+/-) and a multiplication factor (+/-) can be used tomanipulate the master axis velocity specification. The resulting velocitycommand value of the axis is calculated according to the following formula:
Fig. 6-22:Stepping to the next block takes place after one task cycle.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● The command may not be programmed for the virtual axis.
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6.11.28 CVT – Converting variable <-> Bit patternCommandData
Content Note Indirect access
Parameter 1 Variables Target or source (VF, VFR) Always variable
Parameter 2 Starting bit Start bit for target or source.● Task VarToBit
Only one flag (MF, MFR) is allowed as start bit for the target.After this flag, use is always made of the 64 subsequentflags.
● Task BitToVarOnly one flag (MS, MF, MFR) is allowed as start bit for thesource. After this flag, use is always made of the 64subsequent flags.
● Task IntToBitOne output or one flag (Q, MF, MFR) is allowed as start bitfor the target.
● Task BitToIntOne input, one output or one flag (I, Q, MS, MF, MFR) isallowed as start bit for the source.
Not possible
Parameter 3 Task VarToBit (0) = convert from a real value (variable) to a bit patternBitToVar (1) = convert from a bit pattern to a real value (variable)IntToBit (2) = convert from an integer value (variable) to a bitpatternBitToInt (3) = convert from a bit pattern to an integer value(variable)
Not possible
Parameter 4 Number of bits Number of bits (max. 8)This parameter is only effective for tasks IntToBit and BitToInt(parameter 3).
Possible
Tab. 6-54: Converting variable <-> flagThis command converts a binary bit pattern into an integer or real value(variable) or an integer or real value (variable) into a binary bit pattern.Stepping to the next block takes place after one task cycle.
Tasks "VarToBit" and "BitToVar" Binary format:● 1 x sign bit (1 = negative, 0 = positive)
Most significant bit in the most significant integer byte● 4 x integer bytes● 4 x decimal bytes (→ scaled to 2^32)
Example:
VF600 = 9876.3333
Decimal bytes: 0.3333 * 2^32 = 1431512599dec = 55 53 26 17hex
● Byte 3 = 01010101bin
● Byte 2 = 01010011 bin
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● Byte 1 = 00100110 bin
● Byte 0 = 00010111 bin
Integer bytes: 9876dec = 00 00 26 94hex
● Byte 7 = 00000000 bin
● Byte 6 = 00000000 bin
● Byte 5 = 00100110 bin
● Byte 4 = 10010100 bin
Example:
VF600 = -123.000
When negative values are converted, the two's complement is calculated,i.e., the bit pattern of the positive numerical value (123dec = 01111011bin) isnegated and incremented by one. This results in:Decimal bytes: 0.000 * 2^32 = 0dec = 0hex
● Byte 3 = 00000000 bin
● Byte 2 = 00000000 bin
● Byte 1 = 00000000 bin
● Byte 0 = 00000000 bin
Integer bytes: 4294967173dec = FF FF FF 85hex
● Byte 7 = 11111111 bin
● Byte 6 = 11111111 bin
● Byte 5 = 11111111 bin
● Byte 4 = 10000101 bin
The conversion precision is defined by the data type of thevariable (REAL with 32 bits, IEEE floating-point number).
Tasks "IntToBit" and "BitToInt" Using tasks "BitToInt" and "IntToBit", This command converts a binary bitpattern into an integer value (variable) or an integer value (variable) into abinary bit pattern. The width of the bit pattern is defined via parameter 4. Nomore than 8 bits are taken into account. If values are greater than 8, an errormessage is generated.If inputs and outputs are used, the system checks whether the number of bitsindicated here is really available. If not, an error message is generated.Using the variable, the integer value is input and output as a real numberwithout evaluating the decimal places, i.e., decimal places are cut off with"IntToBit" so that there will be no rounding!"IntToBit" does not allow any negative integer values. In such a case, anerror message is displayed.Conversion with "IntToBit" does not cause any error message in the event ofan overflow. Conversion only involves the number of lowest-order bitsdefined via parameter 4 (see example 2).
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Example:
1. CVT VF600 MF01 BitToInt 8 (with MF01 = 1110.1101bin, 8 bits):output variable "VF600 = 237,0000"
2. CVT VF600 MF01 IntToBit 4 (with VF600 = 157,9678, only 4 bits):evaluated integer value "10011101bin" (157dec) ⇒ output bit pattern"1101bin" (13dec)
If existing I/O hardware is accessed through the CVT commandwith tasks "BitToInt" and "IntToBit", the maximum usable pin or bitarea (bit number equal to pin number) is automatically defined bythe I/O hardware addressed.The areas allowed for inputs and outputs are● X31:
– "Single axis": Pins 1- 8– "Double axis": Pins 11 - 18 or Pins 21 - 28
● X35:– "Single axis": Pins 16 - 19, Pins 26 - 29
● X36:– "Double axis": Pins 14 - 16 or Pins 24 - 26
● X37:– "Option DA:" Pins 11 - 16, Pins 21 - 28
● Sercos I/O 1-4:Pins 1 - 16
● Field bus (word 1-6):Bit 0 - 15
If this command is used to access non-cohering pin areas of I/Ohardware, the system internally makes an automatic jump to thenext possible pin number.
6.11.29 EDG – Edge detection bitCommandData
Content Note Indirect access
Parameter 1 Bit I, Q, MS, MF, MFR Not possible
Parameter 2 Mode Rising (0) = rising edgeFalling (1) = falling edge
Possible
Tab. 6-55: Edge detection bitStepping to the next block takes place once the preselected edge type hasbeen detected at the bit.
6.11.30 EOS – End of synchronizationCommandData
Content Note Indirect access
Parameter 1 Axis Only axis 1 (master axis) permitted Possible
Tab. 6-56: End of synchronization
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A tool program with "Flying Cutoff" must always be completed with thiscommand. The end of the tool program is reported using this command. Thesystem cannot be switched to manual mode between the synchronous runand this command.Stepping to the next block takes place after one task cycle.
An EOS command is only applicable to axis 1 and the "FlyingCutoff" application type. See also chapter "EOS – End ofsynchronization" on page 279.
6.11.31 FAK – Multiplication factor for feedCommandData
Content Note Indirect access
Parameter 1 Axis 1 - 6 = axis numbers 1-6101 = measuring wheel correction for axis 1 with Flying Cutoff
Possible
Parameter 2 Multiplication factor Valid range from 0.000 to 1.999999 if parameter 1 is unequal to"101"Valid range from 0.9 to 1.1 if parameter 1 is equal to "101"
Possible
Tab. 6-57: Multiplication factor for feedThe feed travel of the POA, POI, PSI, and PSA commands always resultsfrom the selected length value or the position and a scaling factor. The following formula applies to incremental feeds:
Fig. 6-23: Calculation of incremental feeds The following formula applies to absolute feeds:
Fig. 6-24: Calculation of absolute feeds Each change to the factor is effective for all subsequent feeds. Changing thefactor has no impact on a feed that has already been initiated.If "101 (measuring wheel correction for axis 1 with Flying Cutoff)" isprogrammed for axis 1, the scaling factor has an effect on the feed constantof the measuring wheel of axis 1. The feed constant of the measuring wheelitself (cf. drive parameter "P-0-0159, Slave drive feed travel") remains as it is.After each restart and each time the mode is changed, an error isacknowledged and parameter mode is exited, this factor is reset to "1.0".Stepping to the next block takes place after one task cycle.
The "measuring wheel correction - 101" function (see commandparameter 1) is only applicable to axis 1 and to the "Flying Cutoff"application type.
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6.11.32 FOA – Phase-synchronous axes: ActivationCommandData
Content Note Indirect access
Parameter 1 Axis configuration 0 0 0 0 0 0 → axis numbers 1-6, counting is started from the right.Meaning:0 = phase synchronous axis offThe axis is stopped.The "Drive Halt (AH)" status is activated. The axis is brought to astandstill with the deceleration specified in parameter Yx006 (seechapter "Yx006: Maximum acceleration" on page 431).1 = phase synchronous axis onThe axis is activated as phase synchronous axis ("AU" or "AF"). Ifautomatic mode is exited, the phase synchronous axis is switchedoff. This option is not permitted in the cyclic task nor in the manualroutine or manual cut routine.2 = unchanged3 = Phase-synchronous axis onThe axis is activated as phase synchronous axis ("AU" or "AF").The phase synchronous axis remains active even after automaticmode has been exited, i.e., in manual mode. This option ispermitted in the cyclic task and in the manual routine or manual cutroutine.
Possible
Tab. 6-58: Phase synchronous axes: activationThis command causes the axis to follow the selected master axis as a phasesynchronous axis. The FOA command can be used to activate or deactivatethe function of the phase synchronous axis. Axes 1 to 6 can be activated anddeactivated at the same time. The FOC command can be used to configurethe phase synchronous axes.After the operating mode is changed from manual to automatic or vice versa,the status of the previous parameterization can be preserved with the FOCcommand.Any position offset defined via the SPO command has an additive effect tothe synchronous position command value of the phase synchronous axis.The velocity parameterized in the SPO command adds up to the currentsynchronous velocity of the phase synchronous axis.If the amount of the difference between the position command value and theposition feedback value is less than the value in parameter "S-0-0228,Position synchronization window", system flag "MSx08" is set.The nInterrupt input does not have any effect on the phase synchronous axis.Stepping to the next block takes place after one task cycle.
Behavior in case of "Stop" If a measuring encoder is used as master axis, "Stop" to stops the axis withthe value defined in the parameter "Yx006: Maximum acceleration". If theaxis was activated with option "1" (cf. parameter 1), the phase synchronousaxis will not become active again until the SMC program has been restarted(cf. input "Start"). If the axis was activated with option "3" (cf. parameter 1),the phase synchronous axis will become active again as early as "Stop" isremoved, i.e., absolute synchronous axes will perhaps carry out asynchronization motion.
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If no measuring encoder is used as master axis, the phase synchronous axisremains active. The axis is brought to standstill "indirectly" by stopping themaster axis.
Interaction with positioning com‐mands
The POI and PSI commands can be used to deactivate the phasesynchronous axis, increase and reduce the current position command valueby the distance programmed in the POI and PSI commands and move to thecommand position at the velocity specified.The POA and PSA commands can be used to deactivate the phasesynchronous axis and move it to the absolute position specified in the POAand PSA commands at the velocity specified.
● The phase synchronous axis can only be used if the "SNC"(synchronization) function package is activated on theparticular axis.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● See also chapter 7.9.2 "Phase-synchronous axis" on page248.
6.11.33 FOC – Phase-synchronous axis: ConfigurationCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Master axis GlobalMaster (0) = global master axisThe axis follows the global master axis specified in parameterY0028 (see chapter "Y0028: Master axis selection of the system"on page 412).LocalEncoder (1) = local measuring encoderThe axis follows its locally connected measuring encoder.
Possible
Parameter 3 Synchronizationdirection
ShortestWay (0) = shortest distanceCatchUp (1) = positive directionSlowDown (2) = negative direction
Not possible
Parameter 4 Synchronizationtype
Absolute (0) = absolute synchronization,synchronization once on activation of the operating modeRelative (1) = relative synchronization,synchronization once on activation of the operating modeAbsoluteAlwaysSyncUp (2) = absolute synchronization,synchronization on activation of the operating mode and afterchanges in configurationRelativeAlwaysSyncUp (3) = relative synchronization,synchronization on activation of the operating mode and afterchanges in configuration
Not possible
Parameter 5 Following factor Gear factorThe sign of this factor defines the direction in relation to the masteraxis.
Possible
Tab. 6-59: Phase synchronous axis: Configuration
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This command can be used to configure the phase synchronous axis andselect the associated master axis.The available types of synchronization are absolute and relative. If absolutesynchronization is selected, the position and velocity are adjusted; if relativesynchronization is selected, only the velocity is adjusted. If "Absolute (0)" or"Relative (1)" is set for the synchronization type, the synchronization processonly takes place after the operating mode has been activated. If theconfiguration is changed during the active operating mode, thesynchronization process is not repeated. The synchronization type"AbsoluteAlwaysSyncUp (2)" or "RelativeAlwaysSyncUp (3)" can be set torepeat the synchronization process each time the configuration is changed.During the synchronization process, the "P-0-0143, Synchronization velocity"and "P-0-0142, Synchronization acceleration" drive parameters have aneffect on the real axis.Synchronization can be achieved by a movement in the positive direction andin the negative direction, along the shortest distance. This movement isspecified in the synchronization direction parameter.The gear factor has the following effect:
Fig. 6-25:Stepping to the next block takes place after one task cycle.
● The phase synchronous axis can only be used if the "SNC"(synchronization) function package is activated on theparticular axis.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● See also chapter 7.9.2 "Phase-synchronous axis" on page248.
6.11.34 FUN – FunctionsCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Task – Lengthmeasurement,active positionfeedback value
Measurement based on the active position feedback value(motor encoder / optional encoder, cf. drive parameter S-0-0386)
Not possible
Parameter 3 Task – Lengthmeasurement,measuring wheel
Measurement based on the position feedback value of the optionalencoder(measuring wheel, cf. drive parameter S-0-0053)
Not possible
Tab. 6-60: FunctionsThe FUN command can be used to measure feed lengths that have beentraversed. The current measured values are available in the axis-specificsystem variables VSx14 and VSx16. The intermediately stored measuredvalues can be read via the axis-specific system variables VSx15 and VSx17.Stepping to the next block takes place after one task cycle.
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The possible tasks (parameters 2 and 3) for controlling the measurementsare as follows:● BufferAndRestart (0) = intermediately store measured value, then reset
counter and restart measurement.● Restart (1) = reset counter and restart measurement. (the intermediately
stored measured value is preserved).● NoChange (2) = no change.● Buffer (3) = intermediately store measured value. (leave counter
unchanged).● Off (4) = turn off measurement.The intermediately stored measured values can be taken from the followingsystem variables:● VSx14 = length measurement, active position feedback value – current
value→ current feed length based on active actual position value (cf. driveparameter S-0-0386)
● VSx15 = length measurement, active position feedback value – storedmeasured value→ intermediately stored feed length based on active actual positionvalue (cf. drive parameter S-0-0386)
● VSx16 = length measurement based on position feedback value ofmeasuring wheel (optional encoder) - current value→ current feed length based of measuring wheel (cf. drive parameterS-0-0053)
● VSx17 = length measurement based on position feedback value ofmeasuring wheel (optional encoder) - stored measured value→ intermediately stored feed length of measuring wheel (cf. driveparameter S-0-0053)
● To allow measurements of multiple axes at the same time, a"Look Ahead" mechanism is available for the FUNcommand, i.e., FUN commands called in the SMC programdirectly one after the other are executed within the sametask cycle.
● The feed length measurement of the active positionfeedback value (parameter 2) is based on the evaluation ofthe active position feedback value (cf. drive parameterS-0-0386). Depending on the setting (cf. chapter "Yx019:Optional encoder, In-config" on page 438), the activeposition feedback value either originates from the motorencoder or from the optional encoder.
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6.11.35 HOM – Home axisCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Encoder Encoder selection:MotorEncoder (0) = motor encoderOptionalEncoder (1) = optional encoder (external encoder)MeasuringEncoder (2) = measuring encoder
Possible
Parameter 3 Reference distance Actual position value on the reference positionThe specification is made in the units:● [mm], [inch] or [degrees] for the motor encoder
(cf. Yx008 and Yx010)● [mm], [inch] or [degrees] for the optional encoder (external
encoder)(cf. Yx008 and Yx010)
● [Incr] for the measuring encoder
Possible
Tab. 6-61: HomingThis command sets an absolute reference. Essentially, its sequencecorresponds to homing in manual mode. This allows generation of thedimensional reference for relative and absolute encoders.The command checks whether the selected encoder is possible for anabsolute evaluation or not.Depending on this, the following commands are triggered:● with relative encoders, the command "C0600 Drive-controlled homing
procedure command" (see S-0-0148)● with absolute encoders, the command "C0300 Set absolute position
command" (see P-0-0012 or S-0-0447)Commands which cause a drive movement may not be processed whilehoming is active. Whether or not homing was successfully completed for themotor encoder or optional encoder, can be verified in the program byquerying the parameterized output in parameter Yx030 (see chapter "Yx030:In reference, Out-config" on page 443). A velocity override (cf. VEOcommand) is not active during homing. After the command has beenexecuted, the axis is at standstill.The immediate block stepping lasts several task cycles. It takes placeimmediately after the end of the homing procedure.In general, the dimensional reference can be generated for the following en‐coders:● Motor encoder● Optional encoder (external encoder)● Measuring encoderThe definition for which encoder the position data reference is established viathe command is carried out in parameter 2 "Encoder".Parameter 3 "Reference value" is used to specify the actual position value ofencoder to the reference position.
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The command also allows the referencing of the virtual axis. The encoderselection must be set to "MotorEncoder" in parameter 2 "Encoder" for this.Details for executing the referencing step can be set via IndraWorks:● Motor encoder: "Dimensional reference motor encoder" dialog● Optional encoder: "Dimensional reference optional encoder" dialog● Measuring encoder: Dialog "RmAxis: Measuring encoder"
Program example: Axis 1, motor encoder, position 0.0, configuration of parameter Y130 =MF0001
Fig. 6-26: Program example for homing
● If the HOM command is used to reference the motorencoder or optional encoder, the command automaticallysets the bit 3 in parameter "S-0-0147, Homing parameter" tothe required value.– Bit 3 = 0: Motor encoder– Bit 3 = 1: Optional encoder or external encoderPlease note that the output "In reference" always displaysthe position status of the encoder declared via bit 3.
● In manual mode, homing can be started via the inputconfigured in "Yx022: Homing, In-Config" (see chapter"Yx022: Homing, In-config" on page 439).
● This command may not be called in the cyclic task.● See also chapter 7.14 "Homing" on page 314.
6.11.36 JMP – Unconditional jumpCommandData
Content Note Indirect access
Parameter 1 Jump target Jump label Possible
Tab. 6-62: Unconditional jumpUpon reaching this user command, the program branches to the enteredjump label.This allows the programmer to directly branch to another part of the program.This can be used to divide the main program into fixed program blocks, whichcan be very helpful for program changes or extensions.An unconditional jump at the end of a program to the beginning of theprogram creates an endless loop (see also chapter 8.1.3 "Programmingloops" on page 325). Such a program runs without interruption.The jump label has to contain a valid command, otherwise an error messagewill be displayed.Stepping to the jump label takes place after one task cycle.
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6.11.37 JSR – Jump to subroutineCommandData
Content Note Indirect access
Parameter 1 Jump target Jump label Possible
Tab. 6-63: Jump to subroutineProgramming can be simplified in programs that contain several identicalfunctions by entering repetitive functions in a subroutine.This can be used to make a program shorter and easier to overview.Returning from a subroutine always automatically jumps to the block numberthat is one higher than the one that caused the jump to the subroutine.Up to 16 subroutine level are possible. An error message is displayed if thereare more than 16 levels.Stepping to the starting block takes place after one task cycle.
The last block of each subroutine must be the RTS returncommand. Calling this command without previous jump to asubroutine will initiate an error message.
6.11.38 JST – Jump and stopCommandData
Content Note Indirect access
Parameter 1 Jump target Jump label Possible
Tab. 6-64: Jump and stopThis command causes the program to branch to the jump label specified.However, the program run will be stopped there. The program does notcontinue before the signal at the Start input (cf. chapter "Y0016: Start, In-config" on page 407) changes from "0" to "1". The new start signal causesthe program to continue to the jump label.This command can be used to stop a processing cycle.If the drive is in motion, it is brought to a standstill with the programmedacceleration/deceleration. The remaining stroke is stored and traversed onthe next start. There will be no dimensional loss of reference, provided theoperating mode is not changed or an error message does not occur. If startedwith the CON command, continuous operation will be stopped.A JST command does not change the initial states. In "Multitasking" mode, aJST command causes the program to stop in all running tasks or routines.The cyclic task is not affected. If the JST command is called in the cyclic task,all tasks are stopped except for the cyclic task and the command counter ofthe cyclic task is set to the jump target.This corresponds to the "nStop" input (cf. chapter "Y0017: nStop, In-config"on page 408).
If the "Flying Cutoff" application type is used, this command maynot be programmed.
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6.11.39 JTK – Unconditional jump taskCommandData
Content Note Indirect access
Parameter 1 Jump target Jump label Possible
Parameter 2 Task or routine Task or routine number:AutoTask1 (1) = Automatic task 1AutoTask2 (2) = Automatic task 2AutoTask3 (3) = Automatic task 3AutoTask1 (4) = Automatic task 4ManRoutine (5) = Manual routineManCutRoutine (6) = Manual cut routineCyclicTask (7) = Cyclic task
Not possible
Tab. 6-65: Unconditional jump taskThe program sequence in another task can be influenced using thiscommand. The program sequence in the programmed tasks is immediatelyinterrupted and the selected task branches to the specified jump target.Stepping to the next block takes place after a cycle time.
Program example: When the "JTK Stop AutoTask2" command is called during the automatictask 1, the program sequence of automatic task 2 continues with the "Stop"label:
Fig. 6-27: Program example for the JTK command
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● The "JTK Label 1" command during the automatic task 1 isequivalent to the "JMP label" command. This applies to allother tasks or routines accordingly.
● The JTK command does not stop active axis movements(e.g., initiated via PSI). They continue running.
● If the JTK command is called when the LMC, LMK, LML orLMR command is currently active during the automatic task1, the following applies:– If the synchronization process has not yet started on
the new processing point, the jump to the new jumptarget is performed immediately.
– If the synchronization process has already started onthe new processing point, the jump to the new jumptarget is performed after the EOS command is called.
● The CMP, RWY and SAC commands are not interruptedwhen the JTK command is called. In this case, the programsequence in the programmed tasks is only interrupted afterthe commanded has been ended. The block advance of theJTK command is delayed accordingly and can thereforeconsist of several cycle times.
The following table displays the special behavior of the individual commandsafter an interruption triggered by the JTK command:
Command
Behavior after the "JTK" command is called
AKN Immediate block advance, i.e., command is interrupted.
AKP Immediate block advance, i.e., command is interrupted.
CMP No immediate block advance, i.e., command is not interrupted. The JTKcommand is executed after the CMP command ends.
CPL Immediate block advance, i.e., command is interrupted. The axis movementcontinues.
EDG Immediate block advance, i.e., command is interrupted.
HOM Immediate block advance, i.e., command is interrupted. The axis movementcontinues.
LMCImmediate block advance, i.e., command is interrupted if thesynchronization is not yet active. If the synchronization is already active, theJTK command is executed after the EOS command is called.
LMKImmediate block advance, i.e., command is interrupted if thesynchronization is not yet active. If the synchronization is already active, theJTK command is executed after the EOS command is called.
LMLImmediate block advance, i.e., command is interrupted if thesynchronization is not yet active. If the synchronization is already active, theJTK command is executed after the EOS command is called.
LMRImmediate block advance, i.e., command is interrupted if thesynchronization is not yet active. If the synchronization is already active, theJTK command is executed after the EOS command is called.
PFA Immediate block advance, i.e., command is interrupted. The axis movementcontinues.
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Command
Behavior after the "JTK" command is called
PFI Immediate block advance, i.e., command is interrupted. The axis movementcontinues.
POA Immediate block advance, i.e., command is interrupted. The axis movementcontinues.
POI Immediate block advance, i.e., command is interrupted. The axis movementcontinues.
PSA Immediate block advance, i.e., command is interrupted. The axis movementcontinues.
PSI Immediate block advance, i.e., command is interrupted. The axis movementcontinues.
RMI Immediate block advance, i.e., command is interrupted.
RWY No immediate block advance, i.e., command is not interrupted. The JTKcommand is executed after the RWY command ends.
SAC No immediate block advance, i.e., command is not interrupted. The JTKcommand is executed after the SAC command ends.
SRM Immediate block advance, i.e., command is interrupted. The axis movementcontinues.
VCC Immediate block advance, i.e., command is interrupted.
Allothercommands
Irrelevant
Tab. 6-66: Behavior of the individual commands after an interruption triggeredby the JTK command
6.11.40 LMC – Part length by registration mark counterCommandData
Content Note Indirect access
Parameter 1 Axis Only axis 1 (master axis) permitted Possible
Parameter 2 Registration markcount
Number of registration marks until processing start Possible
Parameter 3 Registration markoffset
Distance between the registration mark and the cut position Possible
Tab. 6-67: Part length by registration mark counterAn LMC command counts a defined number of registration marks and adds aregistration mark offset to the registration mark to produce a part. Refer tochapter "LMC – Part length by registration mark counter" on page 276 for adetailed description.
The LMC command is only applicable to automatic task 1, axis 1and the "Flying Cutoff" application type.
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6.11.41 LMK – Part length or registration markCommandData
Content Note Indirect access
Parameter 1 Axis Only axis 1 (master axis) permitted Possible
Parameter 2 Part length Part length to be cut Possible
Parameter 3 Mask window Window of the last cut position, in which all registration marks areignored
Possible
Parameter 4 Registration markoffset
Distance between the registration mark and the cut position Possible
Tab. 6-68: Part length or registrationAn LMK command uses either the registration sensor to detect a registrationmark on the material or a part length to produce a part (depending on whichevent is the first to occur). Refer to chapter "LMK – Part length or registrationmark" on page 274 for a detailed description.
The LMK command is only applicable to automatic task 1, axis 1and the "Flying Cutoff" application type.
6.11.42 LML – Part lengthCommandData
Content Note Indirect access
Parameter 1 Axis Only axis 1 (master axis) permitted Possible
Parameter 2 Part length Part length to be cut Possible
Tab. 6-69: Part lengthAn LML command is used to produce parts of a specified length. Refer tochapter "LML – Part Length" on page 271 for a detailed description.
The LML command is only applicable to automatic task 1, axis 1and the "Flying Cutoff" application type.
6.11.43 LMR – Part length by registration markCommandData
Content Note Indirect access
Parameter 1 Axis Only axis 1 (master axis) permitted Possible
Parameter 2 Mask window Window of the last cut position, in which all registration marks areignored
Possible
Parameter 3 Registration markoffset
Distance between the registration mark and the cut position Possible
Tab. 6-70: Part length by registration markAn LMR command uses a registration sensor to detect a registration mark onthe material to produce a part. Refer to chapter "LMR – Part length byregistration mark" on page 273 for a detailed description.
The LMR command is only applicable to automatic task 1, axis 1and the "Flying Cutoff" application type.
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6.11.44 MAT – MathematicsCommandData
Content Note Indirect access
Parameter 1 Result VF, VFR Has to bevariable
Parameter 2 Value 1 Possible
Parameter 3 Calculation rule + (1) = add: Value 1 + Value 2- (2) = subtract: Value 1 – Value 2* (3) = multiply: Value 1 x Value 2/ (4) = divide: Value 1 / Value 2SQRT (5) = square root: Value 1
Not possible
Parameter 4 Value 2 Possible
Tab. 6-71: MathematicsThis command can be used to execute mathematical operations. Thecalculation operations are performed in real format (REAL with 32 bits, IEEEfloating-point number).Stepping to the next block takes place after one task cycle.
6.11.45 MLO – Material length outputCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Material length Measurement via measuring wheel(optional encoder, cf. drive parameter S-0-0053)
Possible
Parameter 3 Output Bit (Q, MF, MFR) that is set or reset Not possible
Parameter 4 Task Off (0) = reset bitOn (1) = set bit
Possible
Tab. 6-72: Material length outputThe MLO command can be used to set or reset a bit in automatic mode,depending on the feed material length. The feed material length isdetermined by means of the current position of the measuring wheel (optionalencoder, cf. drive parameter S-0-0053).If this command is called the first time, length measurement is activated. Ifthe feed material length exceeds the programmed value, the bit is set orreset. Length measurement restarts from the beginning. If the programmedmaterial length corresponds to the value "0" or if automatic mode is exited,the measurement is deactivated.A set or reset output must be reset again by the user program (e.g., via theAEA command).Stepping to the next block takes place after one task cycle.
If the already feed material length exceeds the programmed valuewhen the command is read, the bit is set or reset and lengthmeasurement is restarted (e.g., MLO is already active, MLO iscalled with a new length that is smaller than the length alreadymeasured).
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6.11.46 MOM – Torque limitCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Torque limit Input range from 0% to maximum value of Yx007: Maximumtorque
Possible
Parameter 3 Positive stop driveprocedurecommand
Off (0) = positive stop drive procedure command is completedOn (1) = positive stop drive procedure command is activatedUnchanged (2) = no change
Possible
Tab. 6-73: Torque limitThis command is used to set the maximum torque in % for the drive. For theselected axis, axis parameter S-0-0092, Bipolar torque/force limit value iswritten to the value specified (parameter 2). The torque limit is applicable untilthe next MOM command is set. Each time the automatic program isrestarted, the limit is set to the value in the system parameter Yx007:Maximum torque, page 432. Overwriting the torque limit is also possiblewhile traveling.In addition, parameter 3 is used to activate and deactivate drive command"C1300 Positive stop drive procedure command". As long as the command isactive, the drive displays "C13".The following position and motion monitoring functions of the drive areswitched off while the command is active:● Monitoring for "drive does not follow command value"
"F2028 Excessive control deviation"● Monitoring for velocity command value
"F2037 Excessive position command value difference"● Monitoring for acceleration command value
"F2039 Maximum acceleration exceeded"● Monitoring for velocity loop
"F8078 Speed loop error"For example, the command can be used for a tool clamping option in FlyingCutoff mode. To achieve this, the MOM command for setting/clearing thecommand in the tool program can be called with corresponding torquereduction/increase.After an error has occurred, the command is reset according to the setting inthe parameter Y0009: Clear outputs, page 404.Stepping to the next block takes place after several task cycles (SMC10VRS)or after one task cycle (SMC12V02 and above).
Drive parameter P-0-0109, Bipolar torque/force peak limit alsolimits all settings made via the MOM command. In general, thelower one of the limit values set in the MOM command and driveparameters P-0-0109, S-0-0092, S-0-0082, S-0-0083 is effective.With constant torque limit through the MOM command, 100%correspond to the motor standstill current.
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6.11.47 NOP – No operationCommandData
Content Note Indirect access
No parameter
Tab. 6-74: No-operation instructionThis command has no function and acts as a blank line. It can be used as aplaceholder. This command is edited like any other command while theprogram is processed.Stepping to the next block takes place after one task cycle.
6.11.48 PBK – Stop MotionCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Tab. 6-75: Stop motionThis command can be used to stop ongoing feed motions.The particular axis is brought to standstill with the current deceleration. Theresidual feed distance, if any, will not be traveled after the deceleration. Aprocessed PBK command can be immediately followed by other positioningcommands.The following motion commands are aborted by calling the PBK command:● CON – Continuous operation● HOM – Home axis● PFA – Positioning, absolute to positive stop● PFI – Positioning, incremental to positive stop● POA – Positioning, absolute with immediate block stepping● POI – Positioning, incremental with immediate block stepping● PSA – Positioning, absolute with in-position● PSI – Positioning, incremental with in-position● SRM – Search for registration markMotion commands other than those mentioned here will not be aborted, e.g.,CMA, FOA, SOA, LMx.Stepping to the next block takes place after one task cycle.
PSA and PSI commands which are aborted by the PBK commandstep to the next block. The PBK command can also be calledfrom another task. Remaining feeds/tailout lengths of PSA and/orPSI are not taken into account.
6.11.49 PFA – Positioning, absolute to positive stopCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Absolute position Absolute target position Possible
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CommandData
Content Note Indirect access
Parameter 3 Feed velocity in % Feed velocity in % (0 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Parameter 4 Standstill windowin %
Standstill window in % (0 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Parameter 5 Jump target Jump target or block number if positive stop is not reached Possible
Tab. 6-76: Positioning, absolute to positive stopThe behavior of the command corresponds to the behavior of the PFIcommand. However, position specification is absolute rather thanincremental, i.e., the axis must be homed.See also chapter 7.16 "Positive stop drive procedure" on page 316.
● Before the PFA command is called, the torque limit valuesmust be set by calling the PFC command.
● The command may not be programmed for the virtual axis.● If the "Flying Cutoff" application type is used, this command
may not be programmed.● If the axis is configured as position-coupled axis via
parameter "Yx000" and features a holding brake andactivation of the holding brake is required because of the seterror reaction, the PFA command cannot be programmed forthe axis.
6.11.50 PFC – Positioning to positive stop: ConfigurationIf Yx049 "Source, torque/force limit PFx Cmd" = "0"(default), torques arespecified:
CommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Max. torque topositive stop
Maximum torque during travel to positive stop in %Input range from 0% to maximum value of Yx007: Maximumtorque(only valid for active PFA/PFI command)
Possible
Parameter 3 Max. torque atpositive stop
Maximum torque at positive stop in %Input range from 0% to maximum value of Yx007: Maximumtorque(only valid for active PFA/PFI command)
Possible
Tab. 6-77: Positioning to positive stop: ConfigurationThis command is used to define the maximum torques for function "Positivestop drive procedure". The torque to be applicable until the positive stop isreached (i.e., while the carriage is moving) after the PFA/PFI command hasbeen called is defined via parameter 2. If the positive stop is reached withinthe distance traveled, the maximum torque specified in parameter 3 is usedto press continuously against the positive stop.Stepping to the next block takes place after one task cycle.
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● Drive parameter P-0-0109, Bipolar torque/force peak limitalso uses the PFC command to limit all settings made.Generally, the lower one of the torque limit values set inparameters P-0-0109, S-0-0092, S-0-0082, and S-0-0083applies.
● The command may not be programmed for the virtual axis.● If the "Flying Cutoff" application type is used, this command
may not be programmed.
If Yx049 "Source, torque/force limit PFx Cmd" is unequal to "0", forces arespecified (the analog input reads in the actual force and can be controlled atthe positive stop using a PI-controller):
CommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Max. force topositive stop
Maximum force while traveling to positive stop in NInput range from 0 N to maximum value of Yx007: Maximumtorque converted into a forceF = M / (r * imech)
with r= S-0-0123 "Feed constant" / 2 * Pi(only valid for active PFA/PFI command)
Possible
Parameter 3 Max. force atpositive stop
Max. force at positive stop in NInput range from 0 N to maximum value of Yx007: Maximumtorque converted into a forceF = M / (r * imech)
with r= S-0-0123 "Feed constant" / 2 * Pi(only valid for active PFA/PFI command)
Possible
Tab. 6-78: Positioning to positive stop: ConfigurationThis command is used to define the maximum forces for function "Positivestop drive procedure". The force to be applicable until the positive stop isreached (i.e., while the carriage is moving) after the PFA/PFI command hasbeen called is defined via parameter 2. If the positive stop is reached withinthe distance traveled, the maximum force specified in parameter 3 is used topress against the positive stop.A PI-controller controls this force (Y0x51 "PControl - Force controller PFxCmd", Y0x52 "IControl - Force controller PFx Cmd").An analog input reads in the actual value (Y0x49 "Source, torque/force limitPFx Cmd") and has to be adjusted using Y0x50 "Analog constant 1 PFxCmd", Y0x53 "Analog constant 2 PFx Cmd " and Y0x54 "Start value, analogarea 2 PFx Cmd" (conversion in Newton).An analog input reads in the actual value (Y0x49 "Source, torque/force limitPFx Cmd") and has to be adjusted using Y0x50 "Analog constant 1 PFxCmd", Y0x53 "Analog constant 2 PFx Cmd " and Y0x54 Start value Analogarea 2 PFx Cmd (conversion in Newton).The controller output is added to the force command value (parameter 3) andthen converted into a torque value copied to the torque limit S-0-0092"Torque/force limit value".
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That means that if the positive stop is reached, the torque limit is controlledas long as the abort condition of the PFX commands is fulfilled or untilanother SMC command is started.Stepping to the next block takes place after one task cycle.
● Drive parameter P-0-0109, Bipolar torque/force peak limitalso uses the PFC command to limit all settings made.Generally, the lower one of the torque limit values set inparameters P-0-0109, S-0-0092, S-0-0082, and S-0-0083applies.
● The command may not be programmed for the virtual axis.● If the "Flying Cutoff" application type is used, this command
may not be programmed.
6.11.51 PFI – Positioning, incremental to positive stopCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Feed length Distance Possible
Parameter 3 Feed velocity in % Feed velocity in % (0 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Parameter 4 Standstill windowin %
Standstill window in % (0 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Parameter 5 Jump target Jump target or block number if positive stop is not reached Possible
Tab. 6-79: Positioning, incremental to positive stopCommands PFA and PFI are used to move to a mechanical positive stop.The positive stop must be within the position limit values (cf. "Yx044: Travellimit, maximum value" and "Yx045: Travel limit, minimum value"). Theprogrammed distance to the positive stop must always exceed the exacttravel distance to the stop because, otherwise, the positive stop may perhapsnot be reached.If the positive stop is reached, stepping to the next program block takesplace.If the positive stop is not reached, i.e., the target position of the command isreached, the SMC program jumps to the jump target specified in parameter 5.If the positive stop is not reached, the constant torque limit becomes activeagain (cf. MOM command). While the axis moves to the stop and when it isstanding at the stop, the torque limits set in the PFC command are in effect.See also chapter 7.16 "Positive stop drive procedure" on page 316.
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● Before the PFI command is called, the torque limit valuesmust be set by calling the PFC command.
● The command may not be programmed for the virtual axis.● If the "Flying Cutoff" application type is used, this command
may not be programmed.● If the axis is configured as position-coupled axis via
parameter "Yx000" and features a holding brake andactivation of the holding brake is required because of the seterror reaction, the PFI command cannot be programmed forthe axis.
6.11.52 POA – Positioning, absolute with immediate block steppingCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Absolute position Absolute target position Possible
Parameter 3 Feed velocity in % Feed velocity in % (0 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Tab. 6-80: Positioning, absolute with immediate block steppingThe drive is positioned from the current position to the programmed absoluteposition with respect to the zero point. The feed velocity is specified in % andrefers to the value defined in parameter Yx004 (see chapter "Yx004:Maximum velocity" on page 430).Example:
1) Current position = -3.94 inPOA 1 200.0 100.0Axis 1 is positioned 300 mm in forward direction to position +200 mm.
2) Current position = +400.0 mmPOA 1 200.0 100.0Axis 1 is positioned 200 mm in backward direction to position +200 mm.
Fig. 6-28: Example of absolute feed
This command may only be used if an absolute dimensional reference is set(cf. chapter "Yx030: In reference, Out-config" on page 443). This is the case
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if the position is determined with a Multiturn absolute encoder or if theposition is determined after a referencing travel. Otherwise, an error messageis displayed.Stepping to the next block takes place after one task cycle.
Program example: Positioning, absolute with immediate block stepping:
Fig. 6-29: Program example of positioning, absolute with immediate block step‐ping
● If modulo axes are used, (cf. parameter Yx008), the targetposition must be between "0" and the "modulo value" (cf.parameter Yx009). These axes always move to the targetposition along the shortest distance, i.e., the traversingdirection depends on the length of the traversing distance.
● This command may not be called in the cyclic task.
6.11.53 POI – Positioning, Incremental with Immediate Block SteppingCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Feed length Distance Possible
Parameter 3 Feed velocity in % Feed velocity in % (0 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Tab. 6-81: Positioning, incremental with immediate block steppingThe position command value of the axis is increased or reduced by theprogrammed distance. The distance is offset against a possible remainingdistance to be moved. The sign of the distance defines the direction of motion("+" = forward, "-" = backward). The feed velocity is specified in % and refersto the value defined in parameter Yx004 (see chapter "Yx004: Maximumvelocity" on page 430).Stepping to the next block takes place after one task cycle.
Program example: Positioning, incremental with immediate block stepping:
Fig. 6-30: Program example of positioning, incremental with immediate blockstepping
The drive moves the following distance: -100 + 200 = +100
● Of course, the highest precision is still achieved, even afterstepping to the next block. The compensation precision istherefore independent of the size of the position window.
● This command may not be called in the cyclic task.
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6.11.54 PSA – Positioning, absolute with in-positionCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Absolute position Absolute target position Possible
Parameter 3 Feed velocity in % Feed velocity in % (0 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Tab. 6-82: Positioning, absolute with in-positionThis command corresponds to the POA command. However, stepping to thenext block does not take place before the programmed absolute position hasbeen reached.The feed velocity is specified in % and refers to the value defined inparameter Yx004 (see chapter "Yx004: Maximum velocity" on page 430).The position is considered to be reached if all of the following requirementsare met:● The "actual position" is inside the "position window" (cf. drive parameter
S-0-0057, Position window).● The "following distance" is less than the "Position window".● The "actual velocity" is inside the "standstill window" (cf. drive parameter
S-0-0124, Standstill window).The command parameters for the axis, the position and the velocity are readin once when the command is called for the first time. After a restart withprevious stop, the command parameters for the position and the velocity areagain read out once. Example:
PSA 1 200.0 100
+100.00 = current position±0.20 = position window (cf. drive parameter S-0-0057)Continuation to the next block takes place when the drive reaches theposition +199.80 to +200.20.
● If modulo axes are used (cf. parameter Yx008, see chapter"Yx008: Scaling type" on page 432), the target positionmust be between "0" and the "modulo value" (cf. driveparameter Yx009). These axes always move to the targetposition along the shortest distance, i.e., the traversingdirection depends on the length of the traversing distance.
● Of course, the highest precision is still achieved, even afterstepping to the next block. The compensation precision istherefore independent of the size of the position window.
● This command may not be called in the cyclic task.
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6.11.55 PSI – Positioning, incremental with in-positionCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Feed length Distance Possible
Parameter 3 Feed velocity in % Feed velocity in % (0 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Tab. 6-83: Positioning, incremental with in-positionThis command corresponds to the POI command. However, stepping to thenext block does not take place before the positioning procedure is completed("In target position"). The sign of the distance defines the direction of motion("+" = forward, "-" = backward).The feed velocity is specified in % and refers to the value defined inparameter Yx004 (see chapter "Yx004: Maximum velocity" on page 430).The position is considered to be reached if all of the following requirementsare met:● The "actual position" is inside the "position window" (cf. drive parameter
S-0-0057, Position window).● The "following distance" is less than the "Position window".● The "actual velocity" is inside the "standstill window" (cf. drive parameter
S-0-0124, Standstill window).The command parameters for the axis, the distance and the velocity are readin once when the command is called for the first time. After a restart withprevious stop, the command parameters for the distance and the velocity areagain read out once.
Program example: Positioning, incremental with in-position
Fig. 6-31: Program example of positioning, incremental with in-positionAxis 1 is started first. The programmable flag "MF120" is not set before thefinal position has been reached and an additional waiting time of 500 ms haselapsed.
● Of course, the highest precision is still achieved, even afterstepping to the next block. The compensation precision istherefore independent of the size of the position window.
● This command may not be called in the cyclic task.
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6.11.56 REP – Registration position limitCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Jump target Jump label if the position limit has been exceeded Possible
Parameter 3 Search distance Max. search distance for SRM command(The registration position limit is deactivated if "0" is specified.)
Possible
Tab. 6-84: Registration position limitThis command supplements the SRM command (see chapter 6.11.66 "SRM– Search for registration mark" on page 214). It permits limits to be placed onthe search distance needed to find a reference marker.If the maximum search distance entered here is exceeded without finding areference mark, there will be a jump to the entered target block. At the sametime, the drive is decelerated to a standstill.This command must precede the SRM command in the sequential program.A search distance defined by an REP command remains preserved until thenext REP command is called.The registration position limit function is deactivated after a change in mode,after an error or on restart.Stepping to the next block takes place after one task cycle.The following command combinations are permissible:
1. Moving to reference point without registration position limitation.SRM 1 0 10 I.A1.X31.Pin3 0
2. Programming of a position limit to max. 500 mm or inches.REP 1 SUBROUTINE 500SRM 1 0 10 I.A1.X31.Pin3 0
● This command may not be called in the cyclic task.● If the "Flying Cutoff" application type is used, this command
may not be programmed for the synchronous axis, except inthe manual routine.
6.11.57 RMI – Registration mark interruptCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Mode 0 = wait for pulse at "Registration bit" input1 = complete registration processing, continue feed program2 = start function without polling the input
Not possible
Parameter 3 Registration bit I / Q / MS / MF / MFR Not possible
Tab. 6-85: Registration mark interruptThis command allows additional processing irrespective of the feed programof the selected axis.
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Additional registration processing can be initiated with the next commandafter an input pulse has been detected and a potential offset distance of theaxis has been traveled. The switch-on edge of the pulse is evaluated. Thefeed command in the feed program (POI/PSI command) is interrupted for thisregistration machining and is then continued, i.e., the feed motion isinterrupted in the feed program.An offset distance must be programmed in the form of an incremental feed(PSI command). The PSI command must immediately follow the "RMI x 0/2x" command, otherwise an error message will be generated. If changed bythe offset feed, the velocity is reset to its original value when the feedprogram is continued. If the velocity is specified to be 0% in the offset feed,then the previous command velocity remains in effect. The offset distancealways relates to the actual position detected at the time of activation ofregistration machining. An offset distance of "0" is allowed. In this case, axesin motion are moved backwards.After the offset distance has been traveled, the "In position" (cf. Yx033) is notset in the additional processing routine.The system variable for the command feed length (VSx13) is not affected bythe offset distance (PSI command) in the additional processing. Traveling ofthe offset distance is considered in the system variable for the remaining feed(VSx12), with the remaining feed always referring to the command feedmotion in the feed program.The "interrupt", "feed monitoring" and "override" functions are allowed.Stepping to the next program block depends on the mode selected (seeparameter 2):0 = stepping to the next block takes place after the rising edge at theregistration bit has been detected and the offset distance has been traveled.1 = stepping to the next block takes place after one task cycle.2 = stepping to the next block takes place after the RMI has been called andthe offset distance has been traveled.
Registration bit input via "Probe 1" The touch probe 1 is selected as the reference mark input if the following in‐put of the respective axis is programmed for input "Registration bit":● "I.Ax.X31.Pin1" (single axis)● "I.Ax.X31.Pin11" (double axis 1)● "I.Ax.X31.Pin21" (double axis 2)In this case, the offset distance refers to the latched measured value of theprobe function (cf. S-0-0130). Parameter "S-0-0051, Position feedback value1" (motor encoder) or "S-0-0053, Position feedback value 2" (measuringwheel or optional encoder) can be used as the source for the measuredvalue. Configuration must be carried out by the user via the IndraWorksdialog "Probe" (cf. S-0-0426). If the probe input is used, the registration bitcan be detected with much more precision than with any other of the inputs.The measurement accuracy is dependent on the hardware design of theIndraDrive control unit (see Section "Probe" in the documentation "RexrothIndraDrive Drive Controllers Control Sections").
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● "Probe 1" is only active if it has been activated in parameterYx027 (see chapter "Yx027: Registration mark, In-config" onpage 441). The Time measurement and Rapid stopcheckboxes must be deactivated (cf. P-0-0226, bits 3 and 4).
● The touch probe function can only be used if the "SRV"(servo function) or "SNC" (synchronization) function packageis activated on the axis.
Limitations to the "RMI" command:● In additional processing mode ("RMI program"), it is not allowed to
program any other feed than the offset distance.● The feed program must be executed via the POI and PSI commands.
These are the only commands that ensure correct evaluation of theoffset distance.
● After the RMI command ("RMI x 0/2 x") has been called, the registrationbit cannot be masked any longer (e.g., hole registration).
● It is not possible to detect another registration prior to the "RMI x 1 x"command, i.e., RMI commands cannot be nested any longer. NestedRMI commands will cause an error message.
● The offset distance must be longer than the braking distance because,otherwise, axes in motion will be moved backwards.
RMI command example Perforated sheets are to be separated depending on the holes. Holes arepunched into the flat sheet on the punching table. The material is fed throughthe rolling mill. One of the holes serves as a reference signal for registrationdetection. Since the length is changed by an unknown factor during profiling,the sheets cannot be separated with the same feed program because driftingof the hole pattern to the edge cannot be excluded. That is why the sheetsare separated in relation to the reference hole. The reference hole can bedetected by means of an optical sensor, an initiator, or the like.
Fig. 6-32: RMI command exampleProgram example:
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Fig. 6-33: RMI command example program
6.11.58 RSV – Restart behaviorCommandData
Content Note Indirect access
Parameter 1 Status HoldState (0) = Retain stateRestoreState (1) = Restore state prior to the interruption (but notthe state of the outputs)
Not possible
Parameter 2 Task HoldOutputs (0) = State of the outputs is not restoredRestoreOutputs (1) = Restore the state of the outputs
Not possible
Tab. 6-86: Restart behaviorThe restart routine sequence is influenced with this command. It serves forthe selective restoration of the state of the interrupted program.For more information, refer to chapter 7.23 "Restart" on page 320.Stepping to the next block takes place after one task cycle.
● The RSV command may only be called in the restart routine.● If the RSV command is not called in the restart routine with
parameter 1 equal to "RestoreState", the state is restored toprior to the interruption (but not the state of the outputs) afterthe RTS command is called.
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Example 1:
Fig. 6-34: Restart routine without restoration of the outputs, but restoration ofthe state after the RTS command
Example 2:
Fig. 6-35: Restart routine without restoration of the outputs, but restoration ofthe state after the RSV command
Example 3:
Fig. 6-36: Restart routine including restoration of the outputs and state after theRSV command
6.11.59 RTS – Return from subroutineCommandData
Content Note Indirect access
No parameter
Tab. 6-87: Return from subroutineAs has already been described above with reference to the JSR command, asubroutine must be completed with the RTS return command. If severalsubroutine levels are opened in a single program cycle, then a return from ahigher subroutine level does not immediately return to the main program, butjumps to the subroutine the next level down.Stepping to the next block takes place after one task cycle.
Every subroutine has to have a return command as the last block.Calling this command without previous jump to a subroutine willinitiate an error message.
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Example:
Fig. 6-37: Example of return from subroutine levels
6.11.60 RWY – Read/write Y-parameterCommandData
Content Note Indirect access
Parameter 1 Access type 0 = read access1 = write access
Possible
Parameter 2 Parameter number Number of the read/write Y-parameter Possible
Parameter 3 Value Parameter value:To allow read access, the parameter value must be a variable (VF/VFR) to which the value is written. To allow write access, the valueis written to the Y-parameter.
Read: AlwaysvariableWrite: Possible
Parameter 4 Status Access status. Error codes correspond to the field bus accesserrors
Always variable
Parameter 5 Jump target in theevent of an error
This label is the one to be jumped to in the event of an error. Jump label
Tab. 6-88: Read/write Y-parameterThis command can be used for read/write access to Y-parameters from theSMC program.Stepping to the next block takes place after the read/write operation iscompleted and can take several cycles if necessary. Writing can take severalcycles because S/P-parameters are also changed if necessary. Reading theY-parameters is completed within one cycle.
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Once the read or write task has been processed successfully, the feedbackvalue in the status is "0" so that stepping to the next command block will takeplace.In the event of an error, the SMC program jumps to the jump label specifiedin parameter 5. For error codes which are signaled in status, please refer tochapter "Error description of a status response" on page 91.
● All values are treated inREAL format (and areinternally converted to thecorrect data type).
NOTICE
The REAL format only has an accuracy of six numericaldigits, i.e., inaccuracies may occur when reading or writingY-parameters if data is to be processed with a higheraccuracy.
● Addresses of hardware, flags and variables cannot beprocessed/returned in plaintext but only in coded format.
● This command does not allow reading of Y-parameterattributes.
Damage to the internal memory (flash ormicroSD) in case of cyclic writing
NOTICE
Cyclic writing to Y-parameters which, in turn, write to S- or P-parameters (cf.chapter 11 "Parameters" on page 395) is not allowed because this causesdamage to the internal memory (flash or microSD) on the IndraDrive controlsection (cf. "F2100 Incorrect access to command value memory"). Thenumber of write cycles to the internal device memory is limited.
6.11.61 SAC – Set absolute counterCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Mode Relative (0) = absolute zero offset in relation to the zero positionAbsolute (1) = set new absolute positionClear (2) = cancel "homed"
Not possible
Parameter 3 Absolute positionor offset
Possible
Tab. 6-89: Set absolute counterThis command can be used to offset the existing dimensional reference ofthe measuring system (coordinate system) in relation to the axis or to set it toa specific value. This does not affect the position reference of the axisbecause the output position feedback values are the only ones that arerepresented "offset". The original ("non-offset") dimensional referenceremains preserved in the drive. Offsetting or setting is independent ofwhether or not the current position feedback value has a dimensionalreference to the axis.
The offset of the dimensional reference has an effect on the motor encoderand, if any is present, the optional external encoder, irrespective of which
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encoder is the active position control encoder. If different position feedbackvalues are applicable for the encoders (the two encoders may have adimensional reference independent of each other), the position feedbackvalues of the two measuring systems are offset by the same difference.If the command is called in repeated succession, the offsets have an additiveeffect.The changes made with the SAC command take temporary effect. After arestart or switch to parameter mode, the original coordinate system will againbe effective.Stepping to the next block takes place after several task cycles.
● The SAC command can only be used if the "SRV" (servofunction) or "SNC" (synchronization) function package isactivated on the axis.
● This command is used to create a new absolute dimensionalreference (zero point). This can only be achieved throughhoming (e.g., HOM command).
● The internal implementation of the command is based on theactivation of the drive command "Shift coordinate systemprocedure" (cf. drive parameter S-0-0199).
● If the SAC command is called while an axis movement isactive (e.g., POI, POA, CON), an error is generated "Errorcommand: Block number xxxx - command not available atpresent" (diagnostic number: 8Ah). The command can beexecuted correctly only if the axis is at standstill.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● If the axis is configured as position-coupled axis viaparameter "Yx000" and features a holding brake andactivation of the holding brake is required because of the seterror reaction, the SAC command cannot be programmedfor the axis.
6.11.62 SET – Set variable valueCommandData
Content Note Indirect access
Parameter 1 Variables VS, VF, VFR Has to bevariable
Parameter 2 Value Possible
Tab. 6-90: Set variable valueThis command can be used to set variables from the program or copy themfrom other variables.Stepping to the next block takes place after one task cycle.Entries permitted for the target variable are:
Variable type Number
Programmable VF000 to VF999
Programmable, non-volatile VFR000 to VFR999
Indexes basis VS012 to VS019
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Indexes offset factor VS020
Indexes index VS021
Indexes memory area VS022
Analog output VS035 to VS036
Material velocity for tailout machining VSx22
Analog output 1 VSx33
Analog output 2 VSx34
Analog output 3 VSx35
Analog output 4 VSx36
x Axis numberTab. 6-91: SET command: permitted target variables
System variables "VS012" to "VS022" are reserved for indexedvariable access. If these variables are write-accessed fromoutside (e.g., field bus) or by the SET command itself, they arewrite-accessed without index (directly). See also "Indexedvariables (VS012 - VS022)" on page 114.
6.11.63 SOA – Velocity-synchronous axes: ActivationCommandData
Content Note Indirect access
Parameter 1 Axis configuration 0 0 0 0 0 0 → axis numbers 1-6, counting is started from the right.Meaning:0 = velocity synchronous axis offThe axis is stopped.The "Drive Halt (AH)" status is activated. The axis is brought to astandstill with the deceleration specified in parameter Yx006 (seechapter "Yx006: Maximum acceleration" on page 431).1 = velocity synchronous axis onThe axis is activated as velocity synchronous axis ("AU" or "AF"). Ifautomatic mode is exited, the velocity synchronous axis isswitched off. This option is not permitted in the cyclic task nor inthe manual routine or manual cut routine.2 = unchanged3 = Velocity-synchronous axis onThe axis is activated as velocity synchronous axis ("AU" or "AF").The velocity synchronous axis remains active even after automaticmode has been exited, i.e., in manual mode. This option ispermitted in the cyclic task and in the manual routine or manual cutroutine.
Possible
Tab. 6-92: Velocity synchronous axes: activationThis command causes the axis to follow the selected master axis as avelocity synchronous axis. The SOA command can be used to activate ordeactivate the function of the velocity synchronous axis. Axes 1 to 6 can beactivated and deactivated at the same time. The SOC command is used to
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configure the velocity synchronous axis. The offset value and the followingfactor must be specified via the SOC command.When activated, the velocity synchronous axis initially adjusts the velocity.This means that the drive accelerates or decelerates from the feedbackvelocity that is current at the time of activation to the velocity of the masteraxis, with the following factor taken into account. The acceleration ordeceleration corresponds to the values set in parameter "P-0-0142,Synchronization acceleration". The drive calculates the velocity of the masteraxis by differentiating the specified master axis position.After the synchronization velocity has been reached, a further change of themaster axis velocity and the following factor is processed in relation to"P-0-0155, Synchronization mode".The following variants are available:● P-0-0155, bit 5 = 0
The velocity is adjusted only once, and all subsequent changes invelocity are made at maximum acceleration
● P-0-0155, bit 5 = 1Any change in velocity is limited by the value of "P-0-0142,Synchronization acceleration"
Changes in velocity offset are always made at maximum acceleration.After the operating mode is changed from manual to automatic or vice versa,the status of the previous parameterization is preserved via the SOCcommand.If the amount of the difference between the velocity command value and thevelocity feedback value is less than the value in parameter "S-0-0183,Velocity synchronization window", system flag "MSx08" is set.The "interrupt" input does not have any effect on the velocity synchronousaxis.Stepping to the next block takes place after one task cycle.
Behavior in case of "Stop" If "Stop" is set, the axis stops with the value defined in the parameter "Yx006:Maximum acceleration". If the axis was activated with option "1" (cf.parameter 1), the velocity synchronous axis will not become active again untilthe SMC program has been restarted (cf. input "Start"). If the axis wasactivated with option "3" (cf. parameter 1), the velocity synchronous axis willbecome active again as early as "Stop" is removed, i.e., any possibly existingvelocity offset takes immediate effect.
Interaction with positioning com‐mands
The POI and PSI commands can be used to deactivate the velocitysynchronous axis, increase and reduce the current position command valueby the distance programmed in the POI and PSI commands and move to thecommand position at the velocity specified.The POA and PSA commands can be used to deactivate the velocitysynchronous axis and move it to the absolute position specified in the POAand PSA commands at the velocity specified.
● The velocity synchronous axis can only be used if the "SNC"(synchronization) function package is activated on theparticular axis.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● See also chapter 7.9.3 "Velocity-synchronous axis" on page249.
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6.11.64 SOC – Velocity-synchronous axis: ConfigurationCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Master axis GlobalMaster (0) = global master axisThe axis follows the global master axis specified in parameterY0028 (see chapter "Y0028: Master axis selection of the system"on page 412).LocalEncoder (1) = local measuring encoderThe axis follows its locally connected measuring encoder.
Possible
Parameter 3 Offset Velocity offset (+/-) Possible
Parameter 4 Following factor Gear factor (+/-)The sign of this factor defines the direction in relation to the masteraxis.
Possible
Tab. 6-93: Velocity synchronous axis: ConfigurationThis command is used to set a velocity offset and a following factor for thevelocity synchronous axis and to select the associated master axis. After thevelocity synchronous axis has been activated via the SOA command, theeffective command velocity is established with the current velocity offset andthe following factor being taken into account (see SOA command). An offsetvalue (+/-) and a following factor (+/-) can be used to manipulate the masteraxis velocity specification.The resulting velocity command value of the axis is calculated according tothe following formula:
Fig. 6-38:While operating mode is active, changes in velocity offset are always made atmaximum acceleration. Changes in the following factor are processeddepending on "P-0-0155, Synchronization mode" (see also chapter 6.11.63 "SOA – Velocity-synchronous axes: Activation" on page 210).Stepping to the next block takes place after one task cycle.
● The velocity synchronous axis can only be used if the "SNC"(synchronization) function package is activated on theparticular axis.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
● The command is only permitted, if Yx047, bit0 is configuredto "FALSE", see also chapter "Yx047: Configuration cyclicCCD – Process data" on page 451.
● See also chapter 7.9.3 "Velocity-synchronous axis" on page249.
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6.11.65 SPO – Position offset of synchronous axesCommandData
Content Note Indirect access
Parameter 1 Axis configuration 0 0 0 0 0 0 → axis numbers 1-6, counting is started from the right.Meaning:0 = position offset off (V=0)1 = activate position offset2 = unchanged
Possible
Parameter 2 Position offset No Flying Cutoff:absolute position offsetFlying Cutoff:relative position offset
Possible
Parameter 3 Velocity in % Adjusting velocity in % (0.001 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Parameter 4 Acceleration in % Adjusting acceleration in % (0.001 to 100) of the maximumacceleration parameterized in parameter Yx006
Possible
Tab. 6-94: Position offset of synchronous axesThe SPO command can be used to adjust synchronous axes through aposition offset. The adjustment is only effective in active synchronizationmode (Flying Cutoff application type, phase synchronous axis - FOA, cam -CMA).The axis moves to the new position offset value with the values of velocityand acceleration parameterized in the command taken into account. Theparameterized velocity supersedes the current synchronous velocity of theaxis.The adjusting velocity is specified in % and refers to the value defined inparameter Yx004 (see chapter "Yx004: Maximum velocity" on page 430).The adjusting acceleration is specified in % and refers to the value defined inparameter Yx006 (see chapter "Yx006: Maximum acceleration" on page431).The final the position offset adjustment can be read via the axis-specificsystem flag "MSx10" (Synchronization completed).Stepping to the next block takes place after one task cycle.
No Flying Cutoff - Absolute posi‐tion offset
The sign of the position offset defines the direction of motion of the axis.Depending on the synchronization direction selected (to ensure that thetraversing direction is unique), the following additional restrictions areapplicable to modulo axes (cf. parameters Yx008 and Yx009):Synchronization direction:● Shortest distance:
The absolute value of the position offset must be equal to or less than"half the modulo value".
● Positive direction:The position offset must be equal to or greater than "0" and equal to orless than the "modulo value".
● Negative direction:
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The position offset must be equal to or less than "0" and equal to or lessthan the "modulo value".
The synchronization direction can be defined via the FOC or CMC command.Flying Cutoff - Relative position
offsetThe command can be used, e.g., in the tool program, to separate thematerial. The specified position offset is evaluated as relative distance bywhich the axis is separated each time the command is called.
● The position offset for synchronous axes can only be used ifthe "SNC" (synchronization) function package is activated onthe particular axis.
● This command may not be called in the cyclic task.● If the "Flying Cutoff" application type is used, this command
may be programmed for the synchronous axis only inautomatic task 1, manual routine and manual cut routine.
6.11.66 SRM – Search for registration markCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Offset Offset distance Possible
Parameter 3 Feed velocity in % Homing velocity in % (-100 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Parameter 4 Reference markinput
I, Q, MS, MF, MFR Not possible
Parameter 5 Offset velocity in % Offset velocity in % (0 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
Tab. 6-95: Search for registration markThis command can be used to search for a reference mark at anytime. Thedirection and the speed of the search can be selected as needed. After thecommand has been called, a search for the reference mark with the selectedspeed starts. The reference mark is detected by a rising edge at theprogrammed "Reference mark" input.The homing velocity is specified in % and refers to the value defined inparameter Yx004 (see chapter "Yx004: Maximum velocity" on page 430).The search direction is defined by the sign of the velocity.Stepping to the next block takes place as soon as the reference mark hasbeen detected. The command does not wait until the offset distance hasbeen traversed. The offset distance is traversed with the offset velocity. If thevalue of the offset velocity equals '0', the offset is traversed with the searchvelocity.Reaching the reference mark with a possibly existing offset can be queriedvia the output "In position" (see chapter Yx033: In position, Out-config, page444).
Reference mark input via "Probe1"
The touch probe 1 is selected as the reference mark input if the following in‐put of the respective axis is programmed for input "Registration bit":● "I.Ax.X31.Pin1" (single axis)● "I.Ax.X31.Pin11" (double axis 1)● "I.Ax.X31.Pin21" (double axis 2)
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In this case, the position of the reference mark is determined via the latchedmeasured value of the probe function (cf. S-0-0130). Parameter "S-0-0051,Position feedback value 1" (motor encoder) or "S-0-0053, Position feedbackvalue 2" (measuring wheel or optional encoder) can be used as the sourcefor the measured value. Configuration must be carried out by the user via theIndraWorks dialog "Probe" (cf. S-0-0426). If the probe input is used, thereference mark can be detected with much more precision than with anyother of the inputs. The measurement accuracy is dependent on thehardware design of the IndraDrive control unit (see Section "Probe" in thedocumentation "Rexroth IndraDrive Drive Controllers Control Sections").
"Probe 1" is only active if it has been activated in parameterYx027 (see chapter "Yx027: Registration mark, In-config" on page441). The Time measurement and Rapid stop checkboxes mustbe deactivated (cf. P-0-0226, bits 3 and 4).
Reference mark input via any in‐put desired
If any input desired (not "Probe 1" of the particular axis) is used as thereference mark, the reference mark is detected within the time pattern of thecycle time (see Y0001: Cycle time). In this case, the position of the referencemark is determined via "S-0-0386, Active position feedback value".Depending on whether "measuring wheel mode" is set, this value is either the("S-0-0051, Position feedback value 1") (motor encoder) or the ("S-0-0053,Position feedback value 2") (measuring wheel or optional encoder). Thesearch velocity is to be reduced in cases requiring a high level of referencepoint accuracy.
Offset distance Moving an offset distance (based on the reference mark position) takes placeimmediately after the reference mark has been found. To ensure very preciseaccurate position determination, the search is typically carried out with arelatively low velocity. With the offset velocity, it is possible to carry out thesubsequent process of the offset lengths with a high velocity.
Furthermore, you have the option of limiting or monitoring theposition limit until the registration mark has been found (cf.chapter 6.11.56 "REP – Registration position limit" on page 202).
Example:
Homing procedure without offset programming
SRM 1 0 50 I.A1.X31.Pin3 0
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Fig. 6-39: Example of a homing procedure without offset programming Example:
Homing with offset programming
SRM 1 200 50 I.A1.X31.Pin3 0
Fig. 6-40: Example of a homing procedure with offset programming
● The touch probe function can only be used if the "SRV"(servo function) or "SNC" (synchronization) function packageis activated on the axis.
● This command is used to create a new absolute dimensionalreference (zero point). This can only be achieved throughhoming (e.g., HOM command).
● This command may not be called in the cyclic task.● If the "Flying Cutoff" application type is used, this command
may not be programmed for the synchronous axis, except inthe manual routine.
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6.11.67 STC – Set task cycle counterCommandData
Content Note Indirect access
Parameter 1 Counter Number of task cycles for each sercos cycle (1 to 99) Not possible
Parameter 2 Configuration Cyclic (0) = always appliesSingleCycle (1) = only applies to the current cycle
Not possible
Tab. 6-96: Set task cycle counterThe number of the task cycles to be processed within a Sercos cycle can beset using the STC command. As a result, several commands can beprocessed synchronously within a task, e.g., simultaneously starting axes orwriting outputs.The number of commands to be processed is not set, but the number of thetask cycles to be processed for each sercos cycle is. This number is thesame for command sequences with commands that only require one taskcycle. With commands that require more than one task cycle for processing(e.g., AKN), the number of the commands to be processed is less than theconfigured number of task cycles for each sercos cycle.The new value for the number of task cycles applies during the next sercoscycle after the STC is called. In the current sercos cycle, calling the STCcommand always stops the processing of other task cycles and commands.The processing sequence of the tasks within a PLC cycle is:● Task 1, Task 1, Task 2, Task 2, ..., etc.The current set value is displayed in the system variables VS041 to VS047:● VS041: AutoTask1● VS042: AutoTask2● VS043: AutoTask3● VS044: AutoTask4● VS045: Manual routine● VS046: Manual cut routine● VS047: Cyclic taskThe task cycle counter is automatically reset to the default value "1" after thefollowing events:● after the STC command is called and processed with the "SingleCycle"
option● after switching it off/on● after existing the operating mode (switching from OM → PM)● after loading a new SMC program
The increase in the number of task cycles tobe processed for each sercos cycleconsiderably increases the system load andcan result in watchdog errors.
NOTICE
The dependency between the system load and the number of the task cyclesto be processed is difficult to predict, i.e., during commissioning, sufficientperformance must be ensured by monitoring the task load (cf. VS025 andVS026).
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Example 1: "Cyclic" configuration The following example shows how 6 axes are started synchronously usingthe "cyclic" configuration:
Task cycle Sercos cycle Command line Note
1 1 STC 6 Cyclic Set task cycle counters for synchronous starting
1 2 POA 1 100 50 Start axis 1
2 2 POA 2 100 50 Start axis 2
3 2 POA 3 100 50 Start axis 3
4 2 POA 4 100 50 Start axis 4
5 2 POA 5 100 50 Start axis 5
6 2 POA 6 100 50 Start axis 6
1 3 STC 1 Cyclic Reset task cycle counter
1 4 NOP
1 5 NOP
Tab. 6-97: Program example for synchronously starting 6 axesExample 2: "SingleCycle" configu‐
rationThe following example shows how 12 outputs are written synchronouslyusing the "SingleCycle" configuration:The following example shows how 6 axes are started synchronously usingthe "SingleCycle" configuration:
Task cycle Sercos cycle Command line Note
1 1 STC 2 SingleCycle Set task cycle counter one time for synchronouswriting
1 2 AEA Q.FB.W1.Bit0 111111 Set 6 outputs
2 2 AEA Q.FB.W1.Bit6 111111 Set additional 6 outputs
1 3 NOP Task cycle counter is automatically reset to 1
1 4 NOP
Tab. 6-98: Program example for synchronously writing 12 outputs
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6.11.68 TAA – Torque Average: ActivationCommandData
Content Note Indirect access
Parameter 1 Axis configuration 0 0 0 0 0 0 → axis numbers 1-6, counting is started from the right.Meaning:0 = Torque average offDelay of the torque average is disabled.1 = Torque average onDelay of the torque average is enabled.If automatic mode is exited, the torque average is switched off.This option is not permitted in the cyclic task nor in the manualroutine.2 = unchanged3 = Torque average onDelay of the torque average is enabled. The torque averageremains active even after automatic mode has been exited, i.e., inmanual mode. This option is not permitted in the cyclic task nor inthe manual routine.
Possible
Parameter 2 Master axis Axis numbers 1 to 6 Possible
Tab. 6-99: Torque average: activationWith this command, the torque average of the axes is switched on or off. Theobjective of the torque average is achieving a uniform torque distribution inthe individual axes. The total "actual torque" (see S-0-0084) of the axesparticipating are added for this and divided by the number of axes. For eachaxis, the difference to the average value is specified by parameter "S-0-0081,Additive torque/force command value". The master axis is defined viaparameter 2. Axes 1 to 6 can be activated and deactivated at the same time.The torque average is configured for the individual axes via the TACcommand.The average torque value is determined in [%] according to the followingcalculation rule:
Fig. 6-41: Average torqueIn the "VSx28" system variables of the master axis, the current value isprovided for diagnostic purposes.The additive torque for the individual is calculated based on the averagetorque value and written in parameter "S-0-0081, Additive torque/forcecommand value":
Fig. 6-42: additive torqueThe factor in [%] is determined via the TAC command. The calculatedcorrection value for the additive torque value is additionally limited to themaximum of the "Yx007: Maximum torque" in positive and in negativedirection.Stepping to the next block takes place after one task cycle.
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Using the torque average can be beneficial, for example, forvelocity-coupled axes (see CVA command).
Example:
1) For axis 1, 2 and 3, the torque average is to be activated for the automaticmode:
Fig. 6-43: TAA command, axis 1 is the master axis, average only in automaticmode
The resulting average of the actual torque of the three axes is displayed inthe system variable "VS128".
2) For axis 4, 5 and 6, the torque average is to be activated for all operatingmodes:
Fig. 6-44: TAA command, axis 5 is the master axis, average only in manualand automatic mode
The resulting average of the actual torque of the three axes is displayed insystem variable "VS528".
● An axis can only be active exactly once in an axis group withtorque average.
● In order not to falsify the error reaction, the "S-0-0081,Additive torque/force command value" is always internallywritten with "0" in case of a drive-internal error reaction bythe drive firmware.
● The actual torque value of an axis is only incorporated intothe calculation of the average torque only as long as the axisis under torque.
● The command is not permitted if a torque average is alreadyactivated for the axis (see CTA command).
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
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6.11.69 TAC – Torque average: ConfigurationCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Factor Factor in % (0 to 500) with which the additive torque differential isactivatedDefault value: 100%
Possible
Parameter 3 Ramp time factor Ramp time in "ms" (0 to 65535) in which a change to the factor isexecutedDefault value: 500 ms
Possible
Parameter 4 Torque averagefilter
Time constants in "ms" (0 to 10000) for the filter for the average ofthe additive torque differentialDefault value: 10 ms
Possible
Tab. 6-100: Torque average: ConfigurationThis command can be used to set a factor for an axis with its torqueaveraged. The axis is used to additively activate the torque differential. Whenactivating or deactivating the axis or changing the factor, the factor isincreased linearly within the ramp time to the target value. The resultingtorque differential can also be increased with a PT1 filter.The value for the ramp time is to be at least 5 ms per factor percentage, i.e.,with a factor value of 100%, the value is to be a least 500 ms. The factor islinearly ramped over, i.e., the programmed factor only effective after the ramptime is expired. Without ramp time, torque impacts occur and can thusdamage machinery and materials. The ramp time is effective with eachchange, i.e., both during an increase and decrease in the factor.The time for the torque average value filter is to typically be approximately 10ms. The filter is calculated as a PT1 filter. Times that are too short can resultin torque impacts, while times that are too long can result in constantoscillations in the torque characteristic.Stepping to the next block takes place after one task cycle.
● It is only necessary to call up the TAC command if valuesother than the default values must be set for the factor, ramptime factor or the torque value filter.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
6.11.70 VCC – Velocity changeCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Distance orposition
Distance traveled or absolute position until switching point Possible
Parameter 3 New velocity in % New feed velocity in % (0.001 to 100) of the maximum velocityparameterized in parameter Yx004
Possible
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CommandData
Content Note Indirect access
Parameter 4 Switching point Distance (0) = distance traveledAbsolute (1) = absolute switching position (axis must be homed)
Not possible
Parameter 5 Mode VelocityStart (0) = start of change in velocityVelocityReached (1) = velocity reached
Possible
Tab. 6-101: Velocity changeMode 0 (VelocityStart) Start of the change in velocity at the switching point
a) Switching point = distance traveled (distance)Velocity changes always refer to the feed that was the last to be initiated priorto the VCC command. Block stepping takes place immediately after thedistance programmed in the VCC command has been traveled, based on thestart position of the last feed. The velocity can only be changed with feedswithout position acknowledgement (POI, POA). The position content in thelast VCC value must be less than the feed started beforehand, otherwise thecorresponding VCC command will not be executed and stepping to the nextblock will take place.Program example: The actual start position is 0.00 in.
Fig. 6-45: VCC command; the switching point is the distance traveled on startof the velocity change
Fig. 6-46: VCC command, velocity change (distance traveled) b) Switching point = absolute position (absolute)The switching point refers to the current coordinate system.
The axis must be homed (cf. parameter Yx030). Otherwise anerror message will be displayed.
Mode 1 (VelocityReached) Velocity change reached at switching pointa) Switching point = distance traveled (distance)
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Always refers to the feed that was the last to be initiated prior to the VCCcommand.b) Switching point = absolute position (absolute)The new velocity of the running feed is reached at the absolute positionspecified.Block stepping takes place immediately after the drive starts to change itsvelocity. This point depends on the acceleration, the velocity difference andthe following error. If this point is already reached or exceeded on enteringthe VCC command, block stepping takes place at once, with the new velocitybeing applied.
The axis must be homed (cf. parameter Yx030). Otherwise anerror message will be displayed.
Program example: The actual start position is 100 mm.
Fig. 6-47: VCC command, switching point is absolute position with velocityreached
Fig. 6-48: VCC command, velocity change (absolute position)
● An extrapolation is performed when the switching points areinternally calculated. This ensures that the adjusted velocityis reached at the parameterized position at the latest, i.e.,earlier. The deviation to the parameterized position dependson the boundary conditions of the traveling dynamics and is,at the most, the distance travelled at the switchover pointduring a cycle time (cf. Y0001).
● The switching points for mode "1 = velocity reached" arecalculated without a jerk limitation taken into account.
● This command may not be called in the cyclic task.● If the "Flying Cutoff" application type is used, this command
may not be programmed for the synchronous axis.
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6.11.71 VEO – Velocity overrideCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 Mode Off (0) = override switched offAxis1..Axis6 (1..6) = analog value 0...+10 volts at analog input 1 ofaxis 1-6Parameter (100) = override value from this command
Not possible
Parameter 3 Cyclical Cyclic (0) = re-read override value in each task cycleNoncyclic (1) = read override value only once on calling thecommand
Not possible
Parameter 4 Override value in%
The value is of relevance only in mode parameter (100).Permitted range: 0% - 100%
Possible
Parameter 5 Function Factor (0) = Override as a factorLimit (1) = Override as a limiter
Not possible
Tab. 6-102: Velocity overrideThis command results in reduction of the velocity of all programmed motioncommands.If the "Override as a factor" function (Factor) is used, the override value ismultiplied with the programmed velocity from the commands.If "Override as a limiter" (Limit) is used, the override value is multiplied withthe programmed velocity from parameter Yx004 (see chapter "Yx004:Maximum velocity" on page 430) and therefore limits the velocity.The activation of an override function with the VEO command has priorityover a possible activation in parameter Yx028 (see chapter "Yx028: Override"on page 442).Once a VEO command has been called, it applies to all subsequent motionuntil it is removed. A change in mode from automatic to manual and viceversa removes the override function through the VEO command.Stepping to the next block takes place after one task cycle.
Flying cutoff The VEO command can be used to reduce the return velocity in "FlyingCutoff" mode. The return velocity results from multiplying the override valuewith the maximum velocity from parameter Yx505 (see chapter "Yx505:Return velocity" on page 460). If the override value function is deactivated,the return velocity used is the maximum velocity from parameter Yx505. Anychanged override value will not become active before the next return isstarted. The override value has no effect while return optimization is active.
To reduce the return velocity in "Flying Cutoff" mode, only modeoff (0) and mode parameter (100) are allowed for specification ofthe override value. The override value and the override valuespecification are the only relevant data. The return velocity cannotbe changed cyclically. The return velocity reduction is onlyeffective in automatic mode. After restart, errors or parametermode, the return velocity is the maximum velocity from parameterYx505.
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Program example of VEO - Velocity override
Fig. 6-49: Program example of VEO - Velocity overrideThe above program example generates the following velocity profiles:
1. Program A - unaffected velocity profile
Fig. 6-50: VEO command, velocity change2. Program B - velocity limited to 70%
Fig. 6-51: VEO command, velocity limited to 70%3. Program C - multiplication with a factor of 50%
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Fig. 6-52: VEO command, multiplication with a factor of 50%
6.11.72 VOA – Velocity-coupled axis via PLC global registerCommandData
Content Note Indirect access
Parameter 1 Axis Axis numbers 1 to 6 Possible
Parameter 2 On/Off 0 = velocity coupling off1 = velocity coupling onThe axis is activated as velocity-coupled axis (AU or AF). Ifautomatic mode is exited, the velocity-coupled axis is switched off.Not allowed in the cyclic task nor in the manual routine or manualcut routine task.2 = unchanged3 = Velocity coupling onThe axis becomes active as velocity-coupled axis and remainsactive even if automatic mode is exited. This option is allowed inthe cyclic task.
Possible
Parameter 3 Offset Velocity offset (+/-)The offset is not offset against the multiplication factor.
Possible
Parameter 4 Factor Multiplication factor for specified velocity of master axis, Possible
Tab. 6-103: Velocity-coupled axisThe VOA command allows following any master axis desired in a velocity-coupled manner. The velocity coupling of the axis is achieved internally via a"position-controlled" operation mode. An offset value and a multiplicationfactor can be used to manipulate the master axis velocity specification. Thevelocity of the slave axis is specified via a "global PLC register" which isevaluated in relation to the axis. The "global PLC register" is multiplied withthe following factor and is charged with the velocity offset.The effective command velocity is calculated according to the followingformula:
Fig. 6-53:The axis accelerates to the effective command velocity ("S-0-0259,Positioning velocity") using the value defined in the parameter “Yx006: Max.acceleration“ (can be edited via ACC command).Stepping to the next block takes place after one task cycle.
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The assignment of the global PLC registers to the slave axes is defined asfollows:● Axis 1 follows the value of P-0-1296● Axis 2 follows the value of P-0-1297● Axis 3 follows the value of P-0-1298● Axis 4 follows the value of P-0-1299● Axis 5 follows the value of P-0-1300● Axis 6 follows the value of P-0-1301
Behavior in case of "Stop" If "Stop" is set, the axis stops with the value defined in the parameter "Yx006:Maximum acceleration". If the axis was activated with option "1" (cf.parameter 2), the velocity-coupled axis will not become active again until theSMC program has been restarted (cf. input "Start"). If the axis was activatedwith option "3" (cf. parameter 2), the velocity-coupled axis will become activeagain as early as "Stop" is removed, i.e., any possibly existing velocity offsettakes immediate effect.The assignment of the master axis to the "global PLC registers" can, forexample, be made using the free process data of the CCD command valuechannel (cf. P-0-1623 and P-0-1625).Example:
In the example configuration shown, axis 2 is coupled to the velocity com‐mand value of axis 1 (P-0-0048 of the master axis to P-0-1297):
Fig. 6-54: Assigning the velocity command values of the slave axis using thefree process data of the CCD channel
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● If the velocity is specified by directly writing to the PLCregisters, the value must be entered in the register withdecimal places; otherwise, the axis will move with a wrongvelocity. The number of decimal places depends on thescaling; see also drive parameters S-0-0045 and S-0-0046.
● If the "Flying Cutoff" application type is used, this commandmay not be programmed for the synchronous axis.
6.11.73 WAI - Waiting timeCommandData
Content Note Indirect access
Parameter 1 Waiting time Waiting time in [ms] or [sec] Possible
Parameter 2 Unit ms (0) = mss (1) = s
Possible
Tab. 6-104: Waiting timeProcessing of the next block is delayed until the programmed time haselapsed. This means that stepping to the next block takes place after thewaiting time has elapsed. The significance can be used to specify the waitingtime in [ms] or [sec].
The resolution of the waiting time corresponds to the value inparameter Y0001 (see chapter "Y0001: Cycle time" on page398).
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7 Functions7.1 Operation modes7.1.1 General information
The SMC features the following operation modes:● Manual mode● Automatic mode● Parameter modeThere is an additional mode which cannot be selected:● ErrorThe following figure shows an overview of the available modes and their mostimportant functions:
Fig. 7-1: Overview of operation modes
7.1.2 Manual modeAxes are set up and jogged in manual mode. In this mode, Y-parameters aswell as S/P-parameters of the drive can be read (Y/S/P-parameters that canbe edited in phase 4 are the only ones that can be edited). The axes areunder control, i.e., under torque.In manual mode, the axes can be jogged in positive and negative directionand homed, and an SMC program can be downloaded from the microSD tothe working memory.In manual mode, the manual routine and/or the manual cut routine can beexecuted (see also chapter 6.2.3 "Manual routine" on page 104 and chapter6.2.4 "Manual cut routine" on page 106, respectively).After the SMC has powered up, the control is in manual mode provided the"Automatic mode" and "Parameter mode" inputs are set to "FALSE" and thedrive power is connected (see also chapter 6.8.5 "Axis-independent system
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outputs" on page 133). If manual mode is active, the "manual mode" systemoutput is set to "TRUE".Relevant Y-parameters are as follows:● "Y0018: Manual routine, In-config"● "Y0022: Manual mode, Out-config"● "Yx003: Jog velocity"● "Yx004: Maximum velocity"● "Yx020: Jog+, In-config"● "Yx021: Jog–, In-config"● "Yx022: Homing, In-config"● "Yx023: Homing switch, In-config"● "Yx029: Drive enable, Out-config"(see also chapter 11 "Parameters" on page 395):Relevant system inputs are as follows● Automatic mode● Enable● Jog +● Jog -● Homing● Reference switch● Manual routine(see also chapter 6.8 "System inputs and outputs" on page 126):Relevant system outputs are as follows:● Manual mode● Drive enabled
7.1.3 Automatic modeIn automatic mode, the SMC program can be processed in production modeif there is a rising edge at the "Start" input. Automatic tasks 1-4 areprocessed. All functions can be executed with the exception of the "jog" and"manual cut" or "manual cut routine" functions.In addition, setup mode can be activated for each axis within the scope ofautomatic mode chapter 7.13 "Setup Mode" on page 313.Y-parameters as well as S/P-parameters of the drive can be read (Y/S/P-parameters that can be edited in phase 4 are the only ones that can beedited). The axes are under control, i.e., under torque.Automatic mode is activated by "TRUE" at the "Automatic mode" systeminput. If automatic mode is active, the "automatic mode" system output is setto "TRUE". Automatic mode becomes active only if the power of all axes isconnected (see also chapter 6.8.5 "Axis-independent system outputs" onpage 133). Processing of the SMC program starts with a rising edge at the"Start" system input.Relevant Y-parameters are as follows:● "Y0002: Start program"● "Y0003: Starting block auto task 2"● "Y0004: Starting block auto task 3"
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● "Y0005: Starting block auto task 4"● "Y0011: Automatic mode, In-config"● "Y0013: Single step, In-config"● "Y0016: Start, In-config"● "Y0017: nStop, In-config"● "Y0021: Automatic mode, Out-config"● "Y0025: Run, Out-config"● "Y0026: SMC program valid, Out-config"● "Yx002: Enable axis"● "Yx004: Maximum velocity"● "Yx015: Drive enable, In-config"(see also chapter 11 "Parameters" on page 395):Relevant system inputs are as follows:● Automatic mode● Single step● Start● nStop● Enable(see also chapter 6.8 "System inputs and outputs" on page 126):Relevant system outputs are as follows:● Automatic mode● Drive enabled● Run● Automatic program valid
7.1.4 Parameter modeThe parameter operation mode serves for parameterization and configurationof the SMC and the individual axes. The drives are in PM (P2). Y-parametersand S/P-parameters of the drive can be read. Y-parameters and S/P-parameters of the drive, which are not write-protected, can be write-accessed. The axes are not under control, i.e., not under torque.It is also possible to download an SMC program to the working memory.
Parameter mode is not intended for processing an SMC program,not even the cyclic task (see also chapter 6.2 "Multitasking" onpage 101).
Parameter mode is activated by "TRUE" at the "Parameter mode" systeminput. If parameter mode is active, the "parameter mode" system output is setto "TRUE".Relevant Y-parameters are as follows:● "Y0014: Parameter mode, In-config"● "Y0023: Parameter mode, Out-config"(see also chapter 11 "Parameters" on page 395)Relevant system inputs are as follows:● Parameter mode
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Relevant system outputs are as follows:● Parameter mode(see also chapter 6.8 "System inputs and outputs" on page 126)
7.2 System commands7.2.1 Overview
The following system commands are available for controlling the SMC:
Number
System command Parameter Note
0 No system command None Dummy system command for resetting arequest
1 Load SMC program from microSD Programnumber
If this system command is executed, the SMCprogram is transferred from the microSD to theworking memory of the SMC.This command cannot be executed if theoperation mode is changed from parameter tomanual and while an SMC program is running
2 Reserved
3 Load default values None If this system command is executed, the defaultvalues of all Y-parameters are loaded.Only possible in parameter mode.
4 Load SMC data from microSD Option & filenumber
If this system command is executed, the SMCdata is loaded from the microSD.Only possible in parameter mode
5 Save SMC data to microSD Option & filenumber
If this system command is executed, the SMCdata is transferred to the microSD.This command cannot be executed if theoperation mode is changed from parameter tomanual
6 Delete programmable variables Volatile/retain/all
Deletes the programmable variables
7 Delete programmable flags Volatile/retain/all
Deletes the programmable flags
8 Reset material length counter Axis number Resets the material length counter
9 Load single parameter set from microSD File numberand axisnumber
If this system command is executed, the Y-parameters of an axis are loaded from themicroSD.Only possible in parameter mode
10 Save single parameter set to microSD File numberand axisnumber
If this system command is executed, the Y-parameters of an axis are saved to themicroSD.This command cannot be executed if theoperation mode is changed from parameter tomanual
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Number
System command Parameter Note
12 Save drive parameters to microSD None The drive parameters of all axes are saved tothe microSD via drive command C65 "Saveparameters on microSD command".Only possible in parameter mode
13 Reserved
14 Reserved
Tab. 7-1: Overview of SMC system commandsThe following Y-parameters are available for executing the system command:● "Y0032: System command"
(number of the system command to be executed)● "Y0033: System command parameter"
(parameter for the system command to be executed)● "Y0034: Active system command"
(currently active system command number), read-only● "Y0035: Active system command status"
(displays the current system command status), read-only:– 0: System command not active– 1: System command active– 2: System command successfully executed– >2: System command completed with an error, incl. error code):
– 0F00hex:File not found or file could not be created
– 0F01hex:Invalid system command
– 0F02hex:System command can only be executed in parameter mode
– 0F03hex:System command cannot be executed in automatic mode
– 0F04hex:Invalid system command parameter
– 0F05hex:System command cannot be executed during switchover fromparameter mode to manual mode
– 0F06hex:Error on opening/reading/writing to file
– 0F07hex:*.SCD file invalid (error in the backup file)
– 0F08hex:File is read-only
– 0F09hex:
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Language version of SMC program is invalid, see errornumber "90h" in chapter 9.4 "Error numbers" on page 345.
– 0F0Ahex:Internal error when calling up a function block. For moredetailed error information, refer to the SMC diagnostics (see"Y0029" and "Y0030").
– >C0000hex:This is a command error that was generated by an drivecommand called internally, i.e., there is no SMC specific error.In this case, the cause of the error can be found in the drivedocumentation.e.g., "C5501 - SPS program not ready to load the retain data"
At first, the system command parameter must be set in Y0033.Then the system command can be started in parameter Y0032.
A new system command will only be activated after a change of the systemcommand number (Y0032). System commands cannot be prematurelyterminated or interrupted.For examples of system command execution via field bus, please refer tochapter 5.3 "Field bus" on page 76.
7.2.2 File selection with system commandsSelection of a filename with system commands requires an assignment fileon the microSD "PROG_ASSIGN.SCA", which assigns the file number to thefilename.
If it is not available, the "PROG_ASSIGN.SCA" file isautomatically generated as necessary. This is achievedindependently of the programs available on the microSD.
The file can be updated appropriately by means of an editor, e.g. with theupload function of the SMC-Editor, page 49.Filenames must be entered without filename extension. The filenameextension is automatically added subject to the system command. Theassignment of the file number to the filename applies both to programs and tothe Y-parameter backup files.
7.2.3 No system command 0: No system commandDummy system command serving to reset a system command. Sets theparameters "Y0034: Active system command" and "Y0035: Status of activesystem command" back to "0".This system command does not have any system command parametersassigned to it.
7.2.4 System command 1: Load SMC program from microSDIf this system command is executed, the SMC program is transferred fromthe microSD to the working memory of the SMC. This command cannot beexecuted if the operation mode is changed from parameter to manual andwhile the SMC program is running (output "Run" must be "FALSE").The command parameter required is the program number to be loaded (seealso chapter 7.2.2 "File selection with system commands" on page 234),
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which must be written to the parameter "Y0033: System commandparameter".
7.2.5 System command 2: ReservedThis system command is reserved and therefore does not have any functionat the moment.
7.2.6 System command 3: Load default valuesIf this system command is executed, the default values Y-parameters areloaded.For the default values, please refer to chapter 11 "Parameters" on page395. The values of all Y-parameters are overwritten, except "Y0032: Systemcommand", "Y0033: Parameter for system command", "Y0034: Active systemcommand", and "Y0035: Status of active system command". This systemcommand does not have any system command parameters assigned to it.The system command can only be carried out in parameter mode.
7.2.7 System command 4: Load SMC data from microSDIf this system command is executed, the SMC data (Y-parameters andoptional flags and variables) is loaded from the microSD.The command parameter required is the program number to be loaded (seealso chapter 7.2.2 "File selection with system commands" on page 234),which must be written to parameter "Y0033: System command parameter".The file number indicates the units and tens digit. The data selection indi‐cates the hundreds digit:● 0: Load all Y-parameters (compatible with SMC10VRS)● 1: Load Y-parameters and retain data (VFR and MFR)● 2: Load all data (Y, VF, VFR, MF, MFR, VS, MS)Example:
Only load Y-parameters from the file with the file number 4
For example, to load only the Y-parameters from the file with the file number4, enter the value "004" into the parameter "Y0033: System commandparameter".
Example:
Load Y-parameters and retain data from the file with file number 4
For example, to load the Y-parameters and retain data (VFR, MFR) from thefile with file number 4, enter the value "104" into the parameter "Y0033:System command parameter".
The system command can only be carried out in parameter mode.
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Y-parameter structure The backup files contain the following information: A header and the Y-pa‐rameters with number, name, unit, minimum value, maximum value, and cur‐rent value.
Fig. 7-2: Excerpt from the Y-parameter backup file (*.SCD)When data is loaded from a backup file, a search for the number of the Y-parameter/variable/flag is started and the value standing in the line above the"|" character is written to the Y-parameter. Any other information (header,name, unit, etc.) is optional and is not considered during loading.
A value must at least provide the following information:● Number of the value, e.g., Y0001, VFR099● Current value, e.g., 4000● "|" character at the end of each value
The data contained in the file selected is loaded. It is thereforealso possible to select only specific data (i.e., data selectable bythe user).
7.2.8 System command 5: Save SMC data to microSDIf this system command is executed, the SMC data is transferred to themicroSD.The system command parameter required is the file number and the option(see also chapter 7.2.2 "File selection with system commands" on page 234)to which the Y-parameters are to be saved. The file number must be writtento parameter "Y0033: Parameter for system command" before execution ofthe system command.
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The file number indicates the units and tens digit. The data selection indi‐cates the hundreds digit:● 0: Save all Y-parameters (compatible to SMC10VRS)● 1: Save Y-parameters and retain data (VFR and MFR)● 2: Save all data (Y, VF, VFR, MF, MFR, VS, MS)Example:
Only save Y-parameters to the file with the file number 4
For example, to save only the Y-parameters to the file with the file number 4,enter the value "004" into the parameter "Y0033: System commandparameter".
Example:
Save Y-parameters and retain data to the file with the file number 4
For example, to save the Y-parameters and retain data (VFR, MFR) to the filewith file number 4, enter the value "104" into the parameter "Y0033: Systemcommand parameter".
This system command cannot be executed upon switchover from parametermode to manual mode.
7.2.9 System command 6: Delete programmable variablesThis system command deletes the programmable variables, i.e., thesevariables are set to "0". Parameter "Y0033: Parameter for system command"can be used to select the area to be deleted:0: Volatile variables only (VF000-VF999)1: Non-volatile variables only (VFR000-VFR999)2: All freely programmable variables (VF000-VF999 and VFR000-VFR999)
7.2.10 System command 7: Delete programmable flagsThis system command deletes the programmable flags, i.e., these variablesare set to "FALSE". Parameter "Y0033: Parameter for system command" canbe used to select the area to be deleted:0: Volatile flags only (MF000-MF999)1: Non-volatile flags only (MFR000-MFR199)2: All freely programmable flags (MF000-VF999 and MFR000-VFR199)
7.2.11 System command 8: Reset material length counterThis system command resets the material length counter with Flying Cutoff(see system variable VSx19 and VSx24), i.e., the counter is set to "0".Parameter "Y0033: Parameter for system command" can be used to selectthe axis for which the material length counter is reset.
7.2.12 System command 9: Load single parameter set from microSDThis system command can be used to load the Y-parameter set of a singleaxis (e.g. to duplicate axes) or to load the system parameters only. Thissystem command can only be executed in parameter mode.The system command parameter required is the file number (see alsochapter 7.2.2 "File selection with system commands" on page 234) and theaxis number to be written to the parameter "Y0033: System commandparameter" before executing the system command.
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Example:
Load Y-parameters of axis 2 from the file having file number 4
If, for example, you wish to load the Y-parameters of axis 2 (Y200 - Y299)from the file having file number 4, the value "0402" must be entered inparameter "Y0033: Parameter for system command".
Example:
Load Y-parameters of the system from the file having file number 4
If, for example, you wish to load the Y-parameters of the system (Y0000 -Y0099) from the file having file number 4, the value "0400" must be enteredin parameter "Y0033: Parameter for system command".
For more information about the structure of the backup files,please refer to chapter 7.2.7 "System command 4: Load SMCdata from microSD" on page 235.
7.2.13 System command 10: Save single parameter set to microSDThis system command can be used to save the Y-parameter set of a singleaxis (e.g. to duplicate axes) or to load the system parameters only. Thissystem command cannot be executed upon switchover from parameter modeto manual mode.The system command parameter required is the file number (see alsochapter 7.2.2 "File selection with system commands" on page 234) and theaxis number to be written to the parameter "Y0033: System commandparameter" before executing the system command.Example:
Save Y-parameters of axis 2 to the file having file number 4
If, for example, you wish to save the Y-parameters of axis 2 (Y200 - Y299) tothe file having file number 4, the value "0402" must be entered in parameter"Y0033: Parameter for system command".
Example:
Save Y-parameters of the system to the file having file number 4
If, for example, you wish to save the Y-parameters of the system (Y0000 -Y0099) to the file having file number 4, the value "0400" must be entered inparameter "Y0033: Parameter for system command".
7.2.14 System command 11: Restore drive parameters from microSDThis system command can be used to restore all S/P-parameters of all axes.Drive command C66 "Restore parameters from microSD command" isinitiated internally. The data stored in the ".\Backup" directory of the microSDof the master axis are loaded.This system command does not have any system command parametersassigned to it. The system command can only be carried out in parametermode.
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7.2.15 System command 12: Save drive parameters to microSDThis system command can be used to save all S/P-parameters of all axes tothe microSD of the master axis. Drive command C65 "Save parameters tomicroSD command" is initiated internally.The drive parameters (S/P-parameters) of all axes and the boot project arefiled to the ".Backup" directory of the microSD of the master axis.
The PLC is stopped as long as this system command is executed.Thus, there is no updating in the SMC-Editor. The PLC continuesrunning after the system command has been processed.Drive parameters cannot be restored via system command.
This system command does not have any system command parametersassigned to it. The system command can only be carried out in parametermode.
7.2.16 System command 13: ReservedThis system command is reserved for internal purposes only.
7.2.17 System command 14: ReservedThis system command is reserved for internal purposes only.
7.3 Optional encoder (measuring wheel mode)Depending on the mechanical properties of the drive train between the motoroutput shaft and the machine axis, it may be required to carry out positioncontrol via an external position encoder (which is not integrated in the motor)directly at the moving part of the axis,E.g.: with● A drive train with slippage,● gear backlash or low rigidity of mechanical system, etc.The optional encoder can also be used as measuring wheel encoder (friction-fitting on passing material).The optional encoder is parameterized in IndraWorks in the "Optionalencoder" dialog of the particular axis.The following drive parameters are relevant for configuring the optional en‐coder:● S-0-0115, Encoder 2, type of position encoder● S-0-0117, Encoder 2 resolution● P-0-0123, Encoder 2 feed constant● P-0-0124, Encoder 2, gear turns, mechanical system side● P-0-0125, Encoder 2, gear turns, encoder side● P-0-0185, Encoder 2 control wordThe optional encoder must be activated via the input defined in the parameter"Yx019: Optional encoder, In-config". Activation of the optional encoder isindicated via the output defined in parameter "Yx032: Optional encoder, Out-Config" and via the system flag "MSx09". Measuring wheel mode
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Roll feed drives are used to convey material which will be machined at a laterpoint (e.g. sheet cutting). If there is slippage between the material and thefeed rolls, the motor encoder is not suitable for measuring the materiallengths. In such cases, use can be made of an optional encoder, the so-called measuring wheel encoder. Ideally, the measuring wheel encoder is ina non-slippage connection to the material so that partial lengths can bemeasured accurately.In manual or automatic mode, measuring wheel encoder supplies the positionfeedback, if selected. If the "Optional encoder" input is defined (see chapter"Yx019: Optional encoder, In-config" on page 438), switchover betweenmeasuring wheel encoder and motor encoder is possible at any time. Ifactive, measuring wheel mode is acknowledged via the "Optional encoderactive" output (see chapter "Yx032: Optional encoder active, Out-config" onpage 444).The position feedback via the measuring wheel may only be activated if thefollowing three conditions are fulfilled:● There is material in the feed rolls and under the measuring wheel● The feed rolls are closed● The measuring wheel encoder is pressed against the materialMeasuring wheel mode can only be activated if bits 0 and 2 are set inparameter "P-0-0185, Control word of encoder 2" (cf. IndraWorks dialog"Optional encoder"). The feed constant for the measuring wheel is enteredvia parameter "P-0-0123, Feed constant 2".
To ensure that the reference of the measuring system ispreserved even after activation and deactivation of measuringwheel mode, bit 5 can be set in drive parameter "P-0-0185,Control word of encoder 2 (optional encoder)". If the bit is set to"TRUE", the dimensional reference of the measuring wheelencoder is preserved after activation/deactivation of measuringwheel mode. Otherwise, the dimensional reference of themeasuring wheel encoder is deleted.
To reduce jerky slip behavior, a filter can dampen the aggregate positiondifference. The time constant can be adjusted in drive parameter P-0-0241,Actual position smoothing time constant for hybrid position control.With the measuring wheel operation, any slip that might occur between thematerial and the drive motor is compensated via the position control. Thecurrent actual slip value is displayed in drive parameter P-0-0242, Currentactual slip value in %. It refers to one measuring wheel rotation.If the calculated slip exceeds the value given in drive parameter P-0-0244,Monitoring window of slip in % (value unequal to 0), the slip monitoringfunction generates the error message F2036, Excessive position feedbackdifference and the drive reacts with the configured error reaction.To determine the monitoring window, the maximum slip occurring, e.g. duringa processing cycle, is stored in drive parameter P-0-0243, Maximumoccurred actual slip value in %.
The slip monitoring function is disabled with the value "0" in driveparameter P-0-0244, Monitoring window of slip in %.The value in drive parameter S-0-0391, Monitoring windowfeedback 2 must be set to "0". Otherwise, the error "F2036,Excessive actual position value difference" is generated.
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The following parameters are used to parameterize the function:● Yx019, Optional encoder, In-config● Yx032, Optional encoder active, Out-config● P-0-0241, Actual position smoothing time constant for hybrid position
control● P-0-0242, Current actual slip value in %● P-0-0243, Maximum occurred actual slip value in %● P-0-0244, Monitoring window of slip in %To guarantee satisfying control behavior of the feed axis in the measuringwheel operation, the position resolution of the measuring wheel encoderused must be sufficiently accurate. Therefore, TTL encoder types are notsuited. Thus, using a sine encoder (1Vss) is recommended.
The measuring wheel encoder is an optional (external) encoderthat is connected according to the connection plan (see chapter12.5 "Encoder connection" on page 496).For more detailed information about measuring wheel mod,please refer to the Functional Description"DOK-INDRV*-MP*-**VRS**-FK-EN-P".
7.4 External encoderAn external encoder (measuring encoder) serves as a master axis for realaxes. Each axis can follow the external encoder of another axis or its ownlocal encoder.The configuration is performed via:● Parameter "Y0028: Master axis selection of the system" (see chapter
"Yx028: Override" on page 442)● CMC command (see chapter 6.11.12 "CMC – Cam axis: Configuration"
on page 154)● FOC command (see chapter 6.11.33 "FOC – Phase-synchronous axis:
Configuration" on page 182)● SOC command (see chapter 6.11.64 "SOC – Velocity-synchronous
axis: Configuration" on page 212)External encoders are parameterized in IndraWorks in the "Measuringencoder" dialog of the particular axis.
7.5 Velocity overrideThe override function allows stepless reduction of the currently programmedtraversing velocity in manual and automatic mode (exception: homing andHOM command).The programmed velocity is traveled if the function is activated and there isanalog input voltage of +10 V present at the following inputs:● X32/2 and X32/3 (single axis)● X32/12 und X32/13 (double axis - axis 1)● X32/22 und X32/23 (double axis - axis 2)If this analog input voltage is reduced, the traveling velocity is reducedproportionally. The traveling velocity "Vo" results from the multiplication of the
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programmed traveling velocity "Vp" with the override factor "F" (F = 0-1corresponds to 0V - 10V).This function can be activated in parameter Yx028 (see chapter "Yx028:Override" on page 442) or with the VEO command.
The activation of an override function with the VEO command haspriority over a possible activation in parameter Yx028.
The hardware source for the override of the particular axis can be selected.Potential options are the analog inputs at the Advanced control sections ofaxes 1–6, with +10 V corresponding to a value of 100% (i.e., full velocity).If the value of the hardware source in Yx028 is equal to "0", the value of theoverride is set to 100% by default. The current value of the override isavailable in system variable "Vx11", with the unit being [%]. The override canassume values from 0% to 100%.
Vo Active traversing velocityVp Programmed traversing velocityF Override factorFig. 7-3: Calculating the active traversing velocity with override
The SMC does not support the use of drive parameter "S-0-0108,Feedrate override". Instead, the VEO command or "Yx028:Override" should be used for a velocity override.
7.6 Parking axisIf it is intended to temporarily deactivate individual axes in the control system"Sequential Motion Control" without having to remove them from the axisgroup on the hardware and communication sides, function "Parking axis" (cf.S-0-0139, C1600 Parking axis procedure command) can be activated viaparameter "Yx002: Enable axis".If a drive has been put into the "Parking axis" state, its behavior with respectto the hardware and master communication is "neutral". Errors possiblydetected by the drive are suppressed and do not have any effect on the axesthat are in operation. As a result, the motor and the motor encoder can, forexample, be decoupled in the "Parking axis" state without an error beingreported. An active "Parking axis" state is indicated by "PA" on the display.The "parked" axis behaves as if it is not present!Setting the parameter "Yx002: Enable axis" to "FALSE" results in:● "PA" is displayed on the control panel and in the diagnostic system.● Axis-specific calculations, checks and initializations are not made.● Encoder monitoring functions of the axis-related encoders are not
activated.● Motor temperature monitoring remains off.● Reference bits of the axis-related encoders in the "Position feedback
value status" are cleared.● In operation mode, the only commands that can be activated are
command that can also be executed in parameterization mode.Setting the parameter "Yx002: Enable axis" to "TRUE" results in:● The monitoring functions of the measuring systems are activated.
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● Motor temperature monitoring is activated.● The display and the diagnostic system again show the standard
diagnostic messages.● In operation mode, drive enable can be executed again, i.e., the axis
has regained its full functionality.
● The "Parking axis" function is not activated until the mode ischanged from parameterization to operation mode ("PA"shown on the display of the drive)
● The "Parking axis" function is automatically cleared whenthe axis changes to parameterization mode, i.e., the displaychanges from "PA" to "PM"
● Since the reference of relative measuring systems gets lostwhen the "Parking axis" function is activated, thedimensional reference must again be generated (homed) forthese measuring systems after drive enable has been set.
The following parameter is used to parameterize the function:● chapter "Yx002: Enable axis" on page 429The parameter "Yx002: Enable axis" is only possible in parameter mode.
7.7 Virtual axisThe SMC allows using no more than one virtual axis. Parameter "Yx001: Axistype" (see chapter "Yx001: Axis type" on page 429) can be used toparameterize an axis with the value "1" (= virtual axis) as virtual axis.The virtual axis can be used in the same way as a real axis, i.e., the axis canbe jogged and positioned.
If the application type "Flying Cutoff" or "Flying Cutoff test mode"is selected in the Y-parameter "Yx000: Application type", this axiscannot be used as virtual axis (cf. "Yx001: Axis type").
It is recommended that a virtual axis always be added as axis 6 or as the lastaxis. Otherwise, there will be shifts in hardware addressing when the virtualaxis is added/removed because the hardware addresses are alwaysassigned to the particular axis numbers.If, for example, axis 1 is configured as virtual axis and axis 2 as real axis, thehardware at the real axis is addressed with "I.A2...".
Invalid commands for the virtualaxis
There is an overview table with all commands that may not be used for thevirtual axis under chapter 6.10 "Overview on user commands" on page 138.
7.8 Overview on synchronization modes and axis couplingSynchronization modes Synchronization modes allow running an axis synchronously with a real or a
virtual master axis.In general, synchronization modes are subdivided into the following groups:● Velocity synchronization with real/virtual master axis● Phase synchronization with real/virtual master axis● Electronic cam with real/virtual master axisIn synchronization modes, command values are specified depending on thetype of the master axis.
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Axis coupling When axes are coupled, the master drive transfers command values to theslave drives. The command values of the slaves are permanently coupled tothe command value of the master. Synchronous operation is achieved by thespecification of equal command values for the master and slave drives(command value coupling).In general, axis couplings are subdivided into the following groups:● Position coupling● Velocity coupling● Torque couplingThe synchronous and the coupled axes are synchronized by means of thefollowing values (both command and actual values are possible):● Position/phase● Velocity● Torque● Special case of cam axisIn addition, the axes can also be synchronized via the VOA command (seechapter 6.11.72 "VOA – Velocity-coupled axis via PLC global register" onpage 226). In this case, the command velocity is specified by means of aPLC register and transferred to the axis at the same time. However, this doesnot represent any "genuine" synchronization mode.
Synchronization mode Axis coupling
General
Principle ● The master axis format converter of theCCD master transfers values to P-0-0053in the CCD slaves
● The transfer always involves only positionvalues in master axis format
● Values of the master axis are transferredcyclically to the slave axes via CCD
● The transfer involves "real" position,velocity or torque values
Parameterization ● Master axis selection via "Y0028: Masteraxis selection of the system" is onlypossible in parameter mode
● Coupling can be (de)activated at runtime● The coupling type can be changed at
runtime of the SMC program
● Via "Yx000: Application type" is used, onlypossible in parameter mode
● Coupling can be (de)activated at runtime● The coupling type cannot be changed at
runtime of the SMC program
Number of couplinggroups
● One group possible ● Up to 5 groups possible
Number of masteraxes
● No more than one master axis possible(can be set with Y0028)
● Each group with its own master axis
Virtual axis ● Can be used as master axis ● Not possible
Detailed description chapter 7.9 "Synchronous axis" on page 247 chapter 7.10 "Axis coupling" on page 252
Position/phase
Application ● No mechanical coupling ● Soft mechanical coupling● Low backlash
Axis scaling ● User preference ● Only absolute format is possible
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Synchronization mode Axis coupling
Configuration ● Master axis selection via "Y0028: Masteraxis selection of the system"
● FOC command
● Via "Yx000: Application type"
Activation ● FOA command ● CPA command
Factor ● Possible ● Not possible
Offset ● SPO command ● Not possible
Dead time ● 0 cycle if the master axis is generated viathe virtual axis
● 2 cycle if the master axis is generated viathe CCD master
● 3 cycles if the master axis is generated viathe CCD slave
No dead time if source signal equal to"P-0-0457", else:● 2 cycles (CCD master follows CCD slave)● 2 cycles (CCD slave follows CCD master)● 3 cycles (CCD slave follows CCD slave)
Extrapolation ● Can be adjusted via the drive parameter"P-0-1617, CCD: Number of extrapolationsteps" in the CCD master
● 0 steps (virtual axis)● 2 steps (CCD slave follows CCD master)● 3 steps (CCD slave follows CCD slave)
● Not possible
Error reaction ● Each axis executes its own error reaction ● Axes are stopped synchronously with themaster axis
Detailed Description chapter 7.9.2 "Phase-synchronous axis" onpage 248
chapter 7.10.5 "Position coupling (e.g., gantrygroup)" on page 257
Program example chapter 8.3 "Phase-synchronous axis" on page327
chapter 8.6 "Position coupling" on page 332
Velocity
Application ● No mechanical coupling ● Rigid mechanical coupling● High backlash
Axis Scaling ● User preference ● User preference
Configuration ● Master axis selection via "Y0028: Masteraxis selection of the system"
● SOC command
● Via "Yx000: Application type"● CVC command
Activation ● SOA command ● CVA command
Factor ● Possible ● Possible
Offset ● Possible ● Possible
Dead time ● 0 cycle if the master axis is generated viathe virtual axis
● 2 cycle if the master axis is generated viathe CCD master
● 3 cycles if the master axis is generated viathe CCD slave
● 2 cycles (CCD slave follows CCD master)● 2 cycles (CCD master follows CCD slave)● 3 cycles (CCD slave follows CCD slave)
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Synchronization mode Axis coupling
Extrapolation ● Can be adjusted via the drive parameter"P-0-1617, CCD: Number of extrapolationsteps" in the CCD master
● 0 steps (virtual axis)● 2 steps (CCD slave follows CCD master)● 3 steps (CCD slave follows CCD slave)
● Not possible
Error reaction ● Each axis executes its own error reaction ● Each axis executes its own error reaction
Detailed Description chapter 7.9.3 "Velocity-synchronous axis" onpage 249
chapter 7.10.6 "Velocity coupling (e.g., anti-backlash)" on page 259
Program Example chapter 8.4 "Velocity-synchronous axis" onpage 328
chapter 8.7 "Velocity coupling" on page 333
Torque
Application --- ● Rigid mechanical coupling● Low backlash
Axis Scaling --- ● User preference
Configuration --- ● Via "Yx000: Application type"● CTC command
Activation --- ● CTA command
Factor --- ● Possible
Offset --- ● Possible
Dead time --- ● 2 cycles (CCD slave follows CCD master)● 2 cycles (CCD master follows CCD slave)● 3 cycles (CCD slave follows CCD slave)
Extrapolation --- ● Not possible
Error reaction --- ● Each axis executes its own error reaction
Detailed Description --- chapter 7.10.7 "Torque coupling (e.g., master\slave)" on page 260
Program Example --- chapter 8.8 "Torque coupling" on page 333
Special case of camaxis
Application ● No mechanical coupling ---
Axis Scaling ● User preference ---
Configuration ● Master axis selection via "Y0028: Masteraxis selection of the system"
● CMC command● CMP command
---
Activation ● CMA command ---
Factor ● Not possible ---
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Synchronization mode Axis coupling
Offset ● SPO command ---
Dead time ● 0 cycle if the master axis is generated viathe virtual axis
● 2 cycle if the master axis is generated viathe CCD master
● 3 cycles if the master axis is generated viathe CCD slave
---
Extrapolation ● Can be adjusted via the drive parameter"P-0-1617, CCD: Number of extrapolationsteps" in the CCD master
● 0 steps (virtual axis)● 2 steps (CCD slave follows CCD master)● 3 steps (CCD slave follows CCD slave)
---
Error reaction ● Each axis executes its own error reaction ---
Detailed Description chapter 7.9.4 "Cam axis" on page 251 ---
Program Example chapter 8.5 "Cam axis" on page 330 ---
Tab. 7-2: Overview on synchronization operating modes and axis coupling
7.9 Synchronous axis7.9.1 General
Synchronous axes always follow the master axis selected in the parameterY0028: Master axis selection of the system (refer to page 412). It is alwaysthe position of the global master axis that is transferred to and furtherprocessed by the slave axes. The axis which provides the master axisposition to the synchronous axes for generating the synchronous positioncommand value is referred to as global master axis.
● Double axes cannot be selected as global master in theparameter Y0028.
● In addition to the global master axis, each real axis canalways follow its local external encoder (measuringencoder). The master axis is selected using thecorresponding configuration commands (e.g., FOCcommand) of the synchronization type.
● The synchronous axis can only be used if the "SNC"(synchronization) function package is activated on theparticular axis.
To ensure that the velocity of the synchronous axis and the global masteraxis is the same, the parameter for adjusting the velocity of the synchronousaxis must correspond to the parameter for converting the master axis positionin master axis format.Based on the signal source (cf. Y0028) and the set scaling type of thesynchronous axis (cf. Yx008), the following table shows the parameter whichis relevant for velocity adjustment.
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Signal source(Y0028)
Scaling type (Yx008)
RotaryModulo
RotaryAbsolute
TranslatoryModulo
TranslatoryAbsolute
S-0-0051S-0-0053S-0-0386
Yx009 --- 1 Yx009 P-0-0159 4
P-0-0048 Yx009 --- 1 Yx009 P-0-0159 4
P-0-0052 --- 1 --- 1 --- 1 --- 1
P-0-0434Yx009 2
P-0-0786 3--- 1
S-0-0103 2
P-0-0786 3P-0-0159 4
P-0-0753 P-0-0786 --- 1 P-0-0786 P-0-0159 4
P-0-0758 Yx009 P-0-0918 Yx009 P-0-0918
P-0-1270...
P-0-1277--- 1 --- 1 --- 1 --- 1
P-0-1771...
P-0-1777--- 1 --- 1 --- 1 --- 1
1 Velocity adjustment not required2 For velocity synchronous axis3 For phase-synchronous axis and cam axis4 If application type "Flying Cutoff" or "Flying Cutoff test mode"
(cf. Yx000) is selected, P-0-0159 is specified via parameterYx507
Tab. 7-3: Parameters for adjusting the velocity of the synchronous axis
7.9.2 Phase-synchronous axisGeneral information
A phase synchronous axis follows a master axis position either absolutely orrelatively in position controlled mode. The phase synchronous operationmode with master axis coupling is activated and parameterized by calling theFOA and FOC commands. If configured accordingly, the phase synchronousaxis is active both in automatic mode and manual mode.
The phase synchronous axis can only be used if the "SNC"(synchronization) function package is activated on the particularaxis.
Motion commands (e.g., CON – continuous operation) are also allowed forthe phase synchronous axis. As a result, however, synchronous mode isdeactivated for this particular axis.The "nInterrupt" input does not have any effect on the synchronous axis.
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CommandsFOC command This command serves to parameterize the phase synchronous axis which is
coupled to the master axis.The following settings can be made with the FOC command:● Master axis selection● Synchronization direction:
Positive, negative, or shortest distance● Synchronization type:
It is possible to either set an absolute position (absolutesynchronization) in relation to the master axis or only adjust the velocity(relative synchronization).
● Following factor (gear):Internally via the gear with fine adjustment, with the polarity of the signof the multiplication factor being taken into account
See also chapter 6.11.33 "FOC – Phase-synchronous axis: Configuration"on page 182
FOA command This command serves to activate the phase synchronous axis which iscoupled to the master axis.The following settings can be made with the FOA command:● Activate or deactivate the function of the synchronous axisSee also chapter 6.11.32 "FOA – Phase-synchronous axes: Activation" onpage 181
ParameterizationThe axis must be parameterized via parameter "Yx000: Application type" as"0: Free user mode" or "1: Roll feed".Potential signal sources for the master position of the phase synchronous ax‐is are:● Global master axis via Y0028● Local encoder (measuring encoder) of the particular axisThe master axis is selected via the FOC command.The SMC system solution provides exactly one global master axis. Theglobal master axis is selected via parameter Y0028 (see chapter "Y0028:Master axis selection of the system" on page 412).The values for the synchronization acceleration and the synchronizationvelocity are set in drive parameters P-0-0142 and P-0-0143.
For more examples of using the phase synchronous axis, pleaserefer to chapter 8.3 "Phase-synchronous axis" on page 327.
7.9.3 Velocity-synchronous axisGeneral information
A velocity synchronous axis follows a master axis velocity in velocitycontrolled mode. The velocity synchronous operation mode with master axiscoupling is activated and parameterized by calling the SOA and SOCcommands. If configured accordingly, the velocity synchronous axis is activeboth in automatic mode and manual mode.
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The velocity synchronous axis can only be used if the "SNC"(synchronization) function package is activated on the particularaxis.
Motion commands (e.g., CON – continuous operation) are also allowed forthe velocity synchronous axis. As a result, however, synchronous mode isdeactivated for this particular axis.The "nInterrupt" input does not have any effect on the synchronous axis.
CommandsSOC command This command serves to parameterize the velocity synchronous axis which is
coupled to the master axis.The following settings can be made with the SOC command:● Master axis selection● Velocity offset● Following factor (gear)
Internally via the gear with fine adjustment, with the polarity of the signof the multiplication factor being taken into account
See also chapter 6.11.64 "SOC – Velocity-synchronous axis: Configuration"on page 212
SOA command This command serves to activate the velocity synchronous axis which iscoupled to the master axis.The following settings can be made with the SOA command:● Activate or deactivate the function of the synchronous axisSee also chapter 6.11.63 "SOA – Velocity-synchronous axes: Activation" onpage 210When activated, the velocity synchronous axis initially adjusts the velocity.This means that the drive accelerates or decelerates from the feedbackvelocity that is current at the time of activation to the velocity of the masteraxis, with the following factor taken into account. The acceleration ordeceleration corresponds to the values set in parameter "P-0-0142,Synchronization acceleration". The drive calculates the velocity of the masteraxis by differentiating the specified master axis position.After the synchronization velocity has been reached, a further change of themaster axis velocity and the following factor is processed in relation to"P-0-0155, Synchronization mode".The following variants are available:● P-0-0155, bit 5 = 0
The velocity is adjusted only once, and all subsequent changes invelocity are made at maximum acceleration
● P-0-0155, bit 5 = 1Any change in velocity is limited by the value of "P-0-0142,Synchronization acceleration"
ParameterizationThe axis must be parameterized via parameter "Yx000: Application type" as"0: Free user mode" or "1: Roll feed".Potential signal sources for the master position of the velocity synchronousaxis are:● Global master axis via Y0028
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● Local encoder (measuring encoder) of the particular axisThe master axis is selected via the SOC command.The SMC system solution provides exactly one global master axis. Theglobal master axis is selected via parameter Y0028 (see chapter "Y0028:Master axis selection of the system" on page 412).The value for synchronization acceleration is set in drive parameterP-0-0142.
For more examples of using the velocity-synchronous axis,please refer to chapter 8.4 "Velocity-synchronous axis" on page328.
7.9.4 Cam axisGeneral information
A cam axis follows a master axis position either absolutely or relatively inposition controlled mode, based on the parameterized motion law. Thesupported motions are rest-in-rest motions with the stroke, master axis startposition, master axis end position and motion law parameters.
● The cam axis can only be used if the "SNC"(synchronization) function package is activated on theparticular axis.
● The master axis start position (starting angle) can exceedthe master axis end position (stopping angle). This isessential for roll feed applications.
The cam functionality is based on the "MotionProfile" mode of the drivefirmware.The following motion laws are supported:● 1-8 = free cam tables 1-8● 9 = rest-in-rest with 5th order polynomial● 10 = rest-in-rest with inclined sine curve● 11 = rest-in-rest with velocity limitation
(calculated via "Yx040: Max. number of press strokes")Motion commands (e.g., CON – continuous operation) are also allowed forthe cam axis. As a result, however, cam mode is deactivated for thisparticular axis.The "nInterrupt" input does not have any effect on the cam axis.
CommandsThe following commands are available:● CMP – Cam axis: profile● CMC – Cam axis: Configuration● CMA – Cam axes: ActivationSee also chapter 6.11 "Command description" on page 144
ParameterizationThe axis must be parameterized via parameter "Yx000: Application type" as"0: Free user mode" or "1: Roll feed".
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Potential signal sources for the master position of the cam axis are:● Global master axis via Y0028● Local encoder (measuring encoder) of the particular axisThe master axis is selected via the CMC command.The SMC system solution provides exactly one global master axis. Theglobal master axis is selected via parameter Y0028 (see chapter "Y0028:Master axis selection of the system" on page 412).The values for the synchronization acceleration and the synchronizationvelocity are set in drive parameters P-0-0142 and P-0-0143.
For more examples of using the cam axis, please refer to chapter8.5 "Cam axis" on page 330.
7.10 Axis coupling7.10.1 General information
When axes are coupled, the master drive transfers command values to theslave drives. The command values of the slaves are permanently coupled tothe command value of the master. Synchronous operation is achieved by thespecification of equal command values for the master and slave drives(command value coupling).The following coupling types are available:
1. Position Coupling (e.g., Gantry Group)2. Velocity Coupling (e.g., Anti Backlash)3. Torque coupling (e.g., master\slave)
Selection of the coupling type depends on the configuration of themechanical axis system. Including the SMC, a coupling group can consist of a maximum of 6 drives(one master and up to 5 slave drives). Altogether, a maximum of up to 5coupling groups can be used. Each slave axis can be separately coupled toand decoupled from the particular master.If all slave axes of a position-coupled or velocity-coupled group are insynchronous operation, system flag "MSx13" is also set for the master axis ofthe coupling group.If coupling of the slave axes to the master axis is not active, the slave axescan be commanded like all other axes of the SMC (via the SMC program orby jogging in manual mode).An axis can be a master axis exactly once, e.g., it cannot be the master axisfor position coupling and velocity coupling at the same time.The virtual axis cannot be the master axis nor a slave axis.All axes of a coupling group must have the same scaling type (see chapter"Yx008: Scaling type" on page 432).
● The shortest possible cycle time is always to be set for theaxis coupling (see "Y0001").
● The only axes supported in position coupling mode are axesin absolute format.
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7.10.2 Hardware prerequisitesControl unit It is recommended to use the same "Advanced" control section versions for
axis couplings in master axis and slave axis. This facilitates setting the sameaxis performance in all axes.
Power unit It is recommended to use the same power units for axis couplings in masteraxis and slave axis.
Motors and motor encoders To couple the axes, we recommend that the same motor types be used onthe master and the slave axes.The requirements for the encoder system vary depending on the differentcoupling types. As regards torque coupling and velocity coupling, a singleturn encoder is sufficient at the slave axis; as regards position coupling,however, we recommend an absolute value encoder at the master axis andat the slave axis to prevent position jumps by homing after each activation.As regards torque coupling, the motors of the master and slave axes mustcomply with the same performance class because the slave axis receives apercentage-based torque command value from the master axis and the twoaxes are to have equal effect on the mechanical group.
Holding brake Either all or none of the axes of a position coupled group must have a holdingbrake. The equality of the holding brake control word is monitored by theSMC.
7.10.3 ParameterizationThe desired axis coupling is defined by the axis-dependent parameter"Yx000: Application type".The coupling type is entered as a three-digit value "ABC" with the followingmeaning:● "A" = Selection of the master axis for this slave axis
Axes "1" to "6" are allowed as input for the master axis.● "B" = Selection of the source signal and therefore of the coupling type
– "0" = S-0-0051, Actual position value encoder 1(position coupling)
– "1" = S-0-0053, Actual position value encoder 2(position coupling)
– "2" = S-0-0386, Active position feedback value(position coupling)
– "3" = P-0-0434, Position command value of controller(position coupling)
– "4" = P-0-0457, Position command value generator(position coupling)
– "5" = S-0-0040, Velocity feedback value(velocity coupling)
– "6" = S-0-0156, Velocity feedback value 2(velocity coupling)
– "7" = P-0-0048, Effective velocity command value(velocity coupling)
– "8" = P-0-0049, Active torque/force command value(Torque coupling)
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– "9" = S-0-0084 Actual torque/force value(Torque coupling)
● "C" = Selection of error reaction"0" and "1" may be entered. If "0" is entered, the default error reaction ofthe SMC is set. If "1" is entered, the error reaction can be only beadjusted to the specific application via the "open PLC part". In this case,be sure to contact the Bosch Rexroth customer service.
The default error reaction of the SMC is always active for velocityand torque coupled axes!
Examples: Y200 = "130":Axis 2 (slave axis) follows axis 1 (master axis). Axis 2 is position coupled toaxis 1 via parameter "P-0-0434, Position command value of controller". Useis made of the default error reaction of the SMC.Y300 = "270":Axis 3 (slave axis) follows axis 2 (master axis). Axis 3 is velocity coupled toaxis 2 via parameter "P-0-0048, Effective velocity command value". Use ismade of the default error reaction of the SMC.General parameterization and application instructionsPlease observe the following for parameterization in the master axis andslave axes:● Equal performance settings for the same dynamics (cf. P-0-0556)● Equal control loop settings for the same dynamics (S-0-0100, S-0-0101,
etc.)● The setting of the error reaction must be set to match the particular
available mechanics and parameterized on all axes of the group.● The axes can be homed to a certain degree only because there might
be a mechanical coupling of the motors. There will be differentmovement of the coupled axes during homing.
7.10.4 Description of the error reactionGeneralThe error reaction is distinguished with regard to:● the axis error reaction for master axis and slave axis, as well as● the overall error reaction of the axis groupThe settings of the error reaction must be set to match the particular availableaxis mechanics and application and parameterized on the master axis andthe slave axes.
At the end of each error reaction, the torque enabling is set for thedrive. Power is switched off depending on the setting in P-0-0118!
Velocity and torque couplingAll axes that are affected by an error execute their individually parameterizederror reaction. Axes that are not affected by an error, which are only to travelwhen coupled in automatic mode, are stopped via the SMC using thedeceleration parameterized in parameter "Yx006" and switched to "DriveHalt" (AH) once power is available. If the axes are also to be coupled inmanual mode, the axis remains in the "velocity-controlled" or "torque-
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controlled" operating mode, i.e., no "Drive Halt" (AH) is commanded. Instead,it is "indirectly" stopped by halting the master axis.The drive error reaction depends on● the error class of the error occurred, and● the setting of the following parameters:
– P-0-0117, Activation of control unit reaction on error– P-0-0118, Power supply, configuration– P-0-0119, Best possible deceleration
Position couplingThe SMC provides a default error reaction to stop the axes of a positioncoupled axis group in the event of an error in the best manner possible(gentle for the mechanics). In addition, the SMC allows configuring the errorreaction individually for a great variety of error cases. An application-specificerror reaction can, however, only be achieved via the "open PLC part". In thiscase, be sure to contact the Bosch Rexroth customer service. If the defaulterror reaction is activated, a specific error reaction is preset for each errorclass. The default error reaction is activated via parameter "Yx000".The following table describes the default error reaction for the axis group.The potential error types are listed in the first column. The second columndescribes the action internally performed by the SMC in response to theparticular error type, as long as the default error reaction is activated. Theresulting overall reaction of the axis group is described in the third column.
Error type SMC default error reaction Resulting overall error reaction of the axis group
F2 drive error(non-fatal error)
Stopping the master axis of the axisgroup with the decelerationparameterized in parameter"Yx006"
Initially, all axes of the axis group (including the axis/axes affected by the error) remain in control mode.The master axis is stopped with the decelerationparameterized in parameter "Yx006". The slave axesfollow the master axis synchronously. If the masteraxis is at standstill, the drive enable of the master axisand the coupled slave axes is reset and the brake, ifany, is applied.
F3 drive error(non-fatal safety technologyerror)
Same as F2 drive error
F4 drive error(interface error)
Best possible deceleration of theerror-free axes of the axis group byremoving drive enable.
While under drive control, the axis/axes affected bythe error are stopped with the best possibledeceleration by means of a velocity command valuereset (emergency halt). The error-free axis/axes of theaxis group is/are also stopped with the best possibledeceleration by means of a velocity command valuereset (emergency halt) by removing the drive enableand the brake, if any, is applied.
F6 drive error(travel range error)
Same as F4 drive error
F7 drive error(safety technology error)
Same as F4 drive error
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F8 drive error(fatal error)
Immediate torque enable of theerror-free axes of the axis group. Ifthe axes of the axis group haveholding brakes, the holding brakesare immediately applied with the"C3800, Apply motor holding brake"command.
Immediate torque enabling of the axis/axes affectedby the error and applying of the holding brakes, if any,due to the error reaction integrated in the drive. Theerror-free axis/axes is/are also torque-enabled underPLC control and the holding brakes, if any, areapplied. As soon as the error-free axis/axes is/are atstandstill, the drive enable and the "C3800, Applymotor holding brake" command of the error-free axis/axes are reset. The holding brake(s) remain(s) in its/their applied state.
F9 drive error(fatal system error)
Same as F8 drive error
Invalid operation mode of themaster axis
Stopping all axes of the axis groupwith the deceleration on the masteraxis parameterized in parameter"Yx006"
All axes of the axis group are separately(asynchronously) stopped on the master axis underPLC control with the deceleration parameterized inparameter "Yx006". If all coupled axes of the axisgroup are at standstill, the drive enable of the masteraxis and the coupled slave axes is reset and thebrake, if any, is applied.
Maximum allowed positiondifference between masterand slave axes exceeded (cf."CPA command")
Stopping all axes of the axis groupwith the deceleration parameterizedin parameter "Yx006"
All axes of the axis group are separately(asynchronously) stopped under SMC control with thedeceleration parameterized in parameter "Yx006". Ifall coupled axes of the axis group are at standstill, thedrive enable of the master axis and the coupled slaveaxes is reset and the brake, if any, is applied.
Error occurring only on themaster axis of the axis group See next column
This function is deactivated by default. Depending onthe error type that has occurred, the error reaction willbe as described in the above lines.
Tab. 7-4: Default error reaction with position coupling
If different error types occur at the same time (e.g., an F2 errorand an F6 error occur simultaneously on two different axes of theaxis group), the error reaction depends on the error type havingthe highest priority.The following prioritization is applicable:● Application-specific errors have the same priority● Drive errors have a higher priority than application-specific
errors● The drive error with the highest error number has the highest
priority
To execute the default error reaction, the SMC automatically sets the follow‐ing drive parameters after switchover from P2 to P4:● P-0-1600, Bit 8, 7 = 00: Activate the "No reaction" setting for the CCD
error reaction in the CCD master● P-0-0117, Bit 0 = 1: External NC reaction for 30 s, then best possible
deceleration● P-0-0118, Bit 0 = 0: Deactivates option "Reaction to error in module link
setting"● P-0-0118, Bit 1 = 0: Deactivates the "Triggering of package reaction on
error" option
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● P-0-0118, Bit 7 = 0: Activates the "No signaling to power supply unit"option
● P-0-0119, Bit 3-0 = 0: Velocity command value reset (emergency stop)in the event of F2/F4 errors
● P-0-0119, Bit 7-4 = 0: Velocity command value reset (emergency stop)in the event of F6/F7 errors
● P-0-0119, Bit 8 = 0: Deactivate the setting "Motor phase short circuit forF8 errors"
If the default error reaction is activated, bit 9 (reaction to F7 error)may not be set in parameter "P-0-3210, Safety technologyconfiguration", i.e., the drive-controlled error reaction in the eventof an F7 error always is the velocity command value reset (E-STOP). The torque enable error reaction type may not activatedin the event of F7 errors! The setting of bit 9 of parameter"P-0-3210, Safety technology configuration" is checked by theSMC!
7.10.5 Position coupling (e.g., gantry group)Use Position command value coupling is to be used if there is no rigid mechanical
coupling of the master axis to the slave axes and there is not play in the axesor this play is only minor.
Principle The master axis generates command values. The effective positioncommand (or feedback) value of the master axis is transferred to the slaveaxes as command value. Synchronous operation is achieved by thespecification of equal position command (or feedback) values for the masterand slave axes (position-controlled command value coupling). Any operationmode can be selected for the master axis (if the source signal is not equal to" P-0-0457, Position command value generator"). In this case, the slave axesalways are in operation mode "A0160 Position mode drive controlled".The following parameters are supported as source signal for the effective po‐sition command (or feedback) value of the master axis:● S-0-0051, Position feedback value 1● S-0-0053, Position feedback value 2● S-0-0386, Active position feedback value● P-0-0434, Position command value of controller● P-0-0457, Position command value generatorThe set source signal of the master axis is transferred to the "S-0-0047,Position command value" of the slave axes of the group.If the coupling of the slave axis is switched on, the slave axis first makes asynchronization motion in relation to the master axis. The acceleration andvelocity values for the synchronization process can be defined via driveparameters "P-0-0142, Synchronization acceleration" and "P-0-0143,Synchronization velocity". After completion of the synchronization process,the slave axis follows the position command value specified by the masteraxis.Observe the following in connection with position coupled axes:● Position coupling is possible both for linear and rotary axes whose
position data is calculated in absolute format. Axes with position datascaled in modulo format are not supported.
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● Position coupling can only be activated if all axes of the group arehomed and under torque. We therefore strongly recommend thatabsolute encoders be used for the axes of the group to avoid jumps inposition via homing after each turn-on. Only one signal should be usedfor drive enable of all axes of the group.
● The position coupling requires that all axes of the group are always incontrol mode.
● To ensure that equal position command values in the master and slaveaxes become effective at the same time, dead time compensation isnecessary because of the time required for transferring the positioncommand value of the master axis to the slave axis. Dead timecompensation, however, is only possible if parameter "P-0-0457,Position command value generator" has been selected as source signal.In this case, the SMC automatically sets the dead time compensation.For all other source signals, the velocity command value for the slaveaxis is delayed by 2 (master axis is CCD master) or 3 cycle times(master axis is CCD slave) as compared with the master axis.
● If "P-0-0457, Position command value generator" is used as sourcesignal, the only operation modes allowed for the master axis are thefollowing ones:– "A0010 Drive Halt (AH)"– "A0160 Position mode drive controlled" (e.g., via CPA command)– "A0161 Drive-controlled positioning" (e.g., via jogging in manual
mode or POI, PSI, POA, PSA, CON command)● If "P-0-0457, Position command value generator" is set as source
signal, the performance of all axes (cf. P-0-0556) and the type of fineinterpolation (cf. P-0-0187) must be the same on all slave axes. If this isnot the case, the SMC generates an error message.
● If holding brakes are required inside a group, all axes of this group musthave a holding brake. The equality of the holding brake control word ismonitored by the SMC.
● There is no measuring wheel splitting, i.e., the axes do not havesynchronously after measuring wheel mode has been activated anddeactivated if "S-0-0051", "S-0-0053", "P-0-0434" or "P-0-0457" hasbeen selected as source signal.
● Execution of commands "SAC – Set absolute counter", "PFI –Positioning, incremental to positive stop" and "PFA – Positioning,absolute to positive stop" is not possible for the master axis and theslave axes of these axes have a holding brake and the holding brakemust be activated due to the set error reaction.
Parameterization To configure the position coupling of an axis (slave axis) to a master axis,one of the following source signals must be selected in parameter Yx000:● A0C = "S-0-0051, Position feedback value 1"● A1C = "S-0-0053, Position feedback value 2"● A2C = "S-0-0386, Active position feedback value"● A3C = "P-0-0434, Position command value of controller"● A4C = "P-0-0457, Position command value generator"See also chapter "Yx000: Application type" on page 427 Example: Y200 = "130"
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Axis 2 (slave axis) follows axis 1 (master axis). Axis 2 is position coupled toaxis 1 via parameter "P-0-0434, Position command value of controller". Useis made of the default error reaction of the SMC.
Commands The following command is provided for activating the position coupled axis:● CPA – Position-coupled axes: Activation, page 165
7.10.6 Velocity coupling (e.g., anti-backlash)Use Velocity command value coupling is to be used if there is a rigid mechanical
coupling of the master axis to the slave axes and the play contained in theaxes is considerable.
Principle The master axis generates command values. The effective velocity command(or feedback) value of the master axis is transferred to the slave axes ascommand value. Synchronous operation is achieved by the specification ofequal velocity command (or feedback) values for the master and slave axes(velocity-controlled command value coupling). Any operation mode can beselected for the master axis. In this case, the slave axes always are inoperation mode "Velocity control".The following parameters are supported as source signal for the effective ve‐locity command (or feedback) value of the master axis:● P-0-0048, Effective velocity command value● S-0-0040, Velocity feedback value● S-0-0156, Velocity feedback value 2The set source signal of the master axis is transferred to "S-0-0037, Additivevelocity command value" of the slave axis of the group, with an offset andfactor being taken into account.The slave axis follows the resulting command velocity without anyacceleration limitation. The command velocity for the slave axis is specifiedby the SMC at cycle time intervals (cf. "Y0001").
● Velocity coupling does not allow dead time compensation.The velocity command value in the slave axis is delayed by2 (master axis is CCD master) or 3 cycle times (master axisis CCD slave) as compared with the command value in themaster axis.
● To achieve uniform torque utilization of the coupled axes, atorque average can also be activated (see TAA command,page 219 and TAC command, page 221).
Parameterization To configure the velocity coupling of an axis (slave axis) to a master axis, oneof the following source signals must be selected in parameter Yx000:● A5C = "S-0-0040, Velocity feedback value"● A6C = "S-0-0156, Velocity actual value 2"● A7C = "P-0-0048, Effective velocity command value"Also refer to Yx000: Application type, page 427 Example: Y300 = "270"Axis 3 (slave axis) follows axis 2 (master axis). Axis 3 is velocity coupled toaxis 2 via parameter "P-0-0048, Effective velocity command value". Use ismade of the default error reaction of the SMC.
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Commands The following commands are available for parameterizing and activating thevelocity coupled axis:● CVC – Velocity-coupled axes: Configuration, page 176● CVA – Velocity-coupled axes: Activation, page 174
For more examples of applying the velocity coupled axis, pleaserefer to chapter 8.7 Velocity Coupling, page 333.
7.10.7 Torque coupling (e.g., master\slave)Use Torque coupling is to be used if there is a rigid mechanical coupling of the
master axis to the slave axes and there is no play between the coupled axesor this play is only minor.
Principle The master axis generates command values. The effective torque commandvalue (or feedback value) of the master axis is transferred to the slave axesas the torque command value. Synchronous operation is achieved by thespecification of equal torque command (or feedback) values for the masterand slave axes (torque-controlled command value coupling). Any operationmode can be selected for the master axis. In this case, the slave axes alwaysare in operation mode "Torque control".The following parameters are supported as source signal for the effective tor‐que command (or feedback) value of the master axis:● P-0-0049, Effective torque/force command value● S-0-0084 Torque/force feedback valueThe set source signal of the master axis is transferred to the "S-0-0081,Additive torque/force command value" of the slave axes of the group.The slave axis directly follows the torque command value, i.e., without a rampor filter. The torque command value for the slave axis is specified by the SMCat cycle time intervals (cf. "Y0001").
● Torque coupling does not allow dead time compensation.The torque command value in the slave axis is delayed by 2(master axis is CCD master) or 3 cycle times (master axis isCCD slave) as compared with the command value in themaster axis.
● The velocity controller, proportional gain is reduced by half.Parameterization To configure the torque coupling of an axis (slave axis) to a master axis, one
of the following source signals must be selected in parameter Yx000:● A8C = "P-0-0049, Effective torque/force command value"● A9C = "S-0-0084 Torque/force feedback value"Also refer to Yx000: Application type, page 427 Example: Y300 = "290"Axis 3 (slave axis) follows axis 2 (master axis). Axis 3 is torque-coupled toaxis 2 via the parameter "S-0-0084, Actual torque force value". The defaulterror reaction of the SMC is used.
Commands The following commands are available for parameterizing and activating thetorque-coupled axis:● CTC – CTC – Torque-coupled axes: Configuration, page 173● CTA – Torque-coupled axes: Activation, page 171
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For more examples of applying the torque-coupled axis, pleaserefer to chapter 8.8 Torque Coupling, page 333.
7.11 Flying cutoff7.11.1 Overview
The Flying Cutoff motion commands (LML, LMR, LMK, and LMC) provideapplication specific functionality for Flying Cutoff control. In typical FlyingCutoff applications, material is fed continuously past a servo driven cutoffcarriage. The carriage contains cutting or punching devices (shear, saw, die,etc…) that are used to machine the material. A measuring encoder travels onthe material and determines its position and velocity. The measuring encoderis connected to the secondary encoder interface (X8) on the IndraDrive (seealso chapter 7.11.2 "Configuring the measuring encoder" on page 269).The motion commands for Flying Cutoff mode are only active for axis 1(master axis) and in automatic task 1. They are used to synchronize acarriage with a specific point (defined by a length or registration marks) onthe material. After the cut is completed, the carriage returns to the returnposition and synchronizes to the next cut.
Flying cutoff motion commands The following Flying Cutoff motion commands are supported:● LML – Part length● LMR – Part length by registration● LMK – Part length or registration mark● LMC – Part length by registration mark counter● EOS – End of synchronization
Application types The Flying Cutoff application type is configured using Y-parameter "Yx000:Application type". Refer to chapter 7.11 "Flying cutoff" on page 261 fordetails.The configured application type must either be "Flying Cutoff" or "FlyingCutoff test mode" to ensure that the motion commands can be used forFlying Cutoff mode.Flying cutoff application types
Yx000configuration
Description
2 Use Flying Cutoff motion commands inoperation mode
3 Use Flying Cutoff motion commands in testmode
Tab. 7-5: Flying Cutoff Application Types
The Flying Cutoff motion commands are only valid in automatictask 1, with axis 1 (master axis) and in the "Flying Cutoff" or"Flying Cutoff test mode" application type.
Synchronization processes withthe material velocity
There are two different synchronization processes available for synchronizingthe cutoff carriage and the material. They are selected using bit 0 inparameter Yx519: Flying Cutoff configuration, page 467.
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Bit 0 has the following meaning:● Bit 0 = 0: Synchronization with polynomial 5th order
(with jerk limitation)● Bit 0 = 1: Synchronization with constant acceleration
(without jerk limitation)In operation mode, bit 0 can be changed in "Yx519" and becomes effectivethe next time a LMx command is called.The synchronization process using polynomial 5th order includes a jerklimitation and therefore preserves the mechanics, however, it extends thetime needed to reach the synchronous position compared to synchronizationprocess with constant acceleration. This is why using the polynomial 5thorder only allows a lower part production rate.
During the synchronizing motion, the maximum acceleration ofthe cutoff carriage is configured using parameter “Yx506: Returnacceleration”.
Fig. 7-4: Synchronization with polynomial 5th order
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Fig. 7-5: Synchronization with constant accelerationList of restricted commands for ax‐
is 1For an overview table which contains all commands that may not be used foraxis 1 (Flying Cutoff), please refer to chapter 6.10 Overview on usercommands, page 138.The following list of SMC commands cannot be used for axis 1 while insynch:● HOM – Home axis● all motion commands that are not assigned to the "Flying Cutoff"
application type (e.g., PSI)The following list of SMC commands can be used for the carriage return if bit5 of Y-parameters "Yx519: Flying Cutoff configuration". The operator mustend the synchronous run and trigger the carriage return by calling one of thefollowing motion commands. The user must ensure that the tool has beenfully retracted from the material.● POA - Positioning, Absolute with Immediate Block Stepping● POI - Positioning, Incremental with Immediate Block Stepping● PSA - Positioning, Absolute with In-Position● PSI - Positioning, Incremental with In-PositionIn this case, the return acceleration can be changed using the "ACC –Acceleration change" command.
Output conditions The following conditions are required before the Flying Cutoff motion com‐mands are called:● The drive and control parameters that specify the relevant mechanical
aspects of the machine and control are properly configured.● The drive (carriage axis) is activated.● The measuring encoder is applied.
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There are two straightforward example programs for Flying Cutoff with andwithout registration sensor described in chapter 8.10 Flying Cutoff, page337.
Material movements are only allowed in positive direction!The Flying Cutoff system only expects the movement of materialin a positive direction. The measuring wheel must be setup sothat the measuring wheel counts in the positive direction when thematerial moves forward.Although material movements in a negative counting direction aregenerally counted, the Flying Cutoff only functions correctly inautomatic mode when the material is counted in a positivedirection.Once the carriage is synchronous, a negative movement canoccur. The system will remain synchronized to the material untilthe carriage reaches the value configured in Y-parameter "Yx045:Travel limit, minimum value". At which point, an error will beissued.
Y-parameters describing the ma‐chine geometry
The following Y-parameters define the geometry of the machine. They mustbe configured to use the Flying Cutoff motion commands:
Y-parameters Name Description
Yx044 Travel limit, maximum value The value of the maximum position with respect to the carriage zeroposition
Yx045 Travel limit, minimum value The value of the minimum position with respect to the carriage zeroposition (the value to be entered is negative in the configurations shownin fig. 7-6 "Configuration with stationary registration sensor mounted tothe left" on page 265, fig. 7-7 "Configuration with stationary registrationsensor mounted to the right" on page 266, fig. 7-8 "Configuration withregistration sensor mounted to the left of carriage" on page 266 and fig.7-9 "Configuration with registration sensor mounted to the right ofcarriage" on page 267)
Yx504 Return position The value of the return position for the carriage with respect to thecarriage zero position (default 0)
Yx508 Maximum stroke position The value of the maximum stroke position with respect to the carriagezero position
Yx512 Registration mark sensordistance
If a stationary sensor is used, the registration sensor offset is measuredwith respect to the carriage zero position. A negative value is used forthis parameter for the case in Fig. fig. 7-6 "Configuration with stationaryregistration sensor mounted to the left" on page 265 and a positive valueis used for the case in fig. 7-7 "Configuration with stationary registrationsensor mounted to the right" on page 266.If a sensor is mounted on the carriage, the registration sensor offset ismeasured with respect to the edge of the carriage (i.e., the edge of thecarriage that is used to determine the zero position of the carriage). Anegative value is used for this parameter for the case in fig. 7-8"Configuration with registration sensor mounted to the left of carriage" onpage 266 and a positive value is used for the case in fig. 7-9"Configuration with registration sensor mounted to the right of carriage"on page 267
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Y-parameters Name Description
Yx513 Tool width Defines the width of a tool (e.g. width of the saw blade). Thiscompensates for any material lost to the tool width (always a positivevalue)
Yx514 Tool offset The tool offset from the edge of the carriage as shown in fig. 7-6"Configuration with stationary registration sensor mounted to the left" onpage 265, fig. 7-7 "Configuration with stationary registration sensormounted to the right" on page 266, fig. 7-8 "Configuration withregistration sensor mounted to the left of carriage" on page 266 and fig.7-9 "Configuration with registration sensor mounted to the right ofcarriage" on page 267
Tab. 7-6: Flying Cutoff Y-parameters
● The value in "Yx044: Maximum travel limit" must be higherthan the sum total from the value in "Yx504: Return position"and the tolerance window (5 mm or 0.2 inches).
● The value in "Yx045: Minimum travel limit" must be lowerthan the difference between the value in "Yx504: Returnposition" and the tolerance window (5 mm or 0.2 inches).
The following figure shows a stationary registration sensor mounted to the leftof the carriage. The registration sensor offset is measured with respect to thecarriage zero position and configured in Y-parameter "Yx512: Registrationsensor offset" (a negative value in this example).
Fig. 7-6: Configuration with stationary registration sensor mounted to the leftThe following figure shows a stationary registration sensor mounted to theright of the carriage. The registration sensor offset is measured with respectto the carriage zero position and configured in Y-parameter "Yx512:Registration sensor offset" (a positive value in this example).
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Fig. 7-7: Configuration with stationary registration sensor mounted to the rightThe following figure shows a registration sensor mounted on the carriage tothe left side. The registration sensor is configured as mounted on the carriageby setting bit 2 of Y-parameter "Yx519: Flying cutoff configuration" to 1(Moving registration sensor). The registration sensor offset is measured withrespect to the carriage edge and configured in Y-parameter "Yx512:Registration sensor offset" (a negative value in this example).
If a moving registration sensor is used, registration marks are onlyrecorded if the material moves 100 mm/min or 4 inch/min fasterthan the carriage and the carriage is not running synchronously.This prevents individual registration marks from being recordedtwice.
Fig. 7-8: Configuration with registration sensor mounted to the left of carriage
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The following figure shows a registration sensor mounted on the carriage tothe right side. The registration sensor offset is measured with respect to thecarriage edge and configured in Y-parameter "Yx512: Registration sensoroffset" (a positive value in this example).
Fig. 7-9: Configuration with registration sensor mounted to the right of car‐riage
Flying Cutoff Y-parameters The following table lists the Flying Cutoff Y-parameters:
Y-parameters Name Description
Yx503, page459
Min. synchronization cycles Minimum number of PLC cycles for synchronizing the carriage with thematerial velocity
Yx505, page460
Return velocity Velocity for carriage return
Yx506, page461
Return acceleration This parameter defines the maximum acceleration of the carriage. This isapplicable both to synchronization and return of the carriage
Yx507, page461
Measuring wheel feedconstant
This parameter defines the length that the material will travel for onecomplete revolution of the measuring encoder
Yx509, page462
Crop cut length Length of crop cut
Yx510, page463
Maximum part length This parameter is used to define the maximum part length
Yx511, page463
Error reaction max. partlength
This parameter defines the error reaction if the maximum part length isreached
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Y-parameters Name Description
Yx515, page465
Tool cycle time Time for tool to complete its cycle in [ms].The user enters the amount of time it will take for the tool to close andopen given all the mechanical, fluid-related and electrical delays in themachine. As seen by the tool program this is the total time from the pointwhere the system changes from the Flying Cutoff motion command tothe next command (synchronization is active) until the EOS command isprocessed in the tool program, i.e., the time between LMx and the EOScommand. This value is used to determine if it is possible to make acomplete cut considering the location of the carriage and velocity of thematerial. If not, an error will be issued to stop the machine before the cutis started.Disable tool cycle time by setting this value to 0 ms
Yx516, page465
Test mode velocity Velocity of the simulated material in test mode
Yx517, page466
Acceleration in test mode Acceleration of the simulated material in test mode
Yx518, page466
Material pulse distance Amount of material to run through to trigger a travel pulse
Yx519, page467
Flying cutoff configuration Configuration settings
Yx536, page475
Distance or time for Presyncpulse
Defines the distance or time for the Presync pulse which is output beforethe carriage has fully synchronized
Yx537, page476
Maximum tailout length Maximum length of usable material after the material end has beendetected
Tab. 7-7: Flying Cutoff Y-parametersConfiguring inputs and outputs
The following table lists the internal inputs and outputs of the Flying Cutoffmotion commands that can be mapped to physical inputs via Y-parameters:
Y-parameters Name Description
Yx520, page468
Cut inhibit, In-config Configuration of the input triggering a cut inhibition (for more information,see chapter "Cut Inhibit" on page 294).
Yx521, page469
Return inhibit, In-config Configuration of the input triggering a return inhibition (for moreinformation, see chapter "Return Inhibit" on page 295).
Yx522, page469
Immediate cut, In-config Configuration of the input triggering an immediate cut (for moreinformation, see chapter "Immediate Cut (Automatic Mode)" on page291).
Yx523, page470
Crop cut, In-config Configuration of the input triggering a crop cut (for more information, seechapter "Crop Cut" on page 291).
Yx524, page470
Return optimization, In-config Configuration of the input activating the return optimization (for moreinformation, see chapter "Return Optimization" on page 295).
Yx525, page470
Rapid stop, In-config Configuration of the input triggering a rapid stop (for more information,see chapter "Rapid Stop Routine" on page 292).
Yx526, page471
Reset material lengthcounter, In-config
Configuration of the input resetting the material length counter (for moreinformation, see chapter "Material Length Counter" on page 297).
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Y-parameters Name Description
Yx527, page471
Test mode, In-config Configuration of the input starting test mode (for more information, seechapter "Test mode (simulation)" on page 285).
Yx528, page472
Reset product lengthcounter, In-config
Configuration of the input resetting the product length counter (for moreinformation, see chapter "Product Length Counter" on page 297).
Yx529, page472
Scrap cut active, Out-config Configuration of the output indicating that a scrap cut is active (for moreinformation, see chapter "Scrap Cut Output" on page 298).
Yx530, page473
Cut inhibit active, Out-config Configuration of the output indicating that Cut Inhibit is active (for moreinformation, see chapter "Cut Inhibit" on page 294).
Yx531, page473
Return optimization active,Out-config
Configuration of the output indicating that return optimization is active(for more information, see chapter "Return Optimization" on page 295).
Yx532, page474
Return inhibit active, Out-config
Configuration of the output indicating that Return Inhibit is active (formore information, see chapter "Return Inhibit" on page 295).
Yx533, page474
Max. part length reached,Out-config
Configuration of the output indicating that the maximum part length hasbeen reached (for more information, see chapter "Maximum Part Length"on page 298).
Yx534, page474
Material pulse, Out-config Configuration of the output indicating that the amount configured inparameter "Yx518: Travel pulse distance" has run through (for moreinformation, see chapter "Material Pulse" on page 302).
Yx535, page475
Presync pulse, Out-config Configuration of the output indicating that the material is present aspecific distance or time before full synchronization of the carriage (formore information, see chapter "Presync Pulse" on page 302).
Yx538, page476
No Material, In-config Configuration of the input detecting the end of material and being used toinitiate tailout machining (for more information, see chapter "Tailout" onpage 300).
Yx539, page477
Tailout done, Out-config Configuration of the output indicating that tailout machining has beendone (for more information, see chapter "Tailout" on page 300).
Yx540, page477
Reset production lengthcounter, In-config
Configuration of the input resetting the production length counter (formore information, see chapter "Production length counter" on page297).
Tab. 7-8: Configuring inputs and outputs
7.11.2 Configuring the measuring encoderConfiguration The following steps are required for configuring the measuring encoder for
Flying Cutoff mode:1. With IndraWorks online and the SMC in parameter mode, expand the
"Device" folder and double click on Measuring encoder.
The necessary steps for establishing the connection to the drivewith IndraWorks are described in chapter 4.2.3 "Commissioningthe drives with IndraWorks" on page 18.
2. Select the measuring encoder type from the Measuring encoder dropdown list.
3. Select X8 (Option 2) EN2 for the optional slot.4. Enter the specific value of the measuring encoder as resolution.
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Encoders with data interface will automatically set the resolutionvalue.
5. Set the filter time constant.
20 ms is a general recommended time for the filter time constantof the measuring encoder. To fine tune the application, the masteraxis position signal (P-0-0052) generated by the measuringencoder must be reviewed with the drive oscilloscope. For thesefunctions, please refer to the IndraWorks documentation (DOK-IWORKS-ENGINEE*Vxx-APxx-xx-P).
GDS encoders of Bosch Rexroth are selected as an EnDat2.1interface.
Fig. 7-10: Setting the measuring encoder in IndraWorks
The measuring encoder is the system main sensor that connectsit to the moving material. Thus, the accuracy of the encoder andthe mechanical transformation of the material motion on to theencoder wheel largely determines the accuracy of productionresults as well as the smoothness of the carriage motion.Therefore:● Select an encoder with sufficient resolution.● Always ensure a mechanical contact between the measuring
encoder and the material.● Avoid slippage.● Avoid bouncing.● Avoid oscillating motion signals by applying a signal filter
and/or steady the material.
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Inverting measuring encoder data Placing the measuring encoder must be defined on first startup. It must bemounted such that the positive movement of the material specifies anincrease in the measuring encoder position.This can be tested by monitoring the value of P-0-0052 (Actual position valueof measuring encoder) while turning the measuring encoder in material feeddirection. The detected material position in P-0-0052 has to increase.If the measuring data show decreasing values and the measuring encodercannot be repositioned, the system allows negating this data.● With IndraWorks online and the system in parameter mode, expand the
"Device" folder and double click on Measuring encoder.● Check the Rotational direction inverted box in the Encoder type section.● After making your selection, close the dialog and then switch the drive
off and then back on.Setting the feed constant of the
measuring encoderThe feed constant of the measuring encoder is used to translate the linearmotion of the material into rotary units of the measuring encoder that will beused to determine positions and velocities.Use the following steps to calculate and input the feed constant for the meas‐uring encoder:1. Open the SMC-Editor.2. Establish the connection to the SMC (button "Login").3. Switch the SMC over to parameter mode.4. Select "Yx507: Measuring wheel feed constant" from the parameter box.5. Set the Measuring wheel feed constant to π times the diameter of the
measuring encoder: For example: If the diameter = 100 units, then (π x100) = 314.1593 units. This defines the circumference of the measuringencoder.
The diameter of the measuring encoder must be measured asaccurately as possible. This measurement determines theaccuracy of the part length. In the event that the part length that iscut does not exactly match the programmed length, the SMCprovides the FAK command for performing a fine adjust.
Fine adjusting the measuring en‐coder
If the measuring encoder must be fine adjusted, the FAK command allowsfine adjustment as a percentage of the value set in Yx507.
Fine adjustment by means of the FAK command can be madewhile the system is running. This allows for parts to be cut andchecked.
The following is a typical adjustment procedure:● Run off a test part● Measure the actual part for accuracy● Adjust the percentage in the FAK command● Repeat the process until the expected accuracy is obtainedRefer to chapter 6.11.31 "FAK – Multiplication factor for feed" on page 180for a complete description.
7.11.3 Flying cutoff commandsLML – Part Length
An LML command is used to generate parts of a specified length.
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The following table lists the command parameters:
Command data Content Note Indirect access
Parameter 1 Axis Only axis 1 (master axis) permitted possible
Parameter 2 Part length Part length to be cut possible
Tab. 7-9: LML – Part lengthThe following figure shows the Y-parameters and LML command parameters which must be configured for anLML command.
Fig. 7-11: LML command exampleAfter an LML command has been called, the programmed value that is set inthe "Part length" parameter is processed. Once this length is reached, thecarriage is accelerated to the material velocity. When the carriage issynchronized with the material, the user program proceeds to the nextcommand (e.g., JSR – Jump to subroutine).The synchronous run with the material is maintained until one of the followingconditions occur:● the next LMx command is reached,● another motion command is received for the carriage, or● a motion limit is reached
If return optimization is active, the user program should be setsuch that the next LML command is processed directly after theEOS command. Refer to chapter "Return Optimization" on page295 for details.
If a variable is assigned to the "Part length" command parameter, thisvariable can be adjusted while the program is in an LML command. However,this change in the part length is only applied if it exceeds the current productlength counter (see chapter "Product Length Counter" on page 297) andsynchronization has not been started yet.The "part length" specified via the command parameter may not exceed themaximum part length defined in parameter chapter "Yx510: Maximum part
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length" on page 463 if an error reaction is set in parameter (Yx511 > 1) atthe same time.
LMR – Part length by registration markAn LMR command uses a registration sensor to detect a registration mark onthe material and to produce a part.The following table lists the command parameters:
Command data Content Note Indirect access
Parameter 1 Axis Only axis 1 (master axis) permitted possible
Parameter 2 Mask window Window of the last cut position, in which allregistration marks are ignored possible
Parameter 3 Registration markoffset
Distance between the registration mark and the cutposition possible
Tab. 7-10: LMR – Part length by registrationThe following figure shows the Y-parameters and LMR command parameters which must be configured for anLMR command when using a stationary sensor:
Fig. 7-12: LMR command example for a stationary sensor
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The following figure shows the Y-parameters and LMR command parameters which must be configured for anLMR command when using a moving sensor which is mounted on the carriage:
Fig. 7-13: LMR command example for a moving sensorAny registration marks detected within the mask window are ignored. Theregistration sensor is then activated and the next registration mark detectedoutside the mask window is used to determine the next cut position. Thevalue programmed in the "Registration mark offset" command parameter isused to determine the final cut position.A positive value in "Registration mark offset", as shown in fig. 7-13 "LMRcommand example for a moving sensor" on page 274, results in a cutposition after the registration mark is detected. To cut before the registrationmark, a negative value must be entered in "Registration mark offset".Once the final cut position is reached, the carriage is accelerated to thematerial velocity. When the carriage is synchronized with the material, theprogram proceeds to the next user command (e.g., JSR – Jump tosubroutine).The synchronous run with the material is maintained until one of the followingconditions occur:● the next LMx command is reached,● another motion command is received for the carriage, or● a motion limit is reached
If the "Mask window" is greater than zero, this value is used to setthe minimum limits for the search of a valid registration mark. Ifthe value is zero, the first registration mark after the last cutposition will be used.The "Mask window" cannot be negative (zero will be used).
LMK – Part length or registration markAn LMK command uses either the registration sensor to detect a registrationmark on the material or a part length to produce a part (depending on whichevent is the first to occur).
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The following table lists the command parameters:
Command data Content Note Indirect access
Parameter 1 Axis Only axis 1 (master axis) permitted possible
Parameter 2 Part length Part length to be cut possible
Parameter 3 Mask window Window of the last cut position, in which allregistration marks are ignored possible
Parameter 4 Registration markoffset
Distance between the registration mark and the cutposition possible
Tab. 7-11: LMK – Part length or registration markAn LMK command produces parts using one of the following two cases:
a.) The registration mark is detected before the part length is reached.Once a registration mark is detected, the part length is ignored until the next cut.Since the "Registration mark offset" is added to the position of the detectedregistration mark, the resulting length of the part can be longer than the defined"Part length".
b.) The part length is reached before a registration mark is detected.Once the part length is used, the registration marks are ignored until the nextcut.
The following figure shows the Y-parameters and LMK command parameters which must be configured for anLMK command:
Fig. 7-14: LMK command exampleThis command combines two actions. Initially, the value that is programmedin the Part length command parameter is used as the "preset length"; thenthe registration sensor is activated. If a registration mark is detected prior tothe default cut position being reached, it is used to determine the next cut
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position. If not, the programmed cut length is used. Any registration marksdetected within the mask window are ignored. The registration sensor is thenactivated and the next registration mark detected outside the mask window isused to determine the next cut position. The value in the "Registration markoffset" command parameter is used to alter the final cut position only for thecase when a registration mark is detected.A positive value in "Registration mark offset", as shown in fig. 7-14 "LMKcommand example" on page 275, results in a cut position after theregistration mark is detected. To cut before the registration mark, a negativevalue must be entered in "Registration mark offset".Once the final cut position is reached, the carriage is accelerated to thematerial velocity. When the carriage is synchronized with the material, theprogram proceeds to the next command (e.g., JSR – Jump to subroutine).The synchronous run with the material is maintained until one of the followingconditions occur:● the next LMx command is reached,● another motion command is received for the carriage, or● a motion limit is reachedIf a variable is assigned to the "Part length" command parameter, thisvariable can be adjusted while the program is in an LMK command. However,this change in the part length is only applied if it exceeds the current productlength counter (see chapter "Product Length Counter" on page 297) andsynchronization has not been started yet.The "part length" specified via the command parameter may not exceed themaximum part length defined in parameter chapter 11.4.2 "DetailedDescription" on page 457 if an error reaction is set in parameter (Yx511 > 1)at the same time.
LMC – Part length by registration mark counterAn LMC command counts a defined number of registration marks and adds aregistration mark offset to the registration mark to produce a part.The following table lists the command parameters:
Command data Content Note Indirect access
Parameter 1 Axis Only axis 1 (master axis) permitted possible
Parameter 2 Registration markcount Number of registration marks until processing start possible
Parameter 3 Registration markoffset
Distance between the registration mark and the cutposition possible
Tab. 7-12: LMC – Part length by registration mark counter
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The following figure shows the Y-parameters and LMC command parameters which must be configured for anLMC command:
Fig. 7-15: LMC command exampleWhen the LMC command is called, the registration mark count andregistration mark offset are read into the system.When the defined number of registration marks in "Registration mark count"is reached, the position of the final counted registration mark is used todetermine the next cut position. The value in "Registration mark offset" isadded to determine the actual cut position.A positive value in "Registration mark offset", as shown in fig. 7-15 "LMCcommand example" on page 277, results in a cut position after theregistration mark is detected. To cut before the registration mark, a negativevalue must be entered in "Registration mark offset".
The system internally compensates for the tool offset and toolwidth when calculating the next cut position.
Once the next cut position is reached, the carriage is accelerated to thematerial velocity. When the carriage is synchronized with the material, theprogram proceeds to the next command (e.g., JSR – Jump to subroutine).The synchronous run with the material is maintained until one of the followingconditions occur:● the next LMx command is reached,● another motion command is received for the carriage, or● a motion limit is reached
Since there is no "Mask window" for the LMC command, the useris not able to mask unwanted registration marks that may appearearlier than desired on the material.
Symmetric cut between two regis‐tration marks
If parts are cut from perforated material where a specific pattern is repeated,the tool width must be considered to remove an equal amount of materialbetween two parts. The system automatically adds the tool width to the
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registration mark offset to ensure that the length of the part that is beingproduced is accurate.Thus, the following requirements must be met to make a symmetrical cut be‐tween two registration marks:● Tool width must be known● The registration mark offset must be adjustedFor example, a cut between the fifth registration mark and the nextregistration mark in fig. 7-15 "LMC command example" on page 277 must bemade in the middle, as shown in the following figure.
Fig. 7-16: Origin measurements for a symmetric cutIf the registration mark offset is set exactly in the middle between the two reg‐istration marks (e.g., 40 mm), then an uneven amount of material is removedby the tool because the tool width is added to the registration mark offset:
Fig. 7-17: Asymmetric cut between two registration marksTo ensure that an even amount of material is removed from each part, halfthe tool width must be subtracted from the initial registration mark offset.
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In the following example, the registration mark offset must be reduced to 35mm so that 15 mm of material remains on each part after the cut is made:
Fig. 7-18: Symmetric cut between two registration marks
EOS – End of synchronizationAn EOS command reports the end of the tool program for the axis defined inthe "Axis" motion command. This command is only allowed for axis 1 (masteraxis).The following table lists the prescribed system parameters:
CommandData Content Note Indirect
access
Parameter 1 Axis Only axis 1 (master axis) permitted possible
Tab. 7-13: EOS – End of synchronizationA tool program with "Flying Cutoff" must always be completed with thiscommand. After the tool has made a complete cut and the tooling is cleared(i.e., machining is completed), the EOS command must be called. Thesystem cannot be switched to manual mode between the synchronous runand this command. The command does not cancel the synchronous runbetween the carriage and material. The next Flying Cutoff motion command(e.g., LML) initiates the carriage return and therefore cancels thesynchronous run.If bit 5 of Y-parameter "Yx519: Flying Cutoff configuration" is set, the returnmotion is not initiated by the next LMx command. The operator must use anappropriate motion command to move the carriage to the return position (e.g.POA command).The EOS command is also used to instruct the system that the machiningcycle was successfully completed and that this cut position is the last cutposition used to determine the next cut length.
The operator must ensure that the tooling is clear of the materialbefore executing this command.
7.11.4 Errors during flying cutoff motion commandsWhile Flying Cutoff motion commands are processed, errors may occur forvarious reasons. These errors must be considered in the user program and inthe reaction to errors.For a description of the errors, please refer to chapter 9.4 Error Numbers,page 345.
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If an error occurs, measures must be taken in the SMC programto safely stop the system. The rapid stop routine is one possiblesolution, see chapter "Rapid Stop Routine" on page 292.
7.11.5 Program example if flying cutoff is usedRequirements
The sections below describe the conditions which must be applicable in aFlying Cutoff program while the axis is moved back to the return position:● Ensure that the tool is no longer engaged and that the minimum stroke
distance is reached before the synchronous run is completed throughthe next motion command.
● If the next part is a short part (the next cut position will overtake thereturn position prior to the carriage axis completing the return motionprofile), then the next Flying Cutoff command should be called as soonas the return motion starts.
The following are conditions in an SMC-Program while Flying Cutoff com‐mands are active:● The programmer must ensure that the drive, control, or PLC program
does not issue another motion or stop command to the carriage axisbefore the tooling is clear of the material. If the axis is unsynchronizedprematurely, then the tooling or carriage could be damaged.
● The program should monitor the forward progress of the carriage axis tomake certain it does not reach a position limit prior to retracting thetooling in a controlled manner.
● The tool program monitors that both the cut cycle is finished (clear ofmaterial) and the minimum stroke distance has been reached beforeissuing a return move command that causes the carriage todesynchronize from the material and start the motion back to the returnposition.
● The program will remain in the LMx command as the material passesuntil the next cut position is reached and the carriage synchronizes withthe material. Immediately after the target is synchronized, the programproceeds to the next SMC-Program command which should jump to thetool program that will operate the shear/tool to cut the part.
Program exampleProgram example, assignmentThe following program example was generated using the SMC-Editor. Itshows how the Flying Cutoff commands (LMC, LMK, LML, and LMR) can beused for cutting the material.In this example, the program uses the LML command and is divided up intofollowing task and routines:● Automatic task 1 (BEGIN_AUTO_TASK_1)● Manual cut routine (BEGIN_FC_MANUAL_CUT_ROUTINE)● Maximum stroke routine (BEGIN_FC_MAX_STROKE_ROUTINE)● Rapid stop routine (BEGIN_FC_RAPID_STOP_ROUTINE)
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Fig. 7-19: Flying Cutoff program exampleThe Flying Cutoff commands are used within the scope of automatic task 1.This task runs continuously. The manual cut, maximum stroke, and rapid stoproutines are executed when the configured input is set, or when a specificerror occurs (e.g., the carriage exceeds the maximum stroke position). Referto chapter "Maximum Stroke Routine" on page 293 for details.
On delivery, the source file of the "Flying Cutoff" programexample can be found in the "User\Examples" directory of themicroSD under the filename "FC_Demo.scs"
The program example is explained in the following sections.
Automatic task 1This task is executed when the start signal is given. Execution of the taskstarts with BEGIN_AUTO_TASK_1. This example program uses the LMLcommand to cut 10 parts of 100 mm each and then 20 parts of 200 mm eachbefore starting all over.
Product 1 and product 2 The first two labels (Product1 and Product2) contain the LML commands, ajump to the tool program, and a product counter. Refer to the following figure.
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Fig. 7-20: Product1 and Product2 in automatic task 1The following sequence describes the example program based on the Prod‐uct1 label:1. The LML command sets axis 1 to wait until a length of 100 mm has
passed before synchronizing the carriage to the material.2. Once the carriage is synchronized with the material, the "JSR – Jump to
subroutine" command jumps to the tool program. Refer to "Toolprogram" on page 282 for details.
3. As soon as the tool program is completed, execution of the programreturns to Product1. There, the "BAC – Branch conditional on count"command increments the "counter" variable by 1. This process iscontinued until "counter" = 10.
Once Product 1 is complete, the program continues to Product 2. The freelyprogrammable "counter" variable in Product 1 is reset to 0. The procedure inProduct 2 is the same as for Product 1 except that the part length is now 200mm long and variable "counter" will count to 20. Once all 20 parts in Product2 are done, the "JMP - Unconditional jump command returns to Product 1",where the process is repeated.
Tool program The Tool label in automatic task 1 contains the tool program. This toolprogram makes all steps required for cutting the part and for clearing the tool.
In addition to the operations that are described in this exampletool program, a part separation using the "SPO – Position offsetof synchronous axes" command as shown in fig. 7-21 "Toolprogram within automatic task 1" on page 283 can also beincluded in the tool program section. Refer to chapter "PartSeparation" on page 299 for details.The figure below shows a tool program where the cut part is notseparated.
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Refer to the section outlined by a red box in the following figure:
Fig. 7-21: Tool program within automatic task 1The tool program in this example uses an upper limit switch and a lower limitswitch to limit the travel of the shear.The onboard I/Os X31 and X32 of axis 1 are used as inputs and outputs forreading and activating the following signals:
Signal Assignment I/O type Comment
Lower limit switch I.A1.X31.Pin3 Input Monitors the lower limit switch
Upper limit switch I.A1.X31.Pin4 Input Monitors the upper limit switch
Valve Q.A1.X32.Pin9 Output Activates the valve that controls the up anddown movements of the tool
Tab. 7-14: Input and output assignment for the example tool program
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Schematic representation:
Fig. 7-22: Shearing tool exampleThe following sequence describes the tool program in this example:1. The "CPJ – Compare and jump" command compares the actual position
of the carriage in system variable VS108 and waits until the carriagereaches the minimum cut position of 400 mm.
2. Once the minimum cut position is reached, the "AEA – Set/reset/togglebit" command sets output "Q.A1.X32.Pin9", activating the valve. Theshear closes, leaves the upper limit switch (tool open), cuts through thematerial, and sets the lower limit switch (tool closed).
3. The "AKN – Acknowledge bit" command waits until input "I.A1.X31.Pin3"is set – which indicates that the tool is down.
4. The tool starts its return movement as soon as the AEA commandresets output "Q.A1.X32.Pin9". This closes the valve and retracts theshear.
5. The shear reaches its up position when the AKN commandacknowledges that input "I.A1.X31.Pin4" is set. The carriage continuesmoving in the positive direction.
6. The CPJ command compares the actual position of the carriage insystem variable VS108 and waits until the carriage reaches theminimum stroke position of 1000 mm.
7. The "RTS – Return from subroutine" command initiates a return fromthis subroutine to product 1 (Product1 label) or product 2 (Product2label), respectively.
RoutinesThe manual cut, maximum stroke and rapid stop routines are executed if theconfigured inputs are set or the corresponding event occurs.
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Display in the red framed section of the following figure:
Fig. 7-23: Routine examplesManual cut routine The system must be in manual mode for the manual cut routine to be
executed. Refer to chapter "Manual Cut (Manual Mode)" on page 289 fordetails.
Maximum stroke routine The maximum stroke routine is executed when the carriage reaches themaximum stroke position as configured in the Y-parameter "Yx508: Maximumstroke position". Refer to chapter "Maximum Stroke Routine" on page 293for details.
This maximum stroke routine is only available while the system isin automatic mode and the SMC program is running. An error isset at the end of the maximum stroke routine.
Rapid stop routine The rapid stop routine is executed if the input configured in the Y-parameter"Yx525: Rapid stop, In-config" is set. Refer to chapter "Rapid Stop Routine"on page 292 for details.
This rapid stop routine is only available while the system is inautomatic mode and the SMC program is running. An error is setat the end of the rapid stop routine.
7.11.6 Flying cutoff functionsTest mode (simulation)
In test mode, actual material is not fed through the machine. Instead, thesystem uses a virtual master to simulate the feeding of material. In thisapplication type, the different program parts and tools processed by thecarriage can be tested without requiring any material. All aspects of thesystem operate normally; the carriage will synchronize with virtual targets andthe tool programs will be processed as usual.Test mode is activated by setting the Y-parameter "Yx000: Application type"to "3". If this is successful, and no errors are present, the virtual master canbe started, simulating the flow of material.The user program can now process Flying Cutoff motion commands usingthe virtual master axis as a reference whose velocity and acceleration are
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configured in the Y-parameters "Yx516 - Test mode velocity" and "Yx517:Acceleration in test mode"
To stop or start test mode, the value of Y-parameter "Yx516: Testmode velocity" can be set to zero or to a positive velocity.
After all tests have been completed, the user can return to normal operation(i.e., based on the measuring encoder) using the Y-parameter "Yx000:Application type".With normal mode restored, the master axis position is set to the currentmeasuring encoder position. The product length is set to zero and thematerial and production length counters are restored to the last stored value.Normal production can now resume.Before running test mode, the user should setup the machine as follows:● Stop and retract the material. Make sure the material is safely out of the
way of the carriage because the carriage can move back and forthduring testing and cause damage.
● If the shear, saw or tool cannot be run without material present in thetool, the user must prevent the tool from activating.
● If the downstream handling equipment cannot be operated withoutactual parts present, the user must prevent such equipment fromactivating.
Change from normal to test mode andvice versa
NOTICE
All production must come to a halt and the system must be in parametermode before switching between application types.
HMI test mode program example The following program is intended to be used in test mode with theIndraLogic visualization, which is part of the IndraWorks project. Thisprogram is not intended to be used by the end user or to produce real parts.IndraWorks with the appropriate project is required for using the visualizationin IndraLogic. The programmable variables "Part_Length" and "Cut_Time" ofthe SMC program can be set from the visualization device. The variable"Part_Counter" is displayed in the visualization device. Furthermore, thevariables "Tool_Output" and "Tool_HMI" are used to illustrate the cuttingprocess in the visualization device.
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Fig. 7-24: SMC program using the IndraLogic visualization device
Upon delivery, the source file of the HMI test mode programexample can be found in the "User\Examples" directory of themicroSD under the filename "FC_HMI_Demo.scs".
Automatic task 1 (BEGIN_AU‐TO_TASK_1) in HMI program ex‐
ample
The example program cuts 10 parts using the length in the programmablevariable "Part_Length" and waits for 2 seconds before starting another batch.The following sequence describes automatic task 1:1. The LML command sets axis 1 to wait until the length filed in the
"Part_Length" variable has passed before synchronizing the carriagewith the material.
2. Once the carriage is synchronized with the material, the "JSR – Jump tosubroutine" command jumps to the tool program.
3. As soon as the tool program is completed, execution of the programreturns to the Start label. There, the "BAC – Branch conditional oncount" command increments the "Part_Counter" variable by 1. Thisprocess is continued until "Part_Counter" is equal to 10 (then the"Part_Counter" variable will be reset and the next step executed).
4. After a waiting time of 2 seconds, the program jumps back to the Startlabel and another batch is started.
Tool program for HMI program ex‐ample
The Tool label contains the tool program that allows simulating andvisualizing the process using the visualization in IndraLogic.
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The following sequence describes the tool program in this example:1. The "AEA – Set / reset / toggle bit" command sets the "Tool_Output"
variable and simulates the outputs of the tool (required for visualizationin IndraLogic).
2. The "SET – Set variable value" command sets the "Tool_HMI" variableto 20 to visualize that the tool is down.
3. After the wait time set in "Cut_time" has elapsed, the programcontinues.
4. The "AEA – Set / reset / toggle bit" command clears the "Tool_Output"variable, simulating the outputs of the tool.
5. The "SET – Set variable value" command sets the "Tool_HMI" variableto 0 to visualize that the tool is up.
6. The "RTS – Return from subroutine" command returns the program flowback to the JSR command.
Routines in HMI program example The manual cut, maximum stroke and rapid stop routines are executed if theconfigured inputs are set. These routines simulate opening of the tool anduse the "Tool_HMI" to visualize that the tool is down (20) or up (0).
Using the visualization The relevant visualization buttons and data fields that relate to the HMI pro‐gram example are summarized as follows:
Name Type Description
1. Test mode Button Press to start test mode (corresponds to input at "Yx527: Enable testmode, In-config")
2. Sel Mode Data field Corresponds to “Yx000: Application type”. The field is for displaypurposes. Changes made in this data field will not become effectivebefore the system has changed from parameter mode to manual mode
3. TestMode Vel Data field Yx516 - Test mode velocityEnter simulated material velocity
4. TestMode Accel Data field Yx517 - Acceleration in test modeEnter simulated material acceleration
5. Cutlength Data field Corresponds to the programmable "Part_Length" variable in the SMCprogram
6. CutTime Data field Corresponds to the programmable variable in the SMC program
7. MaxStroke position Data field Corresponds to "Yx508: Maximum stroke position"
8. OptRet Button Press to enable optimized return behavior (corresponds to input at"Yx524: Return optimization, In-config")
Tab. 7-15: Relevant visualization buttons and data fieldsThe Flying Cutoff system is switched to test mode by setting Y-parameter"Yx00: Mode" to 3. Next click the "Test mode" button to start test mode.Positive values have to be entered for "CutLength" and "CutTime".
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In the following example, 200 mm is set for the "CutLength" (5.) and 300 ms for the "CutTime" (6.).
Fig. 7-25: IndraLogic visualization
Manual Cut (Manual Mode)With the SMC in manual mode, the manual cut is initiated by the inputconfigured in the Y-parameter "Yx522: Immediate cut, In-config".Depending on bit 1 of Y-parameter chapter "Yx519: Flying cutoffconfiguration" on page 467, the manual cut is initiated regardless of whetheror not the material is moving.
The system triggers a runtime error if the manual cut routine is tobe executed when it is not programmed.
The material is considered to be at standstill if the velocity of thematerial is less than 0.1% of the maximum carriage velocity.
The manual cut process that is executed, is defined in the SMC program un‐der the "BEGIN_FC_MANUAL_CUT_ROUTINE" system label.
Fig. 7-26: Manual cut routine example
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The following sequence describes the manual cut routine:1. After the manual cut routine has been started, the "AEA – Set / reset /
toggle bit" command sets output "Q.A1.X32.Pin9", thus activating thevalve. The tool moves down, the upper limit switch opens (tool open),the tool cuts through the material and sets the lower limit switch (toolclosed).
2. The "AKN – Acknowledge bit" command waits until input "I.A1.X31.Pin3"is set, which indicates that the shear has been closed.
3. The AEA command sets output "Q.A1.X32.Pin9" and closes the valve,thus retracting the shear.
The user can specify additional program logic after step 3 toperform any operations that are required before the tool iscompletely retracted.
4. The shear reaches its upper position when the AKN commandacknowledges that input "I.A1.X31.Pin4" is set.
5. The "RTS – Return from subroutine" exits the manual cut routine. Thesystem remains in manual mode.
If manual removal of scrap material is required, then the "stationary material"option may be desired. The manual cut routine is written by the operator. Itmust be able to handle the cutting process completely and activate all outputsignals for any additional devices that might be required.
Activating the shear may cause the material position/velocity tomomentarily exceed the defined thresholds. Jitter on themeasuring wheel velocity signal can trigger false errors. Driveparameter P-0-0329 (Smoothing of actual position value 3 ofmeasuring encoder) defines the measuring encoder smoothingvalue which should be set to 10 to 50 ms to help minimizingdisturbance.
The manual cut routine requirements are as follows:1. The manual cut routine may not move the carriage axis while a cut is
made.2. The program must check or set all machine preconditions before
activating the tool output signal (e.g., close clamps, activate pumps /saws / heaters / coolants / etc.)
3. After the cut is complete, the manual cut routine program mustdeactivate the tool outputs and any possibly present ancillary devicesand then monitor that the tooling is fully retracted from the material.
4. If the material must be separated, an SPO command can be issuedafter the cut is complete to create a gap.
5. Verify that all processes are completed and it is safe to move thecarriage or material without damage.
6. The routine must end with an RTS command to ensure that the manualcut routine is exited.
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Manual cut only allowed at standstillNOTICE
Manual cuts are only allowed if the material is at standstill (bit 1 of Y-parameter Yx519 is 0). If the measuring encoder fails to contact the materialduring the manual cut routine, the system cannot determine whether or notthe material is at standstill. This might result in execution of a manual cutwhile the material is moving. The operator must ensure that the material is atstandstill before initiating a manual cut. If a manual cut is allowed with thematerial moving (bit 1 of Y-parameter Yx519 is 1), the operator must likewiseensure that the measuring encoder is in engagement to determine thematerial velocity.
Immediate Cut (Automatic Mode)The purpose of an immediate cut is to set a reference cut in the material atthe start of production or where required. The cut starts when an active LMxcommand receives the request for an immediate cut. The system registersthe absolute material position and adds the lock-on distance to that value.This becomes the target position for the next cut that is processed in theactive Flying Cutoff motion command.With the SMC in automatic mode, the immediate cut is initiated by a risingedge of the input configured in the Y-parameter "Yx522: Immediate cut, In-config".If this signal is given when the required state is not met, then the immediatecut request is ignored and no indication is given.The following two conditions have to be taken into account:● If an immediate cut is performed in the middle of a production run, the
user must take care that the immediate cut part can be handled properlyand that the production counter is adjusted accordingly.
● If an immediate cut requires a special cut processing or tool program,the operator must ensure that it is taken into account in the userprogram.
Crop CutThe purpose of the crop cut is to make a reference cut with a minimumpredefined cut length set in Y-parameter "Yx509: Crop cut length". Typically,the material that is cut is a scrap part. The process starts when an active LMxcommand receives the request for a crop cut. The carriage is not required tobe at the return position.On activation, the system captures the current part length and determines thenext cut position based on the following calculations:
1. If there is no reference cut in the material, the crop cut length is addedto the initial position.(resulting length = amount of material in the machine plus the value ofthe crop cut length)
2. If the material is homed, the crop cut length is set as the new length.The quantity of material having already passed through is ignored.(Result length = quantity already passed through plus the value of thecrop cut length)
The result becomes the target position for the next cut which will beprocessed in the active Flying Cutoff command. If the CropCut button ispressed again prior to reaching the cut position it will recalculate a new targetlocation; this can be repeated indefinitely.
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With the SMC in automatic mode, the crop cut is initiated by a rising edge ofthe input configured in the Y-parameter "Yx523: Crop cut, In-config".The following condition has to be fulfilled:● The Flying Cutoff command is active but the synchronization process
has not started yet, i.e., the carriage is at standstill.The following two conditions have to be taken into account:● If a crop cut is performed in the middle of a production run, the user
must take care that the crop cut part can be handled properly and thatthe production counter is adjusted accordingly.
● If a special cut processing or tool program is necessary for a crop cut,the user must ensure part programs in the user code to guarantee thistakes place.
● If the crop cut length is less than the lock-on distance, then the lock-ondistance is used [lock-on distance = material velocity2 / (returnacceleration x 2)].
Rapid Stop RoutineThe "rapid stop routine" serves to rapidly move the tool out of the materialand to stop the carriage.If the material is just machined during the synchronous run and a signal isapplied to the "Rapid stop" input, the machining program is immediatelystopped and the tool is rapidly moved out of the material using a differentprogram. The starting block of the rapid stop routine is defined in parameterYx502. The rapid stop routine must be completed with the "RTS"command.As long as this program is processed, the synchronous run is maintained.Thereafter, the axes are stopped and the "Rapid stop (Flying Cutoff)" error isoutput.If there is no synchronous run and a signal is applied to the "Rapid stop"input, the rapid stop routine will not be executed. The axes are stoppedimmediately and the "Rapid stop (Flying Cutoff)" error is output. This behaviorcan be defined by Yx519, bit 8 (see chapter "Yx519: Flying cutoffconfiguration" on page 467).In general, the following must be observed with the execution of the rapidstop routine:
1. Processing of all running automatic tasks or manual cut routine isstopped.
2. All axes can be given a new command during the rapid stop routine,regardless whether an axis command is active or not. This enables thetriggering of the desired axis movement for each axis during the rapidstop routine using the available motion commands.
With the SMC in automatic mode, the rapid stop is initiated by setting theinput configured in the Y-parameter "Yx525: Rapid stop, In-config".The rapid stop sequence that is executed is defined in the SMC-Program bymeans of the rapid stop routine ("BEGIN_FC_RAPID_STOP_ROUTINE" sys‐tem label):
Fig. 7-27: Rapid stop routine example
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The following sequence describes the rapid stop routine shown in the RapidStop Sequence, page 292 from the program example in chapter ProgramExample, page 280.
1. Once a rapid stop routine is executed, the "AEA – Set / reset / toggle bit"command resets output "Q.A1.X32.Pin9", causing the valve to close andthe shear to retract.
The user can specify additional program logic after step 1 toperform any operations that are required before the tool iscompletely retracted.
2. The "AKN – Acknowledge bit" command waits until input "I.A1.X31.Pin3"is set, which indicates that the shear has been retracted.
3. The "RTS – Return from subroutine" command ends the rapid stoproutine and triggers an error.
The rapid stop routine must retract the tool and end with an RTS command tocomplete the sequence. The user can then manually return the carriage tothe return position before starting a new sequence.
Undesirable reaction if no routine is definedDamage to the material or machine can resultif no rapid stop routine is defined or no rapidstop routine is defined within the process anda rapid stop command is executed.
NOTICE
The user must ensure that a program is written for the rapid stop routine thatwill safely remove all tooling from the material before the carriage is halted. Ifno routine is defined, the carriage stops without safely removing the toolingfrom the material.
Maximum Stroke RoutineIf the carriage hits the maximum stroke position configured in Y-parameterYx508, the maximum stroke routine is executed. The maximum stroke routinethat is executed is defined in the SMC-Program based on the"BEGIN_FC_MAX_STROKE_ROUTINE" system label.In general, the following must be observed with the execution of the maxi‐mum stroke routine:
1. Processing of all running automatic tasks or manual cut routine isstopped.
2. All axes can be given a new command during the maximum strokeroutine, regardless whether an axis command is active or not. Thisenables the triggering of the desired axis movement for each axis duringthe maximum stroke routine using the available motion commands.
3. The maximum stroke routine is processed and triggers the "Maximumstroke (Flying Cutoff)" error once processing is completed (RTScommand).
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Fig. 7-28: Maximum stroke routine exampleThe following sequence describes the maximum stroke routine shown in fig.7-28 "Maximum stroke routine example" on page 294 from the programexample chapter 7.11.5 "Program example if flying cutoff is used" on page280.
1. Once the maximum stroke routine is executed, the "AEA – Set / reset /toggle bit" command resets output "Q.A1.X32.Pin9", causing the valveto close and retract the tool.
The user can specify additional program logic after step 1 toperform any operations that are required before the tool iscompletely retracted.
2. The "AKN – Acknowledge bit" command waits until input "I.A1.X31.Pin3"is set, which indicates that the shear has been retracted.
3. The "RTS – Return from subroutine" command ends the maximumstroke routine and triggers an error.
Undesirable reaction if no routine is definedDamage to the material or machine can resultif no maximum stroke routine is defined or noprocess is defined within the maximum strokeroutine and the maximum stroke position isexceeded.
NOTICE
The user must ensure that a program is written for the maximum strokeroutine that will safely remove all tooling from the material before the carriageis halted. If no routine is defined, the carriage will halt without safely removingthe tooling from the material.
Cut InhibitThe purpose of cut inhibit is to provide a means to prevent the carriage fromsynchronizing with the next target position to make a cut. If the user noticesthat the upcoming material is defective, the user may want to let it pass andstart a new cut only when good material is present.To activate this feature, the user must set the input configured in the Y-parameter "Yx520: Cut inhibit, In-config".This signal is edge triggered and requires that the SMC is executing a FlyingCutoff command and waiting for a new cut position to be reached. The FlyingCutoff command is suspended and will not synchronize with the material ifsynchronization has already started. The output configured in the Y-parameter "Yx530: Cut inhibit, Out-config" indicates whether the cut inhibitfunction is active. To resume production, the user must make an immediatecut or a crop cut.
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Return InhibitThe purpose of return inhibit is to provide a means to stop the return move ofthe carriage after the cut has been completed.To activate this feature, the user must set the input configured in the Y-parameter "Yx521: Return inhibit, In-config".This input must be reset to start the return cycle and resume production. Theoutput configured in the Y-parameter "Yx532: Return inhibit, Out-config"indicates whether the return inhibit function is active.Since the material may be moving during a return inhibit, it may not bepossible to perform the next cut. In this case, an error is issued.
The return inhibit is only possible if bit 5 is not set in theparameter Yx519: Flying Cutoff configuration, page 467.
Return OptimizationThe purpose of the return optimization is to generate a carriage return profilewith reduced dynamic requirements. This is used to reduce the wear and tearon the machine mechanics and maximize energy efficiency. For motioncommands where the next cut position is not known, this feature isautomatically disabled (i.e., deactivated for LMR, LMK, LMC). This feature isonly valid for use with the LML command.To activate this feature, the user must set the input configured in the Y-parameter "Yx524: Return optimization, In-config".The output configured in the Y-parameter "Yx531: Return optimization, In-Config" indicates whether the return optimization is active.With the next LML command, the return optimization movement is initializedand the carriage is decelerated to a standstill using the delay set in the Y-parameter "Yx506: Return acceleration". Return optimization is ignored if thenext command is an LMR, LMK or LMC command or if a reducedacceleration would result in a short part.
Fig. 7-29: Velocity profile with optimized returnThe calculated return profile is not completely optimized in the event thereare variations in the material velocity. The longest possible cycle time of anoptimized return cycle is 90% of the time until the beginning of the next
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synchronization process (i.e., at least 10% of the actual return cycle time isdwell time at the return position).
Assuming a material velocity increase of at least 10% during areturn cycle, short parts can sporadically be produced.
Short PartsShort parts are automatically detected and processed in the SMC system. Ashort part occurs if the carriage cannot reach the return position beforesynchronizing to the next cut position.Since the carriage is allowed to synchronize with the material before thereturn position is reached, the user must be aware of the dynamics andlimitations of the system to ensure that a cut will be successfully completed inthe allotted time. To help the user, the Y-parameter "Yx515: Tool cycle time"provides an additional check to determine whether sufficient time is availableto complete the cut cycle. Refer to tab. 7-7 "Flying Cutoff Y-parameters" onpage 267 for an explanation of Y-parameter "Yx515".
Short parts inhibit It is possible to configure a "Short parts inhibit", i.e., the synchronization ofthe cutoff carriage to the material is only carried out if the carriage reachesthe return position. Among other things, this function is relevant when using"diagonal saws". With such applications, the tool is not located on thecarriage. Instead, the carriage itself is the cutting tool. The carriage no longertravels with angle of "0" degrees in the material, but rather it travels at anangle through the material.
Fig. 7-30: Example of a "diagonal saw"
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Note on the parameterization:If work is performed without a working angle of "0" degrees, allparameters for the length and velocity must be multiplied by acosine value of the angle "α".Example:α =70°, cosine α = 0.342020143"Real" feed constant = 30 mm⇒ parameterized value in the parameter "Yx507: Feed constantmeasuring encoder" = 10.2606 mm
The short parts inhibit is activated by setting bit 11 in parameter "Yx519". If ashort part has been detected by the system, the synchronization is inhibitedso that the carriage always reaches the return position. The carriage thenremains in the return position until production is restarted by an immediate orcrop cut. With the detection of the short parts suppression, system flag"MSx14" is set at the same time. The system flag remains set until the EOScommand is called up as a result of the immediate or crop cut. This allowsthe short parts suppression to be used during the application in the toolprogram. With the execution of the immediate and crop cut, the "Scrap cut"output is also set (see "Yx529"). The output and the system flag can be usedto separate these parts from the regular parts in production.
● When the short parts inhibit is activated, an immediate orcrop cut is only possible if the carriage is in the returnposition.
● If the return inhibit is activated, an existing short part is onlyevaluated, if the return inhibit is deactivated again, i.e., onlythen is the "MSx14" flag set. If the cut position can no longerbe reached, the SMC does not generate an error.
Material Length CounterThe accumulated length of all material processed in automatic and manualmode is stored in the system variables VSx19 and VSx24. These systemvariables can be reset via the input configured in "Yx526: Reset materiallength counter, In-config". There is also the option to write any value on thetwo system variables via the SET command. The "Flying Cutoff" applicationtype must be active to make the material length counter available.
Production length counterThe accumulated length of all material processed in automatic mode is storedin the system variables VSx29 and VSx30. These system variables can bereset via the input configured in "Yx540: Reset production length counter, In-config". There is also the option to write any value on the two systemvariables via the SET command. The "Flying Cutoff" application type must beactive to make the production length counter available.
Product Length CounterThe product length counter indicates the distance between the last cut andthe position of the tool (i.e., the actual cut length if the carriage issynchronized). The current value of the product length counter is output inthe read-only system variable VSx20.
Product length counter value = length of LMx command + "Yx513:Tool width"
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This system variable can be reset via the input configured in "Yx528: Resetproduct length counter, In-config". This creates a new reference for the nextcut (as is the case with a crop cut except that, in this case, there is no cut).The product length counter cannot be reset while synchronous run is active.The signal is ignored in this case. The "Flying Cutoff" application type mustbe active to make the product length counter available.
When the product length counter is reset,monitoring for the maximum part length is nolonger possible.
NOTICE
Scrap Cut Output. The output configured in the Y-parameter "Yx529: Scrap cut active, Out-config" is set if a cut is made with the length that was not specified before.The output can be used to separate these parts from the regular parts inproduction.This is the case in manual mode if the manual cut routine is called. Inautomatic mode, the output is set if a crop cut or an immediate cut istriggered or a cut is initiated by monitoring for the maximum part length. TheEOS command resets the output.
Maximum Part LengthThe purpose of maximum part length is to provide a means to prevent partsthat are too long for the machine to be produced. The maximum part length isconfigured in the Y-parameter "Yx510: Maximum part length". The reaction tobe performed when the maximum part length is exceeded, is configured inthe Y-parameter "Yx511: Error reaction maximum part length". Additionally,the output configured in Y-parameter "Yx533: Max. part length reached, Out-config" indicates whether the maximum part length has been exceeded. Thepart length is always measured starting at the current carriage position.The following error reactions are supported for the Y-parameter "Yx511: Errorreaction max. part length" in automatic mode:
Parameter Setting Description
Yx511: Error reaction max. partlength
0 = off The maximum part length monitoring is switched off
1 = warning A system warning is issued when the maximum part lengthis exceeded. A corresponding reaction can be programmedin the SMC program
2 = error A system error is issued. The default reaction is to stop thecarriage axis immediately
3 = force cut A forced cut will be executed using the length defined in themaximum part length
Tab. 7-16: Error reaction maximum part lengthMonitoring for the maximum part length is also activate in manual mode. Ifthe "Force cut" error reaction is parameterized, an error is triggered inmanual once the maximum part length is reached.The maximum part length functionality is enabled when Y-parameter "Yx511:Error reaction maximum part length" is set to a value greater than 0 and themaximum part length is defined.
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Option "3 = force cut" is not appropriate for an LML commandbecause waste is produced if the "part length" is parameterizedimproperly. For this reason, an error is generated if a part lengthexceeds the maximum part length on calling the LML command.The same applies to the LMK command.
Fig. 7-31: Maximum part length
Part SeparationPart separation allows the user to execute a small forward move of thecarriage axis after a cut has been made. This is done so that the tooling canbe retracted without binding on the edge of the material when extracted.Part separation can also be used to create a gap between parts whenneeded for the part handling system. This movement is performed using an"SPO – Position offset of synchronous axes" command in a tool programcreated by the user. The SPO command can only be issued while thecarriage is synchronized with the material and the value is positive. The SMCwill automatically check for positive values and issue an error if negative. TheSMC will also reset the SPO command back to 0 as soon as the carriagestarts the return motion.The SPO command in the following program example performs the followingsequence.Once the shear has cut through the material, the "AKN – Acknowledge bit"command waits until input "I.A1.X31.Pin3" is set before starting partseparation.
1. The "SPO – Position offset of synchronous axes" command uses axis 1and initiates a position offset of 10 mm. while using 100% of theprogrammed velocity and acceleration.
2. The "AKN – Acknowledge bit" command waits until flag "MS110" is set –which indicates that the position offset adjustment has been completed.
The return movement of the shear is started when the AEA command resetsoutput "Q.A1.X32.Pin9" causing the valve to close and retracting the shear.
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Fig. 7-32: Part separation program exampleRefer to chapter 6.11.65 "SPO – Position offset of synchronous axes" onpage 213.
If the SPO command is issued before synchronization starts, thecarriage will jerk and may cause the drive to fault or damage thetooling. This command should only be issued after the part hasbeen cut and the carriage has sufficient travel remaining.
TailoutTailout machining is intended to avoid the waste of material. If the inputconfigured in the Y-parameter "Yx538: No material, In-config" detects the endof material, the value stored in the axis-dependent system variable VSx22 istaken instead of the material velocity of the measuring encoder. This valuerepresents the average material velocity of the last 400 ms.If tailout machining is active, the axis-dependent system flag MSx11 is setand the user can write the value of variable VSx22 to specify the materialvelocity. This change in velocity takes immediate effect. If it is different fromthe actual velocity, there is the risk of damage to the tool or material.
Fig. 7-33: Tailout machining
If the real material velocity changes aftertailout machining has taken effect or if avalue differing from the real material velocityis written to the axis-dependent systemvariable VSx22, there is the risk of damage tothe tool or material.
NOTICE
If a value greater than zero is entered for Y-parameter "Yx537: Maximumtailout length", the available material tailout length is continuously updated inthe axis-dependent system variable VSx23. The following figure shows how
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to determine Y-parameter Yx537. The maximum tailout length is the distancefrom the sensor detecting the end of material to that part of the machine thatensures that the material can still be handled (the feed rolls in this case). Asafety distance (identified by A in the figure) should be taken into accountbecause a machining cycle, if started, will be completed so that more materialcan run through the machine than specified in parameter Yx537. Whencalculating the available tailout length, the return position of the carriage, thetool offset and the tool width must be taken into account.
Fig. 7-34: Tailout machining if a maximum tailout length is enteredIf a request cut cannot be executed since the cut length exceeds the currentlyavailable tailout length, or if the maximum tailout length has run through themachine, the output configured in Y-parameter "Yx539: Tailout done, Out-config" and the axis-dependent system flag MSx12 are set. The followingfigure illustrates various cases where the output is set.In case a), the output is set as soon as the cut length specified by a FlyingCutoff motion command exceeds the available tailout length. If, for example,an LMR command is used to detect a registration mark on the material and acut having a cut length which exceeds the available tailout length is notrequested, the output is set as soon as the maximum tailout length has runthrough (see case b).The behavior for the last machining step is defined by bit 7 and bit 9 of Y-parameter Yx519. Bit 7 defines whether Cut Inhibit should be activated afterthe last possible cut. This is intended to prevent that the machine is in aFlying Cutoff motion command after tailout machining has been done and isready to execute the next cut. If bit 9 is set, a cut at the end of tailoutmachining can be forced. Thereafter, Cut Inhibit is activated. The last cut isexecuted only if at least one crop cut length is available. If both bit 7 and bit 9are set, bit 9 is ignored.If the system is just in machining mode, this machining cycle is completedand the output is set thereafter. In this case, more material runs through themachine than entered in Y-parameter "Yx87: Maximum tailout length" (seecase c). If the last machining cycle takes too long, there is the risk of toomuch material running through the machine, as is shown in case d).
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a) Cut length > available tailout length→ tailout done = 1
b) No cut request and maximum tailout length run through→ tailout done = 1
c) Sufficient safety distance Ad) Insufficient safety distance AFig. 7-35: Tailout done
If the system is just in machining mode, thismachining cycle is completed and the outputis set thereafter. In this case, more materialruns through the machine than entered in Y-parameter "Yx537: Maximum tailout length"and there is the risk of material falling into themachine.
NOTICE
The supply of material must be stopped by the SMC program. The tailoutmachining functionality just provides the necessary information.
Material PulseThe SMC system issues a travel pulse when a predefined length of materialhas run through the machine. The material length is set in Y-parameter"Yx518: Material pulse distance". The value can be changed at any time andtakes effect after the next pulse. The material pulse is sent to the outputdefined in Y-parameter ": Material pulse, Out-config" with a pulse width of250 ms.
Presync PulseThe SMC system outputs a presync pulse as soon as the distance betweenthe cutoff carriage and the next theoretical processing point (i.e., when thecarriage has fully synchronized again) is less than the time or distancedefined in Y-parameter "Yx536: Presync value". Either a distance is given in"mm" or a time in "ms", depending on bit 6 of Y-parameter Yx519.
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The pulse width is defined in Y-parameter "Yx013: Presignal duration". If thesynchronous run is stopped by the "EOS – End of synchronization" commandbefore the time defined in Yx013 has elapsed, the pulse width decreasesaccordingly.This signal is typically used to compensate for the dead-time of hydraulicvalves during activation.
● If the unit selected in Y-parameter "Yx519: Flying Cutoffconfiguration", bit 6 is "Time", a constant material velocity isassumed. Signal accuracy cannot be ensured for a variablematerial velocity.
● The "Presync pulse" system output is cyclically processedwithin the SMC at 10ms intervals (cf. PlcTask).
● The correct function of the "Presync pulse" output is onlyensured if the available distance to the next processing pointis sufficiently large enough (e.g., it does not functioncorrectly if the distance between the registration mark andthe cut position is insufficient).
7.11.7 Sequence summaryThe sections below will give a summary of the behavior of the Flying Cutoffcommands. The system is in automatic mode and both nStop and nE-Stopare set. The carriage is at any position, i.e., it is not necessarily at the returnposition. The program is activated by pressing Start.If the material is not in its home position while the first Flying Cutoff commandis to be processed, the reference automatically set with regard to the returnposition or it is generated by an automatic crop cut. This is defined by bit 3 ofY-parameter Yx519.After the material has reached the home position, the system continuouslymonitors whether the maximum part length has been reached. Once themaximum part length has been reached, the error reaction parameterized inYx511 is issued. If a Flying Cutoff motion command requests a cut, thesystem first checks whether this cut can be executed or whether too muchmaterial has already run through. Depending on bit 4 of Y-parameter Yx519,either a cut is automatically executed or an error is generated.If the requested cut can be executed, the movement of the carriage to thereturn position is initiated (provided bit 5 of Y-parameter Yx519 is not set,thus triggering the return movement by the "Flying Cutoff" motion command).The carriage synchronizes with the material. After the cut has been executed,the end of the tool program is signaled by the EOS command. The nextFlying Cutoff motion command initiates the movement of the carriage to thereturn position if the maximum part length has not been exceeded.
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This sequence is illustrated in the flow chart below:
Fig. 7-36: Flying Cutoff flow chart
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7.12 Drive-integrated safety technology7.12.1 General
In connection with the integrated safety technology, the "SMC" systemsolution supports the "safe operation modes" listed in chapter 7.12.4 Supported safe operation modes, page 310. Although "safe operationmodes" that are not included in the list can generally be used in the individualaxes, they are not actively supported by the SMC.The SMC reacts to a "safe operation mode" depending on the specific axis.The particular behavior depends on the "safe operation mode" and on theoperation mode that is active in the drive.
The "NC-controlled" safety technology mode transition is the onlyone supported.
The SMC allows activating the following drive operation modes which are rel‐evant for the safety technology:● Drive-controlled positioning
The operation mode is activated by jogging in manual mode or by call‐ing one of the following motion commands:– CON - Continuous operation– PFA – Positioning, absolute to positive stop– PFI – Positioning, incremental to positive stop– POA - Positioning, Absolute with Immediate Block Stepping– POI - Positioning, Incremental with Immediate Block Stepping– PSA - Positioning, Absolute with In-Position– PSI - Positioning, Incremental with In-Position– SRM - Search for registration mark– VOA – Velocity-coupled axis over PLC Global Register
● Synchronization modeThis operation mode allows velocity synchronous axes, phasesynchronous axes and cam axes.The operation modes are activated by calling the following motion com‐mands:– CMA – Cam axes: activation– FOA – Phase-synchronous axes: activation– SOA – Velocity-synchronous axes: activation
● Velocity controlThis operation mode is activated in the user program by callingcommand "CVA - Velocity-coupled axes: Activation".
● Position mode drive controlledThis operation mode is activated in the user program by callingcommand "CPA - Position-coupled axes: Activation".
● Torque ControlThis operation mode is activated in the user program by callingcommand "CTA – Torque–coupled axes: Activation".
● Homing
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Homing in manual mode can be activated by the appropriate input or bycalling the "HOM – homing" command in the user program.
For a description of the mode-dependent reaction, please refer to chapter7.12.4 "Supported safe operation modes" on page 310.
There is no reaction in the SMC if the virtual axis is used in a safeoperation mode. The necessary reactions must be executed inthe user or application program.
System variable The selected and active safe operation mode is mapped in the axis-specificsystem variables "VSx26" (selected safety technology operating status) and"VSx27" (active safety technology operating status). These system variablescan therefore be used to poll and react to the safe operation mode even inthe user program.The meaning of the safety technology operating statuses in system variables"VSx26" and "VSx27" is as follows:0 = Normal operation (NO)1 =E-STOP active (SMES)2 = Special mode safe standstill with STO activated (SMST1)/special mode“Safe standstill with SOS activated” (SMST2)3 = Special mode “Safe motion 1” (SMM1)4 = Special mode “Safe motion 2” (SMM2)5 = Special mode “Safe motion 3” (SMM3)6 = Special mode “Safe motion 4” (SMM4)7 = Special mode “Safe motion 5” (SMM5)8 = Special mode “Safe motion 6” (SMM6)9 = Special mode “Safe motion 7” (SMM7)10 = Special mode “Safe motion 8” (SMM8)11 = Special mode “Safe motion 9” (SMM9)12 = Special mode “Safe motion 10” (SMM10)13 = Special mode “Safe motion 11” (SMM11)14 = Special mode “Safe motion 12” (SMM12)15 = Special mode “Safe motion 13” (SMM13)16 = Special mode “Safe motion 14” (SMM14)18 = Special mode “Safe motion 15” (SMM15)17 = Special mode “Safe motion 16” (SMM16)18 = Parking axis
Parameter The following Y-parameters are relevant for safety technology:● Yx041: Safety-related reduced speed, page 448● Yx042: SI – Lock-off behavior, page 448
7.12.2 CommissioningWe recommend to proceed as follows when commissioning the drive-integrated safety technology:
1. Start IndraWorks2. Stop the drive-integrated PLC of the master axis (dialog: MLD →
Configuration → PLC control → "Stop")
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Fig. 7-37: Dialog for stopping the PLC3. Start the wizard for initial commissioning of the safety technology
The drive-integrated safety technology must be commissioned throughthe IndraWorks Safety Technology Wizard. For more detailedinformation on the "integrated safety technology" please refer to thedocumentation "DOK-INDRV*-SI2-**VRS**-FKRS-EN-P".
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Fig. 7-38: Commissioning the drive-integrated safety technology
The "NC-controlled" SMO mode transition is the only onesupported.
4. Start the drive-integrated PLC of the master axis (dialog: MLD →Configuration → PLC control → "Run")
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Fig. 7-39: Dialog for starting the PLC
7.12.3 Supported SMO hardwareL3 - "Safe Torque Off"
This option card is available for all control units. of the drive families"IndraDrive Cs", "IndraDrive M / IndraDrive C" and "IndraDriveML"."P-0-0101, Configuration for STO/SBC" and "P-0-0103, Time interval offorced dynamization" can be used for parameterization.The IndraWorks Safety Technology Wizard should preferably be used forcommissioning.
L4 - "Safe Torque Off and Safe Brake Control"This option card is available for all "IndraDrive Cs" drive family control units."P-0-0101, Configuration for STO/SBC" and "P-0-0103, Time interval offorced dynamization" can be used for parameterization.The IndraWorks Safety Technology Wizard should preferably be used forcommissioning.
S4 - "Safe Motion"The safety technology option module "S4" can be ordered for the followingcontrollers● "IndraDrive Cs Basic (HCS01.1E-W00**-A0*-B) "● "IndraDrive Cs Advanced (HCS01.1E-W00**-A0*-A) "● "IndraDrive C (HCS02.1E-W00xx-A-03-xNNN and HCS03.1E-W0xxx-
A-05-xxxN) with control section CSB02 or CSH02 "● "IndraDrive M (HMS01, HMS02) with control section CSB02 or CSH02"● "IndraDrive M (HMD01) with control section CDB02"● "IndraDrive ML (HMU05.1) with control section CSB02.5 or CSH02.5"The IndraWorks Safety Technology Wizard should preferably be used forcommissioning.
S5 - "Safe Motion"The safety technology option module "S5" cannot be ordered for the followingcontrollers● "IndraDrive Cs Basic (HCS01.1E-W00**-A0*-B) "
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● "IndraDrive Cs Advanced (HCS01.1E-W00**-A0*-A) "● "IndraDrive C (HCS02.1E-W00xx-A-03-xNNN and HCS03.1E-W0xxx-
A-05-xxxN) with control section CSB02 or CSH02 "● "IndraDrive M (HMS01, HMS02) with control section CSB02 or CSH02"● "IndraDrive M (HMD01) with control section CDB02"● "IndraDrive ML (HMU05.1) with control section CSB02.5 or CSH02.5"The IndraWorks Safety Technology Wizard should preferably be used forcommissioning.
SB - "Safe Motion"The safety technology option module "SB" cannot be ordered for the follow‐ing controllers● "IndraDrive Cs Basic (HCS01.1E-W00**-A0*-B) "● "IndraDrive Cs Advanced (HCS01.1E-W00**-A0*-A) "● "IndraDrive C (HCS02.1E-W00xx-A-03-xNNN and HCS03.1E-W0xxx-
A-05-xxxN) with control section CSB02 or CSH02 "● "IndraDrive M (HMS01, HMS02) with control section CSB02 or CSH02"● "IndraDrive M (HMD01) with control section CDB02"● "IndraDrive ML (HMU05.1) with control section CSB02.5 or CSH02.5"The IndraWorks Safety Technology Wizard should preferably be used forcommissioning.
7.12.4 Supported safe operation modesSpecial mode “Safe standstill with STO activated” "(SMST1)"
In case of "Special mode “Safe standstill with STO activated”", the energysupply to the motor is interrupted. The motor cannot generate any torque/force and can therefore not initiate any dangerous movements.To be used, the "Special mode “Safe standstill with STO activated”" functionrequires the optional safety technology module "S4", "S5" or "SB".
SMC reaction If the SMC detects "Special mode “Safe standstill with STO activated”",torque is immediately removed from the axis. Once "Special mode “Safestandstill with STO activated”" has been deselected again, the torque of theaxis is automatically applied.
Drive-controlled positioning This mode supports the logical continuation of a positioning motion after ithas been interrupted. Positioning commands that have already been initiatedare interrupted and continued without any dimensional loss after the safetytechnology mode has been exited. If the program run encounters a block witha positioning command (e.g., "PSI"), the SMC stops in this block until theSMO mode is deactivated again. If a positioning command is interrupted ornot started, the "Operating barrier" output is set.
The remaining distance can only be processed if the axis is orhas remained in its home position. To ensure that the reference ofthe measuring system is preserved even after activation anddeactivation of measuring wheel mode, bit 5 must be set in driveparameter "P-0-0185, Control word of encoder 2 (optionalencoder)". If the bit is set to "TRUE", the dimensional reference ofthe measuring wheel encoder is preserved after activation/deactivation of measuring wheel mode. Otherwise, thedimensional reference of the measuring wheel encoder is deleted.
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Jog and continuous run motions are stopped. After the SMO mode has beenexited, they are resumed. If the program run encounters a block with amotion command (e.g., "CON"), the SMC stops in this block until the SMOmode is deactivated again. If a motion command is interrupted or not started,the "Operating barrier" output is set.
Synchronization mode The torque applied to synchronous and cam axes is removed only if thedisconnection is parameterized in parameter "Yx042, SMO – Lock-offbehavior".
Velocity control Axis motions are stopped and continued after the SMO operation mode hasbeen exited.
Position mode drive controlled "Special mode “Safe standstill with STO activated”" is not allowed for the axisin this operation mode. This is an axis which is position coupled to a masteraxis. All axes (master and slave) of a position-coupled axis group mustalways be under torque. Otherwise, the axis generates the error "Drivewithout torque: Axis x" or "F7050 time-out stop" (see also chapter 7.10.5 "Position coupling (e.g., gantry group)" on page 257).
Torque control Axis motions are stopped and continued after the SMO operation mode hasbeen exited.
Homing Any started homing routine is stopped. If homing was started in manual modeusing the "Homing" input, homing must be reactivated. An interrupted "HOM"command in the user program is continued after the SMO mode has beenexited. If the program run encounters a block with the "CON" (homing)command, the SMC stops in this block until the SMO mode is deactivatedagain. If a "HOM" command is interrupted or not started, the "Operatingbarrier" output is set.
Special mode safe standstill with SOS activated "(SMST2)"While the "Special mode “Safe standstill with SOS activated”" safety functionis active, the drive is at controlled standstill, i.e., all control functions betweenthe electronic control and the drive are preserved. The drive is monitored viatwo channels to prevent from making dangerous movement although energysupply is not interrupted.To be used, the "Special mode “Safe standstill with SOS activated”" functionrequires the optional safety technology option module "S4", "S5" or "SB".
SMC reaction If the SMC detects "Special mode “Safe standstill with SOS activated”", theaxis is stopped immediately. Axis movement is enabled as soon as the SMOmode "Special mode “Safe standstill with SOS activated”" is deselectedagain.
Drive-controlled positioning This mode supports the logical continuation of a positioning motion after ithas been interrupted. Positioning commands that have already been initiatedare interrupted and continued without any dimensional loss after the SMOmode has been exited. If the program run encounters a block with apositioning command (e.g., "PSI"), the SMC stops in this block until the SMOmode is deactivated again. If a positioning command is interrupted or notstarted, the "Operating barrier" output is set.Jog and continuous run motions are stopped. After the SMO mode has beenexited, they are resumed. If the program run encounters a block with amotion command (e.g., "CON"), the SMC stops in this block until the SMOmode is deactivated again. If a motion command is interrupted or not started,the "Operating barrier" output is set.
Synchronization mode In the case of synchronous and cam axes, the axis is switched over to the"Drive Halt" (AH) mode. The SMO mode is reactivated after the safetytechnology mode has been exited. The axis is switched over to "Drive Halt"
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(AH) only if the disconnection is parameterized in parameter "Yx042, SMO –Lock-off behavior".
Velocity control Axis motions are stopped and continued after the SMO operation mode hasbeen exited.
Position mode drive controlled No SMC reaction.Torque control Axis motions are stopped and continued after the SMO operation mode has
been exited.Homing Any started homing routine is stopped. If homing was started in manual mode
using the "Homing" input, homing must be reactivated. An interrupted "HOM"command in the user program is continued after the SMO mode has beenexited. If the program run encounters a block with the "CON" (homing)command, the SMC stops in this block until the SMO mode is deactivatedagain. If a "HOM" command is interrupted or not started, the "Operatingbarrier" output is set.
E-STOP active ("SMES")The safety function "E-STOP active" corresponds to "Special mode “Safestandstill” with STO activated", except that it is not cancelled by actuating anacknowledgement unit.Using the "E-STOP active" function requires the safety technology optionmodule "S4", "S5" or "SB".
SMC reaction The response of the SMC if "E-STOP active" corresponds to the response if "Special mode “Safe standstill” with STO activated" (see chapter "Specialmode “Safe standstill with STO activated” (SMST1)" on page 310).
Special mode “Safe motion” ("SMM1-4")The "Special mode “Safe motion”" provides the following functions:● "Safety-related reduced speed"● "Safe direction of motion"● "Safely-limited increment"● "Safely-limited absolute position"The SMC actively supports only the "Safety related reduced velocity"function.To be used, the "Special mode “Safe motion”" function requires the optionalsafety technology module "S4", "S5" or "SB".
SMC reaction The SMC reacts only in mode "Drive-controlled positioning" (unless activatedvia the VOA command, see chapter 7.12.1 "General" on page 305). If theSMC detects the "Special mode “Safe motion”", the command velocity isautomatically limited to the value set in the parameter "Yx041: Safety-relatedreduced velocity" (see chapter "Yx041: Safety-related reduced speed" onpage 448). The original command velocity is set again as soon as the"Special mode “Safe motion”" has been deselected.
If the value in "Yx041: Safety-related reduced velocity" is set to"0", the SMC does not automatically limit the velocity commandvalues. In this case, the superordinate control itself is responsiblefor specifying reduced command velocities in manual orautomatic mode.
Drive-controlled positioning In this mode, the specified command velocity is automatically limited to thevalue set in parameter "Yx041: Safety-related reduced velocity".
Synchronization mode No SMC reaction.
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Velocity control No SMC reaction.Position mode drive controlled No SMC reaction.
Torque control No SMC reaction.Homing No SMC reaction.
Safe torque off activated ("STO")The "Safe torque off active" safety function safely interrupts the energysupply to the drive. The drive cannot generate any torque/force and cantherefore not initiate any dangerous movements.To be used, the "Safe torque off active" function requires the optional safetytechnology module "L2".
SMC reaction Before the "Safe torque off active" safety function is selected, the drive mustbe decelerated via command value specification and drive enable must beremoved. The SMC does not carry out these two steps.The signal for drive enable is configured via "Yx015: Drive Enable, In-Config"(see also chapter "Yx015: Drive enable, In-config" on page 436) and can beused in manual mode to set and remove drive enable.
7.13 Setup ModeIf the user program is active in manual or automatic mode, the "Setup Mode"input can be used to activate setup mode. Once the program calls a PSIcommand and the "Setup Mode" input is set, setup mode becomes activeand the "Setup active" output is set.With setup mode being active, the specified feed length is not traversedautomatically via the PSI command, i.e., the user program is stopped in thePSI command. In setup mode, the feed length must be traversed using thetwo jog inputs ("Jog+" and "Jog–").The jog velocity is specified via parameter "Yx05: Setup velocity". The axiscan be jogged between the start and end positions as desired. A positiveedge at the "Jog–" input starts the motion of the axis towards the startposition. A positive edge at the "Jog+" input starts the motion of the axistowards the end position. The start and end positions are not exceeded.When the axis is in the start position, the "Setup start position" output is set.Once the axis has reached the specified end position via "Jog+", the "Setupend position" is set.The end of setup mode and therefore block stepping to the next command isachieved as soon as a positive edge has been detected at the "Setup End"input.
● Setup mode can also be ended if the end position has notbeen reached. In this case, the tailout length, if any, isignored.
● Setup mode is only in effect while the PSI command is beingprocessed.
The following Y-parameters are relevant for setup mode:● Yx005: Setup velocity, page 431● Yx024: SetupMode, In-config440● Yx025: SetupEnd, In-config440● Yx035: Setup active, Out-config, page 445● Yx036: Setup start position, Out-config446
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● Yx037: Setup end position, Out-config, page 446Relevant system inputs are as follows:● Setup mode, page 132● Setup end, page 132Relevant system outputs are as follows:● Setup active, page 135● Setup start position, page 135● Setup end position, page 135
7.14 HomingIf a drive is commissioned for the first time, the actual position values fedback by the measuring systems do not have any reference to the machineaxis yet.This applies to● relative (incremental) measuring systems and● absolute measuring systems.
Relative measuring systems The dimensional reference of a relative measuring system to the axis mustbe re-established each time the drive has been switched on or after thedimensional reference has been lost. This requires that the axis move to aspecific position and the position feedback value at a defined position be setto an axis-related value (except for: relative encoders with distance-encodedregistration marks where a motion is required across two marks only).
Absolute measuring systems On commissioning, the dimensional reference of an absolute measuringsystem to the axis must be established once after the motor or encoder(motor encoder or external encoder) has been replaced and changes havebeen made to the axis mechanics. The dimensional reference does not getlost and the position feedback values are axis-related immediately after thedrive has been switched on and are therefore valid.
Displaying the dimensional refer‐ence
The "In reference" output displays whether the dimensional reference of ameasuring system evaluated by the controller is established.
The "In reference" output displays the position status of the en‐coder declared via bit 3 of "S-0-0147, Homing parameter":● Bit 3 = 0: Motor encoder● Bit 3 = 1: Optional encoder or external encoder
Motor encoder and external en‐coder
There may be an external (optional) encoder in addition to the motorencoder.With any combination of relative and absolute measuring system desired,both encoders● can have dimensional reference to the axis independently of each other
(both encoders have different position feedback values)● can have dimensional reference to the axis depending on each other
(both encoders have identical position feedback values).This is configured by means of parameters and implemented using the"Homing" input for establishing the dimensional reference.
Establishing dimensional refer‐ence
The "Homing" input is used to activate the drive-controlled establishing of thedimensional reference by initiating a drive command.
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The sequence depends on the measuring system type:● If it is a relative measuring system without distance-encoded registration
marks, the axis moves to the reference point and then automaticallyswitches to axis-related position feedback values.
● If it is a relative measuring system with distance-encoded registrationmarks, the axis moves between two registration marks and thenautomatically switches to axis-related position feedback values.
● If the measuring system is absolute, an axis at standstill causesautomatic switchover to the axis-related position feedback value.
The presettings for establishing the dimensional reference are made via theallocated parameters.If absolute evaluation is possible and active with the encoder selected (cf.drive parameter S-0-0277, bits 6/7), the dimensional reference is internallyestablished via the drive command "S-0-0447, C0300 Set absolute positionprocedure command."If absolute evaluation is not possible or active, the dimensional reference isinternally established via the "S-0-0148, C0600 Drive-controlled homingprocedure command" drive command. After the drive command has beenexecuted, the axis is at standstill.Depending on the setting in drive parameter "S-0-0147, Homing parameter"(bit 3), the dimensional reference with relative and absolute evaluability is es‐tablished for● Bit 3 = 0: Motor encoder● Bit 3 = 1: Optional encoder or external encoder.
The relevant parameters (e.g., homing velocity) for "Set absoluteposition procedure" or "Drive-controlled homing procedure" mustbe defined in the IndraWorks dialog "Motor encoder reference" or"Dimensional reference - optional encoder".
Virtual axis It is also possible to home the virtual axis. In manual mode, the referenceposition of the virtual axis is always set to "0". The HOM command is used toset the reference position of the virtual axis via parameter "Reference value"to any value.
In manual mode, homing can be activated via the input defined in parameter"Yx022: Homing, In-config" provided the manual routine and the manual cutroutine are not active. In automatic mode or with running hand routine ormanual cut routine, homing can only be initiated with the HOM command.In case of a stop or switchover to another operation mode while homing is inprogress, the cycle is stopped and must be called again. In "Automatic" mode(HOM command), the homing cycle is restarted immediately after a stop andactuation of the start button. The homing cycle must be re-called after anerror or switchover to another operation mode during the homing cycle.Relevant Y-parameters are as follows:● Yx022: Homing, In-config, page 439● Yx023: Homing switch, In-config, page 439● Yx030: In reference, Out-config, page 443Relevant system inputs are as follows:● Homing, page 131● Homing switch, page 132
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Relevant system outputs are as follows:● In reference, page 135
7.15 Lift rolls (electrically)While the rolls are lifted, torque is removed from the drive and the rolls aremoved apart as soon as the tool enters the material to prevent the materialfrom being destroyed by the rolls. The SMC receives the lift rolls signal fromoutside via the "Lift rolls" input. To lift the feed rolls, the SMC then sets the"Lift rolls active" output which activates an internal unit (hydraulics or the like)to open the feed rolls.As long as the "Lift rolls" input signal is applied, the "Lift rolls active" outputsignal is activated. Motor encoder or measuring wheel motions do notgenerate errors and are not undone when the function is switched off. Anactive feed is delayed until the "Rolls closed" input signal is present. Whilethe rolls are lifted, positioning and block stepping are delayed on entry in afeed block until the input becomes "0".
In manual mode, the "Lift rolls active" output signal is also set aslong as the "Lift rolls" input signal is present; however, torque isnot removed from the drive.
The "Lift rolls" function is available for axes 1 to 6 independently of eachother.Relevant Y-parameters are as follows:● Yx017: Lift rolls, In-config, page 437● Yx018: Rolls closed, In-config, page 437● Yx031: Lift rolls active, Out-config, page 443Relevant system inputs are as follows:● Lift rolls, page 131● Rolls closed, page 131Relevant system outputs are as follows:● Lift rolls active, page 135
7.16 Positive stop drive procedureThe task is to travel a specific distance, wherein the positive stop is expectedalong the programmed distance.If the positive stop is reached within the distance traveled, the torque definedin the user program (see PFC command) is used to press continuouslyagainst the positive stop. This torque is maintained until a new motion isinitiated by another travel command. If it is only intended to relieve themechanical tension, the PBK command can, for example, be called.The following position and motion monitoring functions of the drive aredeactivated while traveling to the stop and after having reached the stop.During this time, the drive displays "C13" (cf. drive command "S-0-0149,C1300 Positive stop drive procedure command").● Monitoring for "drive does not follow command value"
"F2028 Excessive control deviation"● Monitoring for velocity command value
"F2037 Excessive position command value difference"
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● Monitoring for acceleration command value"F2039 Maximum acceleration exceeded"
● Monitoring for velocity loop"F8078 Speed loop error"
The torque to be applicable until the positive stop has been reached (i.e.,while the carriage is moving) is also defined in the user program (see PFCcommand).If the positive stop is not reached during the programmed travel distance, theonly distance traveled is the programmed distance and the constant torquelimit becomes active again (cf. MOM command). In this case, the programrun can be diverted to a user-defined error routine.Function "Positive stop drive procedure" is triggered via commands "PFA"and "PFI" and configured via command "PFC".Remarks:● After command PFA/PFI has been called, the drive displays "C13" until
the positive stop is left again.● Stop detection is not activated until, after command PFA/PFI has been
called, a drive motion exceeding the standstill window has beendetected (specified by the PFA/PFI command).
● The positive stop is detected, as soon as:1. The current torque/force feedback value is >= torque/force limit
value (specified by the PFC command, parameter 1).and
2. A drive motion less than the standstill window defined in thePFA/PFI command is made. To achieve this, the standstill windowmust be considerably less than the velocity during the positive stopdrive procedure (both data in the PFA/PFI commands).
Only one PFA/PFI command can be effective for the particular axis at a time.While the "positive stop drive procedure" is active, processing of anotherPFA/PFI command for this task is prevented in another task until the currentlyactive "positive stop drive procedure" has been completed.The functions "Feed interrupt" (cf. "Yx016") and "Feed control" (cf. "Yx026")are in effect. The presignal (cf. "Yx038") is not in effect.
The "positive stop drive procedure" function is not possible for:● the "virtual axis"● the "Flying Cutoff" application type
Example program:
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Fig. 7-40: Example program with PFA command
7.17 Clear outputsThis function allows having an influence on how to clear all digital outputs inthe event of an error.The following settings are possible in the Y-parameter "Y0009: Clear out‐puts":● 0: Clear outputs in the event of an error● 1: Do not clear outputs in the event of an error.
The outputs will not be cleared before the error is acknowledged.● 2: Do not clear outputs if an error occurs or is acknowledged.
7.18 PresignalThe "Presignal" is an axis-dependent output signal. The programmedpresignal applies to the POI, PSI, POA, and PSA feed commands. As soonas the distance still to be traveled becomes smaller than the presignaldistance parameterized in parameter "Yx014: Presignal, distance", the outputconfigured in parameter "Yx038: Presignal active, Out-config" is activated.The output remains activated permanently or for the time parameterized inparameter "Yx013: Presignal duration". Whenever a feed block is re-entered,the output is deactivated.Relevant Y-parameters are as follows:● Yx013: Presignal duration, page435● Yx014: Presignal, distance, page 435● Yx038: Presignal active, Out-config, page 447Relevant system outputs are as follows:● Presignal active, page 135
7.19 WatchdogThe "watchdog" on the PLC evaluates the task utilization which iscontinuously measured. The sensitivity of the watchdog on the PLC can be
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set in Y-parameter "Y0031: Watchdog sensitivity" (see also chapter "Yx031:Lift rolls active, Out-config" on page 443).Using the watchdog on the PLC is to advantage in that an application-specificerror (F2011) is generated which can be easily reset.The task utilization can be observed in the following system variables:● VS008: Current utilization of MotionTask in [%]● VS009: Maximum load of MotionTask in [%] since Clear Error● VS010: Current load of PlcTask in [%]● VS011: Maximum load of PlcTask in [%] since Clear Error● VS025: Maximum load of MotionTask in [%] since power on● VS026: Maximum load of PlcTask in [%] since power on
If the utilization is too high, the cycle time of the MotionTask canbe increased (see chapter "Y0001: Cycle time" on page 398) orthe watchdog sensitivity (Y0031) can be reduced.
The internal watchdog is set to a value of 20 ms for the MotionTask and to 50ms for the PlcTask. This internal watchdog will therefore become active in theevent of serious errors to which the watchdog on the PLC does not react. Inthis case, however, the PLC program must be reset completely.
7.20 Sercos analog converterNo Sercos analog converters are available for the 2G control units.
7.21 MultilingualismThe SMC supports the reload of any language files desired. The languagefiles (file name LANG_FILE_XX.SCL , XX = file number) can be adjustedusing any editor, e.g., the SMC-Editor. Texts must be translated by the user.Languages are selected via parameter "Y0000: Language", see chapter"Y0000: Language" on page 397. "German" and "English" are languagesthat are permanently integrated in the SMC. "French" and "Spanish" isavailable as a language file (LANG_FILE_02.SCL or LANG_FILE_02.SCL) onthe microSD. Further languages can be loaded.
The microSD contains language files in● German (LANG_FILE_DE.SCL)● English (LANG_FILE_EN.SCL)● French (LANG_FILE_FR.SCL)● Spanish (LANG_FILE_SP.SCL)in the folder ".\User\Documentation\SupportDocs".
Loading a user-defined language1. Copy the language file to the ".\User" directory of the microSD.2. Rename the file (e.g., "LANG_FILE_DE.SCL"→ "LANG_FILE_03.SCL").3. Then you can open the file and translate the texts. After having
completed the translation, save changed file to the ".\User" directory ofthe microSD.Do not change the number of texts!
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4. Set value "3" (=LANG_FILE_03.SCL) in parameter Y0000 (see alsochapter "Y0000: Language" on page 397).On start, the texts are loaded to the SMC from the file"LANG_FILE_03.SCL". The language of the drives is not changed. It isautomatically changed by the SMC only if German (= "0"), English (="1") or French (= "2") is selected in parameter Y0000.
Each time the SMC has been restarted, the language file isreloaded from the microSD because the texts are saved to thevolatile memory. The language file is loaded automatically.However, this requires that the particular language file be present.For this reason, it may not be deleted as long as the relatedlanguage is still selected.
5. The language of the drive can be manually parameterized for each axisvia drive parameter "S-0-0265, Language selection".
7.22 Abort programA running program can be aborted at any time via the "Abort program" input.This input is configured via parameter Y0019 (see chapter "Y0019: Abortprogram, In-config" on page 408). Any active axis movement is stoppedimmediately. After having been restarted, the user program again starts withthe appropriate starting blocks. The "Run" output is reset.After the user program has been restarted, the automatic tasks and themanual routine or manual cut routine restart their starting block. If set, the"Automatic mode" output is reset until the internal reset of the tasks orroutines is completed, i.e., it is not possible to start a program in manual orautomatic mode during this time period.
Any active axis movement is stoppedimmediately!
NOTICE
The "Abort program" function may be used only if any hazards to man andmachine are excluded.For example, the program should not be aborted, if the tool is in engagementin the "Flying Cutoff" application type. This might destroy the tool!
Contrary to "E-Stop", an error is not generated. Voltage supply is entirelymaintained. Therefore, an SMC program can be aborted, for example in caseof programming errors.For example, it may be that an AKN command cannot be completed in thetool program/manual cut routine because of an error in parameterization/wiring. In this case, the running program can now be aborted and the errorcan be corrected.
Outputs are cleared as configured in parameter Y0009 (seechapter 7.17 "Clear outputs" on page 318).
7.23 RestartThe "Restart" function resumes a program that was interrupted by an errormessage or by switching from automatic to manual mode.
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The "Restart" function is only possible after one of the specified events hasoccurred. This requires that a program was running in automatic mode at thistime.With each of these events, the current state of the automatic tasks 1-4 (feedvelocity, absolute target position, state of the outputs, etc.) is temporarilysaved.A "Restart" function is triggered by a rising signal edge at the "restart" systeminput (see Y0049) in automatic operation mode. If a "restart" is not possible atthis time, this input has the same function as the "start" system input. Theinput's function can be identified by the state of the "restart" output (cf.Y0050).Restart is not possible:● After a voltage failure● After errors in manual mode● After calling the manual routine● After homing in manual mode● After switching into parameter mode● After loading a new SMC program● After the following errors of error class F2 that affect the encoder sys‐
tem:– "F2031 Encoder error 1: incorrect signal amplitude"– "F2042 Encoder 2: incorrect encoder signals"– "F2043 Measuring encoder: Incorrect encoder signal"– "F2176 Loss of measuring encoder reference"
● After errors of error classes F3, F6, F7, F8 and F9● After an program abort (see chapter 7.22 "Abort program" on page 320)● With the "Flying Cutoff" application type● With an interruption of the commands marked in the following tableThe "restart possible" system output (Y0050) can be used to determinewhether a "restart" function can be executed:● "Restart is possible" = FALSE: No restart possible● "Restart is possible" = TRUE: Restart is possibleIf a "restart" is desired, a restart routine must always be programmed and itmust be completed with a RTS command. The restart sequence can becontrolled using the restart routine. It is activated by using the"BEGIN_RESTART_ROUTINE" system label in the SMC-Editor. The startingblock of the restart program is defined using the system label. The restartroutine is called in automatic mode with a rising edge at the "restart" input.The actual restart procedure is first triggered with the end of this routine (e.g.,call of the RTS command).The restart routine sequence can be influenced with the RSV command. Itserves for the selective restoration of the state of the interrupted program.Relevant Y-parameters are as follows:● Y0048: Starting block restart routineRelevant system inputs are as follows:● Y0049: Restart, In-config
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Relevant system outputs are as follows:● Y0050: Restart possible, Out-configThe following commands are relevant:● RSV - Restart behaviorThe following table provides an overview indicating after which interruptedcommands a "restart" is possible or which specific command behavior oc‐curs:
Command Restart ispossible
Note
CMA Yes If necessary, absolute synchronous axes make a synchronization movement with theactivation of the synchronous operation mode.
CPA Yes If necessary, the axes make a synchronization movement with the activation of theoperation mode.
EDG Yes The edge evaluation is restarted.
EOS No --
FOA Yes If necessary, absolute synchronous axes make a synchronization movement with theactivation of the synchronous operation mode.
LMC No --
LMK No --
LML No --
LMR No --
MLO Yes Material movements are not taken into account in manual mode or if automatic modeis disabled.
RMI No The restart is not possible after an active additional registration processing isinterrupted.
RWY Yes Reading or writing access is restarted.
SAC No --
SRM No --
VCC No --
WAI Yes The waiting time is restarted.
All other commands Yes --
Tab. 7-17: Behavior of the individual commands with regard to restart
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8 Programming examples8.1 Simple program examples8.1.1 Simple minimum programThe following example shows a very simple program:
Fig. 8-1: Simple program exampleThe example uses automatic task 1 and the cyclic task.Automatic task 1:After a rising edge at the "Start" input, axis 1 is positioned (PSI), then a waittime of 1 second elapses (WAI), and finally automatic task 1 is stopped (JST)and the next starting block is set to the automatic task 1 label. The next risingedge at the "Start" input will restart execution of automatic task 1.Cyclic task:The cyclic task is executed continuously (see also chapter 6.2.6 "Cyclic task"on page 107) with programmable variable VF100 being incremented.Therefore, the value of VF100 indicates the number of task runs. At the endof the cyclic task, a JMP command is called to jump to the label (startingblock) of the cyclic task.
For a detailed description of the task system of the SMC, pleaserefer to chapter 6.2 "Multitasking" on page 101.The program resides on the microSD under "\User\Examples\Example_8_1_1.scs".
8.1.2 Programming conditional statementsIF statement The following program example shows how a conditional statement (IF
statement) can be implemented:
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Fig. 8-2: Conditional statementIn the above example, Pin3 is queried at X31 of axis 1 (BCE). If the input isset to "1" (on), there is a jump to label IF_TRUE, the programmable variableVF1 is incremented and then there is a jump to label END.If the input is set to "0" (off), the programmable variable VF2 is incremented.At the end, automatic task 1 is stopped with the JST command.
The extract from the program resides on the microSD under"\User\Examples\Example_8_1_2A.scs".
CASE statement The following program example shows how multiple branching (CASEstatement) can be implemented:
Fig. 8-3: Multiple branchingThe above example shows branching in relation to the value set in theprogrammable variable VF10.If VF10 is "1", there is a jump to label CASE_1 and VF1 is incremented. IfVF10 is "2", there is a jump to label CASE_2 and VF2 is incremented. If VF10is "3", there is a jump to label CASE_3 and VF3 is incremented. Otherwise,VF4 is incremented.At the end, automatic task 1 is stopped with the JST command.
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The extract from the program resides on the microSD under"\User\Examples\Example_8_1_2B.scs".
8.1.3 Programming loopsFOR loop The following program example shows how a counting loop (FOR statement)
can be implemented:
Fig. 8-4: Counting loopAt the beginning, the programmable variable VF20 is initialized with "0". Thenit is checked whether the value of VF20 is equal to "10". Then VF20 isincremented.This is followed by the actual statements.In the example, a wait time of one second elapses (WAI) and then the axis ispositioned (POI). Then there is a jump to label LOOP.In the example, this is repeated 10 times. At the end, automatic task 1 isstopped with the JST command.
For another example, please refer to the description of the BACcommand in the chapter 6.11.7 BAC – Branch Conditional onCount, page 150.The extract from the program resides on the microSD under"\User\Examples\Example_8_1_3.scs".
8.2 Product data managementProgram example of how to use indexed variablesThe following product data is successively processed with incremental feedusing the "indexed system variables" (see chapter "Axis-independent systemvariables" on page 112):
Product number Axis number Feed length in [mm] Velocity in [%]
1 1 250 100
2 2 260 25
3 3 270 50
4 4 280 75
5 5 100 25
6 6 125 45
Tab. 8-1: Product data for indexed variables
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Fig. 8-5: Program example of how to use indexed variablesAt the beginning, product data is initialized. Axis numbers are assigned tovariables VF000 to VF005; feed lengths are assigned to variables VF100 toVF105; and velocities are assigned to variables VF200 to VF205.● 1. run:
Call the PSI command with axis number 1 (VF000), feed length 250 mm(VF100) and velocity 100% (VF200).Then increment VS020 from 0 to 1.
● 2. run:Call the PSI command with axis number 2 (VF001), feed length 260 mm(VF101) and velocity 25% (VF201).Then increment VS020 from 1 to 2.
● 3. runCall the PSI command with axis number 3 (VF002), feed length 270 mm(VF102) and velocity 50% (VF202).Then increment VS020 from 2 to 3.
● 4. runCall the PSI command with axis number 4 (VF003), feed length 280 mm(VF103) and velocity 75% (VF203).Then increment VS020 from 3 to 4.
● 5. run
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Call the PSI command with axis number 5 (VF004), feed length 100 mm(VF104) and velocity 25% (VF204).Then increment VS020 from 4 to 5.
● 6. runCall the PSI command with axis number 6 (VF005), feed length 125 mm(VF105) and velocity 45% (VF205).Then increment VS020 from 5 to 6. This stops the program with the JSTcommand and sets the program block to 0.
The extract from the program resides on the microSD under"\User\Examples\Example_8_2.scs".
8.3 Phase-synchronous axisA phase synchronous axis is configured with the FOC command andactivated with the FOA command. The following sections describe typicalcases of application.Example of potential cases of application:Example:
Axis 1 and axis 2 move phase-synchronously with the measuring encoder ofaxis 1
Relevant parameters:● Y0028 = 2 (measuring encoder of the master axis)● Y1000 = 1 (feed axis)● Y2000 = 1 (feed axis)
Fig. 8-6: Axis 1 and axis 2 move phase-synchronously with the measuring en‐coder of axis 1
→ After configuration with the FOC commands and activation with the FOAcommand, axis 1 and axis 2 follow the measuring encoder of axis 1 phase-synchronously (as long as the SMC is in "Automatic" mode).In the example, each following factor is set to "1", i.e., the synchronous axesfollow the measuring encoder 1:1.
Example:
Axis 1 and axis 2 move phase-synchronously with the virtual master axis
Relevant parameters:● Y0028 = 1 (virtual master axis)● Y1000 = 1 (feed axis)● Y2000 = 1 (feed axis)
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● Y3001 = 1 (axis 3 is the virtual axis)
Fig. 8-7: Axis 1 and axis 2 move phase-synchronously with the virtual masteraxis
→ After configuration with the FOC command and activation with the FOAcommand, axis 1 and axis 2 follow the virtual master axis phase-synchronously (in automatic and manual modes). The virtual master axis canbe commanded in the SMC program (as axis 3) or jogged in manual mode.
Example:
Axis 1 and axis 3 move phase-synchronously with the particular local meas‐uring encoder of axes 1 and 3
Relevant parameters:● Y0028 = 0 (no global master axis)● Y1000 = 1 (feed axis)● Y3000 = 1 (feed axis)
Fig. 8-8: Axis 1 and axis 3 move phase-synchronously with the particular localmeasuring encoder
→ After configuration with the FOC commands and activation with the FOAcommand, axis 1 and axis 3 each follow their local measuring encoder (aslong as the SMC is in "Automatic" mode).
8.4 Velocity-synchronous axisA velocity synchronous axis is configured with the SOC command andactivated with the SOA command. The following sections describe typicalcases of application.Example of potential cases of application:Example:
Axis 1 and axis 2 move velocity-synchronously with the measuring encoder ofaxis 1
Relevant parameters:● Y0028 = 2 (measuring encoder of the master axis)
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● Y1000 = 1 (feed axis)● Y2000 = 1 (feed axis)
Fig. 8-9: Axis 1 and axis 2 move velocity-synchronously with the measuringencoder of axis 1
→ After configuration with the SOC commands and activation with the SOAcommand, axis 1 and axis 2 follow the measuring encoder of axis 1 velocity-synchronously (as long as the SMC is in "Automatic" mode).In the example, the following factor is each set to a value of "1.5" and theoffset to a value of "10", i.e., if the measuring encoder moves at 100 mm/min,the synchronous axes follow at 160 mm/min (= 100*1.5 + 10).
Example:
Axis 1 and axis 2 move velocity-synchronously with the virtual master axis
Relevant parameters:● Y0028 = 1 (virtual master axis)● Y1000 = 1 (feed axis)● Y2000 = 1 (feed axis)● Y3001 = 1 (axis 3 is the virtual axis)
Fig. 8-10: Axis 1 and axis 2 move velocity-synchronously with the virtual mas‐ter axis
→ After configuration with the SOC command and activation with the SOAcommand, axis 1 and axis 2 follow the virtual master axis velocity-synchronously (in automatic and manual modes). The virtual master axis canbe commanded in the SMC program (as axis 3) or jogged in manual mode.
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Example:
Axis 1 and axis 3 move velocity-synchronously with the particular local meas‐uring encoder of axes 1 and 3
Relevant parameters:● Y0028 = 0 (no global master axis)● Y1000 = 1 (feed axis)● Y3000 = 1 (feed axis)
Fig. 8-11: Axis 1 and axis 3 move velocity-synchronously with the particular lo‐cal measuring encoder
→ After configuration with the SOC command and activation with the SOAcommand, axis 1 and axis 3 each follow their local measuring encoder (aslong as the SMC is in "Automatic" mode) with an offset of 10 mm/min, i.e.,axis 1 and axis 3 each move faster than their local measuring encoders by 10mm/min.
8.5 Cam axisThe CMC command configures a cam axis, the CMP command configures itsprofile, and the CMA command activates the cam axis. The following sectionsdescribe typical cases of application.Example of potential cases of application:Example:
Axis 2 and axis 4 are cam axes moving synchronously with the position com‐mand value of axis 1
Relevant parameters:● Y0028 = 3 (real axis 1)● Y2000 = 1 (feed axis)● Y4000 = 1 (feed axis)Program code required:
Fig. 8-12: Axis 2 and axis 4 are cam axes moving synchronously with the posi‐tion command value of axis 1
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In the first step, axis 2 is configured with the CMP command (slave axis =axis 2, switch-on angle = 80°, switch-off angle = 150°, stroke = 100 mm,curve = rest-in-rest with 5th order polynomial) and the CMC command (slaveaxis = axis 2, master axis = global master axis (see Y0028), synchronizationdirection = shortest distance, synchronization type = absolute synchronizationwith synchronization, following factor = 1.00).In the second step, axis 4 is configured with the CMP command (slave axis =axis 4, switch-on angle = 80°, switch-off angle = 150°, stroke = 100 mm,curve = rest-in-rest with 5th order polynomial) and the CMC command (slaveaxis = axis 4, master axis = global master axis (see Y0028), synchronizationdirection = shortest distance, synchronization type = absolute synchronizationwith synchronization, following factor = 1.00).The CMA command activates axis 2 and axis 4. Then axis 1 is positionedwith the PSI command. Axis 2 and axis 4 follow axis 1 (as long as the SMC isin "Automatic" mode).
Example:
Axis 2 is a cam axis moving synchronously with the position command valueof the virtual master axis, with the cam being changed at runtime
Relevant parameters:● Y0028 = 1 (virtual master axis)● Y2000 = 1 (feed axis)● Y3001 = 1 (axis 3 is the virtual axis)
Fig. 8-13: Axis 2 is a cam axis moving synchronously with the position com‐mand value of the virtual master axis, with the cam being changed atruntime
In the first step, axis 2 is configured with the CMP command (slave axis =axis 2, switch-on angle = 80°, switch-off angle = 150°, stroke = 100 mm,curve = rest-in-rest with 5th order polynomial) and the CMC command (slaveaxis = axis 2, master axis = global master axis (see Y0028), synchronizationdirection = shortest distance, synchronization type = absolute synchronizationwith synchronization, following factor = 1.00).In the second step, axis 2 is activated as cam axis (CMA command).The PSI command positions axis 3 (axis = axis 3, feed = 360°, velocity= 50%).The profile is reconfigured by calling the CMP command again (slave axis =axis 2, switch-on angle = 60°, switch-off angle = 170°, stroke = 80 mm,curve = rest-in-rest with inclined sine curve).The PSI command positions axis 3 (axis = axis 3, feed = 360°, velocity= 50%).
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The curve profile is internally switched from block "0" to "1" andvice versa. Switchover in the drive is not implemented before theswitching phase of the global axis is exceeded (cf. driveparameter P-0-0700). The SMC automatically sets this switchingphase to the greater switch-off angle of block "0" or "1",respectively.
Example:
Axis 2 moves as synchronous cam axis, with the global axis being changedat runtime
Relevant parameters:● Y0028 = 1 (virtual master axis)● Y2000 = 1 (feed axis)● Y3001 = 1 (axis 3 is the virtual axis)
Fig. 8-14: Axis 2 moves as synchronous cam axis, with the global axis beingchanged at runtime
In the first step, axis 2 is configured with the CMP command (slave axis =axis 2, switch-on angle = 80°, switch-off angle = 150°, stroke = 100 mm,curve = rest-in-rest with 5th order polynomial) and the CMC command (slaveaxis = axis 2, master axis = global master axis (see Y0028), synchronizationdirection = shortest distance, synchronization type = absolute synchronizationwith synchronization, following factor = 1.00).In the second step, axis 2 is activated as cam axis (CMA command).The PSI command positions axis 3 (axis = axis 3, feed = 360°, velocity= 50%).In the next step, the master axis is exchanged with the CMC command (slaveaxis = axis 2, master axis = local measuring encoder, synchronizationdirection = shortest distance, synchronization type = absolute synchronizationwith synchronization, following factor = 1.00).
8.6 Position couplingThe following example shows how axes are coupled (position coupling) withthe CPA command.Example:
Axis 2 travels in a position-coupled manner to "P-0-0434, Position commandvalue of controller" of axis 1
Relevant parameters:● Y1000 = 0 (free user mode)● Y2000 = 130 (coupling to "P-0-0434" of axis 1)
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● Y1004 = 1,000 mm/min (maximum velocity)● Y2004 = 1,000 mm/min (maximum velocity)● Y1008 = 00b (absolute, translatory scaling type)● Y2008 = 00b (absolute, translatory scaling type)
Fig. 8-15: Axis 2 travels to axis 1 in position coupled manner→ After configuration of activation with the CPA command, axis 2 follows theposition command value of axis 1 (as long as the SMC is in "Automatic"mode). Thereafter, axis 1 is positioned with the PSI command. In theexample, axis 1 and axis 2 each travel at 200 mm/in for a feed length of 100mm.
8.7 Velocity couplingThe following example shows how axes are coupled (velocity coupling) withthe CPV and CVA commands.Example:
Axis 2 travels in a velocity-coupled manner to "P-0-0048, Effective velocitycommand value" of axis 1
Relevant parameters:● Y1000 = 1 (feed axis)● Y2000 = 170 (coupling to "P-0-0048" of axis 1)● Y1004 = 1,000 mm/min (maximum velocity)● Y2004 = 1,000 mm/min (maximum velocity)
Fig. 8-16: Axis 2 travels to axis 1 in velocity coupled manner→ After configuration with the CVC command and activation with the CVAcommand, axis 2 follows the velocity command value of axis 1 (as long asthe SMC is in "Automatic" mode) with a following factor of 1.5 and an offset of50. Thereafter, axis 1 is positioned with the PSI command. In the example,axis 1 travels at 200 mm/min and axis 2 at 350 mm/min (= 200*1.5 + 50).
8.8 Torque couplingThe following example shows how axes are coupled (torque coupling) withthe CTC and CTA commands.
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Example:
Axis 2 travels in a torque-coupled manner to "S-0-0084, Actual torque/forcevalue" of axis 1
Relevant parameters:● Y1000 = 1 (feed axis)● Y2000 = 190 (coupling to "S-0-0084" of axis 1)● Y1007 = 80% (maximum torque)● Y2007 = 80% (maximum torque)
Fig. 8-17: Axis 2 travels to axis 1 in a torque-coupled manner→ After configuration with the CTC command and the activation with the CTAcommand, axis 2 follows the actual torque/force value of axis 1 (as long asthe SMC is in "Automatic" operating mode) with a multiplication factor of 1.1and an offset of 0%. Thereafter, axis 1 is positioned with the PSI command.In the example, axis 1 travels at 200 mm/min and axis 2 follows in a torque-coupled manner.
8.9 Roll feed8.9.1 Roll feed – Press before feed
In the following example, a typical roll feed is programmed for axis 1 in mode"Press before feed". After the program has been started, the press isactivated and then the feed function is executed. The feed cycle is continueduntil the quantity required has been reached.Relevant parameters:● Y1000 = 1 (feed axis)● Y1004 = 1,000 mm/min (maximum velocity)● Y1006 = 1,000 mm/s2 (maximum acceleration)The following figure displays the declaration of variables:
Fig. 8-18: Declaration of variables
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The following figure displays the declaration of flags:
Fig. 8-19: Declaration of flags
Fig. 8-20: Roll feed – Press before feedIn the first step, the following feed data is initialized:
● "Quantity": Command quantity = 10
● "Acceleration": Feed acceleration = 90% of Y1006
● "Deceleration": Feed deceleration = 90% of Y1006
● "FeedRate": Feed rate = 50% of Y106
● "FeedLength": Feed length = 10 mm
In the next step, the product cycle is executed with activation of the press("PressSignal") and the feed. Synchronization between press and feed isachieved via the "FeedAngle" input. The current quantity is stored to the"Counter" variable. The "StopInCycle" input can be used to activate a cyclestop.
On delivery, the source file of the "Feed roll - press before feed"program example can be found in the "User\Examples" directoryof the microSD under the filename "PressBeforeFeed.scs".
8.9.2 Roll feed – Feed before pressIn the following example, a typical roll feed is programmed for axis 1 in mode"Feed before press". After the program has been started, the feed function isexecuted and then the press is activated. The feed cycle is continued untilthe quantity required has been reached.
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Relevant parameters:● Y1000 = 1 (feed axis)● Y1004 = 1,000 mm/min (maximum velocity)● Y1006 = 1,000 mm/s2 (maximum acceleration)The following figure displays the declaration of variables:
Fig. 8-21: Declaration of variablesThe following figure displays the declaration of flags:
Fig. 8-22: Declaration of flags
Fig. 8-23: Roll feed – Feed before pressIn the first step, the following feed data is initialized:
● "Quantity": Command quantity = 10
● "Acceleration": Feed acceleration = 90% of Y1006
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● "Deceleration": Feed deceleration = 90% of Y1006
● "FeedRate": Feed rate = 50% of Y106
● "FeedLength": Feed length = 10 mm
In the next step, the product cycle is executed with the feed and withactivation of the press ("PressSignal") and the feed. Synchronization betweenfeed and press is achieved via the "FeedAngle" input. The current quantity isstored to the "Counter" variable. The "StopInCycle" input can be used toactivate a cycle stop.
On delivery, the source file of the "Feed roll - feed before press"program example can be found in the "User\Examples" directoryof the microSD under the filename "FeedBeforePress.scs".
8.10 Flying cutoff8.10.1 Example without registration sensor
In the following simple example, Flying Cutoff without registration sensor isprogrammed for axis 1 in the "Flying Cutoff" application type. After theprogram has been started, 10 parts each having a length of 100 mm areproduced. Then the operation is repeated using the JMP command.Relevant parameters:● Y1000 = 2 (Flying Cutoff) or 3 (Flying Cutoff test mode)● Y1004 = 10,000 mm/min (maximum velocity)● Y1006 = 10,000 mm/s2 (maximum acceleration)● Y1505 = 10,000 mm/min (return velocity)The following figure displays the declaration of variables:
Fig. 8-24: Declaration of variables
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The following figure displays the declaration of flags:
Fig. 8-25: Declaration of flags
Fig. 8-26: Flying Cutoff without registration sensorIn the first step, the following variables are initialized:
● "Part_Length": Part length = 100 mm
● "Quantity": Command quantity = 10
● "Cut_time": Cut time = 500 ms
In the next step, the product cycle is started and the "Quantity" of parts isproduced, each with the length set in "Part_Length". The tool program hasthe label Tool1 and the tool is activated via variable "Tool_OutPut" with thecut time set in "Cut_time". The current quantity is stored to the "Counter"variable. The production cycle is continued until the quantity required hasbeen reached; then it is repeated.
On delivery, the source file of the "Flying Cutoff - example withoutregistration sensor" program example can be found in the "User\Examples" directory of the microSD under the filename"FC_LML_Demo.scs".
8.10.2 Example with registration sensorIn the following simple example, Flying Cutoff with registration sensor isprogrammed for axis 1 in the "Flying Cutoff" application type. After theprogram has been started, 10 parts are produced by means of theregistration marks. Then the operation is repeated using the JMP command.
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Relevant parameters:● Y1000 = 2 (Flying Cutoff) or 3 (Flying Cutoff test mode)● Y1004 = 10,000 mm/min (maximum velocity)● Y1006 = 10,000 mm/s2 (maximum acceleration)● Y1505 = 10,000 mm/min (return velocity)The following figure displays the declaration of variables:
Fig. 8-27: Declaration of variablesThe following figure displays the declaration of flags:
Fig. 8-28: Declaration of flags
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Fig. 8-29: Flying Cutoff with registration sensorIn the first step, the following variables are initialized:
● "Part_Length": Part length = 100 mm
● "Mark_Offset": Command quantity = 10
● "Quantity": Command quantity = 10
● "Cut_time": Cut time = 500 ms
In the next step, the production cycle is started and the "Quantity" of parts isproduced on the registration marks. The tool program has the label "Tool1"and the tool is activated via variable "Tool_OutPut" with the cut time set in"Cut_time". The current quantity is stored to the "Counter" variable. Theproduction cycle is continued until the quantity required has been reached;then it is repeated.
On delivery, the source file of the "Flying Cutoff - example withregistration sensor" program example can be found in the "User\Examples" directory of the microSD under the filename"FC_LMR_Demo.scs".
8.10.3 Further examplesFor two further Flying Cutoff examples, please refer to chapter 7.11 "Flyingcutoff" on page 261. The first example illustrates how the manual cut routine,the maximum stroke routine and the rapid stop routine are used (see chapter"Program example" on page 280). The second example requires that thevisualization in IndraLogic be used (see chapter "Test mode (simulation)" onpage 285). This example shows the program structure required for using thevisualization.
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9 Diagnostics and backup9.1 General information
With parameter "Y0030: System diagnostics" (string), the system solutionprovides the system diagnostics or error diagnostics in plain text as well as adiagnostics or error number with parameter "Y0029: System diagnosticsnumber" (UDINT).The languages supported on delivery are "German", "English", "French" and"Spanish". The user can also reload his own languages. Languages areselected via parameter "Y0000: Language".See also chapter 7.21 "Multilingualism" on page 319.
In addition, the system diagnostics (cf. Y0030) is also output indrive parameter "P-0-1387, PLC Global Register AT0" of themaster axis. As a result, the current system diagnostics can bedisplayed using the IndraWorks parameter editor.
The following diagnostics are output in jog mode:● "M Stop is present"● "M Manual routine active"● "M Manual mode" etc.(see chapter 9.3 "Diagnostic numbers" on page 342):Diagnostics that are output in manual mode always start with "M ...". The following diagnostics are output in automatic mode:● "A Stop is present"● "A No cycle start"● "A Automatic mode active" etc.(see chapter 9.3 "Diagnostic numbers" on page 342):Diagnoses that are output in automatic mode always start with "A ...". If jog mode and automatic mode are not active or if there is a drive or systemerror, the drive or system diagnostics is output and the diagnostic number isprovided.Any error state detected by the SMC is indicated by the "Error" output. Thesystem diagnostics includes a detailed error description. The error state canbe reset via a positive edge at the "Clear error" input (see chapter "Y0012:Clear error, In-config" on page 405).
9.2 General information on error detectionEvery operating status is associated with a diagnostics.The two different diagnostics are:● System diagnostics● Error diagnosticsA precise description of the existing diagnostics or error is always displayedvia parameter "Y0030, System diagnostics". In addition, a number assignedto the diagnostics or error is entered in parameter "Y0029, System
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diagnostics number". The text messages describe the system status and theerror states.If a system-specific SMC error occurs, drive error "F2011 PLC - Error no. 1"is generated on the master axis. In addition, the error text (cf. “Y0030:System diagnostics”) is shown on the display of the drive and output inparameter "S-0-0095, Diagnostic message".The possible system-specific errors can be subdivided into the following errorgroups:● Command parameter error● Variable index error● Flag index error● Axis configuration error● Invalid automatic program● Bit access errorThe SMC enters the current diagnostics or error number in parameter Y0029:● The existing system diagnostics is always provided in the error-free
state.● If there is a system-independent drive error, the value of parameter
"Y0029, System diagnostics number" is "64h".● If this value is "3E8h", there is an internal function block error.● If the value is lower than "A0000h", a state diagnostics is displayed.● If the value is greater than or equal to "A0000h", there is a drive error or
warning.The plain text diagnostics is saved to parameter "Y0030, SMC systemdiagnostics".The following descriptions list all error diagnostics and state diagnostics.
9.3 Diagnostic numbersThe following table shows the possible diagnostics and error numbers alongwith their description:
Y0029hex S-0-0390 Meaning Description (Y0030)
00h -- -- Reserved
01h Userpreference
State diagnostics Wait for parameter mode(The SMC switches over to parameter mode.)
02h Userpreference
State diagnostics Exit parameter mode(The SMC exits parameter mode.)
03hA0010
State diagnostics M Stop is present(Manual mode is reached, but the nStop input is not set. That meansthat axis movements cannot be made, such as jogging or homing.)
04hA0010
State diagnostics M No cycle start(The manual or manual cut routine was activated but stopped via"nStop".)
05h Userpreference
State diagnostics M Manual routine active(The manual routine is processed.)
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Y0029hex S-0-0390 Meaning Description (Y0030)
06h Userpreference
State diagnostics M Manual cut routine active(The manual cut routine is processed.)
07h A0010 State diagnostics M Manual cut routine not possible; no axis reference
08hA0010
State diagnostics M Manual mode(Manual mode has been entered. Axis movements can be made, suchas jogging or homing.)
09hA0010
State diagnostics A Stop is present(Automatic mode is reached, but the nStop input is not set. Thatmeans that the SMC program cannot be started.)
0AhA0010
State diagnostics A No cycle start(Automatic mode has been entered. The SMC program can bestarted.)
0Bh A0010 orA4002
State diagnostics A Automatic mode active(The SMC program is running in automatic mode.)
0ChA0010 orA4002
State diagnostics A SMC program stopped(The SMC program is still running in automatic mode. but it is stoppedby the nStop input. The active movement is still completed before theSMC program is ultimately stopped.)
0DhA0010 orA0012
State diagnostics SMC program invalidA valid SMC program has not been loaded: Compile the SMC programand load it to the microSD using the SMC-Editor.
0EhA0010 orA0012
State diagnostics No enable: Axis xThe axis mentioned is not enabled (it has no AH). Enable the axis withthe input configured in parameter "Yx015: Drive enable, In-config"
0FhA0013
State diagnostics No power: Axis xThe axis mentioned is not enabled (it has no AH). Connect the DC busvoltage for the axis mentioned.
10h-1Fh -- -- Reserved
20h Userpreference
Drive diagnostics No system-specific diagnostics available. The drive diagnosticsapplies
21h Userpreference
Command diagnostics Load SMC program active
22h Userpreference
Command diagnostics Reserved
23h Userpreference
Command diagnostics Load default values active
24h Userpreference
Command diagnostics Load SMC data from microSD active
25h Userpreference
Command diagnostics Save SMC data to microSD active
26h Userpreference
Command diagnostics Delete programmable variables active
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Y0029hex S-0-0390 Meaning Description (Y0030)
27h Userpreference
Command diagnostics Delete programmable flags active
28h Userpreference
Command diagnostics Reset material length counter active
29h Userpreference
Command diagnostics Load single parameter set from microSD active
2Ah Userpreference
Command diagnostics Save single parameter set to microSD active
2Bh Userpreference
Command diagnostics Restore drive parameters from microSD active
2Ch Userpreference
Command diagnostics Save drive parameters to microSD active
2Dh Userpreference
Command diagnostics Load SMC program successful
2Eh Userpreference
Command diagnostics Reserved
2Fh Userpreference
Command diagnostics Load default values successful
30h Userpreference
Command diagnostics Load SMC data from microSD successful
31h Userpreference
Command diagnostics Save SMC data to microSD successful
32h Userpreference
Command diagnostics Delete programmable variables successful
33h Userpreference
Command diagnostics Delete programmable flags successful
34h Userpreference
Command diagnostics Reset material length counter successful
35h Userpreference
Command diagnostics Load single parameter set from microSD successful
36h Userpreference
Command diagnostics Save single parameter set to microSD successful
37h Userpreference
Command diagnostics Restore drive parameters from microSD successful
38h Userpreference
Command diagnostics Save drive parameters to microSD successful
39h Userpreference
Command diagnostics Restore device data active
3Ah Userpreference
Command diagnostics Save device data active
3Bh Userpreference
Command diagnostics Restore device data successful
3Ch Userpreference
Command diagnostics Save device data successful
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Y0029hex S-0-0390 Meaning Description (Y0030)
3Dh-64h -- -- Reserved
03E8h Userpreference
Error of an internallycalled function block
Output of the error table and the ErrorIdent structure Additional 1 and2
>xA0000h Userpreference
Drive error (with "x"being the axis number)
No system-specific error or warning.The drive error applies (see Yx046 / S-0-0390)
9.4 Error numbersThe following table shows the possible system-specific error numbers alongwith their description. Each error is accompanied by "F2011" being signaledin drive parameter S-0-0390 of the master axis. In addition, the error text (cf."Y0030: System diagnostics") is shown on the display of the drive and outputin parameter "S-0-0095, Diagnostic message".The number of the current error is always signaled in Y0029. A briefdescription of the error is displayed in Y0030. The following table lists all errornumbers and the associated brief descriptions as well as detailed errordescriptions and error remedy options.
Y0029he
x
Description (Y0030)
65h Unsupported drive firmware (>=MPxyyVzz)The version of the drive firmware of the axis is not supported and must be updated. Information about theminimum firmware requirements for the SMC is given in parentheses (x = firmware derivative, yy = version, zz =release). See also chapter 4.9 "Instructions for firmware replacement (release update)" on page 33
66h Axis reference is invalid
67h Optional package SNC not activated (master axis)The optional function package "SNC synchronization" must be activated on the master axis. See alsoIndraWorks dialog "Function packages"
68h Function package MA not activated (master axis)The additive function package "MA" (IndraMotion MLD with technology functions and extended technologyfunction blocks) must be activated on the master axis. See also IndraWorks dialog "Function packages"
69h Error in AxisInterfaceInternal error. Contact the support
6Ah Variable index errorArea violation while addressing variables. For address areas of variables, please refer to chapter 6.5 "Variables"on page 110
6Bh Flag index errorArea violation while addressing flags. For address areas of flags, please refer to chapter 6.6 "Flags" on page119
6Ch Feed data error: Block number xxxx - velocity too low
6Dh Feed data error: Block number xxxx - velocity too high
6Eh Feed data error: Block number xxxx - velocity invalid
6Fh Feed data error: Block number xxxx - length too short
70h Feed data error: Block number xxxx - length too long
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Y0029he
x
Description (Y0030)
71h Feed data error: Block number xxxx - length invalid
72h Feed data error: Block number xxxx - acceleration too small
73h Feed data error: Block number xxxx - acceleration too large
74h Feed data error: Block number xxxx - acceleration invalid
75h Feed data error: Block number xxxx - deceleration too small
76h Feed data error: Block number xxxx - deceleration too large
77h Feed data error: Block number xxxx - deceleration invalid
78h Command error: Block number xxxx - parameter 1 too small
79h Command error: Block number xxxx - parameter 1 too large
7Ah Command error: Block number xxxx - parameter 1 invalid
7Bh Command error: Block number xxxx - parameter 2 too small
7Ch Command error: Block number xxxx - parameter 2 too large
7Dh Command error: Block number xxxx - parameter 2 invalid
7Eh Command error: Block number xxxx - parameter 3 too small
7Fh Command error: Block number xxxx - parameter 3 too large
80h Command error: Block number xxxx - parameter 3 invalid
81h Command error: Block number xxxx - parameter 4 too small
82h Command error: Block number xxxx - parameter 4 too large
83h Command error: Block number xxxx - parameter 4 invalid
84h Command error: Block number xxxx - parameter 5 too small
85h Command error: Block number xxxx - parameter 5 too large
86h Command error: Block number xxxx - parameter 5 invalid
87h Command error: Block number xxxx - command too small
88h Command error: Block number xxxx - command too large
89h Command error: Block number xxxx - command invalid
8Ah Command error: Block number xxxx - command not available at presentSome commands are not possible if specific conditions are not fulfilled. For details, see description of the faultycommand
8Bh Axis configuration error: number of axes too low
8Ch Axis configuration error: number of axes too highThe maximum allowed number of axes is 6
8Dh Axis configuration error: number of axes invalid
8Eh Axis configuration error: axis reference invalid
8Fh Block number xxxx invalidA command that is unknown to the SMC firmware has been called. Check whether the SMC-Editor and SMCfirmware versions are compatible with each other
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Y0029he
x
Description (Y0030)
90h SMC program invalid (language version<>SMC_xxVyy)The SMC program selected is not supported by the SMC firmware.The language version required by the SMC is shown in parentheses (xx = version, yy = release). The languageversion of the SMC can be set manually in the SMC-Editor via the menu Extras ▶ Options ▶ General. Recompilethe SMC program using the SMC-Editor and the properly set language version and load it to the SMC.Note: the program can be compiled at any time, independently of any change, via the menu Create ▶ CompileProgram or by using the function key "F11" in the SMC-Editor. Thereafter, the SMC program must bedownloaded via the SMC-Editor
91h Bit access error: Block number xxxx - parameter xThe bit mentioned is invalid. Check the address areas of the flags and/or the existing hardware. For the addressareas of the flags, please refer to chapter 6.6 "Flags" on page 119; for those of the hardware, refer to chapter6.7 "Digital inputs and outputs" on page 121
92h Task configuration error: Task x is missingAutomatic tasks have to be used in ascending order. A discontinuous task configuration is not allowed. See alsochapter 6.2 "Multitasking" on page 101
93h Error - Feed monitoring axis xThe axis-dependent "nFeedMonitoring" system input reported "FALSE" during the active feed. See also chapter6.8 "System inputs and outputs" on page 126
94h Invalid hardware addressCheck the address areas of the existing hardware. For hardware address areas, please refer to chapter 6.7 "Digital inputs and outputs" on page 121
95h Invalid word numberCheck the address areas of the existing hardware. For hardware address areas, please refer to chapter 6.7 "Digital inputs and outputs" on page 121
96h Invalid pin numberCheck the address areas of the existing hardware. For hardware address areas, please refer to chapter 6.7 "Digital inputs and outputs" on page 121
97h Invalid address at the Sercos I/OCheck the address areas of the existing hardware. For hardware address areas, please refer to chapter 6.7 "Digital inputs and outputs" on page 121
98h Invalid address at field busCheck the address areas of the existing hardware. For hardware address areas, please refer to chapter 6.7 "Digital inputs and outputs" on page 121
99h Invalid state machine stateInternal error. Contact the support
9Ah Invalid PLC registerInternal error. Contact the support. An attempt has been made to access an invalid PLC register. The processimage of the inputs is in registers P-0-1390...P-0-1409 and P-0-1440...P-0-1447. The process image of theoutputs is in registers P-0-1410...P-0-1429
9Bh Y-parameter error: Yxxxx too smallThe value set in the Y-parameter is too small. See also chapter 11 "Parameters" on page 395
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Y0029he
x
Description (Y0030)
9Ch Y-parameter error: Yxxxx too largeThe value set in the Y-parameter is too large. See also chapter 11 "Parameters" on page 395
9Dh Invalid override input (Yx028), axis xThe value selected for configuring the override input is invalid. See also chapter 7.5 "Velocity override" on page241
9Eh No measuring wheel (Yx019), axis xAn input has been configured in Y-parameter Yx019, but a measuring wheel or optional encoder (cf. IndraWorksdialog "Optional encoder settings") is not connected to the axis
9Fh Invalid hardware address: block number xxxxCheck the address areas of the existing hardware in the program block specified. For hardware address areas,please refer to chapter 6.7 "Digital inputs and outputs" on page 121
A0h number of axes too high
A1h Watchdog activeThe PLC watchdog is active. See also chapter 7.19 "Watchdog" on page 318
A2h Error in system command 1: Load SMC programSee also chapter 7.2.4 "System command 1: Load SMC program from microSD" on page 234
A3h Reserved
A4h Error in system command 3: Load default valuesSee also chapter 7.2.6 "System command 3: Load default values" on page 235
A5h Error in system command 4: Load SMC data from microSDSee also chapter 7.2.7 "System command 4: Load SMC data from microSD" on page 235
A6h Error in system command 5: Save SMC data to microSDSee also chapter 7.2.8 "System command 5: Save SMC data to microSD" on page 236
A7h Error in system command 6: Delete freely programmable variablesSee also chapter 7.2.9 "System command 6: Delete programmable variables" on page 237
A8h Error in system command 7: Delete programmable flagsSee also chapter 7.2.10 "System command 7: Delete programmable flags" on page 237
A9h Error in system command 8: Reset material length counterSee also chapter 7.2.11 "System command 8: Reset material length counter" on page 237
AAh Error in system command 9: Load single parameter set from microSDSee also chapter 7.2.12 "System command 9: Load single parameter set from microSD" on page 237
ABh Error in system command 10: Save single parameter set to microSDSee also chapter 7.2.13 "System command 10: Save single parameter set to microSD" on page 238
ACh Error in system command 11: Restore drive parameters from microSDSee also chapter 7.2.14 "System command 11: Restore drive parameters from microSD" on page 238
ADh Error in system command 12: Save drive parameter to microSDSee also chapter 7.2.15 "System command 12: Save drive parameters to microSD" on page 239
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Y0029he
x
Description (Y0030)
AEh System command invalidAn invalid system command has been selected. Also refer to chapter 7.2.1 "Overview" on page 232
AFh Axis configuration error: Axis x not enabledThe corresponding axis is used in the SMC program and must be enabled via Yx002. See also chapter "Yx002:Enable axis" on page 429
B0h Invalid master axis selected in Y0028, block number xxxxOne of the axes is configured both as a slave and a master axis. An axis can only be either a master axis or aslave axis.A measuring encoder has been selected as master axis in Y0028 (Y0028 = 2). A measuring encoder (no"optional encoder"!) must be configured on the axis selected.A deactivated axis (Yx002 = FALSE) cannot be selected in Y0028 for "A" (axis selection). The axis selected mustbe a real activated axis.The virtual axis cannot be selected in Y0028 for "A" (axis selection). The axis selected must be a real axis.The position feedback value of encoder 2 (optional encoder, S-0-0053) or the position command value of themeasuring encoder (master axis encoder, P-0-0052) has been configured in Y0028 for "B" (signal selection).However, there is no optional encoder or measuring encoder on the master axis or has not been configured withIndraWorks yet.The virtual master axis (Y0028 = 1) was selected in Y0028, but the virtual axis is not activated for any axis usingthe parameter "Yx001: Axis type".The optional function package "SNC - synchronization" must be activated on the master axis.See also chapter "Y0028: Master axis selection of the system" on page 412
B1h No master axis selected in Y0028A CMC, FOC or SOC command has been called with selection of the global master axis but a global master axisis not programmed in Y0028.See also chapter "Y0028: Master axis selection of the system" on page 412
B2h No local measuring encoder availableThe local measuring encoder has been configured for the master axis in the SMC program (CMC or FOCcommand). However, there is no local measuring encoder for the axis (cf. IndraWorks dialog "RmAxis:Measuring encoder")
B3h Invalid axis type in Yx001Check the value of parameter Yx001. See also chapter "Yx001: Axis type" on page 429
B4h Invalid number of virtual axesThe maximum number of virtual axes allowed to be configured in Yx001 is one.See also chapter "Yx001: Axis type" on page 429
B5h Command not allowed for virtual axisFor a summary of available commands and their limitations, please refer to chapter 6.10 "Overview on usercommands" on page 138.
B6h The SMC program in Y0002 not loadedThe SMC program to be automatically loaded on first power-up could not be loaded. An extended errordescription which precisely describes the error cause is attached to the diagnostic message. See also chapter"Y0002: Start program" on page 400
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Y0029he
x
Description (Y0030)
B7h Identical address: Yxxxx, YxxxxThe addresses of the digital system outputs have been configured twice. The address of one of the systemoutputs must be changed
B8h Motion profile error (P-0-0702/P-0-0709)See diagnostics in drive parameters P-0-0702 and P-0-0709.If error code "2" is entered in P-0-0702/P-0-0709: Check drive parameter P-0-0088, bit 10. The bit should be setto "TRUE" (relative processing)
B9h Starting block of task x - no command in SMC programThere is no command applied to the set starting block of the task. The SMC program is invalid. Either the systemlabel for the unused task must be removed or commands must be programmed. See also chapter 6.2 "Multitasking" on page 101. Please also observe Y0008 for the manual routine (see chapter "Y0008: Manualroutine after automatic mode" on page 403)
BAh Axis configuration error: Wrong application type (Yx000) for axis x, block number xxxxThe SMC program contains Flying Cutoff commands (in the program block number specified), but the applicationtype of the axis is not "Flying Cutoff" or "Flying Cutoff test mode". See also chapter "Yx000: Application type" onpage 427. For a summary of available commands and their limitations, please refer to chapter 6.10 "Overviewon user commands" on page 138
BBh AxisData not activated, P-0-1367, bit 6Bit 6 in drive parameter P-0-1367 of the master axis must be set to "TRUE"
BCh Virtual axis not allowed for Flying CutoffIf the "Flying Cutoff" or "Flying Cutoff test mode" application type is selected, it is not possible to use this axis asvirtual axis at the same time. The virtual axis must be activated via a different axis. See also chapter 7.7 "Virtualaxis" on page 243
BDh Maximum stroke (Flying Cutoff)The maximum stroke was exceeded. For a description, please refer to chapter "Maximum Stroke Routine" onpage 293
BEh Rapid stop (Flying Cutoff)Rapid stop was activated. For a description, please refer to chapter "Rapid Stop Routine" on page 292
BFh Internal errorInternal error. Contact the support
C0h X31/X32 used as input and output: Yxxxx, YxxxxX31 or X32 has been configured twice (as input and output). The address of one of the Y-parameters must bechanged
C1h Lift rolls during feedRolls cannot be lifted while a feed function is executed. See also chapter 7.15 "Lift rolls (electrically)" on page316
C2h Call of function block "MX_MoveAbsolute" (e.g., via POA, PSA) without axis reference (see also drive warning"E2054")The axis must be homed before a POA or PSA command is called. See also chapter 7.14 "Homing" on page314
C3h Homing not allowed in P2
C4h Axis already homed
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Y0029he
x
Description (Y0030)
C5h Absolute encoder required
C6h Command error: Block number xxxx - yyyy missingThe drive parameter yyyy is missing in the cyclic CCD data.Check the configuration in Yx047, see chapter "Yx047: Configuration cyclic CCD – Process data" on page 451In case of a position coupling with an error reaction "Apply holding brake", the P-0-0542 and P-0-0543 areconfigured instead of S-0-0199 and S-0-0149. In this case, the SAC command is not possible
C7h Drive command error
C8h Language file not foundThe appropriate language file is not available on the microSD. See also chapter 7.21 "Multilingualism" on page319
C9h Invalid flag addressFor address areas of flags, please refer to chapter 6.6 "Flags" on page 119
CAh Y-parameter error: Yxxxx invalidThe value set in the Y-parameter is invalid. See also chapter 11 "Parameters" on page 395
CBh Homing with absolute encoder not possible
CCh No LMx command available for Flying CutoffIf the "Flying Cutoff" or "Flying Cutoff test mode" application type is configured for axis 1, an LMx command isexpected in the SMC program. See also chapter "Yx000: Application type" on page 427
CDh No EOS command available for Flying CutoffIf the "Flying Cutoff" or "Flying Cutoff test mode" application type is configured for axis 1, an EOS command isexpected in the SMC program
CEh Too many SMC programs on the microSDA maximum of 100 SMC programs is supported. SMC programs can be deleted from the microSD using theSMC-Editor ("Upload" dialog) or using a memory card reader
CFh Closed loop register control not activated
D0h Deactivated slaves are not supportedDeactivated Sercos slaves are not supported. See IndraWorks dialog "CCD: Basic settings"
D1h Axis configuration error: Axis x setting Yx519, bit 5, block number xxxxBit 5 in parameter Yx519 must be set to activate the user-defined return movement, see also chapter "Yx519:Flying cutoff configuration" on page 467
D2h Optional SNC package not activated, block number xxxx, axis xThe optional "SNC synchronization" function package must be activated for the particular axis to allow executionof the command block. For a summary of available commands and their limitations, please refer to chapter 6.10 "Overview on user commands" on page 138. See also IndraWorks dialog "Function packages"
D3h Optional SNC or SRV package not activated, block number xxxx, axis xThe optional "SNC - Synchronization" or "SRV - Servo function" function package must be activated for theparticular axis to allow execution of the command block. For a summary of available commands and theirlimitations, please refer to chapter 6.10 "Overview on user commands" on page 138. See also IndraWorksdialog "Function packages"
D4h Axis configuration error: Axis x setting Yx027, block number xxxxActivate Yx027 for the axis. For example, this setting is required for the SRM, LMR, LMK, and LMC commands
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Y0029he
x
Description (Y0030)
D6h X31/X35/X36/X37, wrong I/O direction: block number xxxxThe configured direction (input or output) is not correct. It can be configured in drive parameter P-0-0302 orP-0-0316
D8h Command error: Block number xxxx, command not allowed in task xFor a summary of available commands and their limitations, please refer to chapter 6.10 "Overview on usercommands" on page 138
D9h No measuring wheel availableAn external encoder has not been configured for the "Flying Cutoff" application type (Y100 = 2). An externalencoder must be configured as measuring encoder (not as "optional encoder"!), e.g. using IndraWorks
DAh Starting block of task x invalidThe set starting block of the task is invalid. Therefore, the SMC program is also invalid. Check the Y-parameterfor the starting block of the task. See also chapter 6.2 "Multitasking" on page 101. Please also observe Y0008for the manual routine (see chapter "Y0008: Manual routine after automatic mode" on page 403)
DBh Error while the file is openedAn error occurred while the file was opened. Check the file name for special characters. Special characters (e.g.:"/", "..", ":", ";", ...) are not allowed
DCh The drive is not under torque: Axis xA motion command was given for the axis. However, the axis not under torque. Check whether power is enabled
DEh Invalid access to analog I/OThere was a write and/or read access to system variables VSx31 to VSx36. These system variables can only beaccessed on the CCD master
DFh Analog Sercos III I/O not availableThere was a write and/or read access to system variables VSx031 to VSx036. These system variables can onlybe accessed if an analog Sercos III I/O is available
E0h Access to analog channel not allowedThere was a write access to system variables VSx33 to VSx36. Write access to these system variables is onlypossible if the "direct output of voltage signals" is activated, see drive parameter P-0-0427
E1h Ext. phase switching: PM -> OM with Clear errorPhase switching was commanded by an external source (e.g. IndraWorks). When this error is acknowledged,running up is repeated
E2h No PSI command after RMIAfter an RMI command has been activated, the RMI command must be immediately followed by a PSIcommand. See also chapter 6.11.57 "RMI – Registration mark interrupt" on page 202
E3h Simultaneous axis commanding in several tasksThe movement of an axis was initiated by more than tasks than one at the same time, e.g., the PSI commandwas called for axis 1 in task 1 and, simultaneously, in task 2.Notes:● Depending on the already active motion command, axis commanding in another task can be aborted by
calling the PBK command (e.g., by calling the PBK command in the maximum stroke routine to initiateretraction motions).See also chapter 6.11.48 "PBK – Stop Motion" on page 194
● The monitoring can be disabled via the parameter chapter "Yx048: Axis configuration" on page 452
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Description (Y0030)
E4h Modulo format of global master axis not possibleThe global master axis is activated via parameter Y0028 (see chapter "Y0028: Master axis selection of thesystem" on page 412), however, the set modulo format of the position data (cf. chapter "Yx008: Scaling type" onpage 432) is not possible. If the "Flying Cutoff" or "Flying Cutoff test mode" is active at the same time, the formatof the position data of the global master axis must be absolute, i.e., correspond to the application type(Background: The value in drive parameter "P-0-0750, Master axis revolutions per master axis cycle" issimultaneously effective for the "Flying Cutoff" or "Flying Cutoff test mode" application types and for the globalmaster axis)
E5h Double assignment of the output: Yxxxx and X31, X35, X36 or X37The output mentioned is configured both as Y-parameter and in the drive parameter. The output may only beconfigured either in the Y-parameter or in the drive parameter; otherwise, there is a double assignment.To remove the assignment, "OUT_UNUSED" must be entered in the Y-parameter or S-0-0000 for the particularoutput must be entered in the drive parameter (X31/X35/X36/X37: P-0-0310).Check the Y-parameters and the parameter P-0-0310 of the particular axis for X31/ X35/X36/X37.
E6h Double assignment of the output: Block number x - Parameter x and X31, X35, X36 or X37The output mentioned is configured both in the SMC program and in the drive parameter. The output may onlybe configured either in the SMC program or in the drive parameter; otherwise, there is a double assignment.To remove the assignment, "OUT_UNUSED" must be entered in the Y-parameter or S-0-0000 for the particularoutput must be entered in the drive parameter (X31/X35/X36/X37: P-0-0310).Check the Y-parameters and the parameter P-0-0310 of the particular axis for X31/ X35/X36/X37.
E7h SMC program not loadedIt was not possible to load the desired SMC program (e.g., via the SMC-Editor). An extended error descriptionwhich precisely describes the error cause is attached to the diagnostic message
E8h Command not allowed for SACFor a summary of available commands and their limitations, please refer to chapter 6.10 "Overview on usercommands" on page 138
E9h PFA/PFI command call without previous PFC, block number xxxxA PFA or PFI command was called without having called the PFC command beforehand. The PFC commandmust first be executed to configure the settings required (see also chapter 7.16 "Positive stop drive procedure"on page 316)
EAh Axis coupling: Multiple use of the master axis, axis xAn axis can be a master axis exactly once, e.g., it cannot be the master axis for position coupling and velocitycoupling at the same time (see also chapter "Yx000: Application type" on page 427)
EBh Axis coupling: Axis is master and slaveThe axis is configured as master axis and as coupled axis at the same time (see also chapter "Yx000:Application type" on page 427)
ECh Axis coupling: Virtual axis not allowed, axis xThe virtual axis can neither be configured as master axis nor as slave axis (see also chapter "Yx000: Applicationtype" on page 427)
EDh Axis coupling: Scaling master not the same, axis xAll axes of a coupling group must have the same scaling type (see also chapter "Yx000: Application type" onpage 427 and chapter "Yx008: Scaling type" on page 432)
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EEh Axis coupling: Slave axis not configured (Yx000), block number xxxA command for activating or deactivating slave axes with axis coupling (e.g., CPA, CVA) was called in the SMCprogram; however, no axis coupling has been configured in "Yx000: Application type" for at least one of the slaveaxes
EFh Axis coupling: Master axis unequal (Yx000), block number xxxA command for activating or deactivating slave axes with axis coupling (e.g., CPA, CVA) was called in the SMCprogram; however, the specified master axis does not comply with the configuration set in "Yx000: Applicationtype" for all slave axes
F0h Axis coupling: Source signal invalid (Yx000), block number xxxA command for activating or deactivating slave axes with axis coupling (e.g., CPA, CVA) was called in the SMCprogram; however, no valid source signal has been configured in "Yx000: Application type" for at least one of theslave axes
F1h Position coupling: Axis is not referenced, axis xThe specified axis is not homed. The axis must be homed and stay homed for position coupling. Homing of theaxis may only be started with position coupling not activated (e.g., via the HOM command)
F2h Position coupling: Modulo axis invalid, axis xAxes in modulo format are not supported for position coupling. Axis scaling must be converted to an absoluteformat (cf. Yx008)
F3h Position coupling: Position difference exceeded, axis xThe maximum allowed position difference between the slave axis and the master axis has been exceeded.There may be the following reasons:● The deviation in position of the axes is caused by a mechanical obstacle● The maximum allowed position difference (cf. CPA command) has been parameterized to a value that is
too small● The position command value delay (cf. P-0-0456) is not set properlySolution:● Remove the obstacle, if any is present● Increase the maximum allowed position difference● Set the position command value delay (cf. P-0-0456) to the correct value
F4h Position coupling: Position command processing invalid, axis x● The position command processing mode is different for the slave axes in the group that are to be
synchronized. The interpolation type for position command processing on all slave axes to be synchronizedmust be the same ("P-0-0187, Position command processing mode")
● The set position command processing mode ("P-0-0187, Position command processing mode") is notsupportedThe following interpolation types are supported for position command processing:– Linear fine interpolation: P-0-0187 = 0– Cubic approximation: P-0-0187 = 1– Cubic fine interpolation: Contour accurate P-0-0187 = 2
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Description (Y0030)
F5h Position coupling: Master axis operation mode invalid, axis xIf "P-0-0457, Position command value generator" is set as source signal, the only operation modes allowed to beactivated for the master axis are the following ones:● "A0010 Drive Halt"● "A0160 Position mode drive controlled" (e.g., via CPA command)● "A0101 Drive-controlled positioning" (e.g., via jogging in manual mode or POI, PSI, POA, PSA, CON
command)This means that commands which do not activate the operation modes mentioned may not be called for themaster axis (e.g., FOA command)
F6h Position coupling: Performance setting invalid, axis xThe axes in the group differ in their performance setting (P-0-0556, Bits 2 and 5). The performance settings forall axes in the group must be equal if the "P-0-0457, Position command value generator" is set as source signal
F7h Position coupling: Safety technology configuration invalid, axis xIf the default error reaction is activated, bit 9 (reaction to F7 error) may not be set in parameter "P-0-3210, Safetytechnology configuration", i.e., the drive-controlled error reaction in the event of an F7 error always is the velocitycommand value reset (E-STOP). The torque enable error reaction type may not activated in the event of F7errors
F8h Position coupling: Holding brake control word unequal, axis xThe holding brake control word ("P-0-0525, Holding brake control word") is different on at least two axes of thegroup. The holding brake control word must be equal on all axes of the group (master axis and synchronizedslave axes)
F9h Position coupling: Optional encoder not available, axis xA position coupled slave axis (cf. "Yx000") is to follow the source signal "S-0-0053, Position feedback value" ofthe master axis. However, the master axis does not have any optional encoder for generating the source signal
FAh Position coupling: Slave axis operation mode invalid, axis xThe active operation mode of the axis is not the seventh secondary operation mode. The latter is monitored bythe SMC and must remain constantly activated for position coupling. This is an internal error. Contact the support
FBh Position coupling: Number of master axes too high, axis xThe number of master axes parameterized for position coupled slave axes is too high (cf. "Yx000"). Themaximum number of master axes that can be used at the same time is 5
FCh Error in system command 13Error during the execution of the "Restore device data" function of the SMC-Editor
FDh Error in system command 14Error during the execution of the "Save device data" function of the SMC-Editor
FEh Drive-controlled SI operational transfers not possible, axis xThe "Safe Motion" optional safety engineering module (e.g., S2) is available and activated for the axis.Parameters are set in a drive-controlled manner for the SI operational transfers (see P-0-3210, bit 4), but onlyNC-driven SI operational transfers are permitted with the SMC, see also chapter 7.12 "Drive-integrated safetytechnology" on page 305
FFh Error opening/reading/writing to file (file name)An error occurred with the read or write access to a file in the "\User" directory on the microSD of master axis forsaving or loading Y-parameters, variables or flags. The file name is output at the end of the error message.
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Description (Y0030)
0100h-0200h
Reserved
0201h Cut length invalidThe maximum possible cutting length or product length is overwritten for processing registration marks (e.g., bythe LMR command). The maximum product length is "2000 * measuring wheel feed constant (Yx507)". Theproduct length is automatically set to zero with the next "Clear error".
0202h Measuring wheel feed constant invalid
0203h Return position invalidThe return position (Yx504) must be between the position limit switches (Yx044, Yx045): Yx045 < Yx504 <Yx044.
0204h Return acceleration invalidThe return acceleration (Yx506) must be above "0".
0205h Return velocity invalidThe return velocity (Yx505) must be above "0".
0206h Invalid slave axisThe only axis allowed as synchronous slave axis for Flying Cutoff is axis 1, see also chapter "Yx000: Applicationtype" on page 427
0207h-0228h
Reserved
0229h Minimum cut position > max. tool position
022Ah Min. carriage stroke position > max. tool position
022Bh-022Fh
Reserved
0230h Invalid LMx commandAn LMx command that is unknown to the SMC firmware has been called. Check whether the SMC-Editor andSMC firmware versions are compatible with each other
0231h Invalid LMx command dataThe mask window in the LMx command may not be less than zero.If cutting is done at registration marks with stationary sensor (Yx519, bit 2 = FALSE), the sum from "Yx514: Tooloffset", "Registration mark offset" (from the LMx command) and "Yx504: Return position", subtracted by "Yx512:Registration sensor offset", must be greater or equal to value "1".If cutting is done at registration marks with moving sensor (Yx519, bit 2 = TRUE), the sum from "Yx514: Tooloffset" and "Registration mark offset" (from the LMx command), subtracted by "Yx512: Registration sensoroffset", must be greater or equal to value "1"
0232h-0246h
Reserved
0247h Wrong Y144 settingThe value in "Yx044: Maximum travel limit" must be higher than the sum total from the value in "Yx504: Returnposition" and the tolerance window (5 mm or 0.2 inches)
0248h Wrong Y145 settingThe value in "Yx045: Minimum travel limit" must be lower than the difference between the value in "Yx504:Return position" and the tolerance window (5 mm or 0.2 inches)
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Description (Y0030)
0249h-0261h
Reserved
0262h No power supplied to drive
0263h Drive not activated
0264h Drive not homedThe axis must be homed to be able to start the Flying Cutoff. See also chapter 7.14 "Homing" on page 314
0265h-0285h
Reserved
0286h FSMA not activated
0287h Carriage exceeded max. length
0288h Reserved
0289h Max part length exceededIf the "Maximum part length" option is enabled and the part being requested is longer than the value configuredin Y-parameter "Yx510: Maximum part length", then the error reaction specified in "Y61: Error reaction maximumpart length" is initiated and the user must take appropriate actions.To clear the error, the value of "Y61: Error reaction maximum part length" must be temporarily set to "Off" or"Warning". Alternatively, the value of "Yx510: Maximum part length" can be temporarily set to a high value. Thenthe error can be acknowledged and the manual cut routine can be started
028Ah Reserved
028Bh Internal error
028Ch Error during immediate cutBit 1 in "Yx519: Flying Cutoff configuration" is set to "FALSE". When the immediate cut was made, a materialvelocity of >0.1% of the maximum velocity (Yx004) was detected so that the error was set. The material must bestopped or bit 1 of Yx519 must be set to "TRUE". See also chapter "Yx519: Flying cutoff configuration" on page467.Synchronization with the material failed.
028Dh-02A0h
Reserved
02A1h Synchr.: low dynamicsIf the material velocity causes the planned carriage profile to exceed the available time to move the carriagewithin the travel limits based on the programmed accelerations and velocities for the carriage, then the error"Lock-on error low dynamics" is issued (cut profile will exceed available travel, e.g., low accel/decel ramps orexcessive material velocity). The user can either decrease the material velocity, increase the drive dynamics orincrease the carriage travel range
02A2h Synchr.: tool limitIf the calculated time available for the tool program is shorter than the time configured in "Yx515: Tool cycletime", the error "Lock-on error tool limit" is output. (The time planned for the tool program (Yx515) exceeds thetime actually available with the current material velocity).The user can either reduce the material velocity or increase the carriage travel range or speed up the cutprocess, thereby reducing the time required for the tool program. In addition, the return velocity (Yx505) and thereturn acceleration (Yx506) can be increased
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02A3h Synchr.: position exceededWhen synchronizing, the axis will exceed the maximum stroke position.In this case, the user can either reduce the material velocity or increase the carriage travel range or increase thesynchronization dynamics (Yx503, Yx505, Yx506)
02A4h Reserved
02A5h Synchr.: velocity exceededWhen synchronizing, the axis will exceed the maximum velocity. Increase the maximum velocity (Yx004) of thesynchronous axis or reduce the material velocity
02A6h Reserved
02A7h Synchr.: cut exceeds travel limitsThe requested cut position is outside of travel limits for which reason it cannot be executed. Start the manual cutroutine to generate a new cut position or move the material and therefore the measuring wheel in manual modeto move the desired cut position inside travel limits
02A8h-02C5h
Reserved
02C6h Feed command (e.g., PSA) during LMx commandA feed command (POA, POI, PSA, PSI, CON) was given between an LMx and EOS command (i.e., in the toolprogram)
9.5 Saving Y-parametersSaving the Y-parameters via sys‐
tem commandAll Y-parameters can be saved using the "Save data to microSD" systemcommand, see also chapter System Command 5:Save Y-parameter onmicroSD, page 236. In this process, a (readable) ASCII file containing thedata required is saved to the microSD. The file format is similar to theIndraDrive parameter file. The backup file has the filename extension"*.SCD".The file has the following format:● Header with filename, version and number of axes● Axis-independent Y-parameters● Axis-dependent Y-parameters of the axes presentThe following information is available with respect to each Y-parameter:● Parameter number, e.g., Y123● Parameter name (in the set language)● Unit (in the set language)● Minimum value● Maximum value● Current valueFor further parameter saving means, please refer to:● chapter 7.2.13 "System command 10: Save single parameter set to
microSD" on page 238● chapter 7.2.15 "System command 12: Save drive parameters to
microSD" on page 239
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Saving the Y-parameters via theSMC-Editor
The Y-parameters can also all be saved via the "parameter box" of the SMC-Editor. For a description of the steps required for saving, see the chapterBackup / Restoring all Y-Parameters, page 70.
9.6 Restoring Y-parametersRestoring the Y-parameters via
system command1. Switch the SMC over to parameter mode.
Parameters can only be restored in parameter mode. The display of theaxes shows PM or P2.
2. All Y-parameters can be loaded using the "Load SMC data frommicroSD" system command, see also chapter 7.2.7 "System command4: Load SMC data from microSD" on page 235. In this process, anASCII file (filename extension "SCD") is read from the microSD.The Y-parameters are read from the file and loaded to the SMC.
For further parameter restoring means, please refer to:● chapter 7.2.12 "System command 9: Load single parameter set from
microSD" on page 237● chapter 7.2.14 "System command 11: Restore drive parameters from
microSD" on page 238Restoring the Y-parameters via
the SMC-EditorThe Y-parameters can also all be restored via the "parameter box" of theSMC-Editor. For a description of the steps required for restoring, see thechapter Backup / Restoring all Y-Parameters, page 70.
9.7 Complete system backupTo create a system backup (e.g., for system backup, system duplica‐tion), we recommend to proceed as follows:1. Switch the SMC over to parameter mode.2. Execute the "Save device data" function via the SMC-Editor (see Save
device data menu). This generates a backup file.After the successful execution of the function, all S/P-parameters of allaxes, the PLC boot project (SMC release), the Y-parameters of all axesand all flags and variables are saved to the PC in the backup file.
IndraWorks can be used to back up S-/P-parameters. The Y-parameters and the remanent flags and variables can be backedup via the system command 5, refer to chapter 7.2.8 "Systemcommand 5: Save SMC data to microSD" on page 236. The PLCboot project is also part of the microSD card backup under point3.
3. Generate a backup of the microSD.Also copy the complete microSD, e.g., to the hard disk of your PC. Youcan copy the MMC via FTP or by means of a memory card reader. Thedrive has to be disconnected before removing the microSD when usinga memory card reader. Store the generated microSD image and thebackup file from strep 2 to a secure location.
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9.8 Complete system restorationTo restore a system backup (e.g., for system backup, system duplica‐tion), we recommend to proceed as follows:1. Restore the backup of the microSD
Completely clear the microSD. Then copy the previously saved microSDimage back to the microSD. You can copy the MMC via FTP or bymeans of a memory card reader. The drive has to be disconnectedbefore removing the microSD when using a memory card reader.
2. Switch off the drive and on again3. Based on the "History" of the replacement device, the message
"Firmware update?" can appear during booting.Acknowledge this message by pressing <Enter> on the control panel.The firmware is loaded from the plugged-in microSD into the controllerdevice.
4. Switch the SMC over to parameter mode.5. Execute the "Restore device data" function via the SMC-Editor (see
Restore device data) menu using the backup file created during thesaving step.
IndraWorks can be used to restore S-/P-parameters. The Y-parameters and the remanent flags and variables can be restoredvia the system command 4, refer to chapter 7.2.7 "Systemcommand 4: Load SMC data from microSD" on page 235.
After the successful execution of the function, all S/P-parameters of allaxes, the PLC retain data, the PLC boot project (SMC release), the Y-parameters of all axes and all flags and variables are restored.
The release version of the drive firmware is not modified duringcomplete restoration. The S/P-parameters of all axes, the PLCboot project (i.e., the SMC firmware option), and the Y-parameters of the SMC are restored.
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10 User-defined extensions10.1 Overview
This chapter is intended for advanced users who want to extend the PLCproject or implement their own HMI interfaces.
10.2 PLC extensions10.2.1 Overview
Extensions of the SMC can be made on the PLC side. Allowed and invalidchanges are described below.
Allowed changes The user is allowed to make the following changes:● Assigning PLC inputs to internal inputs.● Linking additional PLC inputs to internal inputs.● Additional PLC logic for processing PLC inputs and activating internal
inputs.● Assigning internal outputs to PLC outputs.● Transferring internal outputs to additional PLC outputs.● Additional PLC logic for processing internal outputs for and activating
PLC outputs.● Access (read and write) to flags and variables● Implementing program code for activating axis motions
(e.g., axis activation via PLCopen Motion function blocks).● Reloading SMC program blocks ("OnlineChange").
Invalid changes The user is not allowed to make the following changes:● Task configuration modifications
(task names with attached program calls and task properties concerningpriority and type).
● The name of the following programs may not be changed:"HandleSMCMotionTaskInputSignals","HandleSMCMotionTaskOutputSignals","HandleSMCPlcTaskInputSignals" and"HandleSMCPlcTaskOutputSignals"
If invalid changes are made by the user, proper functioning of theSMC can no longer be guaranteed.
10.2.2 NotesConfiguration and operation require the engineering tool "IndraWorks"."IndraWorks" contains the embedded programming tool "IndraLogic".
The DOK-INDRV*-MLD-**VRS**-AW02-EN-P documentationdescribes the specific functionalities of Rexroth IndraMotion MLD,illustrates how the PLC is embedded in the drive and explainstechnical options and functions.
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To ensure the complete functionality of the SMC, the following boundary con‐ditions have to be fulfilled for the implementation of the user-defined function‐ality:● To ensure a correct compilation of the IndraLogic project, the menu
items Clean all and subsequently Rebuild all have to be executed (seeProject menu in the IndraLogic user interface).
● Code modifications or supplements made by the user within thetemplate program affect the runtime behavior of the system solution. Itmight be necessary to increase the cycle times (interval time) of thecyclic task (e.g., PlcTask). This also reduces the response time of thesystem solution accordingly.
● Before carrying out a cold reset or original reset for the IndraLogicprogramming system, you should create a complete backup of the Y-parameters because the reset sets all Y-parameters (PLC variables ofretain and persistent type) to their default values. The parameterizedvalues can then be reloaded after the reset. The backup can be createdwith system command 5 ("Save Y-parameters to microSD").
● If using string functions (e.g., INSERT, REPLACE), ensure that theseare not "thread-safe". String functions may only be used in a task. If thesame function is used in different tasks, it may be overwritten.
10.2.3 ProvisionThe "SMC_14VRS_Template.zip" IndraWorks project archive is provided inthe ".\User\IndraWorks_Projects" directory of the microSD.This archive contains an IndraLogic template program which incorporates therequired "MX_Sequential_Motion_Control_14VRS.lib" library. This templateprogram contains the I/O programs accessible to the user in the".\Sequential_Motion_Control" folder.
10.2.4 Variable I/O linkIn certain applications, users wish to be able to individually adjust the defaultassignment of the SMC inputs and outputs. At the same time, it should bepossible that users realize a variable connection of inputs and outputs.The SMC allows individual adjustment of the default assignment of inputsand outputs and implementation of user-defined variable input and outputslinks. The generation of the input and output image is swapped out to freelyaccessible programs. These programs can be extended and adjusted by theuser by means of the Rexroth IndraLogic programming system.In its ".\Sequential_Motion_Control" folder, the template program contains thefollowing four programs● HandleSMCMotionTaskInputSignals
(reading Sercos synchronous inputs)● HandleSMCMotionTaskOutputSignals
(writing Sercos synchronous outputs)● HandleSMCPlcTaskInputSignals
(reading PlcTask synchronous inputs)● HandleSMCPlcTaskOutputSignals
(writing to PlcTask synchronous outputs)See also fig. 10-1 "I/O programs upon delivery (dialog: dialog: Blocks –Sequential_Motion_Control)" on page 364.
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The user-defined extensions have to be integrated in these programs. Theyimplement the interface required to connect the SMC to I/O. On delivery, theSMC features the default links. The programs are written in the function blockdiagram (FBD) programming language.
The name of the following programs may not be changed:● "HandleSMCMotionTaskInputSignals",● "HandleSMCMotionTaskOutputSignals",● "HandleSMCPlcTaskInputSignals" and● "HandleSMCPlcTaskOutputSignals"
The ".\Sequential_Motion_Control" folder contains an additional "\Original"subfolder. This subfolder contains the original programs for the variable I/Oconnection in the state of delivery. The ".\Original" folder is a backupdirectory.The individual programs provide the default links of the system solution in thefollowing programming languages and reside in the following subfolders:● Function_Block_Diagram_FBD
(FBD - Function block diagram)● Ladder_Diagram_LD
(ladder diagram)● Structured_Text_ST
(structured text)
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Fig. 10-1: I/O programs upon delivery (dialog: dialog: Blocks – Sequential_Mo‐tion_Control)
Instructions for use of the variableI/O link
The sections below describe steps required for using the variable I/Olink with the SMC:
1. Switch off the SMC and remove the microSD card.2. Copy the "SMC_14VRS_Template.zip" file from the ".\User
\IndraWorks_Projects" folder of the microSD to the commissioning PCusing the card reader (card reader).
3. Start the "IndraWorks" commissioning tool.4. Use the "Restore Project... " menu in IndraWorks to restore the
"SMC_14VRS_Template.zip" archive file.5. In the "Select Restoring Type" dialog, select the option "Restore File
System".6. From the "Select Archive to be Restored" dialog, select the
"SMC_14VRS_Template.zip" archive that has been copied from themicroSD to the PC.
7. From the "Select Target Directory" menu, select the target directory onthe PC to which you wish to unpack the "SMC_14VRS_Template.zip"project.
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8. Confirm the selection made in the "Check User Entries" menu byclicking the "Finish" button.After the "SMC_14VRS_Template.zip" archive has been restoredsuccessfully, the "Summary" dialog is displayed.
9. In this dialog, activate the option "Open Project upon Exiting Wizard".10. Click the "Close" button.
The project for the system solution is now opened. After the "Logic"node is activated and the "Open" menu item is selected, the"IndraLogic" is opened with the right mouse button.
11. "IndraLogic" can now be used to make the necessary changes andsupplements in the "HandleSMCMotionTaskInputSignals","HandleSMCMotionTaskOutputSignals","HandleSMCPlcTaskInputSignals" and"HandleSMCPlcTaskOutputSignals" programs. Once the necessarymodifications are executed, the new project can be loaded to the SMC.
12. After the successful download of the IndraLogic project, it has to bestarted.
13. If the modified functions of the project were verified and testedsuccessfully, a boot project must be created.Thus, the newly implemented functionality of the project also remains ifthe drive is switched off and on again.
Selecting the desired program‐ming language
Subject to the desired programming language, the respective programs in the".\Original" subfolder can be used as template.
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If the I/O links are to be programmed, e.g., in the ladder diagram, the pro‐grams used (e.g., "HandleSMCPlcTaskInputSignals" and "Handle‐SMCPlcTaskOutputSignals") have to be deleted first:
Fig. 10-2: Delete the I/O programs (dialog: Block – Delete object)
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Then copy the "HandleSMCPlcTaskInputSignalsLD" and"HandleSMCPlcTaskOutputSignalsLD" program, respectively, to the"HandleSMCPlcTaskInputSignals" and "HandleSMCPlcTaskOutputSignals"program, respectively.
Fig. 10-3: Copy the I/O programs (dialog: Block – Copy object)
10.2.5 Task configurationIn addition to the template program, the task configuration of the systemsolution is also set in the state of delivery.The following three tasks are configured with their respective program calls:● MotionTask - TE_Organizer_sercosSync()
(Sercos synchronous task, highest priority)● PlcTask - TE_Organizer()
(cyclic task, medium priority)● HmiTask - HMI_PRG()
(freewheeling task, medium priority)
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If the task configuration is modified by the user, the functionalityof the SMC might not be guaranteed anymore. Thus, the taskconfiguration must only be modified after the Bosch Rexrothcustomer service was contacted.
Fig. 10-4: Configuring the MotionTask of the SMC - templates on delivery (dia‐log: Task configuration - Task attributes - MotionTask)
Fig. 10-5: Configuring the PLCTask of the SMC - templates on delivery (dialog:Task configuration - Task attributes - PlcTask)
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Fig. 10-6: Configuring the HMITask of the SMC - templates on delivery (dialog:Task configuration - Task attributes - HmiTask)
10.2.6 Linking external and internal inputs and outputsProcess image: input and output Before the program code is called in the task cycle, the switching states at
the inputs are read and stored in the "Process input image" (PII). Thisinformation is used for further operations. The states of the "Process outputimage" (POI) are transferred to the physical outputs at the end of the taskafter the completion of the program code.The SMC can use the process image input and the process image output toaccess the analog and digital inputs / outputs of the I/O periphery.
External inputs and outputs The external I/O periphery (e.g., X31, X35, X36, X37) can be accessed viathe following two functions:● SMC_GetIOM
(read inputs, outputs and flags)● SMC_SetOM
(write to outputs and flags)These functions allow reading the states of the external inputs and outputsand setting the states of the external outputs. See also "Access to inputs,outputs and flags" on page 373.
External system inputs and sys‐tem outputs
Example: chapter "Y0011: Automatic mode, In-config" on page 405The state of the external system inputs and outputs is applied to the followingglobal variables based on the configuration of the particular Y-parameters:● stExtSystemInputs_gb
(external axis-independent system inputs)● stExtSystemOutputs_gb
(external axis-independent system outputs)● stExtAxisInputs_gb
(external axis-dependent system inputs)● stExtAxisOutputs_gb
(external axis-dependent system outputs)These variables represent the resulting input and output map for the systeminputs and outputs which the SMC reads from the outside and writes to theoutside. Please note that the input variables also contain the states of the
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SMC-Editor inputs (also refer to chapter "Y0046: System control" on page421).
Internal system inputs and systemoutputs
The variables for the external system inputs and outputs (e.g.,stExtSystemInputs_gb) are linked to the internally used system inputs andoutputs in the I/O programs.The following global structure variables are available for internal inputs andoutputs:● stSystemInputs_gb
(internal axis-independent system inputs)● stSystemOutputs_gb
(internal axis-independent system outputs)● stAxisInputs_gb
(internal axis-dependent system inputs)● stAxisOutputs_gb
(internal axis-dependent system outputs)The internal inputs and outputs of the structure variables (e.g.,stSystemInputs_gb) are used to activate and deactivate the functionality ofthe system solution, e.g., manual or automatic mode. Execution andacknowledgement of the system-specific functionalities are under theexclusive control of the internal system inputs and outputs. Only if all internalinputs and outputs are used, will the full functional scope of the systemsolution be present.Design of the structure variables"stSystemInputs_gb" and"stExtSystemInputs_gb":
Fig. 10-7: Design of the structure variables "stSystemInputs_gb" and "stExt‐SystemInputs_gb"
Design of the structure variables"stSystemOutputs_gb" and"stExtSystemOutputs_gb":
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Fig. 10-8: Design of the structure variables "stSystemOutputs_gb" and "stExt‐SystemOutputs_gb"
Design of the structure variables "stAxisInputs_gb" and "stExtAxisInputs_gb":
Fig. 10-9: Design of the structure variables "stAxisInputs_gb" and "stExtAxisIn‐puts_gb"
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Design of the structure variables "stAxisOutputs_gb" and"stExtAxisOutputs_gb":
Fig. 10-10: Design of the structure variables "stAxisOutputs_gb" and "stExtAxi‐sOutputs_gb"
Fig. 10-11: Example of linking external and internal inputs in the FBD program‐ming language
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Fig. 10-12: Example for linking external and internal outputs in the FBD pro‐gramming language
10.2.7 Access to inputs, outputs, flags and variablesThe "open access" program parts of the SMC templates also provide forimplementation of access to the existing inputs, outputs, flags and variablesof the SMC.
Access to inputs, outputs andflags
The existing inputs allow read access. The existing outputs and flags allowread and write access.Access is implemented using the following functions:● "SMC_GetIOM"● "SMC_SetOM"(see chapter 10.2.6 "Linking external and internal inputs and outputs" onpage 369).
NOTICE
The use of flags already set in the SMC program or assigned to a systeminput or output (Y-parameter, In-config, Out-config) may result in undesiredbehavior (double assignment).
Description of function "SMC_GetIOM"The "SMC_GetIOM" library function of the SMC serves to read the currentstate of an external input, an external output or a flag. The function returns avalue of type "BOOL".After the function has been called successfully and "TRUE" is returned, theselected input, output or flag, respectively, is set. "FALSE" indicates that theinput, output or flag, respectively, has not been set.
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Input variable Data type Description
Address STRING Specifies the input, output or flag whosestate is to be queried.The syntax of the string must beconsistent with the syntax described inchapter 6.7 "Digital inputs and outputs"on page 121.Examples:● "I.A1.X31.Pin6"● "Q.A1.X31.Pin8"● "MF200"● "MFR10"
Tab. 10-1: Input variable of the "SMC_GetIOM" library function of the SMC
Input/outputvariable
Data type Description
Error BOOL Indicates that an error has occurred inthe function
ErrorID ERROR_CODE Brief indication of the error cause
ErrorIdent ERROR_STRUCT Detailed information on the error
Tab. 10-2: Input/output variable of the "SMC_GetIOM" library function of theSMC
Return value Data type Description
SMC_GetIOM BOOL TRUE = input, output or flag setFALSE = input, output or flag not set
Tab. 10-3: Return value of the "SMC_GetIOM" library function of the SMC
Execution of this function takes up to 30 µs for each call. If thefunction is called too often in a PLC cycle, this may result inwatchdog errors (see chapter 7.19 "Watchdog" on page 318).
Description of function "SMC_SetOM"The "SMC_SetOM" library function of the SMC serves to set the state of anexternal output or a flag. The function returns a value of type "BOOL".After the function has been called successfully, "TRUE" as return valueindicates that the desired state has been set. If "FALSE" is returned, an errorhas been detected in the function.
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Input variable Data type Description
Address STRING Specifies the output or flag whose stateis to be set.The syntax of the string must beconsistent with the syntax described inchapter 6.7 "Digital inputs and outputs"on page 121.Examples:● "Q.A1.X31.Pin8"● "MF200"● "MFR10"
Value BOOL TRUE = output or flag is setFALSE = output or flag is reset
Tab. 10-4: Input variable of the "SMC_SetOM" library function of the SMC
Input/outputvariable
Data type Description
Error BOOL Indicates that an error has occurred inthe function
ErrorID ERROR_CODE Brief indication of the error cause
ErrorIdent ERROR_STRUCT Detailed information on the error
Tab. 10-5: Input/output variable of the "SMC_SetOM" library function of theSMC
Return value Data type Description
SMC_SetOM BOOL TRUE = output or flag set/resetsuccessfullyFALSE = an error occurred duringsetting/resetting of the output or flag
Tab. 10-6: Return value of the "SMC_SetOM" library function of the SMC
Execution of this function takes up to 30 µs for each call. If thefunction is called too often in a PLC cycle, this may result inwatchdog errors (see chapter 7.19 "Watchdog" on page 318).
Access to variables The existing variables allow read and write access.Access to the variables must be implemented using the following functions:● "SMC_GetVar"
(read variables)● "SMC_SetVar"
(write to variables)Description of function "SMC_GetVar"The "SMC_GetVar" library function of the SMC serves to read the currentvalue of a variable. The function returns a value of type "REAL".After the function has been called successfully, the return value contains thecurrent value of the variable specified.
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Input variable Data type Description
Address STRING Specifies the variable whose value is tobe read.The syntax of the string must beconsistent with the syntax described inchapter 6.5 "Variables" on page 110.Examples:● "VS10"● "VF20"● "VFR30"
Tab. 10-7: Input variable of the "SMC_GetVar" library function of the SMC
Input/outputvariable
Data type Description
Error BOOL Indicates that an error has occurred inthe function
ErrorID ERROR_CODE Brief indication of the error cause
ErrorIdent ERROR_STRUCT Detailed information on the error
Tab. 10-8: Input/output variable of the "SMC_GetVar" library function of theSMC
Return value Data type Description
SMC_GetVar REAL Current value of the variable
Tab. 10-9: Return value of the "SMC_GetVar" library function of the SMC
Execution of this function takes up to 30 µs for each call. If thefunction is called too often in a PLC cycle, this may result inwatchdog errors (see chapter 7.19 "Watchdog" on page 318).
Description of function "SMC_SetVar"The "SMC_SetVar" library function of the SMC serves to write a desiredvalue to a variable. The function returns a value of type "BOOL".After the function has been called successfully, "TRUE" as return valueindicates that the value has been successfully written to the variable. If"FALSE" is returned, an error has been detected in the function.
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Input variable Data type Description
Address STRING Specifies the variable to which the valueis to be written.The syntax of the string must beconsistent with the syntax described inchapter 6.5 "Variables" on page 110.Examples:● "VF20"● "VFR30"
Value REAL Value for the variable
Tab. 10-10: Input variable of the "SMC_SetVar" library function of the SMC
Input/outputvariable
Data type Description
Error BOOL Indicates that an error has occurred inthe function
ErrorID ERROR_CODE Brief indication of the error cause
ErrorIdent ERROR_STRUCT Detailed information on the error
Return value Data type Description
SMC_SetVar BOOL TRUE = value successfully written to thevariableFALSE = an error occurred during writingto the variable
Tab. 10-11: Return value of the "SMC_SetVar" library function of the SMC
Execution of this function takes up to 30 µs for each call. If thefunction is called too often in a PLC cycle, this may result inwatchdog errors (see chapter 7.19 "Watchdog" on page 318).
10.2.8 Commanding the axes using PLCopen function blocks or axis interfa‐ces
An axis or the axis interface can only be commanded in the free PLC part orif parameter Yx002: Enable axis is set to "FALSE".
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In addition, the "bParkingAxis" entry for the corresponding axis in the UserAdjust variables "arstUserAdjust_gb"must be set to the value "FALSE":
Fig. 10-13: Example for the configuration of the global variables "UserAdjust"After the SMC has been powered up, the axis remains in state "Ab". The axiscan now be commanded by means of the PLCopen function blocks (e.g.,MC_Power, MC_MoveVelocity, MC_GearIn, ...) of the axis interface.
The following restrictions apply to an axis which is commanded bymeans of PLCopen function blocks or axis interfaces:● The axis may not be commanded in the SMC program. Axis-
specific SMC commands that use these axes are notpossible.
● The Y-parameters belonging to the axis are invalid orineffective.
● On the following axis-specific system variables are establish‐ed:– VSx08: Actual position– VSx09: Velocity feedback value– VSx10: Torque/force feedback value
10.2.9 Loading of SMC program blocks ("online change") The "MX_Sequential_Motion_Control_14VRS.lib" library provides functionblock "MX_OnlineChangeSMCProgram". This function blocks allowsreloading of program blocks ("OnlineChange"). Thus, the already active SMCprogram can be changed at runtime. In general, new program blocks canalways be reloaded, except when a phase switchover is active (e.g., fromparameterization to operation mode). It is possible to change both singleblocks and complete program blocks.The program parts to be reloaded must be available as binary file (*.scb) onthe microSD of the master control section in directory "..\User".
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The binary file (*.scb) can also be generated via the externalcompiler of the SMC-Editor (see also chapter "External Compiler"on page 74).
When using function block "MX_OnlineChangeSMCProgram", the followingmust be observed:● The user is responsible for executing the function block at the "correct"
time because the function block does not check whether active programparts are just being changed (handshake to active program or callcondition).
● The function block may only be called in the "HmiTask". Calls in the"MotionTask" and "PlcTask" are not allowed because these calls causethe watchdog to respond (cf. error Y0029 = A1h, Y0030 = "Watchdogactive").
● No program check is carried out for the reloaded program.● The checksum of the active SMC program in the process memory of the
SMC is set to zero, i.e., the SMC-Editor detects a difference betweenthe source file (*.scs) and the binary file (*.scb) in online state. In thiscase, the "Active program" field is displayed on "yellow" background inthe debugger window of the SMC-Editor.
● The only program blocks that can be exchanged are those that arealready available.
● The task configuration may not be changed in the SMC program. If thepart to be reloaded contains other tasks (e.g., uses system label"BEGIN_AUTO_TASK_2"), these tasks are treated just like normallabels. They are not added to the task configuration of the activeprogram.
● The program change is only made in the process memory of the SMC,not in the source file (*.scs) nor in the binary file (*.scb), i.e., "onlinechanges" get lost after power off. The program change will therefore notbe displayed in the SMC-Editor either. However, the active program isalways displayed via the IndraLogic visualization.
Interface description
Fig. 10-14: Function block MX_OnlineChangeSMCProgram
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I/O type Name Data type Description
VAR_INPUT Execute BOOL Processing of function block"MX_OnlineChangeSMCProgram" enabled (edge-controlled). The input variables are registered with a positiveedge of "Execute". New input values do not becomeeffective until there is the next positive edge at Execute.
SrcFileName STRING Name of source file. The source file must be available as acompiled binary file of the SMC program (*.scb, "SequentialMotion Control Binary file") with the content of the new SMCprogram on the microSD of the master control section indirectory "..\User".The name of the source file must be specified with suffix(*.scb).
SrcStartSetNbr UINT Starting block number after which the new program blocksare to be applied by the source file (SMC program on themicroSD, see "SrcFileName").
DestStartSetNbr UINT Target block number in the active SMC program within theSMC.
NbrOfSetsToCopy
UINT Number of blocks to be applied by the source file (SMCprogram on the microSD, see "SrcFileName") to the activeSMC program.
VAR_OUTPUT Done BOOL "TRUE" shows that the function block has been processedwithout errors, i.e., the new SMC program blocks have beenapplied internally.
Active BOOL The function block is active.
Error BOOL Processing has been completed with an error; the values inthe "ErrorID" and "ErrorIdent" outputs are applicable.
ErrorID ERROR_CODE Brief error description
ErrorIdent ERROR_STRUCT Detailed error description
rActUsedTimeMs REAL Time in [ms] required for the "OnlineChange", i.e., functionblock processing time elapsing until the "Done" output wasset.
Tab. 10-12: Interface description of function block MX_OnlineChangeSMCPro‐gram
Min./max. and default values and application of the inputs:
Name Type Min. value Max. value Default value Effective
Execute BOOL - - FALSE Continuous
SrcFileName STRING - - - Rising edge at the "Execute" input
SrcStartSetNbr UINT 0 2999 0 Rising edge at the "Execute" input
DestStartSetNbr UINT 0 2999 0 Rising edge at the "Execute" input
NbrOfSetsToCopy
UINT 1 3000 1 Rising edge at the "Execute" input
Tab. 10-13: Min./max. and default values and effective of the inputs
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Error handling Function block "MX_OnlineChangeSMCProgram" generates the followingerror messages in Additional1/Additional2 for table "USER1_TABLE"(16#1000):
ErrorID Additional1 Additional2 Description
INPUT_RANGE_ERROR(16#0006)
16#0E2B 16#0100 Cause:The source program specified by input variable"SrcFileName" could not be opened.Solution:Check whether the file is available on the microSD indirectory "..\User".
INPUT_RANGE_ERROR(16#0006)
16#0E2B 16#0101 Cause:The value transferred at the "SrcStartSetNbr" input is notwithin the valid range.Solution:Transfer a valid value at the "SrcStartSetNbr" input, seealso table tab. 10-12 "Interface description of function blockMX_OnlineChangeSMCProgram" on page 380.
INPUT_RANGE_ERROR(16#0006)
16#0E2B 16#0102 Cause:The value transferred at the "DestStartSetNbr" input is notwithin the valid range.Solution:Transfer a valid value at the "DestStartSetNbr" input, seealso table tab. 10-12 "Interface description of function blockMX_OnlineChangeSMCProgram" on page 380.
INPUT_RANGE_ERROR(16#0006)
16#0E2B 16#0103 Cause:The value transferred at the "NbrOfSetsToCopy" input isnot within the valid range.Solution:Transfer a valid value at the "NbrOfSetsToCopy" input, seealso table tab. 10-12 "Interface description of function blockMX_OnlineChangeSMCProgram" on page 380.
INPUT_RANGE_ERROR(16#0006)
16#0E2B 16#0104 Cause:An attempt was made to change program blocks which arenot available.Solution:Program blocks must be already be available to be able toexchange them.
ACCESS_ERROR(16#16#0004)
16#0E2B 16#0105 Cause:An attempt was made to change program blocks during aphase switchover.Solution:Wait until the phase switchover is completed.
Tab. 10-14: Error codes of function block MX_OnlineChangeSMCProgram
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10.2.10 Programming exampleBoundary conditions The system solution is used with the parallel interface master communication.
The implementation is made in the ST (Structured Text) programminglanguage.
Task Automatic mode must only be activated, if1. material is available and2. the straightener is operational.These two conditions must be queried via two inputs and applied to the"Automatic mode" input of the SMC as a common message.If one of these conditions is not fulfilled, manual mode is preserved.If both inputs are set, the "Production ready" output is to be set in addition.If the "Production ready" output is set, the programmable variable "VF100" isset to the value of the programmable variable "VF101". In addition, theprogrammable flag "MF100" is set. If the output is not active, variable"VF100" is set to "0.0" and the programmable flag "MF100" is reset.
Using external inputs and outputs The "Material available" input is to be read via the unassigned "I.A1.PL.Pin5"input (axis 1, parallel interface, pin 5). The "Straightener ready" input is to beread via the unassigned "I.A1.PL.Pin24" input (axis 1, parallel interface, pin24). The "Production ready" output is to be read via the unassigned"Q.A1.PL.Pin32" output (axis 1, parallel interface, pin 32).
Implementing the logic The "HandleSMCPlcTaskInputSignals" program is used to implement thestate logic required for the inputs, outputs, variables, and flags. The external"Material available" (I.A1.PL.Pin5) and "Straightener ready" (I.A1.PL.Pin24)inputs are additionally subjected to an AND operation with the external"stExtSystemInputs_gb.bAutomatic" input and assigned to the internal"stSystemInputs_gb.bAutomatic" input.
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Supplemented code extract from program "HandleSMCPlcTaskInputSignals"
Fig. 10-15: Program example implementation
10.2.11 Archiving and restoring projectsGeneral information
IndraWorks provides the option of archiving projects both on the local filesystem and on an FTP server (device or computer) which is connectedthrough a network. These archives can be restored on the file system of thelocal computer.
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A wizard supports working with project archives. If the entered values arecorrect, you can move between the pages of the wizard with Back and Next.When a page is opened for the first time, the input boxes contain defaultvalues. Otherwise, your last entries will be displayed.You can exit the wizard at any time with Cancel. Values entered up to thatpoint will not be saved; the archiving process is stopped.
The required parameters and the MLD program of the SMCapplication can also be saved and restored via the backupmemory (microSD) of the CCD master. For a description of theinstructions required to do this, please refer to chapter 9.7 "Complete system backup" on page 359 and chapter 9.8 "Complete system restoration" on page 360.
Archive projectProceed as follows to archive a project:
1. Start the archiving wizardTo archive a project, select Project ▶ Archive... from the main menu orthe following button in the toolbar:
Fig. 10-16: Icon: Archive project2. Archive properties
On the first page of the wizard, the name of the archive and a commentcan be defined. Optionally, the archive can be protected by a password.Enter the password a second time in "Confirm password" to verify yourentry. Confirm with Next>>.
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Fig. 10-17: Dialog: Archive project (archive properties)3. Archive target settings
This page allows defining whether the archive is to be saved to the localfile system and/or an FTP server (device or computer) that is connectedthrough a network.
Fig. 10-18: Dialog: Archive project (Archive “Target settings”)4. Filing on file system
Define the directory of your local file system to which the archive to becreated is to stored in the "Target directory" input field. You can alsoclick button "..." to select a target directory.
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5. Filing on FTP serverEnter the target device for saving the archive in the "Device name, hostname or IP address" input box.You can do this in four ways:● Enter the IP address (nnn.nnn.nnn.nnn)● Enter the computer name of the target device● Selection via the list box. This list box contains all FTP capable
devices of the active project as well as the five target devices(device name, host name or IP address) last used in archiving.
● Click button "..." to select the target device from a list containing allFTP-capable devices of the active project.
Click Next>> to cause the wizard to automatically establish a connectionto the device set. Disturbances in the connection to the target device aredisplayed in error messages.
6. Components of ArchiveThis page allows defining the components of the archive. To achievethis, select the component for each archivable element or device fromthe left navigation area and the scope of the archiving to be done fromthe right area. Confirm with Next>>.
To store the current values of the S- and P-parameters of thedrives (master and slave) along with project archiving, option"Update offline parameters of the drive and its slaves" must beactivated.
Fig. 10-19: Dialog: Archive project (components of archive)7. Checking the user entries
This page allows to check your settings. Start restoring the archiveusing the Finish button.
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Fig. 10-20: Dialog: Archive project (Checking user inputs)8. "Create archive" progress bar
The archive is generated and stored to the set target file. This process isdisplayed in a progress bar.
9. SummaryAfter archiving the settings and results are displayed.
To avoid inconsistencies during archiving, the active project isclosed before archiving and re-opened afterwards.
Fig. 10-21: Dialog: Archive project (summary)
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10. Storing the Y-parametersIn addition to creation of the project archive, the current values of the Y-parameters of the SMC must also be stored. To store the Y-parameters,follow the instructions contained in chapter 9.5 "Saving Y-parameters"on page 358.
Restoring a projectTo restore a project, select Project ▶ Restore... from the main menu or thefollowing button in the toolbar:
Fig. 10-22: Icon: Restoring a project
Proceed as follows to restore a project from the file system:1. Selecting the restore type
On the first page of the wizard, you can select whether to restore theproject from an archive of the local file system or from an FTP server(device or computer) connected through a network. Select here Restorefrom file system.
Fig. 10-23: Dialog: Restore project / Workspace from archive (select re‐storing type)
2. Select the archiveSelect the archive on the next page. Click "..." to search for an archive.A comment will be displayed for the archive selected.
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Fig. 10-24: Dialog: Restore project / Workspace from archive (select ar‐chive to be restored)
If the archive type is unknown, the comment area will display themessage "***ATTENTION! The selected archive is not anIndraWorks project archive ***". In this case, you can continue therestore process after having confirmed a safety prompt.
3. Selecting the target directoryOn the next page, select the directory to which you wish to restore theproject.
Fig. 10-25: Dialog: Restore project / Workspace from archive (select direc‐tory in which archive is to be restored)
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4. Checking the user entriesHere you can check your settings. Start the restoration of the projectfrom the archive with Finish.
Fig. 10-26: Dialog: Restore project / workspace from archive (checking theuser inputs)
5. Entering a passwordIf you have protected the archive with a password, you will now beprompted to enter that password.
6. Progress bar "Restore on temporary directory"First the project is restored from the archive to a temporary directory onthe local drive. This process is displayed in a progress bar. After restore,the project is copied to the target directory. If a workspace already existsin the specified target directory, you will be prompted to rename theworkspace.
7. SummaryAfter restoration, settings and results are displayed.
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Fig. 10-27: Dialog: Restore project / Workspace from archive (summary)8. Restore all Y-parameters
In addition to restoration of the project archive, the stored values of theY-parameters of the SMC must also be restored. To restore the Y-parameters, follow the instructions contained in chapter 9.6 "RestoringY-parameters" on page 359.
10.3 Cyclic CCD data10.3.1 Overview
Cyclic CCD data are used to transfer data between the CCD master and theCCD slaves in real time. The data required by the SMC is automaticallyconfigured on running up. The data configured by the SMC vary dependingon the configuration. The data that is still free is available for extensionsthrough the user. The AxisData structure (e.g., AxisData[1].dwUser...) can beused to address the first four data items in the PLC.
10.3.2 Free process dataProcess data is parameterized in drive parameters P-0-1623, P-0-1624,P-0-1625, and P-0-1626.The following data is automatically configured by the SMC upon startup:
No. Source (CCD master) Target (CCDslave)
Bytes Function Application
1 dwUserCmdDataA_i S-0-0275 4 Coordinate offset value SAC command, only if theoptional "SNC" or "SRV"package is available
2 dwUserCmdDataB_i S-0-0092 4 Torque/force limit value Torque limit value via MOM,PFA and PFI commands
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No. Source (CCD master) Target (CCDslave)
Bytes Function Application
3 dwUserCmdDataD_i S-0-0081 2 Additive torque/forcecommand value
Additive torque/forcecommand value for TAAcommandTorque/force command valuefor CTA command
4 dwUserCmdDataC_i S-0-0037 4 Additive velocity commandvalue
Velocity offset for SOAcommandVelocity command value forCVA command
5 P-0-1422 (to P-0-1429) P-0-0304 2 Onboard outputs (X31/X32)of axes 1–6
Digital outputs
6 CCD master is masteraxis:S-0-0051, S-0-0053,S-0-0386, P-0-0434 orP-0-0457CCD slave is masteraxis:Slave 1: P-0-1278Slave 2: P-0-1279Slave 3: P-0-1280Slave 4: P-0-1281Slave 5: P-0-1282
S-0-0047 4 Position command value forposition coupled slave axis
Axis coupling - positioncoupling only ifparameterized via Yx000
Tab. 10-15: Process data - command values (CCD master → CCD slave)
No. Target (CCD master) Source (CCDslave)
Bytes Function Application
1 dwUserActualDataA_i S-0-0130 4 Measured value 1, positiveedge
Touch probe 1
2 dwUserActualDataB_i P-0-0210 2 Analog input 1 Analog input 1, only forcontrol units of type "CSH"
3 dwUserActualDataC_i P-0-3215 /P-0-0106
2 Selected safety technologyoperating status / STO status
Safety technology, only withSI option "S2" /"L2"
4 dwUserActualDataD_i S-0-0053 4 Position feedback value ofoptional encoder (encoder 2)
Measuring wheel with feed,only if optional encoder isavailable
5 P-0-1440 (to P-0-1447) P-0-0303 4 Onboard inputs(X31/X32/X33/X34) of axes1–6
Digital inputs
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No. Target (CCD master) Source (CCDslave)
Bytes Function Application
6 CCD slave is masteraxis:Slave 1: P-0-1278Slave 2: P-0-1279Slave 3: P-0-1280Slave 4: P-0-1281Slave 5: P-0-1282
CCD slave ismaster axis:S-0-0051,S-0-0053,S-0-0386,P-0-0434 orP-0-0457
4 Position command value forposition coupled slave axis
Axis coupling - positioncoupling only ifparameterized via Yx000
7 P-0-1277 P-0-0761 4 Master axis position CCD slave as global masteraxis, only if parameterizedvia Y0028
Tab. 10-16: Process data - actual values (CCD slave → CCD master)
10.3.3 Signal control word / signal status wordThe signal control word and the signal status word are parameterized in driveparameters P-0-1612, P-0-1613, P-0-1614, and P-0-1615. The following datais automatically configured by the SMC upon startup:The following signals automatically configured by the SMC on running up:
No. Source (CCD master) Target (CCDslave)
Bit Function Application
1 wUserCmdDataBitB_q S-0-0405 0 Measured value 1 enabled Touch probe 1
2 wUserCmdDataBitB_q S-0-0199orP-0-0542
0 Shift coordinate systemprocedure commandorRelease holding brakecommand
SAC command, only if theoptional "SNC" or "SRV"package is availableorAxis coupling - error reactionin case of position couplingonly if parameterized viaYx000
3 wUserCmdDataBitB_q S-0-0393 2 Remaining distanceprocessing for POI/PSIinterruption by safetytechnology
Remaining distanceprocessing with safetytechnology
4 dwUserCmdDataBitD_q
S-0-0149orP-0-0543
0 Positive stop drive procedurecommandorApply holding brakecommand
PFA and/or PFI commandorAxis coupling - error reactionin case of position couplingonly if parameterized viaYx000
Tab. 10-17: Signal control word (CCD master → CCD slave)
No. Target (CCD master) Source (CCDslave)
Bit Function Application
1 dwUserActualDataBitD_i Free --- Not used ---
2 dwUserActualDataBitD_i Free --- Not used ---
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No. Target (CCD master) Source (CCDslave)
Bit Function Application
3 dwUserActualDataBitD_i Free --- Not used ---
4 dwUserActualDataBitD_i Free --- Not used ---
Tab. 10-18: Signal status word (CCD slave → CCD master)
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11 Parameters11.1 General information
The SMC provides axis-independent and axis-dependent Y-parameters.Axis-independent Y-parameters allow general parameterization of the SMC.Axis-dependent Y-parameters allow parameterization of the individual axes ofthe SMC. This chapter provides a detailed description of all Y-parameters.In addition, each drive has S/P-parameters according to the Sercos interfacestandard (see chapter 11.6 "S/P-Parameters of IndraDrive" on page 489). Inpart, these S/P parameters are affected by the SMC (see chapter 11.5 "Parameters Influenced by the SMC (S/P-Parameters)" on page 478).All parameters can be edited via the parameter interface (e.g., SMC-Editor,field bus), see also chapter 5.3 "Field bus" on page 76.Y-parameters can be addressed by the RWY command (see chapter 6.11.60 "RWY – Read/write Y-parameter" on page 207) in the SMC program and cantherefore also be read or edited via the SMC program either.The syntax of the data format to be used for parameters generating a link toinputs, outputs or flags (e.g., chapter "Y0011: Automatic mode, In-config" onpage 405) is described in chapter 6.7 "Digital inputs and outputs" on page121 for the inputs/outputs and in chapter 6.6 "Flags" on page 119 for theflags.
Attribute Value (example)
ID number Yx006
Name Maximum acceleration
Unit Depending on Yx008 and Yx010
Data format REAL
Display format REAL
Modifiability P2
Minimum 0.1
Maximum Maximum of S-0-0138
Default value 1000
Tab. 11-1: Overview of Y-parameter attributes
11.2 Axis-independent Y-parameters11.2.1 OverviewNo. Name Function Data
formatModifiability
Y0000 Language Language setting UDINT P2 + P4
Y0001 Cycle time NC cycle time setting UDINT P2
Y0002 Start program Name of the first SMC program to beautomatically loaded on first power-up
STRING P2 + P4
Y0003 Starting block Auto task 2 Starting block for automatic task 2 DINT No
Y0004 Starting block Auto task 3 Starting block for automatic task 3 DINT No
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No. Name Function Dataformat
Modifiability
Y0005 Starting block Auto task 4 Starting block for automatic task 4 DINT No
Y0006 Starting block manual routine Starting block for manual routine DINT No
Y0007 Starting block “Cyclic task” Starting block for cyclic task DINT No
Y0008 Manual routine after automatic mode Starts the manual routine on switchoverfrom automatic mode to manual mode
BOOL P2 + P4
Y0009 Clear outputs Configures the clearing of digital outputsin the event of an error
UDINT P2
Y0010 AutoConfig I/Os Automatically configures the systeminputs and outputs
BOOL P2
Y0011 Automatic mode, In-config System input configuration REAL P2
Y0012 Clear error, In-config System input configuration REAL P2
Y0013 Single step, In-config System input configuration REAL P2
Y0014 Parameter, In-config System input configuration REAL P2
Y0015 nE-Stop, In-config System input configuration BOOL P2
Y0016 Start, In-config System input configuration REAL P2
Y0017 nStop, In-config System input configuration REAL P2
Y0018 Manual routine, In-config System input configuration REAL P2
Y0019 Abort program, In-config System input configuration REAL P2
Y0020 nError, Out-config System output configuration REAL P2
Y0021 Automatic mode, Out-config System output configuration REAL P2
Y0022 Manual mode, Out-config System output configuration REAL P2
Y0023 Parameter, Out-config System output configuration REAL P2
Y0024 Drive enable, Out-config System output configuration REAL P2
Y0025 Run, Out-config System output configuration REAL P2
Y0026 SMC program valid, Out-config System output configuration REAL P2
Y0027 Operating barrier, Out-config System output configuration REAL P2
Y0028 Master axis selection of the system Assigns the global master axis REAL P2
Y0029 System diagnostic number Diagnostic number UDINT No
Y0030 System diagnostics Diagnostic text STRING No
Y0031 Watchdog sensitivity Sensitivity of the watchdog REAL P2
Y0032 System command Number of the system command to beexecuted
UDINT P2 + P4
Y0033 System command parameter Parameter of the system command to beexecuted
UDINT P2 + P4
Y0034 Active system command Number of the currently active systemcommand
UDINT No
Y0035 Active system command status Status of currently active systemcommand
UDINT No
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No. Name Function Dataformat
Modifiability
Y0036 Number of axes Number of axes available UDINT P2
Y0037 Number of Sercos I/Os Number of Sercos III I/O modules in theSercos ring
UDINT P2
Y0038 Address, Sercos I/O 1 Sercos address of the Sercos III I/Omodule
UDINT No
Y0039 Address, Sercos I/O 2 Sercos address of the Sercos III I/Omodule
UDINT No
Y0040 Address, Sercos I/O 3 Sercos address of the Sercos III I/Omodule
UDINT No
Y0041 Address, Sercos I/O 4 Sercos address of the Sercos III I/Omodule
UDINT No
Y0042 Configuration, Sercos I/O 1 Type of the Sercos III I/O module UDINT No
Y0043 Configuration, Sercos I/O 2 Type of the Sercos III I/O module UDINT No
Y0044 Configuration, Sercos I/O 3 Type of the Sercos III I/O module UDINT No
Y0045 Configuration, Sercos I/O 4 Type of the Sercos III I/O module UDINT No
Y0046 System control Configures the system control UDINT P2 + P4
Y0047 SMC FW version Firmware version of the SMC STRING No
Y0048 Starting block restart routine Starting block for the restart routine DINT No
Y0049 Restart, In-config System input configuration REAL P2
Y0050 Restart possible, Out-config System output configuration REAL P2
Y0051 Disabling I/Os Enabling or disabling Sercos III I/Omodules
UDINT P2
Tab. 11-2: List of all axis-independent Y-parameters
11.2.2 Detailed descriptionY0000: Language
Y-parameter "Y0000: Language" can be used to change the SMC languagesetting. The following languages are available:● 0: German (permanently integrated in the SMC firmware)● 1: English (permanently integrated in the SMC firmware)● 2: French (as language file "LANG_FILE_02.SCL")● 3: Spanish (as language file "LANG_FILE_03.SCL")● 4 - 99: User-definedThis Y-parameter affects the drive parameter "S-0-0265: Language selection"of all available axes except for "4 - 99: User-defined". On activation of a user-defined language, the user-defined diagnostic texts are downloaded from themicroSD (file name: "LANG_FILE_XX.SCL", XX = language number), seealso chapter 7.21 "Multilingualism" on page 319.
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Attribute Value
ID number Y0000
Name Language
Unit None
Data format UDINT
Display format UDINT
Modifiability P2 + P4
Minimum 0
Maximum 99
Default value 1
Tab. 11-3: Attributes of parameter Y0000
Y0001: Cycle timeY-parameter "Y0001: Cycle time" can be used to define the cycle time forprocessing the SMC program (see chapter 6.2 "Multitasking" on page 101)and for Sercos communication. This Y-parameter has an effect on driveparameter "S-0-0001: NC cycle time (TNcyc)" and "P-0-1610: CCD: Cycletime".
Attribute Value
ID number Y0001
Name Cycle time
Unit µs
Data format UDINT
Display format UDINT
Modifiability P2
Minimum 1000
Maximum 4000For Sercos III as master communication:Value of the "S-0-1002" of the CCDmasterFor EtherCAT Sercos III as mastercommunication: Value of the "S-0-0002"of the CCD master
Default value 4000
Tab. 11-4: Attributes of parameter Y0001
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Parameter "Y0001" can only be edited in parameter mode.Possible settings are 1,000 µs, 2,000 µs, or 4,000 µs.The following additionally applies to Sercos III and EtherCAT asmaster communication:● The maximum of "Y0001" depends on the master
communication cycle time. The master communication cycletime set via the master communication master must alwaysbe greater than or equal to the CCD cycle time, i.e., if thesuperordinate control specifies a cycle time of 2000 µs forthe master communication, only 1000 µs or 2000 µs can beconfigured in "Y0001", but not 4000 µs.
● In case of single-axis applications (MLD-S), the cycle time isnot specified via "Y0001", but via the parameter "S-0-0001"specified via the master communication master. Thus,further possible values for the cycle time are values unequalto 1,000 µs, 2,000 µs or 4,000 µs. In this case, only thecurrent settings of "S-0-0001" is displayed in "Y0001".Specifying via "Y0001" is not possible, i.e. the parameter isonly used for diagnostic purposes.
Systems variables VS008 to VS011 (see chapter 6.5.3 "System variables"on page 112) and the "Y0031: Watchdog sensitivity" (see chapter "Y0031:Watchdog sensitivity" on page 415) allows setting the cycle time to theoptimal value.The cycle time setting depends on the hardware used, the number of activeaxes, the application type, the sequence and the commands used in the SMCprogram, and on the PLC extensions made by the user.Typically, the following cycle time settings are possible:● 1,000 µs: 1 active axis● 2000 µs: Up to 3 active axes● 4000 µs: Up to 6 active axes
We recommend that you proceed as follows when setting the cycletime:
1. NotesThe values of VS008 (current utilization of Motion Task in %) andVS010 (current utilization of PlcTask in %) should each be below 100%because, otherwise, the timing behavior in the program run changes (byan interruption of the tasks)!It is acceptable if the values of VS009 (maximum load of MotionTask in% since Clear Error) or VS011 (maximum load of PlcTask in % sinceClear Error) are above 100% sporadically (e.g., on switchover frommanual to automatic mode). In this case, however, the value of "Y0031:Watchdog sensitivity" must be increased. Otherwise, the error"Watchdog active" (A1h) is set.
2. Setting default values for Y0001 and Y0031Set the values of "Y0001: Cycle time" to "4000 µs" and those of "Y0031:Watchdog sensitivity" to "1" (they are the default settings).
3. Observing the utilizationLoad and start the SMC program to be processed. Wait until the SMCprogram has been processed. Observe the values of VS008 – VS011.
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4. Editing Y0001 and Y0031Check the values of VS008 – VS011. If all values are below 50%, thevalue in "Y0001: Cycle time" can be divided in halves. Then repeat theprevious step.If the values of VS008 and VS010 are below 50% and the values ofVS009 and VS011 above 50% while the program is being processed,the value in "Y0001: Cycle time" can be divided in halves under certaincircumstances. In this case, however, the value of "Y0031: Watchdogsensitivity" should be increased. Then repeat the previous step.If the values of VS008 or VS010 are continuously above 100% or if theerror "Watchdog active" (A1h) occurs during the program run, the valueof "Y0001: Cycle time" must be increased.
The following system variables are available for long-term obser‐vations of the task load:● VS025: Maximum load of MotionTask in [%] since power on● VS026: Maximum load of PlcTask in [%] since power on
Y0002: Start programY-parameter "Y0002: Start program" can be used to select the SMC programto be automatically loaded to the working memory on powering up for the firsttime. The program name must be entered without suffix.If the program selected is not available, an error is generated duringpowering up. The user can acknowledge the error and then manually load aprogram to the working memory.
The Y-parameter "Y0002: Start program" is automatically writtenafter a SMC program is successfully loaded via the SMC-Editor orthe field bus with the name of the new SMC program. Theautomatic setting of Y0002 can be switched off in the free PLCpart. To achieve this, the "bWriteActiveProgToY0002" entry in theUserAdjust variable "arstUserAdjust_gb" is set to the value"FALSE" (fig. 10-13 "Example for the configuration of the globalvariables UserAdjust" on page 378).
Attribute Value
ID number Y0002
Name Start program
Unit None
Data format STRING
Display format STRING
Modifiability P2 + P4
Minimum ---
Maximum ---
Default value Default
Tab. 11-5: Attributes of parameter Y0002
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Y0003: Starting block automatic task 2The Y-parameter "Y0003: Starting block Automatic Task 2" displays the blocknumber to start processing of automatic task 2 of the SMC program. Thevalue of the Y-parameter is set after a successful download of an SMCprogram (see also chapter 6.2.2 "Automatic tasks" on page 103).
The starting block of automatic task 1 is always "0".The starting block of automatic task 2 is defined in the SMC-Editor via the "BEGIN_AUTO_TASK_2" system label.
If the value is "-1", the task is not active. Any value in this parameter which isunequal to "-1" indicates that automatic task 2 is activated.
Attribute Value
ID number Y0003
Name Starting block Auto task 2
Unit None
Data format DINT
Display format DINT
Modifiability No
Minimum -1
Maximum 2999
Default value -1
Tab. 11-6: Attributes of parameter Y0003
Y0004: Starting block automatic task 3The Y-parameter "Y0004: Starting block Automatic Task 3" displays the blocknumber to start processing of automatic task 3 of the SMC program. Thevalue of the Y-parameter is set after a successful download of an SMCprogram (see also chapter 6.2.2 "Automatic tasks" on page 103).
The starting block of automatic task 3 is defined in the SMC-Editor via the "BEGIN_AUTO_TASK_3" system label.
If the value is "-1", the task is not active. Any value in this parameter which isunequal to "-1" indicates that automatic task 3 is activated.
Attribute Value
ID number Y0004
Name Starting block Auto task 3
Unit None
Data format DINT
Display format DINT
Modifiability No
Minimum -1
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Attribute Value
Maximum 2999
Default value -1
Tab. 11-7: Attributes of parameter Y0004
Y0005: Starting block automatic task 4The Y-parameter "Y0005: Starting block Automatic Task 4" displays the blocknumber to start processing of automatic task 4 of the SMC program. Thevalue of the Y-parameter is set after a successful download of an SMCprogram (see also chapter 6.2.2 "Automatic tasks" on page 103).
The starting block of automatic task 4 is defined in the SMC-Editor via the "BEGIN_AUTO_TASK_4" system label.
If the value is "-1", the task is not active. Any value in this parameter which isunequal to "-1" indicates that automatic task 4 is activated.
Attribute Value
ID number Y0005
Name Starting block Auto task 4
Unit None
Data format DINT
Display format DINT
Modifiability No
Minimum -1
Maximum 2999
Default value -1
Tab. 11-8: Attributes of parameter Y0005
Y0006: Starting block manual routineThe Y-parameter "Y0006: Starting block manual routine" displays the startingblock of the manual routine. The value of the Y-parameter is set after asuccessful download of an SMC program (see also chapter 6.2.3 "Manualroutine" on page 104).
The starting block of the manual routine is defined in the SMC-Editor via the "BEGIN_MANUAL_ROUTINE" system label.
If the value is "-1", the routine is not active. Any value in this parameter whichis unequal to "-1" indicates that the manual routine is activated.
Attribute Value
ID number Y0006
Name Starting block manual routine
Unit None
Data format DINT
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Attribute Value
Display format DINT
Modifiability No
Minimum -1
Maximum 2999
Default value -1
Tab. 11-9: Attributes of parameter Y0006
Y0007: Starting block cyclic taskThe Y-parameter "Y0007: Starting block Cyclic Task" displays the startingblock of the SMC program of the cyclic task. The value of the Y-parameter isset after a successful download of an SMC program (see also chapter 6.2.6 "Cyclic task" on page 107).
The starting block of the cyclic task is defined in the SMC-Editorvia the "BEGIN_CYCLIC_TASK" system label.
If the value is "-1", the task is not active. Any value in this parameter which isunequal to "-1" indicates that the cyclic task is activated.
Attribute Value
ID number Y0007
Name Starting block “Cyclic Task”
Unit None
Data format DINT
Display format DINT
Modifiability No
Minimum -1
Maximum 2999
Default value -1
Tab. 11-10: Attributes of parameter Y0007
Y0008: Manual routine after automatic modeY-parameter "Y0008: Manual routine after automatic mode" can be used toconfigure whether the manual routine is automatically started on switchoverfrom automatic mode to manual mode. If the value is "TRUE", the manualroutine is started after the mode has been switched.
Attribute Value
ID number Y0008
Name Manual routine after automatic mode
Unit None
Data format BOOL
Display format BOOL
Modifiability P2 + P4
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Attribute Value
Minimum ---
Maximum ---
Default value FALSE
Tab. 11-11: Attributes of parameter Y0008
Y0009: Clear outputsY-parameter "Y0009: Clear outputs" can be used to define whether the digitaloutputs should be cleared in the event of an error. See also chapter 7.17 "Clear outputs" on page 318.The following settings can be made:0: Clear outputs in the event of an error1: Do not clear outputs in the event of an error. The outputs will
not be cleared before the error is acknowledged2: Do not clear outputs if an error occurs or is acknowledged
Attribute Value
ID number Y0009
Name Clear outputs
Unit None
Data format UDINT
Display format UDINT
Modifiability P2
Minimum 0
Maximum 2
Default value 0
Tab. 11-12: Attributes of parameter Y0009
Y0010: AutoConfig I/OsThe Y-parameter "Y0010: AutoConfig I/Os" can be used to an activateautomatic configuration. The default configuration is described in chapter6.8.7 "Default configuration digital system inputs and outputs" on page 136.In addition, the direction of all unassigned (i.e., those that are not configuredin Y-parameters) digital I/Os is configured to "output":● X31 (see P-0-0316) of all axes● X35 (see P-0-0316) of all single axes (not Cs)● X36 (see P-0-0316) of all double axes● X37 (see P-0-0316) of all axes with DA optionIf the value is set to "TRUE", the I/Os are automatically configured wheneverparameter mode is exited. Automatic configuration also involves axis-specificI/Os.
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● If the value is set to "FALSE", the values already configuredremain as they are. This setting may be helpful after asuccessful first startup to prevent subsequently edited Y-parameters from being overwritten by the SMC.
● Even if the value is set to "FALSE", the direction of thedigital I/Os can change after the mode has been switchedfrom parameterization to operation mode, provided they areconfigured via Y-parameters. An overview of the Y-parameters which use the digital I/Os can, e.g., be displayedvia the parameter box of the SMC-Editor in online mode.This is facilitated if the display in the parameter box is sortedby the "Value" column.
Attribute Value
ID number Y0010
Name AutoConfig I/Os
Unit None
Data format BOOL
Display format BOOL
Modifiability P2
Minimum ---
Maximum ---
Default value TRUE
Tab. 11-13: Attributes of parameter Y0010
Y0011: Automatic mode, In-configThe Y-parameter "Y0011: Automatic mode, In-config" can be used toconfigure the digital input or flag (MS, MF, MFR) emitting the signal activating"Automatic mode".
Attribute Value
ID number Y0011
Name Automatic mode, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-14: Attributes of parameter Y0011
Y0012: Clear error, In-configY-parameter "Y0012: Clear error, In-config" can be used to configure thedigital input or flag (MS, MF, MFR) displaying the "Clear error" signal.
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Attribute Value
ID number Y0012
Name Clear error, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-15: Attributes of parameter Y0012
Y0013: Single step, In-configY-parameter "Y0013: Single step, In-config" can be used to configure thedigital input or flag (MS, MF, MFR) emitting the "Single step" signal ("Singlestep" function, page 58).
Attribute Value
ID number Y0013
Name Single step, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-16: Attributes of parameter Y0013
Y0014: Parameter mode, In-configThe Y-parameter "Y0014: Parameter mode, In-config" can be used toconfigure the digital input or flag (MS, MF, MFR) emitting the signal activating"Parameter mode".
Attribute Value
ID number Y0014
Name Parameter mode, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
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Attribute Value
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-17: Attributes of parameter Y0014
Y0015: nE-stop, In-configThe Y-parameter "Y0015: nE-Stop, In-config" can be used to configurewhether the "nE-Stop" signal is applied (via X31, Pin3) and activated (viaP-0-0008, bit 0) for the master axis. In case of "FALSE", the configuration ofX31, Pin1 is not changed, but the activation is reset in parameter "P-0-0008,Activation E-Stop function".The signal is subject to negated processing, i.e., as soon as the signalbecomes "FALSE", the "F4034 Emergency-Stop" error is set.
Attribute Value
ID number Y0015
Name nE-Stop, In-config
Unit None
Data format BOOL
Display format BOOL (because of defined address)
Modifiability P2
Minimum ---
Maximum ---
Default value TRUE
Tab. 11-18: Attributes of parameter Y0015
Y0016: Start, In-configY-parameter "Y0016: Start, In-config" can be used to configure the digitalinput or flag (MS, MF, MFR) emitting the "Start" signal. The "Start" signalstarts the automatic tasks in automatic mode. In single-step mode, a risingedge starts the next command block.
Attribute Value
ID number Y0016
Name Start, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-19: Attributes of parameter Y0016
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Y0017: nStop, In-configY-parameter "Y0017: nStop, In-config" can be used to configure the digitalinput or flag (MS, MF, MFR) emitting the "nStop signal". The signal is subjectto negated processing, i.e., as soon as the signal becomes "FALSE", theautomatic tasks or manual routine is stopped.
Attribute Value
ID number Y0017
Name nStop, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-20: Attributes of parameter Y0017
Y0018: Manual routine, In-configThe Y-parameter "Y0018: Manual routine, In-config" can be used to configurethe digital input or flag (MS, MF, MFR) emitting the signal for starting the"Manual routine".
Attribute Value
ID number Y0018
Name Manual routine, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-21: Attributes of parameter Y0018
Y0019: Abort program, In-configThe Y-parameter "Y0019: Abort program, In-config" can be used to configurethe digital input or flag (MS, MF, MFR) emitting the "Abort program" signal.For a detailed description, please refer to chapter 7.22 "Abort program" onpage 320.
Attribute Value
ID number Y0019
Name Abort program, In-config
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Attribute Value
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-22: Attributes of parameter Y0019
Y0020: nError, Out-configThe Y-parameter "Y0020: nError, Out-config" can be used to configure thedigital output or flag (MF, MFR) at which the "nError" signal is output.This signal is present with any type of error (system error, axis error, programerror). The signal is subject to negated processing, i.e., the output becomes"FALSE" if the SMC signals an error.
Attribute Value
ID number Y0020
Name nError, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-23: Attributes of parameter Y0020
Y0021: Automatic mode, Out-configThe Y-parameter "Y0021: Automatic mode, Out-config" can be used toconfigure the digital output or flag (MF, MFR) at which the "Automatic mode"signal is output. The signal is emitted while the SMC is in "Automatic" mode.
Attribute Value
ID number Y0021
Name Automatic mode, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
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Attribute Value
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-24: Attributes of parameter Y0021
Y0022: Manual mode, Out-configThe Y-parameter "Y0022: Manual mode, Out-config" can be used toconfigure the digital output or flag (MF, MFR) at which the "Manual mode"signal is output. The signal is emitted while the SMC is in "Manual" mode.
Attribute Value
ID number Y0022
Name Manual mode, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-25: Attributes of parameter Y0022
Y0023: Parameter mode, Out-configThe Y-parameter "Y0023: Parameter mode, Out-config" can be used toconfigure the digital output or flag (MF, MFR) at which the "Parameter mode"signal is output. The signal is emitted while the SMC is in "Parameter" mode.The drives are in "PM" (master axis) and "P2" (slave axes), respectively.
Attribute Value
ID number Y0023
Name Parameter mode, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-26: Attributes of parameter Y0023
Y0024: Drive enable, Out-configThe Y-parameter "Y0024: Drive enable, Out-config" can be used to configurethe digital output or flag (MF, MFR) at which the signal for "Drive enable foraxes" is output. The signal is applied if the drives of all activated axes areenabled.
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Attribute Value
ID number Y0024
Name Drive enable, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-27: Attributes of parameter Y0024
Y0025: Run, Out-configY-parameter "Y0025: Run, Out-config" can be used to configure the digitaloutput or flag (MF, MFR) emitting the "Run" signal. The signal is emittedwhile the automatic tasks or one of the routines are running and the SMCprogram is therefore being processed.
The signal is not emitted if the cyclic task is the only one beingprocessed.
Attribute Value
ID number Y0025
Name Run, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-28: Attributes of parameter Y0025
Y0026: SMC program valid, Out-configY-parameter "Y0026: SMC-Program valid, Out-config" can be used toconfigure the digital output or flag (MF, MFR) emitting the "SMC programvalid" signal. The signal is emitted as long as a valid SMC program isresiding in the working memory.
Attribute Value
ID number Y0026
Name SMC program valid, Out-config
Unit None
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Attribute Value
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-29: Attributes of parameter Y0026
Y0027: Operating barrier, Out-configY-parameter "Y0027: Operating barrier, Out-config" can be used to configurethe digital output or flag (MF, MFR) emitting the "Operating barrier signal".The signal is emitted as long as there is an operating barrier.
Attribute Value
ID number Y0027
Name Operating barrier, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-30: Attributes of parameter Y0027
Y0028: Master axis selection of the systemY-parameter "Y0028: Master axis of system" can be used to select thesystem-crossing master axis which is available to all axes via drive parameterP-0-0053 (VmAxisExt). For the selected master axis (signal source), themaster axis position is generated via the master axis format converter.Options:● 0: Deactivated● 1: Virtual axis of master axis, P-0-0758● 2: Measuring encoder of master axis, P-0-0052● 3: Position command value of master axis, P-0-0434● 4: Free user mode● AB: "A" = axis selection, "B" = signal selection
Potential parameter inputs for the ten's place "A" (axis selection):– 1: Axis 1– 2: Axis 2– 3: Axis 3– 4: Axis 4
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– 5: Axis 5– 6: Axis 6Potential parameter inputs for the unit's place "B" (axis selection):– 0: Position feedback value 1, S-0-0051– 1: Position feedback value 2, S-0-0053– 2: Active position feedback value, S-0-0386– 3: Actual position value of measuring encoder, P-0-0052– 4: Position command value of controller, P-0-0434– 5: Position actual value in actual value cycle, P-0-0753– 6: Velocity command value controller, P-0-0048
Free user mode "4" If this configuration is selected, the SMC does not configure the master axisformat converter. The user can select the signal and configure the masteraxis format converter as he desires. Therefore, the master axis can bespecified via field bus. In this case, a "PLC Global Register" (e.g., P-0-1277)may be used as signal source, which is calculated and cyclically transferredby a higher-order control. Please note that the master axis position must beformed in master axis format (2P-0-0084 increments per master axis revolution).
Examples of master axis selection "1": The actual position value of the virtual master axis (P-0-0758) is selectedas global master axis."14": The position command value of the controller (P-0-0434) of axis 1 isselected as global master axis."16": The velocity command value controller (P-0-0048) of axis 1 is selectedas global master axis."22": The active position feedback value (S-0-0386) of axis 2 is selected asglobal master axis."63": The actual position value of the measuring encoder (P-0-0052) of axis 6is selected as global master axis.
● It is recommended to apply the suggested value (0, 2 or 3)displayed in the IndraWorks dialog CCD: Application typeconfiguration to the parameter "P-0-1617, CCD: Number ofextrapolation steps".
● The parameter "P-0-0773, Number of bits per master axisrevolution, format converter" is to be used to set theresolution of the master axis position by the master axisformat converter as high as possible (e.g. 30).
● To ensure that the traversed path and the velocity in thesynchronous axis exactly correspond to the master axis, setthe parameter "P-0-0159, Slave drive feed travel" fortranslatorily-scaled axes to the same value as the parameter"Yx009: Modulo value" of the master axis (P-0-0159Synchronous
axis = Yx009Master axis).● For systems with synchronous operation between the
master axis and the slave axes, and if the material motion isdetected simultaneously via a measuring wheel (optionalencoder), it is recommended to select the parameter"P-0-0048" as signal source for the global master axis (e.g.Y0028 = 16). In this case, operate the slave axes as speed-synchronous axes using the commands "SOC" or "SOA".
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Attribute Value
ID number Y0028
Name Master axis selection of the system
Unit None
Data format UDINT
Display format UDINT
Modifiability P2
Minimum 0
Maximum 66
Default value 0
Tab. 11-31: Attributes of parameter Y0028
Y0029: System diagnostic numberY-parameter "Y0029: System diagnostic number" is used to output thecurrently active system diagnostic number. Refer to chapter 9.3 "Diagnosticnumbers" on page 342.
Attribute Value
ID number Y0029
Name System diagnostic number
Unit None
Data format UDINT
Display format HEX
Modifiability No
Minimum 0
Maximum 9999999
Default value 0
Tab. 11-32: Attributes of parameter Y0029
Y0030: System diagnosticsY-parameter "Y0030: System diagnostics" is used to output the currentlyactive system diagnostics in plaintext. Also refer to chapter 9.3 "Diagnosticnumbers" on page 342
In addition, the system diagnostics (cf. Y0030) is also output indrive parameter "P-0-1387, PLC Global Register AT0" of themaster axis. As a result, the current system diagnostics can bedisplayed using the IndraWorks parameter editor.
Attribute Value
ID number Y0030
Name System diagnostics
Unit None
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Attribute Value
Data format STRING
Display format STRING
Modifiability No
Minimum ---
Maximum ---
Default value No diagnostics
Tab. 11-33: Attributes of parameter Y0030
Y0031: Watchdog sensitivityY-parameter "Y0031: Watchdog sensitivity" can be used to configure a PLC-side watchdog, see also chapter 7.19 "Watchdog" on page 318. Thesensitivity corresponds to the utilization of the MotionTask or PlcTask.The default setting of "1" generates an error if the utilization of theMotionTask or PlcTask exceeds 100 percent. Accordingly, a setting of "2"corresponds to a utilization of 200 percent.
Attribute Value
ID number Y0031
Name Watchdog sensitivity
Unit None
Data format REAL
Display format REAL
Modifiability P2
Minimum 0.8
Maximum 3
Default value 1
Tab. 11-34: Attributes of parameter Y0031
Y0032: System commandY-parameter "Y0032: System command" can be used to select a systemcommand. For a list of available system commands and their description,please refer to chapter 7.2 "System commands" on page 232.
Attribute Value
ID number Y0032
Name System command
Unit None
Data format UDINT
Display format UDINT
Modifiability P2 + P4
Minimum 0
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Attribute Value
Maximum 14
Default value 0
Tab. 11-35: Attributes of parameter Y0032
Y0033: System command parameterY-parameter "Y0033: System command parameter" can be used to configurea system command parameter for the system command selected in "Y0032:System command".
Attribute Value
ID number Y0033
Name System command parameter
Unit None
Data format UDINT
Display format UDINT
Modifiability P2 + P4
Minimum 0
Maximum 9999
Default value 0
Tab. 11-36: Attributes of parameter Y0033
Y0034: Active system commandY-parameter "Y0034: Active system command" is used to display thecurrently active system command number. This Y-parameter is read-only.
Attribute Value
ID number Y0034
Name Active system command
Unit None
Data format UDINT
Display format UDINT
Modifiability No
Minimum 0
Maximum 14
Default value 0
Tab. 11-37: Attributes of parameter Y0034
Y0035: Active system command statusY-parameter "Y0035: Status of active system command" is used to displaythe status of the currently active system command. This Y-parameter is read-only.
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Attribute Value
ID number Y0035
Name Active system command status
Unit None
Data format UDINT
Display format HEX
Modifiability No
Minimum 0
Maximum FFFFFFFFh
Default value 0
Tab. 11-38: Attributes of parameter Y0035
Y0036: Number of axesThe Y-parameter "Y0036: Number of axes" displays the number of availableaxes (virtual and real axes). On power up, the Y-parameter is formed fromdrive parameter "P-0-1601: CCD: Addresses of projected drives" and fromthe virtual axis possibly configured in the parameter "Yx001: Axis type".
Attribute Value
ID number Y0036
Name Number of axes
Unit None
Data format UDINT
Display format UDINT
Modifiability No
Minimum 1
Maximum 6
Default value 1
Tab. 11-39: Attributes of parameter Y0036
Y0037: Number of Sercos I/OsThe Y-parameter "Y0037: Number of Sercos I/Os" displays the number ofSercos III I/O modules available in the Sercos ring. On power up, the Y-parameter is formed from drive parameter "P-0-1604: CCD: Addresses ofprojected I/Os".
Attribute Value
ID number Y0037
Name Number of Sercos I/Os
Unit None
Data format UDINT
Display format UDINT
Modifiability No
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Attribute Value
Minimum 0
Maximum 4
Default value 0
Tab. 11-40: Attributes of parameter Y0037
Y0038: Address, Sercos I/O 1The Y-parameter "Y0038: Address, Sercos I/O 1" displays the Sercosaddress of Sercos III I/O module 1 in the Sercos ring. On power up, the Y-parameter reads from drive parameter "P-0-1604: CCD: Addresses ofprojected I/Os".
Attribute Value
ID number Y0038
Name Address, Sercos I/O 1
Unit None
Data format UDINT
Display format UDINT
Modifiability No
Minimum 0
Maximum 99
Default value 0
Tab. 11-41: Attributes of parameter Y0038
Y0039: Address, Sercos I/O 2The Y-parameter "Y0039: Address, Sercos I/O 2" displays the Sercosaddress of Sercos III I/O module 2 in the Sercos ring. On power up, the Y-parameter reads from drive parameter "P-0-1604: CCD: Addresses ofprojected I/Os".
Attribute Value
ID number Y0039
Name Address, Sercos I/O 2
Unit None
Data format UDINT
Display format UDINT
Modifiability No
Minimum 0
Maximum 99
Default value 0
Tab. 11-42: Attributes of parameter Y0039
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Y0040: Address, Sercos I/O 3The Y-parameter "Y0040: Address, Sercos I/O 3" displays the Sercosaddress of Sercos III I/O module 3 in the Sercos ring. On power up, the Y-parameter reads from drive parameter "P-0-1604: CCD: Addresses ofprojected I/Os".
Attribute Value
ID number Y0040
Name Address, Sercos I/O 3
Unit None
Data format UDINT
Display format UDINT
Modifiability No
Minimum 0
Maximum 99
Default value 0
Tab. 11-43: Attributes of parameter Y0040
Y0041: Address, Sercos I/O 4The Y-parameter "Y0041: Address, Sercos I/O 4" displays the Sercosaddress of Sercos III I/O module 4 in the Sercos ring. On power up, the Y-parameter reads from drive parameter "P-0-1604: CCD: Addresses ofprojected I/Os".
Attribute Value
ID number Y0041
Name Address, Sercos I/O 4
Unit None
Data format UDINT
Display format UDINT
Modifiability No
Minimum 0
Maximum 99
Default value 0
Tab. 11-44: Attributes of parameter Y0041
Y0042: Configuration, Sercos I/O 1The Y-parameter "Y0042: Configuration, Sercos I/O 1" displays the configu‐ration of Sercos III I/O module 1 in the Sercos ring:● 0: No Sercos III I/O module available● 1: Digital Sercos III I/O module available● 2: Analog Sercos III I/O module available
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Attribute Value
ID number Y0042
Name Configuration, Sercos I/O 1
Unit None
Data format UDINT
Display format UDINT
Modifiability No
Minimum 0
Maximum 2
Default value 0
Tab. 11-45: Attributes of parameter Y0042
Y0043: Configuration, Sercos I/O 2The Y-parameter "Y0043: Configuration, Sercos I/O 2" displays the configu‐ration of Sercos III I/O module 2 in the Sercos ring:● 0: No Sercos III I/O module available● 1: Digital Sercos III I/O module available● 2: Analog Sercos III I/O module available
Attribute Value
ID number Y0043
Name Configuration, Sercos I/O 2
Unit None
Data format UDINT
Display format UDINT
Modifiability No
Minimum 0
Maximum 2
Default value 0
Tab. 11-46: Attributes of parameter Y0043
Y0044: Configuration, Sercos I/O 3The Y-parameter "Y0044: Configuration, Sercos I/O 3" displays the configu‐ration of Sercos III I/O module 3 in the Sercos ring:● 0: No Sercos III I/O module available● 1: Digital Sercos III I/O module available● 2: Analog Sercos III I/O module available
Attribute Value
ID number Y0044
Name Configuration, Sercos I/O 3
Unit None
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Attribute Value
Data format UDINT
Display format UDINT
Modifiability No
Minimum 0
Maximum 2
Default value 0
Tab. 11-47: Attributes of parameter Y0044
Y0045: Configuration, Sercos I/O 4The Y-parameter "Y0045: Configuration, Sercos I/O 4" displays the configu‐ration of Sercos III I/O module 4 in the Sercos ring:● 0: No Sercos III I/O module available● 1: Digital Sercos III I/O module available● 2: Analog Sercos III I/O module available
Attribute Value
ID number Y0045
Name Configuration, Sercos I/O 4
Unit None
Data format UDINT
Display format UDINT
Modifiability No
Minimum 0
Maximum 2
Default value 0
Tab. 11-48: Attributes of parameter Y0045
Y0046: System controlY-parameter "Y0046: System control" can be used to configure the way inputsignals can be set.Possible input values are the following:1: Reserved2: SMC-Editor3: Reserved4: IndraLogic visualization5: Reserved6: IndraLogic visualization or SMC-Editor7: Reserved8: Digital signals9: Reserved10: Digital signals or SMC-Editor11: Reserved
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12: Digital signals or IndraLogic visualization13: Reserved14: Digital signals or IndraLogic visualization or SMC-Editor15: Digital signals or IndraLogic visualization or SMC-Editor (default)
Attribute Value
ID number Y0046
Name System control
Unit None
Data format UDINT
Display format UDINT
Modifiability P2 + P4
Minimum 1
Maximum 15
Default value 15
Tab. 11-49: Attributes of parameter Y0046
Y0047: SMC FW versionThe Y-parameter "Y0047: SMC FW version" displays the firmware version ofthe SMC.
Attribute Value
ID number Y0047
Name SMC FW version
Unit None
Data format STRING
Display format STRING
Modifiability No
Minimum ---
Maximum ---
Default value ---
Tab. 11-50: Attributes of parameter Y0047
Y0048: Starting block restart routineThe Y-parameter "Y0048: Starting block restart routine" displays the startingblock of the restart routine. The value of the Y-parameter is set after asuccessful download of an SMC program (see also chapter 6.2.5 "Restartroutine" on page 107).
The starting block of the restart routine is defined in the SMC-Editor via the "BEGIN_RESTART_ROUTINE" system label.
If the value is "-1", the routine is not active. Any value in this parameter whichis unequal to "-1" indicates that the restart routine is activated.
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Attribute Value
ID number Y0048
Name Starting block restart routine
Unit None
Data format DINT
Display format DINT
Modifiability No
Minimum -1
Maximum 2999
Default value -1
Tab. 11-51: Attributes of parameter Y0048
Y0049: Restart, In-configY-parameter "Y0049: Restart, In-config" can be used to configure the digitalinput or flag (MS, MF, MFR) emitting the "Restart" signal.
Attribute Value
ID number Y0049
Name Restart, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-52: Attributes of parameter Y0049
Y0050: Restart possible, Out-configY-parameter "Y0050: Restart possible, Out-config" can be used to configurethe digital output or flag (MF, MFR) emitting the "Restart" signal. The signal isoutput if the SMC program can be restarted.
Attribute Value
ID number Y0050
Name Restart possible, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
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Attribute Value
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-53: Attributes of parameter Y0050
Y0051: Disabling I/OsThe Y-parameter "Y0051: Disabling I/Os" can be used to disable or enablethe Sercos II I/O modules in the PLC project. Three digital I/O modules arecreated in the boot project with the Sercos addresses 55 - 57 and one analogI/O module with the Sercos address 59. The first four bits of the parameterY0051 are used to enable or disable these I/O modules. The bits are fixedlyassigned to the modules.
Bit of Y0051 Device Sercosaddress
0 Digital Sercos III I/O module 55
1 Digital Sercos III I/O module 56
2 Digital Sercos III I/O module 57
3 Analog Sercos III I/O module 59
Tab. 11-54: Assigning the bits of the Y0051 to the I/O modules created in theboot project
If the value of the bit is 1, the respective I/O module is disabled when bootingthe master control unit. If the value of the bit is 0, the module is enabled uponthe next master control unit boot.
Attribute Value
ID number Y0051
Name Clear error, In-config
Unit None
Data format UDINT
Display format Binary
Modifiability P2
Minimum 0000b
Maximum 1111b
Default value 1111b
Tab. 11-55: Attributes of parameter Y0051
The parameter Y0051 is only applied if the PLC boot project isused. When using the SMC template program, the parameter hasno effects, as the I/O modules can be directly enabled anddisabled in the PLC project.
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11.3 Axis-dependent Y-parameters11.3.1 Overview
The table below shows the axis-dependent Y-parameters except the "FlyingCutoff" Y-parameter.
The "x" in the Y-parameter number stands for the number of theaxis.
No. Name Function Dataformat
Modifiability
Yx000 Application type Selects the axis application type UDINT P2
Yx001 Axis type Selects the axis type (real/virtual) UDINT P2
Yx002 Enable axis Enables the axis BOOL P2
Yx003 Jog velocity Velocity in jog mode REAL P2 + P4
Yx004 Maximum velocity Defines the maximum velocity REAL P2 + P4
Yx005 Setup velocity Velocity in setup mode REAL P2 + P4
Yx006 Maximum acceleration Acceleration limit REAL P2
Yx007 Maximum torque Maximum value of torque/force in % ofnominal value
REAL P2 + P4
Yx008 Scaling type Selects the scaling type (translatory/rotary, absolute/modulo)
UDINT P2
Yx009 Modulo value Modulo value of the axis REAL P2
Yx010 Unit [mm] or [inch] BOOL P2
Yx011 Negation of positioning data Negation of position, velocity and torquedata
BOOL P2
Yx012 MicroAdjust Sets the value for the MicroAdjust (offset) REAL P2 + P4
Yx013 Presignal duration Duration of presignal in [ms] REAL P2 + P4
Yx014 Presignal, distance Distance from the target position for thepresignal
REAL P2 + P4
Yx015 Drive enable, In-config System input configuration REAL P2
Yx016 nInterrupt, In-config System input configuration REAL P2
Yx017 Lift rolls, In-config System input configuration REAL P2
Yx018 Rolls closed, In-config System input configuration REAL P2
Yx019 Optional encoder, In-config System input configuration REAL P2
Yx020 Jog+, In-config System input configuration REAL P2
Yx021 Jog–, In-config System input configuration REAL P2
Yx022 Homing, In-config System input configuration REAL P2
Yx023 Homing switch, In-config System input configuration BOOL P2
Yx024 Setup mode, In-config System input configuration REAL P2
Yx025 Setup end, In-config System input configuration REAL P2
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No. Name Function Dataformat
Modifiability
Yx026 nFeed control, In-config System input configuration REAL P2
Yx027 Registration mark, In-config System input configuration BOOL P2
Yx028 Override Configures the override source UDINT P2
Yx029 Drive enable, Out-config System output configuration REAL P2
Yx030 In reference, Out-config System output configuration REAL P2
Yx031 Lift rolls active, Out-config System output configuration REAL P2
Yx032 Optional encoder active, Out-config System output configuration REAL P2
Yx033 In position, Out-config System output configuration REAL P2
Yx034 Velocity reached, Out-config System output configuration REAL P2
Yx035 Setup active, Out-config System output configuration REAL P2
Yx036 Setup start position, Out-config System output configuration REAL P2
Yx037 Setup end position, Out-config System output configuration REAL P2
Yx038 Presignal active, Out-config System output configuration REAL P2
Yx039 Axis address Sercos address of the axis UDINT No
Yx040 Max. number of press strokes Machine constant REAL P2 + P4
Yx041 Safety-related reduced speed Value for the safely reduced speed REAL P2 + P4
Yx042 SI – Lock-off behavior Behavior of synchronous axes in safetytechnology modes
UDINT P2 + P4
Yx043 Activate position limit switch Activates the software limit switch BOOL P2
Yx044 Travel limit, maximum value Configures the highest permissible travelrange limit
REAL P2
Yx045 Travel limit, minimum value Configures the lowest permissible travelrange limit
REAL P2
Yx046 Axis diagnostic number Diagnostic number of the axis UDINT No
Yx047 Configuration cyclic CCD process data Configuration of the cyclic CCD processdata
UDINT P2
Yx048 Axis configuration Axis configuration UDINT P2
Yx049 Source, torque/force value PFx Cmd Configuration of the signal source for thePfx commands
UDINT P2
Yx050 Analog constant 1 PFx Cmd [N/unit of theanalog input]
Analog value conversion (V or mA) into aforce in Newton
REAL P2
Yx051 PControl force controller PFx Cmd Entering a P-gain for the PI-controllereffective at the positive stop
REAL P4
Yx052 IControl force controller PFx Cmd Entering an integral action time for the PI-controller effective at the positive stop
REAL P4
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No. Name Function Dataformat
Modifiability
Yx053 Analog constant 2 PFx Cmd [N/unit of theanalog input]
Analog value conversion (V or mA) into aforce in Newton
REAL P2
Yx054 Starting value, analog range 2 PFxCmd[V or mA]
Distinction between the area for Yx050Analog constant 1 and Yx053 Analogconstant 2
REAL P2
Tab. 11-56: Overview of all axis-dependent Y-parameters (without Flying Cutoff)
11.3.2 Detailed DescriptionYx000: Application type
The Y-parameter "Yx000: Application type" can be used to activate theoperation mode for each axis.There are the following application types:0: Free user mode (positioning mode with PSI, PSA, POI, POA commands,continuous operation, etc.)1: Roll feed2: Flying Cutoff (only allowed for master axis)3: Flying Cutoff test mode (only allowed for master axis)
● For the application type "Feed roll", the following systemvariables are generated additionally if an input signal wasconfigured in the parameter chapter "Yx026: nFeedControl,In-config" on page 441:– VSx40: Press stokes per minute in [S/min]– VSx42: Load of the feed range in [%]– VSx42: Average line velocity in [m/min] or [inch/min]
● For a detailed description of the "Flying Cutoff" applicationtype, please refer to chapter 7.11 "Flying cutoff" on page261.
Axis coupling If the axis is to be used as coupled axis, i.e., the axis follows the commandvalue of a master axis, the coupling type must be entered via a three-digitvalue "ABC" with the following meaning:● "A" = Selection of the master axis for this slave axis
Axes "1" to "6" are allowed as input for the master axis.● "B" = Selection of the source signal and therefore of the coupling type
– "0" = S-0-0051, Actual position value encoder 1(position coupling)
– "1" = S-0-0053, Actual position value encoder 2(position coupling)
– "2" = S-0-0386, Active position feedback value(position coupling)
– "3" = P-0-0434, Position command value of controller(position coupling)
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– "4" = P-0-0457, Position command value generator(position coupling)
– "5" = S-0-0040, Velocity feedback value(velocity coupling)
– "6" = S-0-0156, Velocity feedback value 2(velocity coupling)
– "7" = P-0-0048, Effective velocity command value(velocity coupling)
– "8" = P-0-0049, Active torque/force command value(Torque coupling)
– "9" = S-0-0084 Actual torque/force value(Torque coupling)
See also chapter 7.10 "Axis coupling" on page 252
The position coupling is enabled via the command CPA –Position-Coupled Axes: Activation enabled.The velocity coupling is enabled via the command CVA –Velocity-Coupled Axes: Activation enabled.The torque coupling is activated via the command Torque–coupled axes: activation.
● "C" = Selection of error reaction"0" and "1" may be entered. If "0" is entered, the default error reaction ofthe SMC is set. If "1" is entered, the error reaction can be only beadjusted to the specific application via the "open PLC part". In this case,be sure to contact the Bosch Rexroth customer service.
Example axis coupling parameterization "Y300" = "270":Axis 3 (slave axis) follows axis 2 (master axis). Axis 3 is velocity coupled toaxis 2 via parameter "P-0-0048, Effective velocity command value". Use ismade of the default error reaction of the SMC.
Attribute Value
ID number Yx000
Name Application type
Unit None
Data format UDINT
Display format UDINT
Modifiability P2
Minimum 0
Maximum 691
Default value 0
Tab. 11-57: Attributes of parameter Yx000The following Y-parameters are automatically set on switchover fromparameter mode to manual mode:
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Application type Y-parameters Value
Free user mode - -
Roll feed Yx008: Scaling type 2: Modulo, translatory scaling
Flying Cutoff,Flying Cutoff test mode
Yx001: Axis type 0: Real axis
Yx008: Scaling type 0: Absolute, translatory scaling
Yx016: nInterrupt, In-config IN_UNUSED (100000)
Yx017: Lift rolls, In-config IN_UNUSED (100000)
Yx018: Rolls closed, In-config IN_UNUSED (100000)
Yx026: nFeedControl, In-config IN_UNUSED (100000)
Yx028: Override 0 (unused)
Yx043: Activate position limit switch TRUE
Yx001: Axis typeThe Y-parameter "Yx001: Axis type" can be used to configure the type of theaxis.The following axis types are available:● 0: Real axis● 1: Virtual axis(see chapter 7.7 "Virtual axis" on page 243)
● The MLD provides only one virtual axis. That is why only oneaxis may be configured as virtual axis at a time.
● If the setting for the axis in Yx000: Application type is FlyingCutoff or Flying Cutoff test mode, the value is automaticallyset to "0" (real axis) when parameter mode is exited.
Attribute Value
ID number Yx001
Name Axis type
Unit None
Data format UDINT
Display format UDINT
Modifiability P2
Minimum 0
Maximum 1
Default value 0
Tab. 11-58: Attributes of parameter Yx001
Yx002: Enable axisThe Y-parameter "Yx002: Enable axis" can be used to activate anddeactivate the axis. If activated (Yx002 = TRUE), the axis is under torque andfully functional.
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If the axis is deactivated (Yx002 = FALSE), the "Parking axis" function isactivated for the axis (see also chapter 7.6 "Parking axis" on page 242).Information on commanding the axis in the free PLC part can be found inchapter 10.2.8 "Commanding the axes using PLCopen function blocks oraxis interfaces" on page 377.
Attribute Value
ID number Yx002
Name Enable axis
Unit None
Data format BOOL
Display format BOOL
Modifiability P2
Minimum ---
Maximum ---
Default value TRUE
Tab. 11-59: Attributes of parameter Yx002
Yx003: Jog velocityThe Y-parameter "Yx003: Jog velocity" can be used to configure the velocityfor jogging the axis in "manual mode".The value set in "Yx003: Jog velocity" must be less than the value set in"Yx004: Maximum velocity". This is checked each time "Yx003: Jog velocity"is edited and when parameter mode is exited. If the value of "Yx004:Maximum velocity" is set to a value lower than "Yx003: Jog velocity", thevalue of "Yx003: Jog velocity" is automatically reduced.
Attribute Value
ID number Yx003
Name Jog velocity
Unit Depending on Yx008 and Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum Yx004
Default value 250
Tab. 11-60: Attributes of parameter Yx003
Yx004: Maximum velocityThe Y-parameter "Yx004: Maximum velocity" can be used to configure themaximum velocity of the axis. For a real axis, this Y-parameter has an effecton drive parameter "S-0-0091: Bipolar velocity limit value". If the value of"Yx004: Maximum velocity" is set to a value lower than "Yx003: Jog velocity","Yx005: Setup velocity" or "Yx505: Return velocity", the value of "Yx003: Jog
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velocity", "Yx005: Setup velocity" or "Yx505: Return velocity" is automaticallyreduced.
Attribute Value
ID number Yx004
Name Maximum velocity
Unit Depending on Yx008 and Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum Maximum of S-0-0091
Default value 1000
Tab. 11-61: Attributes of parameter Yx004
Yx005: Setup velocityThe Y-parameter "Yx005: Setup velocity" can be used to configure thevelocity of the axis in setup mode (see chapter 7.13 "Setup Mode" on page313).The value set in "Yx005: Setup velocity" must be less than the value set in"Yx004: Maximum velocity". This is checked each time "Yx005: Setupvelocity" is edited and when parameter mode is exited. If the value of "Yx004:Maximum velocity" is set to a value lower than "Yx005: Setup velocity", thevalue of "Yx005: Setup velocity" is automatically reduced.
Attribute Value
ID number Yx005
Name Setup velocity
Unit Depending on Yx008 and Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum Yx004
Default value 100
Tab. 11-62: Attributes of parameter Yx005
Yx006: Maximum accelerationThe Y-parameter "Yx006: Maximum acceleration" can be used to configurethe maximum acceleration value.For a real axis, this Y-parameter has an effect on drive parameter "S-0-0138:Bipolar acceleration". If the value of "Yx006: Maximum acceleration" is set toa value lower than "Yx506: Return acceleration", the value of "Yx506: Returnacceleration" is automatically reduced.
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Attribute Value
ID number Yx006
Name Maximum acceleration
Unit Depending on Yx008 and Yx010
Data format REAL
Display format REAL
Modifiability P2
Minimum 0.1
Maximum Maximum of S-0-0138
Default value 1000
Tab. 11-63: Attributes of parameter Yx006
Yx007: Maximum torqueThe Y-parameter "Yx007: Maximum torque" can be used to set the maximumvalue of the torque/force in % of the nominal value.For a real axis, this Y-parameter has an effect on drive parameters S-0-0082,S-0-0083 and S-0-0092 (torque/force limit values).
Attribute Value
ID number Yx007
Name Maximum torque
Unit %
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum Maximum of S-0-0082
Default value 100
Tab. 11-64: Attributes of parameter Yx007
Yx008: Scaling typeThe Y-parameter "Yx008: Scaling type" can be used to configure the scalingtype of the axis. The settings made in this Y-parameter can be translatory orrotary as well as absolute or modulo.In case of a real axis, the Y-parameter affects the drive parameters"S-0-0044: Scaling type for velocity data", "S-0-0076: Scaling type forposition data", "S-0-0086: Scaling type for torque/force data" as well as"S-0-0160: Scaling type for acceleration data" and for a virtual axis it affectsthe drive parameter "P-0-0756: Virtual master axis, scaling type".
Bit 1 Bit 0
0: Absolute 0: Translatory
1: Modulo 1: Rotary
Tab. 11-65: Scaling type configuration options
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This results in the following options:● 00b (=0): Absolute, translatory scaling type● 01b (=1): Absolute, rotary scaling type● 10b (=2): Modulo, translatory scaling type● 11b (=3): Modulo, rotary scaling type
● If roll feed is set for the axis in Yx000: Application type, thevalue is automatically set to "2" (modulo, translatory scalingtype) when parameter mode is exited.
● If the setting for the axis in Yx000: Application type is FlyingCutoff or Flying Cutoff test mode, the value is automaticallyset to "0" (absolute, translatory scaling type) whenparameter mode is exited.
Attribute Value
ID number Yx008
Name Scaling type
Unit None
Data format UDINT
Display format Binary
Modifiability P2
Minimum 00b
Maximum 11b
Default value 10b
Tab. 11-66: Attributes of parameter Yx008
Yx009: Modulo valueThe Y-parameter "Yx009: Modulo value" can be used to specify the size ofthe modulo value. This parameter only has an effect if modulo scaling isconfigured in "Yx008: Scaling type".For a real axis, this Y-parameter has an effect on drive parameter "S-0-0103:Modulo value " and on drive parameter "P-0-0757: Virtual axis, modulo value"for a virtual axis.
Attribute Value
ID number Yx009
Name Modulo value
Unit Depending on Yx008 and chapter"Yx010: Unit" on page 434Yx010
Data format REAL
Display format REAL
Modifiability P2
Minimum 0.1
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Attribute Value
Maximum Maximum of S-0-0103 or P-0-0757
Default value 360
Tab. 11-67: Attributes of parameter Yx009
Yx010: UnitThe Y-parameter "Yx010: Unit" can be used to configure the unit. The unitthat can be selected in this parameter are [mm] or [inch]."FALSE" means [mm]"TRUE" means [inch]In case of a real axis, the Y-parameter affects the drive parameters"S-0-0044: Scaling type for velocity data", "S-0-0076: Scaling type forposition data", "S-0-0086: Scaling type for torque/force data" as well as"S-0-0160: Scaling type for acceleration data" and for a virtual axis it affectsthe drive parameter "P-0-0756: Virtual master axis, scaling type".
Attribute Value
ID number Yx010
Name Unit
Unit None
Data format BOOL
Display format BOOL
Modifiability P2
Minimum ---
Maximum ---
Default value FALSE
Tab. 11-68: Attributes of parameter Yx010
Yx011: Negation of positioning dataThe Y-parameter "Yx011: Negation of positioning data" can be used tochange the effective direction of position, velocity and torque data. If "TRUE"is set, the position data is negated.For a real axis, this Y-parameter has an effect on drive parameters"S-0-0043: Velocity polarity parameter", "S-0-0055: Position polarities" and"S-0-0085: Torque/force polarity parameter".
Attribute Value
ID number Yx011
Name Negation of positioning data
Unit None
Data format BOOL
Display format BOOL
Modifiability P2
Minimum ---
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Attribute Value
Maximum ---
Default value FALSE
Tab. 11-69: Attributes of parameter Yx011
Yx012: MicroAdjustThe Y-parameter "Yx012: MicroAdjust" can be used to configure an offsetvalue for incremental feed motions (POI/PSI command).
Attribute Value
ID number Yx012
Name MicroAdjust
Unit Depending on Yx008 and Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum -10000
Maximum 10000
Default value 0
Tab. 11-70: Attributes of parameter Yx012
Yx013: Presignal durationThe Y-parameter "Yx013: Presignal duration" can be used to configure theduration in ms, for which output "Presignal active" is output (see chapter"Yx038: Presignal active, Out-config" on page 447). If the value specified is"0", the output is continuously on.
Attribute Value
ID number Yx013
Name Presignal duration
Unit ms
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 10000
Default value 5000
Tab. 11-71: Attributes of parameter Yx013
Yx014: Presignal, distanceThe Y-parameter "Yx014: Presignal, distance" can be used to configure thedistance from the target position, in excess of which the "Presignal" output(see chapter "Yx038: Presignal active, Out-config" on page 447) becomesactive.
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Attribute Value
ID number Yx014
Name Presignal, distance
Unit Depending on Yx008 and Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 10000
Default value 3
Tab. 11-72: Attributes of parameter Yx014
Yx015: Drive enable, In-configThe Y-parameter "Yx015: Drive enable, In-config" can be used to configurethe digital input or flag (MS, MF, MFR) emitting the "Drive enable" signal.See also "Drive enabled" on page 130.
Attribute Value
ID number Yx015
Name Drive enable, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-73: Attributes of parameter Yx015
Yx016: nInterrupt, In-configThe Y-parameter "Yx016: nInterrupt, In-config" can be used to configure thedigital input or flag (MS, MF, MFR) emitting the "nInterrupt" signal.The signal is subject to negated processing, i.e., as soon as the signalbecomes "FALSE", the motion of the axis is stopped and the "Operatingbarrier" output is set.
If the setting for the axis in Yx000: Application type is FlyingCutoff or Flying Cutoff test mode, the value is automatically set to"IN_UNUSED" when parameter mode is exited.
Attribute Value
ID number Yx016
Name nInterrupt, In-config
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Attribute Value
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-74: Attributes of parameter Yx016
Yx017: Lift rolls, In-configThe Y-parameter "Yx017: Lift rolls, In-config" can be used to configure thedigital input or flag (MS, MF, MFR) emitting the "Lift rolls" signal. See alsochapter 7.15 "Lift rolls (electrically)" on page 316.If "Lift rolls" is active, the "Operating barrier" output is set.
If the setting for the axis in Yx000: Application type is FlyingCutoff or Flying Cutoff test mode, the value is automatically set to"IN_UNUSED" when parameter mode is exited.
Attribute Value
ID number Yx017
Name Lift rolls, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-75: Attributes of parameter Yx017
Yx018: Rolls closed, In-configThe Y-parameter "Yx018: Rolls closed, In-config" can be used to configurethe digital input or flag (MS, MF, MFR) emitting the "Rolls closed" signal. Seealso chapter 7.15 "Lift rolls (electrically)" on page 316.
If the setting for the axis in Yx000: Application type is FlyingCutoff or Flying Cutoff test mode, the value is automatically set to"IN_UNUSED" when parameter mode is exited.
Attribute Value
ID number Yx018
Name Rolls closed, In-config
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Attribute Value
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-76: Attributes of parameter Yx018
Yx019: Optional encoder, In-configThe Y-parameter "Yx019: Optional encoder, In-config" can be used toconfigure the digital input or flag (MS, MF, MFR) emitting the signal activatingthe optional encoder. See also "Optional Encoder" chapter 7.3 "Optionalencoder (measuring wheel mode)" on page 239.
Attribute Value
ID number Yx019
Name Optional encoder, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-77: Attributes of parameter Yx019
Yx020: Jog+, In-configThe Y-parameter "Yx020: Jog+, In-config" can be used to configure thedigital input or flag (MS, MF, MFR) emitting the "Jog+" signal.
Attribute Value
ID number Yx020
Name Jog+, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
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Attribute Value
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-78: Attributes of parameter Yx020
Yx021: Jog-, In-configThe Y-parameter "Yx021: Jog–, In-config" can be used to configure the digitalinput or flag (MS, MF, MFR) emitting the "Jog–" signal.
Attribute Value
ID number Yx021
Name Jog–, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-79: Attributes of parameter Yx021
Yx022: Homing, In-configThe Y-parameter "Yx022: Homing, In-config" can be used to configure thedigital input or flag (MS, MF, MFR) emitting the "Homing" signal. See alsochapter 7.14 "Homing" on page 314.
Attribute Value
ID number Yx022
Name Homing, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-80: Attributes of parameter Yx022
Yx023: Homing switch, In-configThe Y-parameter "Yx023: Homing switch, In-config" can be used to configurewhether the "Homing switch" signal is evaluated.With the homing switch activated, the signal must be applied to the particularaxis:● X31, Pin2
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See also chapter 7.14 "Homing" on page 314.
Attribute Value
ID number Yx023
Name Homing switch, In-config
Unit None
Data format BOOL
Display format BOOL
Modifiability P2
Minimum ---
Maximum ---
Default value TRUE
Tab. 11-81: Attributes of parameter Yx023
Yx024: Setup mode, In-configThe Y-parameter "Yx024: Setup mode, In-config" can be used to configurethe digital input or flag (MS, MF, MFR) emitting the "Setup mode" signal (seechapter 7.13 "Setup Mode" on page 313).
Attribute Value
ID number Yx024
Name Setup mode, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-82: Attributes of parameter Yx024
Yx025: Setup end, In-configThe Y-parameter "Yx025: Setup end, In-config" can be used to configure thedigital input or flag (MS, MF, MFR) emitting the "Setup end" signal.See also chapter 7.13 "Setup Mode" on page 313.
Attribute Value
ID number Yx025
Name Setup end, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
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Attribute Value
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-83: Attributes of parameter Yx025
Yx026: nFeedControl, In-configThe Y-parameter "Yx026: nFeed control, In-config" can be used to configurethe digital input or flag (MS, MF, MFR) emitting the "nFeed control" signal.The signal is subject to negated processing, i.e., as soon as the signalbecomes "FALSE", the axis motion is stopped and the "Operating barrier"output is set.
● If the value of the Y-parameter is set to "IN_UNUSED", thesignal will not be evaluated (i.e., in this case, it is always setto "TRUE").
● If the setting for the axis in Yx000: Application type is FlyingCutoff or Flying Cutoff test mode, the value is automaticallyset to "IN_UNUSED" when parameter mode is exited.
Attribute Value
ID number Yx026
Name nFeed control, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-84: Attributes of parameter Yx026
Yx027: Registration mark, In-configThe Y-parameter "Yx027: Registration mark, In-config" can be used toconfigure whether the "Registration mark" signal is evaluated.With the registration mark input activated, the signal must be applied to theparticular axis at the touch probe input:● X31, pin3 ("IndraDrive", "IndraDrive double axis - axis 1")● X31, pin4 ("IndraDrive double axis - axis 2")● X31, pin1 ("IndraDrive Cs")The position value used for processing the registration mark, is set in driveparameter S-0-0426 (cf. IndraWorks, "Probe" dialog).
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Attribute Value
ID number Yx027
Name Registration mark, In-config
Unit None
Data format BOOL
Display format BOOL
Modifiability P2
Minimum ---
Maximum ---
Default value TRUE
Tab. 11-85: Attributes of parameter Yx027
Yx028: OverrideThe Y-parameter "Yx028: Override" can be used to set the analog input fromthe override value is read.Selectable inputs are the default analog inputs of the following controller sec‐tions:● "IndraDrive Advanced+" (master axis)● "IndraDrive Advanced" (slave axis)● "IndraDrive double axis" (slave axis)● "IndraDrive Cs Basic Universal" (slave axis)A value of "0" corresponds to unused.See also chapter 7.5 "Velocity override" on page 241.
If the setting for the axis in Yx000: Application type is FlyingCutoff or Flying Cutoff test mode, the value is automatically set to"0" (not used) when parameter mode is exited.
Attribute Value
ID number Yx028
Name Override
Unit None
Data format UDINT
Display format UDINT (only axis number allowed)
Modifiability P2
Minimum 0
Maximum 6
Default value 0
Tab. 11-86: Attributes of parameter Yx028
Yx029: Drive enable, Out-configY-parameter "Yx029: Drive enable, Out-config" can be used to configure thedigital output or flag (MF, MFR) emitting the axis "Drive enable" signal.
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Attribute Value
ID number Yx029
Name Drive enable, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-87: Attributes of parameter Yx029
Yx030: In reference, Out-configThe Y-parameter "Yx030: In reference, Out-config" can be used to configurethe digital output or flag (MF, MFR) at which the "In reference" signal isoutput.Drive parameter "S-0-0403: Position feedback value status" is read outinternally.See also chapter 7.14 "Homing" on page 314.
Attribute Value
ID number Yx030
Name In reference, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-88: Attributes of parameter Yx030
Yx031: Lift rolls active, Out-configThe Y-parameter "Yx031: Lift rolls active, Out-config" can be used toconfigure the digital output or flag (MF, MFR) at which the "Lift rolls active"signal is output.See also chapter 7.15 "Lift rolls (electrically)" on page 316.
Attribute Value
ID number Yx031
Name Lift rolls active, Out-config
Unit None
Data format REAL
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Attribute Value
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-89: Attributes of parameter Yx031
Yx032: Optional encoder active, Out-configThe Y-parameter "Yx032: Optional encoder active, Out-config" can be usedto configure the digital output or flag (MF, MFR) at which the "Optionalencoder active" signal is output.See also chapter 7.3 "Optional encoder (measuring wheel mode)" on page239.
Attribute Value
ID number Yx032
Name Optional encoder active, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-90: Attributes of parameter Yx032
Yx033: In position, Out-configY-parameter "Yx033: In position, Out-config" can be used to configure thedigital output or flag (MF, MFR) emitting the "In position" signal.The output is generated via the drive parameter "S-0-0338, Status "In targetposition”" if the automatic program and the manual routine are active.
Attribute Value
ID number Yx033
Name In position, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
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Attribute Value
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-91: Attributes of parameter Yx033
Yx034: Velocity reached, Out-configY-parameter "Yx034: Velocity reached, Out-config" can be used to configurethe digital output or flag (MF, MFR) emitting the "Velocity reached" signal.The output is set if the difference between the internally generated velocitycommand value and the actual velocity of the axis ("S-0-0040, Velocityfeedback value") is less than the parameterized velocity window. The velocitywindow is defined via parameter "S-0-0157, Velocity window".
The SMC reads the value of parameter "S-0-0157, Velocitywindow" once after switchover from parameter mode to operatingmode. In operating mode, the SMC no longer detects changes inthe parameter.
Attribute Value
ID number Yx034
Name Velocity reached, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-92: Attributes of parameter Yx034
Yx035: Setup active, Out-configThe Y-parameter "Yx035: Setup active, Out-config" can be used to configurethe digital output or flag (MF, MFR) at which the "Setup active" signal isoutput.See also chapter 7.13 "Setup Mode" on page 313.
Attribute Value
ID number Yx035
Name Setup active, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
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Attribute Value
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-93: Attributes of parameter Yx035
Yx036: Setup start position, Out-configThe Y-parameter "Yx036: Setup start position, Out-config" can be used toconfigure the digital output or flag (MF, MFR) at which the "Setup startposition" signal is output.See also chapter 7.13 "Setup Mode" on page 313.
Attribute Value
ID number Yx036
Name Setup start position, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-94: Attributes of parameter Yx036
Yx037: Setup end position, Out-configThe Y-parameter "Yx037: Setup end position, Out-config" can be used toconfigure the digital output or flag (MF, MFR) at which the "Setup endposition" signal is output.See also chapter 7.13 "Setup Mode" on page 313.
Attribute Value
ID number Yx037
Name Setup end position, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-95: Attributes of parameter Yx037
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Yx038: Presignal active, Out-configThe Y-parameter "Yx038: Presignal active, Out-config" can be used toconfigure the digital output or flag (MF, MFR) at which the "Presignal active"signal is output.The presignal programmed in this parameter is applicable for each feedcommand (POI, PSI, POA, PSA). As soon as the distance still to be traveledbecomes smaller than the programmed presignal distance, this output isactivated. The output remains activated constantly or for the programmedtime. Whenever a feed block is re-entered, the output is deactivated.For configuration of the presignal, please refer to chapter "Yx013: Presignalduration" on page 435 and chapter "Yx014: Presignal, distance" on page435.
Attribute Value
ID number Yx038
Name Presignal active, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-96: Attributes of parameter Yx038
Yx039: Axis addressThe Y-parameter "Yx039: Axis address " displays the Sercos address of theaxis. This Y-parameter reads drive parameter "P-0-4025: Drive address ofmaster communication".
Attribute Value
ID number Yx039
Name Axis address
Unit None
Data format UDINT
Display format UDINT
Modifiability No
Minimum 0
Maximum 99
Default value x
Tab. 11-97: Attributes of parameter Yx039
Yx040: Max. number of press strokesThe Y-parameter "Yx040: Max. number of press strokes" is used to displaythe maximum number of strokes of the press.
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This is required for calculation of the "rest-in-rest with velocity limitation" camprofile in case of synchronous cam axes.See also chapter 7.9.4 "Cam axis" on page 251.
ID number Yx040
Name Max. number of press strokes
Unit H/min
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 999999
Default value 20
Tab. 11-98: Attributes of parameter Yx040
Yx041: Safety-related reduced speedY-parameter "Yx041: Safety-related reduced speed" is used to configure thevelocity command value for traversing in the SI special mode “Safe motion”(SMM1–16) safety engineering mode.This parameter is specified in percent of the maximum velocity allowed inSMM1-16 (cf. drive parameters P-0-3244, P-0-3254, P-0-3264, P-0-3274).See also chapter 7.12 "Drive-integrated safety technology" on page 305.If the value is set to "0", the SMC does not automatically limit the commandvelocity. In this case, the superordinate control itself is responsible forspecifying reduced command velocities in manual or automatic mode.
Attribute Value
ID number Yx041
Name Safety-related reduced speed
Unit %
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 100
Default value 80
Tab. 11-99: Attributes of parameter Yx041
Yx042: SI – Lock-off behaviorThe Y-parameter "Yx042: SI – Lock-off behavior" can be used to select thebehavior of slave axes (synchronous or coupled axis) in safety technologymodes SMES, SMST1 and SMST2.The following settings can be made:0: No lock-off from the master axis
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1: Automatic lock-off from the master axis by activating safety technologymode and automatic re-lock-on after exiting safety technology modeSee also:● chapter 7.9 "Synchronous axis" on page 247● chapter 7.10 "Axis coupling" on page 252● chapter 7.12 "Drive-integrated safety technology" on page 305
Where position coupled axes are concerned, the SMC neverreacts to a safety technology operation mode, i.e., there is neverany lock-off.
Attribute Value
ID number Yx042
Name SI – Lock-off behavior
Unit None
Data format UDINT
Display format UDINT
Modifiability P2 + P4
Minimum 0
Maximum 1
Default value 0
Tab. 11-100: Attributes of parameter Yx042
Yx043: Activate position limit switchThe Y-parameter "Yx043: Activate position limit switch" can be used toactivate the position limit switches of Yx044 and Yx045.For a real axis, this Y-parameter has an internal effect on drive parameter"S-0-0055: Position polarities, bit 4".
If the setting for the axis in Yx000: Application type is FlyingCutoff or Flying Cutoff test mode, the value is automatically set to"TRUE" when parameter mode is exited.
Attribute Value
ID number Yx043
Name Activate position limit switch
Unit None
Data format BOOL
Display format BOOL
Modifiability P2
Minimum ---
Maximum ---
Default value FALSE
Tab. 11-101: Attributes of parameter Yx043
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Yx044: Travel limit, maximum valueThe Y-parameter "Yx044: Maximum travel limit" can be used to configure themaximum allowed travel limit. This value only has an effect if parameter"Yx043: Activate position limit" is set to "TRUE".For a real axis, this Y-parameter has an internal effect on drive parameter"S-0-0049: Positive position limit value".
Attribute Value
ID number Yx044
Name Travel limit, maximum value
Unit Depending on Yx008 and Yx010
Data format REAL
Display format REAL
Modifiability P2
Minimum Minimum of S-0-0049
Maximum Maximum of S-0-0049
Default value 1000
Tab. 11-102: Attributes of parameter Yx044
Yx045: Minimum travel limitThe Y-parameter "Yx045: Minimum travel limit" can be used to configure theminimum allowed travel limit. This value only has an effect if parameter"Yx043: Activate position limit" is set to "TRUE".For a real axis, this Y-parameter has an internal effect on drive parameter"S-0-0050: Negative position limit value".
Attribute Value
ID number Yx045
Name Travel limit, minimum value
Unit Depending on Yx008 and Yx010
Data format REAL
Display format REAL
Modifiability P2
Minimum Minimum of S-0-0050
Maximum Maximum of S-0-0050
Default value -1000
Tab. 11-103: Attributes of parameter Yx045
Yx046: Axis diagnostic numberThe Y-parameter "Yx046: Axis diagnostic number" is used to output thecurrent drive diagnostic number. The diagnostic number corresponds to driveparameter "S-0-0390, Diagnostic message number" and should be evaluatedas a hexadecimal value.If the axis is configured as virtual axis, the value is always "0", i.e., thediagnostic number is not generated.
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Attribute Value
ID number Yx046
Name Axis diagnostic number
Unit None
Data format UDINT
Display format HEX
Modifiability No
Minimum 0
Maximum FFFFFh
Default value 0
Tab. 11-104: Attributes of parameter Yx046
Yx047: Configuration cyclic CCD – Process dataThe cyclic CCD process data serves to exchange real-time data between themaster axis and the slave axis. It is automatically configured by the SMCafter switching to operating mode (see IndraWorks - Dialog CCD: Processdata, command values and CCD: Process data, actual values).Y-Parameter "Yx047: Configuration cyclic CCD process data " can be usedfor the user-specific configuration of the actual and command value of thechannel of the cyclic CCD process data.The individual bits in "Yx047" have the following function:
Process data Bit area Bit Function
Commandvalue channel 0 - 15
0
0: "S-0-0037, Additive velocity command value" isconfigured1: "S-0-0037, Additive velocity command value" isnot configured
1 Reserved
... ...
15 Reserved
Actual valuechannel 16 - 31
16 Reserved
... ...
31 Reserved
Tab. 11-105: Function of parameter "Yx047"Observe the following when using the parameter:● Non-configured parameters (e.g., "S-0-0037") can be used for a specific
application in the CCD process data channel (e.g., link of the "P-0-0048"to the "S-0-0037"). The CCD process data channel can be adjustedusing the corresponding IndraWorks dialog (e.g., via CCD: Free processdata).
● If parameter "S-0-0037" is not configured in the command value channelof the CCD process data, the following commands cannot be used inthe SMC program:– "CVA – Velocity-coupled axes: Activation"– "SOC – Velocity-synchronous axis: Configuration"
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In this case, the SMC generates an error.
In general, it is not necessary to adjust the configuration of thecyclic CCD process data and it should therefore only be carriedout in consultation with Bosch Rexroth customer service.
Attribute Value
ID number Yx047
Name Configuration cycl. CCD – Process data
Unit None
Data format UDINT
Display format BIN
Modifiability P2
Minimum 0
Maximum 4294967295
Default value 0
Tab. 11-106: Attributes of parameter Yx047
Yx048: Axis configurationThe axis configuration is set in this parameter. The individual bits in "Yx048"have the following function:
Bit Name/function
0 Monitoring of simultaneous motion command calls0: Monitoring active, i.e. calling motion commands simultaneously (e.g.POI) in different tasks is not possible (e.g. POI). In case of error, the errormessage "E3h: Simultaneous axis commanding in several tasks".1: Monitoring not active, i.e. calling motion commands simultaneously indifferent tasks is not possible.Note: If the monitoring for a simultaneous call of motion commands (bit 0)is not active, no or no unintended block stepping cannot result in case ofmotion commands waiting for an acknowledgement (e.g. PSI command).
31..1 Reserved
Tab. 11-107: Function of parameter "Yx048"
Attribute Value
ID number Yx048
Name Axis configuration
Unit None
Data format UDINT
Display format BIN
Modifiability P2
Minimum 0
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Attribute Value
Maximum 4294967295
Default value 0
Tab. 11-108: Attributes of parameter Yx048
Yx049: Source, torque/force value PFx CmdThe sizes to which the parameters 2 and 3 of the PFC command refer to areset in this parameter. The parameter S-0-0084 "Actual torque/force value" isused by default (value "0"). In this case, torques are entered in % for theparameters 2 and 3 of the PFC command. The actual value of thefunctionality "positive stop drive procedure" refers to the actual torque of thedrive.In all other settings (values unequal to "0"), the forces are entered in Newtonfor the parameters 2 and 3 of the PFC command. The actual value of thefunctionality "positive stop drive procedure" refers to an analogously loadedactual force value. This value can be controlled when reaching the positivestop using a PI-controller (comparison between actual value and parameter 3of the PFC command). This value is then converted into a torque valuecopied to the torque limit S-0-0092 "Torque/force limit value". That meansthat if the positive stop is reached, the torque limit is controlled as long as theabort condition of the PFX commands is fulfilled or until another SMCcommand is started.
Value Source for the parameters 2 and 3 of the PFC command
0 S-0-0084 "Torque/force feedback value"
1 P-0-0210 "Analog input 1"
2 P-0-0211 "Analog input 2"
3 P-0-0228 "Analog input 3"
4 P-0-0229 "Analog input 4"
5 P-0-0208 "Analog input 5"
6 S3 block analog input 1
7 S3 block analog input 2
8 S3 block analog input 3
9 S3 block analog input 4
Tab. 11-109: Function of parameter "Yx049"
Attribute Value
ID number Yx049
Name Source, torque/force value PFx Cmd
Unit None
Data format UDINT
Display format UDINT
Modifiability P2
Minimum 0
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Attribute Value
Maximum 9
Default value 0
Tab. 11-110: Attributes of parameter Yx049
Yx050: Analog constant 1 PFx Cmd [N/unit of the analog input]This parameter is used to convert the analog value (V or mA) into a force inNewton. This value is only significant if a value unequal to "0" is entered intothe parameter Yx049. The analog value is linearly multiplied with the value ofthis parameter.The value remains valid up to the value entered into the parameter Yx054"Start value Analog area 2 PFx Cmd". Afterwards, Yx053 "Analog constant 2PFx Cmd" applies as conversion factor.
Attribute Value
ID number Yx050
Name Analog constant 1 PFx Cmd
Unit N/V or mA
Data format REAL
Display format REAL
Modifiability P2
Minimum -1000000
Maximum 1000000
Default value 0
Tab. 11-111: Attributes of parameter Yx050
Yx051: PControl force controller PFx CmdUse this parameter to enter a P-gain for the PI-controller effective at thepositive stop. This value is only significant if a value unequal to "0" is enteredinto the parameter Yx049. The P-gain is disabled if the value is "0".
Attribute Value
ID number Yx051
Name PControl force controller PFx Cmd
Unit None
Data format REAL
Display format REAL
Modifiability P4
Minimum -10000
Maximum 10000
Default value 0
Tab. 11-112: Attributes of parameter Yx051
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Yx052: IControl force controller PFx CmdUse this parameter to enter an integral action time for the PI-controllereffective at the positive stop. This value is only significant if a value unequalto "0" is entered into the parameter Yx049. The integral action time isdisabled if the value is "0".
Attribute Value
ID number Yx052
Name IControl force controller PFx Cmd
Unit ms
Data format REAL
Display format REAL
Modifiability P4
Minimum 0
Maximum 100000
Default value 0
Tab. 11-113: Attributes of parameter Yx052
Yx053: Analog constant 2 PFx Cmd [N/unit of the analog input]This parameter is used to convert the analog value (V or mA) into a force inNewton. This value is only significant if a value unequal to "0" is entered intothe parameter Yx049. The analog value is linearly multiplied with the value ofthis parameter.The value is valid from the value entered into the parameter Yx054 "Startvalue A, analog area 2 PFx Cmd" as conversion factor.
Attribute Value
ID number Yx053
Name Analog constant 2 PFx Cmd
Unit N/V or mA
Data format REAL
Display format REAL
Modifiability P2
Minimum -1000000
Maximum 1000000
Default value 0
Tab. 11-114: Attributes of parameter Yx053
Yx054: Starting value, analog range 2 PFx Cmd[V or mA]This parameter is used to distinguish between the area for Yx050 Analogconstant 1 and Yx053 Analog constant 2. The value entered marks thebeginning of the area for the analog constant 2 Yx053.
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Parameters
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Attribute Value
ID number Yx054
Name Starting value, analog range 2
Unit N/V or mA
Data format REAL
Display format REAL
Modifiability P2
Minimum 0.0
Maximum 100
Default value 0
Tab. 11-115: Attributes of parameter Yx054
11.4 Y-Parameters for flying cutoff11.4.1 Overview
For a detailed description of the "Flying Cutoff" application type, please referto chapter 7.11 "Flying cutoff" on page 261.
All "Flying Cutoff" Y-parameters listed below only have an effecton the "Flying Cutoff" and "Flying Cutoff test mode" applicationtypes, see also chapter "Yx000: Application type" on page 427. Inall other cases, these Y-parameters are ineffective.
No. Name Function Dataformat
Modifiability
Yx500 Starting block manual cut routine Starting block of the manual cut routine DINT No
Yx501 Starting block maximum stroke routine Starting block of the maximum strokeroutine
DINT No
Yx502 Starting block rapid stop routine Starting block of the rapid stop routine DINT No
Yx503 Min. synchronization cycles Minimum number of PLC cycles forsynchronization
UDINT P2 + P4
Yx504 Return position Return position in Flying Cutoff REAL P2 + P4
Yx505 Return velocity Return velocity in Flying Cutoff REAL P2 + P4
Yx506 Return acceleration Return acceleration in Flying Cutoff REAL P2 + P4
Yx507 Measuring wheel feed constant Feed constant of the measuring encoder REAL P2
Yx508 Maximum stroke position Position definition of the maximum strokeof the carriage
REAL P2 + P4
Yx509 Crop cut length Length for crop cut REAL P2 + P4
Yx510 Maximum part length Maximum possible part length REAL P2 + P4
Yx511 Error reaction maximum part length Error reaction when reaching themaximum part length
UDINT P2 + P4
Yx512 Registration mark sensor distance Registration mark sensor distance REAL P2 + P4
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No. Name Function Dataformat
Modifiability
Yx513 Tool width Offset for tool width REAL P2 + P4
Yx514 Tool offset Offset for tool REAL P2 + P4
Yx515 Tool cycle time Duration of tool program in [ms] REAL P2 + P4
Yx516 Test mode velocity Test mode velocity REAL P2 + P4
Yx517 Acceleration in test mode Acceleration in test mode REAL P2 + P4
Yx518 Material pulse distance Distance between material pulse signalsin [mm]
REAL P2 + P4
Yx519 Flying Cutoff configuration Configuration word for Flying Cutoff UDINT P2 + P4
Yx520 Cut inhibit, In-config System input configuration REAL P2
Yx521 Return inhibit, In-config System input configuration REAL P2
Yx522 Immediate cut, In-config System input configuration REAL P2
Yx523 Crop cut, In-config System input configuration REAL P2
Yx524 Return optimization, In-config System input configuration REAL P2
Yx525 Rapid stop, In-config System input configuration REAL P2
Yx526 Reset material length counter, In-config System input configuration REAL P2
Yx527 Enable test mode, In-config System input configuration REAL P2
Yx528 Reset product length counter, In-config System input configuration REAL P2
Yx529 Scrap cut active, Out-config System output configuration REAL P2
Yx530 Cut inhibit active, Out-config System output configuration REAL P2
Yx531 Return optimization active, Out-config System output configuration REAL P2
Yx532 Return inhibit active, Out-config System output configuration REAL P2
Yx533 Max. part length reached, Out-config System output configuration REAL P2
Yx534 Material pulse, Out-config System output configuration REAL P2
Yx535 Presync pulse, Out-config System output configuration REAL P2
Yx536 Presync value Value of the distance or time for thepresync pulse prior to synchronization
REAL P2 + P4
Yx537 Maximum tailout length Maximum length of usable material afterthe material end has been detected
REAL P2 + P4
Yx538 No Material, In-config System input configuration REAL P2
Yx539 Tailout done, Out-config System output configuration REAL P2
Yx540 Reset production length counter, In-config System input configuration REAL P2
Tab. 11-116: Overview of all (axis-dependent) Flying Cutoff Y-parameters
11.4.2 Detailed DescriptionYx500: Starting line manual cut routine
The Y-parameter "Yx500: Starting block manual cut routine" is used todisplay the starting block of the manual cut routine of the SMC program. Thevalue of the Y-parameter is set after a successful download of an SMCprogram. See also chapter "Manual Cut (Manual Mode)" on page 289.
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The starting block of the manual cut routine is defined in theSMC-Editor via the "BEGIN_FC_MANUAL_CUT_ROUTINE"system label.
If the value is "-1", the routine is not active. Any value in this parameter whichis unequal to "–1" indicates that the manual cut routine is activated.
Attribute Value
ID number Yx500
Name Starting block manual cut routine
Unit None
Data format DINT
Display format DINT
Modifiability No
Minimum -1
Maximum 2999
Default value -1
Tab. 11-117: Attributes of parameter Yx500
Yx501: Starting line maximum stroke routineThe Y-parameter "Yx501: Starting block maximum stroke routine" is used todisplay the starting block of the maximum stroke routine of the SMC program.The value of the Y-parameter is set after a successful download of an SMCprogram.See also chapter "Maximum Stroke Routine" on page 293.
The starting block of the maximum stroke routine is defined in theSMC-Editor via the "BEGIN_FC_MAX_STROKE_ROUTINE"system label.
If the value is "-1", the routine is not active. Any value in this parameter whichis unequal to "-1" indicates that the maximum stroke routine is activated.
Attribute Value
ID number Yx501
Name Starting block maximum stroke routine
Unit None
Data format DINT
Display format DINT
Modifiability No
Minimum -1
Maximum 2999
Default value -1
Tab. 11-118: Attributes of parameter Yx501
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Yx502: Starting line rapid stop routineThe Y-parameter "Yx052: Starting line rapid stop routine" is used to displaythe starting block of the rapid stop routine of the SMC program. The value ofthe Y-parameter is set after a successful download of an SMC program.See also chapter "Rapid Stop Routine" on page 292.
The starting block of the rapid stop routine is defined in the SMC-Editor via the "BEGIN_FC_RAPID_STOP_ROUTINE" systemlabel.
If the value is "-1", the routine is not active. Any value in this parameter whichis unequal to "–1" indicates that the rapid stop routine is activated.
Attribute Value
ID number Yx502
Name Starting block rapid stop routine
Unit None
Data format DINT
Display format DINT
Modifiability No
Minimum -1
Maximum 2999
Default value -1
Tab. 11-119: Attributes of parameter Yx502
Yx503: Min. synchronization cyclesThe Y-parameter "Yx503: Min. synchronization cycles" can be used to set theminimum number of PLC cycles to be used for synchronizing the carriage tothe velocity of the material when synchronizing to the polynomial 5th order(cf. "Yx519, Bit 0 = 0"). The lower the set value, the lower the limit of theacceleration used for synchronization.See also chapter 7.11 "Flying cutoff" on page 261.
When synchronizing to the material velocity with a constantacceleration (cf. "Yx519, Bit 0 = 0"), the parameter has no effect.
Carriage return movementNOTICE
If the minimum number of synchronization cycles is set to a very low value,the carriage sometimes moves back at the beginning of synchronization toextend the synchronization distance.
Attribute Value
ID number Yx503
Name Min. synchronization cycles
Unit Cycles
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Attribute Value
Data format UDINT
Display format UDINT
Modifiability P2 + P4
Minimum 5
Maximum 30
Default value 10
Tab. 11-120: Attributes of parameter Yx503
Yx504: Return positionThe Y-parameter "Yx504: Return position" can be used to set the position atwhich the carriage is in its standstill position waiting for the next productcycle.See also chapter 7.11 "Flying cutoff" on page 261.
Attribute Value
ID number Yx504
Name Return position
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum Yx045
Maximum Yx044
Default value 0
Tab. 11-121: Attributes of parameter Yx504
Yx505: Return velocityThe Y-parameter "Yx505: Return velocity" can be used to set the velocityused by the carriage to make the return motion.The value of parameter "Yx505: Return velocity" must be less than the valueof parameter "Yx004: Maximum velocity". This is checked each timeparameter "Yx505: Return velocity" is edited and when parameter mode isexited. If the value of "Yx004: Maximum velocity" is set to a value lower than"Yx505: Return velocity", the value of "Yx505: Return velocity" isautomatically reduced.
The value of "Yx505: Return velocity" also has an effect on thesynchronization velocity.
Attribute Value
ID number Yx505
Name Return velocity
Unit Depending on Yx010
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Attribute Value
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 1
Maximum Yx004
Default value 1000
Tab. 11-122: Attributes of parameter Yx505
Yx506: Return accelerationThe Y-parameter "Yx506: Return acceleration" can be used to set themaximum acceleration of the carriage. This is applicable both tosynchronization and return of the carriageThe value of parameter "Yx506: Return acceleration" must be less than thevalue of parameter "Yx006: Maximum acceleration". This is checked eachtime parameter "Yx506: Return acceleration" is edited and when parametermode is exited. If the value of "Yx006: Maximum acceleration" is set to avalue lower than "Yx506: Return acceleration", the value of "Yx506: Returnacceleration" is automatically reduced.
The value of "Yx506 Return acceleration" also has an effect onthe synchronization acceleration.
Attribute Value
ID number Yx506
Name Return acceleration
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0.1
Maximum Yx006
Default value 1000
Tab. 11-123: Attributes of parameter Yx506
Yx507: Measuring wheel feed constantThe Y-parameter "Yx507: Measuring wheel feed constant" can be used to setthe feed constant of the measuring encoder.See also chapter 7.11.2 "Configuring the measuring encoder" on page 269.Internally, this Y-parameter has an effect on drive parameter "P-0-0159:Slave drive feed travel".
Attribute Value
ID number Yx507
Name Measuring wheel feed constant
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Attribute Value
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2
Minimum 0
Maximum Maximum of P-0-0-0159
Default value 500
Tab. 11-124: Attributes of parameter Yx507
Yx508: Maximum stroke positionThe Y-parameter "Yx508: Maximum stroke position" can be used to definethe position at which the "Maximum stroke" error is output. If configured, themaximum stroke routine is started in the event of an error.See also chapter "Maximum Stroke Routine" on page 293.
Attribute Value
ID number Yx508
Name Maximum stroke position
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum Yx504
Maximum Yx044
Default value 900
Tab. 11-125: Attributes of parameter Yx508
Yx509: Crop cut lengthThe Y-parameter "Yx509: Crop cut length" can be used to parameterize thelength to which the crop cut is to be made chapter "Crop Cut" on page 291.
Attribute Value
ID number Yx509
Name Crop cut length
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
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Attribute Value
Maximum 999999
Default value 100
Tab. 11-126: Attributes of parameter Yx509
Yx510: Maximum part lengthThe Y-parameter "Yx510: Maximum part length" can be used to parameterizethe maximum length to be machined by the system before the error reactionparameterized in parameter "Yx511: Error reaction maximum part length" istriggered.See also chapter "Maximum Part Length" on page 298.
Attribute Value
ID number Yx510
Name Maximum part length
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 999999
Default value 1000
Tab. 11-127: Attributes of parameter Yx510
Yx511: Error reaction max. part lengthThe Y-parameter "Yx511: Error reaction maximum part length" can be usedto parameterize the error reaction to be triggered if the maximum part length(Yx510) is exceeded.See also chapter "Maximum Part Length" on page 298.The following error reactions can be set:● 0 = Off● 1: Warning● 2 = Error● 3: Force cutThe fact that the maximum part length has been exceeded is displayed bythe signal configured in parameter "Yx533: Max. part length reached, Out-config" (see chapter "Yx533: Max. part length reached, Out-config" on page474). The display is shown when "Warning", "Error" or "Force cut" isconfigured.
Attribute Value
ID number Yx511
Name Error reaction maximum part length
Unit None
Data format UDINT
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Attribute Value
Display format UDINT
Modifiability P2 + P4
Minimum 0
Maximum 3
Default value 0
Tab. 11-128: Attributes of parameter Yx511
Yx512: Registration mark sensor offsetThe Y-parameter "Yx512: Registration mark sensor offset" can be used to setthe distance from the registration mark sensor.See also chapter 7.11 "Flying cutoff" on page 261.
Attribute Value
ID number Yx512
Name Registration mark sensor distance
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum -999999
Maximum 999999
Default value -100
Tab. 11-129: Attributes of parameter Yx512
Yx513: Tool widthThe Y-parameter "Yx513: Tool width" can be used to parameterize an offsetto compensate for a possibly existing width of the blade.
Attribute Value
ID number Yx513
Name Tool width
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 999999
Default value 0
Tab. 11-130: Attributes of parameter Yx513
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Yx514: Tool offsetThe Y-parameter "Yx514: Tool offset" can be used to set the distance of thetool from the starting position of the carriage.
Attribute Value
ID number Yx514
Name Tool offset
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum -999999
Maximum 999999
Default value 0
Tab. 11-131: Attributes of parameter Yx514
Yx515: Tool cycle timeThe Y-parameter "Yx515: Tool cycle time" can be used to specify the(estimated) duration of the tool program. This value serves as an internaloperand. If "0" is set, internal calculation is switched off.See also "Y-parameters describing the machine geometry" on page 264.
Attribute Value
ID number Yx515
Name Tool cycle time
Unit ms
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 999999
Default value 0
Tab. 11-132: Attributes of parameter Yx515
Yx516: Test mode velocityThe Y-parameter "Yx516: Test mode velocity" can be used to parameterizethe velocity of the virtual master axis in test mode. This Y-parameter has aneffect on drive parameter "P-0-0770: Virtual master axis, positioning velocity".This parameter only has an effect in "Flying Cutoff test mode" applicationtype.See also chapter "Test mode (simulation)" on page 285.
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Parameters
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Attribute Value
ID number Yx516
Name Test mode velocity
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum Yx507 * 2048
Default value 1000
Tab. 11-133: Attributes of parameter Yx516
Yx517: Test mode accelerationThe Y-parameter "Yx517: Test mode acceleration" can be used toparameterize the acceleration of the virtual master axis in test mode. Thisparameter only has an effect in "Flying Cutoff test mode" application type.See also chapter "Test mode (simulation)" on page 285.
Attribute Value
ID number Yx517
Name Acceleration in test mode
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 10000
Default value 1000
Tab. 11-134: Attributes of parameter Yx517
Yx518: Material pulse distanceThe Y-parameter "Yx518: Material pulse distance" can be used to define thedistance between two material pulses. The internal counter measures thematerial length that has run through and emits a pulse signal according to theparameterized value. The digital output for the pulse signal is defined in"Yx534: Material pulse, Out-config" (see chapter "Yx534: Material pulse, Out-config" on page 474).For a detailed description, please refer to chapter "Material Pulse" on page302.
Attribute Value
ID number Yx518
Name Material pulse distance
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Attribute Value
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 999999
Default value 1000
Tab. 11-135: Attributes of parameter Yx518
Yx519: Flying cutoff configurationThe Y-parameter "Yx519: Flying Cutoff configuration" can be used toconfigure the "Flying Cutoff" application type.See also chapter 7.11 "Flying cutoff" on page 261.
Attribute Value
ID number Yx519
Name Flying Cutoff configuration
Unit None
Data format UDINT
Display format Binary
Modifiability P2 + P4
Minimum 0
Maximum 4294967295
Default value 0
Tab. 11-136: Attributes of parameter Yx519Meaning of the individual Yx519 bits:
Bit Function
0 Synchronization processes with the material velocity0: Synchronization with polynomial 5th order, i.e., with jerk limitation1: Synchronization with constant acceleration, i.e., without jerk limitation
1 0: If a manual cut is requested with the material moving, an error is generated and a cut is not made1: A manual cut is allowed even with the material moving
2 0: Stationary permanently installed registration sensor1: Moving registration sensor mounted to the carriage
3 0: If the material is not in its home position while the first Flying Cutoff command is to be processed, thereference is automatically set with respect to the return position.1: If the material is not in its home position while the first Flying Cutoff command is to be processed, thereference is generated by an automatic crop cut.
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Bit Function
4 0: If it is no longer possible to synchronize the tool in case of a Flying Cutoff command because the amount ofmaterial having passed through is already too large and the maximum part length has not been reached yet,an error is generated.1: If it is no longer possible to synchronize the tool in case of a Flying Cutoff command because the amount ofmaterial having passed through is already too large and the maximum part length has not been reached yet,an automatic cut is made.
5 0: The return motion is triggered by the Flying Cutoff motion command.1: The return motion is not triggered by the Flying Cutoff motion command. The user must use an appropriatemotion command to move the carriage to the return position.
6 0: The value of parameter "Yx536: Presync value" is evaluated as distance in mm.1: The value of parameter "Yx536: Presync value" is evaluated as time in ms.
7 0: After tailout machining has been done, Cut Inhibit is not set.1: After tailout machining has been done, Cut Inhibit is set.
8 0: Errors in Flying Cutoff mode do not cause the "rapid stop routine" to be called1: Errors in Flying Cutoff mode (diagnostic number between 0200h and 0300h) cause the "rapid stop routine"to be called if an automatic task or the manual routine/manual cut routine is active
9 Bit 9 is ignored if bit 7 is set0: When tailout machining is done, a cut is not forced.1: When tailout machining is done, a cut is forced.
10 Reserved
11 0: Short parts permitted, i.e., the carriage starts the synchronization on the next cut position, even if the returnposition has not been reached1: Short parts permitted, i.e., the carriage starts the synchronization on the next cut position, only if the returnposition has not yet been reached(see also chapter "Short Parts" on page 296)
12 0: Exact calculation for the return optimization1: Approximation of the calculation for the return optimization (old calculation, used up to SMC 12V10)
Yx520: Cut inhibit, In-configThe Y-parameter "Yx520: Cut inhibit, In-config" can be used to configure thedigital input or flag (MS, MF, MFR) emitting the "Cut inhibit" signal, see alsochapter "Cut Inhibit" on page 294.The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"application type is configured.
Attribute Value
ID number Yx520
Name Cut inhibit, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
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Attribute Value
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-137: Attributes of parameter Yx520
Yx521: Return inhibit, In-configThe Y-parameter "Yx521: Return inhibit, In-config" can be used to configurethe digital input or flag (MS, MF, MFR) emitting the "Return inhibit" signal,see also chapter "Return Inhibit" on page 295.The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"application type is configured.
Attribute Value
ID number Yx521
Name Return inhibit, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-138: Attributes of parameter Yx521
Yx522: Immediate cut, In-configThe Y-parameter "Yx522: Immediate cut, In-config" can be used to configurethe digital input or flag (MS, MF, MFR) emitting the "Immediate cut" signal,see also chapter "Manual Cut (Manual Mode)" on page 289 and chapter"Immediate Cut (Automatic Mode)" on page 291.The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"application type is configured.
Attribute Value
ID number Yx522
Name Immediate cut, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-139: Attributes of parameter Yx522
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Yx523: Crop cut, In-configThe Y-parameter "Yx523: Crop cut, In-config" can be used to configure thedigital input or flag (MS, MF, MFR) emitting the "Crop cut" signal, see alsochapter "Crop Cut" on page 291. The crop cut length is configured inparameter "Yx509: Crop cut length" (see chapter "Yx509: Crop cut length" onpage 462).The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"application type is configured.
Attribute Value
ID number Yx523
Name Crop cut, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-140: Attributes of parameter Yx523
Yx524: Return optimization, In-configThe Y-parameter "Yx524: Return optimization, In-config" can be used toconfigure the digital input or flag (MS, MF, MFR) emitting the "Returnoptimization" signal.See also chapter "Return Optimization" on page 295.The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"application type is configured.
Attribute Value
ID number Yx524
Name Return optimization, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-141: Attributes of parameter Yx524
Yx525: Rapid stop, In-configThe Y-parameter "Yx525: Rapid stop, In-config" can be used to configure thedigital input or flag (MS, MF, MFR) emitting the "Rapid stop" signal, with the
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result that the rapid stop routine will be processed. See also chapter "RapidStop Routine" on page 292.The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"application type is configured.
Attribute Value
ID number Yx525
Name Rapid stop, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-142: Attributes of parameter Yx525
Yx526: Reset material length counter, In-configThe Y-parameter "Yx526: Reset material length counter, In-config" can beused to configure the digital input or flag (MS, MF, MFR) emitting the "Resetmaterial length counter" signal (cf. VSx19, VSx24 under chapter "Axis-dependent System Variables" on page 115). See also chapter "MaterialLength Counter" on page 297.The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"application type is configured.
Attribute Value
ID number Yx526
Name Reset material length counter, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-143: Attributes of parameter Yx526
Yx527: Enable test mode, In-configThe Y-parameter "Yx527: Enable test mode, In-config" can be used toconfigure the digital input or flag (MS, MF, MFR) emitting the "Enable testmode" signal, see also chapter "Test mode (simulation)" on page 285.The input is only evaluated if the "Flying Cutoff test mode" application type isconfigured.
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Parameters
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Attribute Value
ID number Yx527
Name Enable test mode, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-144: Attributes of parameter Yx527
Yx528: Reset product length counter, In-configThe Y-parameter "Yx528: Reset product length counter, In-config" can beused to configure the digital input or flag (MS, MF, MFR) emitting the "Resetproduct length counter" signal, see also chapter "Product Length Counter" onpage 297.The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"application type is configured.
Attribute Value
ID number Yx528
Name Reset product length counter, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-145: Attributes of parameter Yx528
Yx529: Scrap cut active, Out-configThe Y-parameter "Yx529: Scrap cut active, Out-config" can be used toconfigure the digital output or flag (MF, MFR) emitting the "Scrap cut active"signal, see also chapter "Scrap Cut Output" on page 298.
Attribute Value
ID number Yx529
Name Scrap cut active, Out-config
Unit None
Data format REAL
Display format Output
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Attribute Value
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-146: Attributes of parameter Yx529
Yx530: Cut inhibit active, Out-configThe Y-parameter "Yx530: Cut inhibit active, Out-config" can be used toconfigure the digital output or flag (MF, MFR) emitting the "Cut inhibit active"signal, see also chapter "Cut Inhibit" on page 294.
Attribute Value
ID number Yx530
Name Cut inhibit active, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-147: Attributes of parameter Yx530
Yx531: Return optimization active, Out-configThe Y-parameter "Yx531: Return optimization active, Out-config" can beused to configure the digital output or flag (MF, MFR) emitting the "Returnoptimization active" signal, see also chapter "Return Optimization" on page295.
Attribute Value
ID number Yx531
Name Return optimization active, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-148: Attributes of parameter Yx531
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Yx532: Return inhibit active, Out-configThe Y-parameter "Yx532: Return inhibit active, Out-config" can be used toconfigure the digital output or flag (MF, MFR) emitting the "Return inhibitactive" signal, see also chapter "Return Inhibit" on page 295.
Attribute Value
ID number Yx532
Name Return inhibit active, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-149: Attributes of parameter Yx532
Yx533: Max. part length reached, Out-configThe Y-parameter "Yx533: Max. part length reached, Out-config" can be usedto configure the digital output or flag (MF, MFR) at which the "Max. partlength reached" signal is output.See also chapter "Yx510: Maximum part length" on page 463 and chapter"Yx511: Error reaction max. part length" on page 463.
Attribute Value
ID number Yx533
Name Max. part length reached, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-150: Attributes of parameter Yx533
Yx534: Material pulse, Out-configThe Y-parameter "Yx534: Material pulse, Out-config" can be used toconfigure the digital output or flag (MF, MFR) emitting the "Material pulse"signal.See also chapter "Yx518: Material pulse distance" on page 466.For a detailed description, please refer to chapter "Material Pulse" on page302.
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Attribute Value
ID number Yx534
Name Material pulse, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-151: Attributes of parameter Yx534
Yx535: Presync pulse, Out-configThe Y-parameter "Yx535: Presync pulse, Out-config" can be used toconfigure the digital output or flag (MF, MFR) emitting the "Presync pulse"signal.See also chapter "Yx536: Presync value" on page 475.For a detailed description, please refer to chapter "Presync Pulse" on page302.
Attribute Value
ID number Yx536
Name Presync pulse, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-152: Attributes of parameter Yx535
Yx536: Presync valueThe Y-parameter "Yx536: Presync value" is used to specify the value whichis used for the presync pulse. Either a distance in mm or inch or a time in msis given, depending on bit 6 of parameter Yx519.The digital output for the pulse signal is defined in "Yx535, Presync pulse,Out-config" (see chapter "Yx535: Presync pulse, Out-config" on page 475).For a detailed description, please refer to chapter "Presync Pulse" on page302.
If "Time" is selected as unit in Yx519, bit 6, a constant materialvelocity is assumed. Otherwise, signal accuracy cannot beensured.
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Attribute Value
ID number Yx536
Name Presync value
Unit Depending on Yx010 and Yx519
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 10000
Default value 3
Tab. 11-153: Attributes of parameter Yx536
Yx537: Maximum tailout lengthThe Y-parameter "Yx537: Maximum tailout length" is used to specify themaximum length of usable material, after the input configured in "Yx538: Nomaterial, In-config" has detected the end of material. See also chapter"Tailout" on page 300.
Attribute Value
ID number Yx537
Name Maximum tailout length
Unit Depending on Yx010
Data format REAL
Display format REAL
Modifiability P2 + P4
Minimum 0
Maximum 999999
Default value 0
Tab. 11-154: Attributes of parameter Yx537
Yx538: No material, In-configThe Y-parameter "Yx538: No material, In-config" can be used to configurethe digital input or flag (MS, MF, MFR) detecting the end of material andinitiating the tailout machining. See also chapter "Tailout" on page 300.The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"application type is configured.
Attribute Value
ID number Yx538
Name No Material, In-config
Unit None
Data format REAL
Display format Input
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Attribute Value
Modifiability P2
Minimum IN_UNUSED (100000)
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-155: Attributes of parameter Yx538
Yx539:Tailout done, Out-configThe Y-parameter "Yx539: Tailout done, Out-config" can be used to configurethe digital output or flag (MF, MFR) emitting the "tailout done" signal. Seealso chapter "Tailout" on page 300.
Attribute Value
ID number Yx539
Name Tailout done, Out-config
Unit None
Data format REAL
Display format Output
Modifiability P2
Minimum OUT_UNUSED (200000)
Maximum MFR199 (500199)
Default value OUT_UNUSED (200000)
Tab. 11-156: Attributes of parameter Yx539
Yx540: Reset product length counter, In-configThe Y-parameter "Yx540: Reset production length counter, In-config" can beused to configure the digital input or flag (MS, MF, MFR) emitting the "Resetproduction length counter" signal (cf. VSx29, VSx30 under chapter "Axis-dependent System Variables" on page 115). See also chapter "Productionlength counter" on page 297).The input is only evaluated if the "Flying Cutoff" or "Flying Cutoff test mode"application type is configured.
Attribute Value
ID number Yx540
Name Reset production length counter, In-config
Unit None
Data format REAL
Display format Input
Modifiability P2
Minimum IN_UNUSED (100000)
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Attribute Value
Maximum MFR199 (500199)
Default value IN_UNUSED (100000)
Tab. 11-157: Attributes of parameter Yx540
11.5 Parameters Influenced by the SMC (S/P-Parameters)The following table provides an overview of S/P-parameters of the IndraDrivewhich are automatically changed by the SMC on switchover from parametermode to manual mode (P2 → P4) or by Y-parameters:
Parameterno. Name Axis
typePoint ofchange Influenced by
S-0-0001 NC cycle time (TNcyc) Master P2 → P4 Is set to the value of Y0001, but not for Sercos III orEtherCAT as master communication.
S-0-0037 Additive velocity commandvalue
Masterandslaves
P4P2 → P4
Is set if the CVA and SOC command is used.When the position-controlled operation mode isactivated, the value is set to "0".Set to "0" on switchover.
S-0-0043 Velocity polarity parameterMasterandslaves
P2 → P4
If Yx011 is set to "FALSE", the value"2#1111_1111_1111_1000" is set; if not, the value"2#0000_0000_0000_0001" is set. Is only written if axis xis a real axis.
S-0-0044 Velocity data scaling typeMasterandslaves
P2 → P4
If Yx008 is set to translatory, bit 0 is set to "TRUE" andbit 1 and bit 2 are set to "FALSE"; if the setting is rotary,bit 1 is set to "TRUE" and bit 0 and bit 2 are set to"FALSE". If Yx010 is set to [inch], bit 4 is set to "TRUE",else to "FALSE".Bit 6 is set to "TRUE" (data reference to load).Is only written if axis x is a real axis.
S-0-0048 Additive position commandvalue
Masterandslaves
P4P2 → P4
Is set if the SPO command is used.Set to "0" on switchover.
S-0-0049 Positive position limit valueMasterandslaves
P2 → P4 If Yx043 is set to "TRUE", the value of Yx044 is writtento the parameter if axis x is a real axis.
S-0-0050 Negative position limitvalue
Masterandslaves
P2 → P4 If Yx043 is set to "TRUE", the value of Yx045 is writtento the parameter if axis x is a real axis.
S-0-0055 Position polaritiesMasterandslaves
P2 → P4
If Yx011 is set to "FALSE", bit 0 is set to "FALSE", elseto "TRUE". If Yx043 is set to "TRUE", bit 4 is set to"TRUE", else to "FALSE".Is only written if axis x is a real axis.
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Parameterno. Name Axis
typePoint ofchange Influenced by
S-0-0076 Position data scaling typeMasterandslaves
P2 → P4
If the scaling type is translatory, bit 0 is set to "TRUE"and bit 1 to "FALSE"; else, bit 0 is set to "FALSE" and bit1 to "TRUE".If Yx010 is set to "TRUE" and the scaling type is set totranslatory, bit 4 is set to "TRUE". Else, bit 4 is set to"FALSE". If the scaling type is absolute, bit 7 is set to"FALSE"; else, bit 7 is set to "TRUE".Is only written if axis x is a real axis.
S-0-0081 Additive torque/forcecommand value
Masterandslaves
P4P2 → P4
Is set if the CTA and TAA command is used.When the torque-controlled operation mode isdeactivated, the value is set to "0".Set to "0" on switchover.
S-0-0082 Torque/force limit valuepositive
Masterandslaves
P2 + P4Set to the value of "Yx007: Maximum torque". Is also setif the MOM command is used.Is only written if axis x is a real axis.
S-0-0083 Torque/force limit valuenegative
Masterandslaves
P2 + P4
The value set is the negated value from "Yx007:Maximum torque". Is also set if the MOM command isused.Is only written if axis x is a real axis.
S-0-0085 Torque/force polarityparameter
Masterandslaves
P2 → P4If Yx011 is set to "TRUE", bit 0 is set to "TRUE", else to"FALSE". Bit 1 and bit 2 are set to "FALSE".Is only written if axis x is a real axis.
S-0-0086 Scaling type for torque/force data
Masterandslaves
P2 → P4 Set to "2#0000_0000_0100_0000".
S-0-0091 Bipolar velocity limit valueMasterandslaves
P2 + P4
Set to the value of "Yx004" * 1.2 + 50 to prevent thedrive from continuously displaying the "E2059 Velocitycommand value limit active" warning. However, thevalue written never exceeds the maximum of S-0-0091.Is only written if axis x is a real axis.
S-0-0092 Bipolar torque/force limitvalue
Masterandslaves
P2 + P4 Set to the value of Yx007.
S-0-0103 Modulo valueMasterandslaves
P2 → P4If the scaling type selected in Yx008 is modulo, the valueof Yx009 is set.Is only written if axis x is a real axis.
S-0-0138 Bipolar acceleration limitvalue
Masterandslaves
P2 → P4
Set to the value of "Yx006" * 1.2 + 50 to prevent thedrive from continuously displaying the "E2070Acceleration limit active" warning. However, the valuewritten never exceeds the maximum of S-0-0138.Is only written if axis x is a real axis.
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Parameters
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Parameterno. Name Axis
typePoint ofchange Influenced by
S-0-0160 Acceleration data scalingtype
Masterandslaves
P2 → P4
If the scaling type is translatory, bit 0 is set to "TRUE"and bit 1 and bit 2 to "FALSE"; else, bit 0 and bit 2 areset to "FALSE" and bit 1 to "TRUE".If Y0010 is set to "TRUE" and the scaling type is set totranslatory, bit 4 is set to "TRUE". Else, bit 4 is set to"FALSE".Bit 6 is always set to "TRUE" (data reference to load).Is only written if axis x is a real axis.
S-0-0169 Touch probe controlparameter
Masterandslaves
P2 → P4 If Yx027 is set to "TRUE", bit 0 and bit 2 are set to"TRUE", else to "FALSE"
S-0-0170 Probing cycle procedurecommand Master P4 If registration mark processing is active in Flying Cutoff
mode, value "3" is set.
S-0-0265 Language selectionMasterandslaves
P2 + P4
If either German, English, French or Spanish is selectedas language in Y000, the respective following value isentered "0" (German), "1" (English), "2" (French) or "3"(Spanish). If a value between 4 and 99 is entered intoY000, the drive parameter remains unchanged
S-0-0269 Storage modeMasterandslaves
P2 → P4 Set to "0" (resident behavior, i.e., parameters remainpreserved even in case of a voltage failure).
S-0-0287 Secondary mode 7Masterandslaves
P2 → P4 If an axis is a position coupled slave axis (cf. Yx000), thevalue is set to "2#0000_0011_0000_0101".
S-0-0370Data container A:Configuration listcommand value -1
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0371Data container A:Configuration list actualvalue 2
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0393 Command value modeMasterandslaves
P2 → P4 Set to "2#0000_0000_0000_0010".
S-0-0417 Positioning velocitythreshold in modulo mode
Masterandslaves
P2 → P4 Set to "0".
S-0-0426 Signal selection probe 1Masterandslaves
P2 → P4If the "Flying Cutoff" application type is selected inYx000, "P-0-0052" is applied. If "Flying Cutoff test mode"is selected, "P-0-0789" is applied.
S-0-0427 Signal selection probe 2Masterandslaves
P2 → P4If the "Flying Cutoff" or "Flying Cutoff test mode"application type is selected in Yx000, "S-0-0051" isapplied.
S-0-0448 Set absolute positioncontrol
Masterandslaves
P4If the homing is activated in manual mode, the selectedencoder configured via "S-0-0147" (bit 3), i.e., motorencoder or optional encoder.
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Parameters
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Parameterno. Name Axis
typePoint ofchange Influenced by
S-0-0490Data container A:Configuration listcommand value 2
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0491Data container A:Configuration listcommand value 3
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0492Data container A:Configuration listcommand value 4
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0493Data container A:Configuration listcommand value 5
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0494Data container A:Configuration listcommand value 6
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0495Data container A:Configuration listcommand value 7
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0496Data container A:Configuration listcommand value 8
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0500Data container A:Configuration list actualvalue 2
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0501Data container A:Configuration list actualvalue 3
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0502Data container A:Configuration list actualvalue 4
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0503Data container A:Configuration list actualvalue 5
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0504Data container A:Configuration list actualvalue 6
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0505Data container A:Configuration list actualvalue 7
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0506Data container A:Configuration list actualvalue 8
Master P2 → P4If a MLD-S is configured and the master communicationis not Sercos III or EtherCat, the content of the list isdeleted.
S-0-0520 Control word of axiscontroller
Masterandslaves
P2 → P4 Bit 0 is set to "FALSE" if no optional encoder isconfigured (P-0-0075 = "0").
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Parameters
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Parameterno. Name Axis
typePoint ofchange Influenced by
S-0-0532 Travel range limit switchparameter
Masterandslaves
P2 → P4
If either the "Flying Cutoff" or the "Flying Cutoff testmode" application type is selected in Yx000, bit 2 it set to"FALSE" (an exceeded travel range is handled as anerror)
S-0-1302.0.3 Application type
Masterandslaves
P2 → P4If "Default" or "SMC_Axis_Nbr_" is entered intoS-0-1302.0.3, the "SMC_Axis_Nbr_x" string is entered,with "x" being the axis number
P-0-0008 Activation E-Stop function Master P2 → P4 If Y0015 is set to "TRUE", the value is set to "1", else to"0".
P-0-0061 Angle offset begin of tableMasterandslaves
P4 Is set if the CMP command is used.
P-0-0084 Number of bits per masteraxis revolution Slaves P2 → P4
If the application type is "Flying Cutoff", the value is setto "20". Otherwise, it is set to the value of the P-0-0773of the master axis.
P-0-0086Configuration wordsynchronous operationmodes
Masterandslaves
P2 → P4 Bits 8 to 15 are set to "TRUE" (new cam format).
P-0-0088 Control wordsynchronization modes
Masterandslaves
P2 → P4 If the "Roll feed" application type is selected in Yx000,value "2#0000_0100_0000_0000" is entered.
P-0-0114 Undervoltage thresholdMasterandslaves
P2 → P4 The value is set to "0" for SAC.
P-0-0117 Activation of control unitreaction on error
Masterandslaves
P2 → P4If the axis belongs to a position coupled axis group (cf.Yx000) and the default error reaction is set, bit 0 is set to'1'.
P-0-0118 Power supply,configuration
Masterandslaves
P2 → P4
Bit 15 is set to "TRUE" for SAC (deactivation of modulebus communication). If the axis belongs to a positioncoupled axis group (cf. Yx000) and the default errorreaction is set, bit 0, bit 1 and bit 7 are set to '0'.
P-0-0119 Best possible decelerationMasterandslaves
P2 → P4If the axis belongs to a position coupled axis group (cf.Yx000) and the default error reaction is set, all bits areset to '0'.
P-0-0155 Synchronization modeMasterandslaves
P2 → P4 With the exception of bit 5, all bits are set to "FALSE".The value of bit 5 remains unaffected.
P-0-0155 Synchronization mode Master P4
The following bits are written during the synchronizationof the Flying Cutoff:● If Bit0 = TRUE in Yx519, Bit8 is set to the value
"TRUE".● If Bit0 = FALSE in Yx519, Bit8 is set to the value
"FALSE" and if the material moves, Bit6 and Bit7are set to the value "TRUE".
● All other bits are set to "FALSE".
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Parameters
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Parameterno. Name Axis
typePoint ofchange Influenced by
P-0-0159 Slave drive feed travel Master P2 → P4
If the "Flying Cutoff" or "Flying Cutoff test mode"application type is selected in Yx000, the value of"Yx507: Measuring wheel feed constant" is written toP-0-0159.
P-0-0185 Encoder 2 control wordMasterandslaves
P2 → P4 If no second encoder was configured, all bits are set to"0"
P-0-0213 Analog input, assignmentA, target parameter
Masterandslaves
P2 → P4 If the controller section is a CSH, parameter "S-0-0000"is applied.
P-0-0218 Analog input, controlparameter
Masterandslaves
P2 → P4 If the controller section is a CSH, the value is set to"2#0000_0000_0001_0000" is applied.
P-0-0236 Analog input, assignmentB, target parameter
Masterandslaves
P2 → P4 If the controller section is a CSH, parameter "S-0-0000"is applied.
P-0-0300 Digital inputs, assignmentlist
Masterandslaves
P2 → P4
The following parameters are applied:● P-0-0115.0 (HMS, HMD)● P-0-0861.9 (HCS)In addition, the following parameters are applied:● S-0-0401 and S-0-0402 (if Yx027 set to "TRUE")● 3 times S-0-0000● S-0-0400 (if Yx023 set to "TRUE")● 2 times S-0-0000● P-0-0223 (if Y0010 set to "TRUE", only master)● 3 times S-0-0000
P-0-0301 Digital inputs, bit numbersMasterandslaves
P2 → P4
If the power section is an "HMS", the value is set to "0" inlist element 0, else to "9". List element 1 is set to "0" ifYx027 is set to "TRUE". List element 5 is set to "0" ifYx023 is set to "TRUE". List element 8 is set to "0", ifY0010 and Y0015 are set to "TRUE" (master only).
P-0-0303 Digital I/O, inputs Master P2 + P4 If an MLD-S is used as master axis, the digital inputs areread to X31/X35 via this drive parameter.
P-0-0304 Digital I/O, outputs Master P2 + P4 If an MLD-S is used as master axis, the digital outputsare read to X31/X35 via this drive parameter.
P-0-0306 Digital inputs, assignmentof connector and pin
Masterandslaves
P2 → P4
If Y0010 is set to "TRUE", the default assignment ofconnector X31 is configured.If Yx023 is set to "TRUE", pin 7 of connector X31 isconfigured.If Yx027 is set to "TRUE", pin 1 of connector X31 isconfigured.
P-0-0310 Digital outputs,assignment list
Masterandslaves
P2 → P4 The following parameter is entered: P-0-0115 (HMS) orP-0-0861 (HCS)
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Parameters
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Parameterno. Name Axis
typePoint ofchange Influenced by
P-0-0311 Digital outputs, bitnumbers
Masterandslaves
P2 → P4 If the power section is an "HMS", the value is set to "0" inlist element 0, else to "9"
P-0-0312 Digital outputs,assignment sub-device
Masterandslaves
P2 → P4 If Y0010 is set to "TRUE", the list element 0 is assignedto the axis
P-0-0316Digital outputs,assignment of connectorand pin
Masterandslaves
P2 → P4If Y0010 is set to "TRUE", pin 8 of the connector X31and the pins 6, 7, 8 and 9 of the connector X35 areconfigured
P-0-0418 Analog output, assignmentA, signal value at 0V
Masterandslaves
P2 → P4 The value is set to "0" for SAC.
P-0-0420 Analog output, assignmentA, signal selection
Masterandslaves
P2 → P4 "P-0-0048, Effective velocity command value" is appliedfor SAC.
P-0-0422 Analog output, assignmentA, scaling [1/V]
Masterandslaves
P2 + P4 The value of "Yx004" divided by "8" is set for SAC.
P-0-0427 Control parameter ofanalog output
Masterandslaves
P2 → P4 Bit 0 and bit 4 are set to "TRUE" for an SAC.
P-0-0456 Position command valuedelay
Masterandslaves
P2 → P4
If the axis is used as master axis with P-0-0457 sourcesignal for position coupled slave axes (cf. Yx000), avalue between "1" and "32" set. Otherwise, the value isalways set to "0".
P-0-0525 Holding brake control wordMasterandslaves
P2 → P4
In case of position-coupled axes (cf. CPA command)with holding brake, Bit 5 for the master axis and theslave axes are set to "TRUE", if the specified errorreaction requires the release of the holding brake.
P-0-0556 Config word of axiscontroller
Masterandslaves
P2 → P4 Bit 4 is set to "TRUE". Bit 1 is set to "TRUE" for an SAC.
P-0-0692 Additive master axisposition, process loop
Masterandslaves
P2 → P4 The value "0" is entered.
P-0-0693Filter time constant, add.master axis pos., processloop
Master P4If the "Flying Cutoff" or "Flying Cutoff test mode"application type is selected in Yx000, the value is set to"0".
P-0-0700 MotionProfile, master axisswitching position
Masterandslaves
P4 Is set if the CMP command is used.
P-0-0750 Master axis revolutions permaster axis cycle
Masterandslaves
P2 → P4
If the application type is "Flying Cutoff", the value is setto "0". Otherwise, it is set to the value of the P-0-0763 ofthe master axis.This parameter is set only if the optional "SNC" functionpackage is activated.
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Parameters
IndraMotion for Metal Forming 14VRS Sequential MotionControl
Bosch Rexroth AG R911343865_Edition 02
Parameterno. Name Axis
typePoint ofchange Influenced by
P-0-0756 Virtual master axis, scalingtype Master P2 → P4
If the scaling type is translatory, bit 0 is set to "TRUE"and bit 1 and bit 2 are set to "FALSE". If the scaling typeis rotary, bit 0 is set to "FALSE", bit 1 to "TRUE" and bit2 to "FALSE". If the scaling type is modulo, bit 7 is set to"TRUE", else to "FALSE".If [mm] is selected as unit in Yx010, bit 4 is set to"FALSE". If [inch] is selected as unit in Yx010, bit 4 is setto "TRUE".
P-0-0757 Virtual master axis,modulo value Master P2 → P4
The value from "Yx009: Modulo value" is entered(multiplied by 10,000) if axis x is configured as a virtualaxis.
P-0-0758 Virtual master axis, actualposition value Master P2 → P4 The value "0" is entered.
P-0-0763 Modulo factor of masteraxis format converter Master P2 → P4
If absolute scaling is selected, the value is set to "0",else to "1" (if P-0-0750 was set to "0" beforehand).If Y0028 is set to measuring encoder, the value is set to"0" if the application type is "Flying Cutoff". Otherwise,the value is set to "1".This parameter is set only if the optional "SNC" functionpackage is activated.
P-0-0765 Modulo factor measuringencoder
Masterandslaves
P2 → P4
If the "Flying Cutoff" or "Flying Cutoff test mode"application type is selected in Yx000, the value is set to"0". If P-0-0052 is selected in Y0028, the value is set to"1".
P-0-0769 Virtual master axis,command value mode Master P2 → P4 The value "2#0000_0000_0000_0010" (shortest
distance) is entered.
P-0-0770 Virtual master axis,positioning velocity Master P2 + P4 The value of "Y166: Test mode velocity" is entered if the
"Flying Cutoff test mode" application type is selected.
P-0-0860 Converter configurationMasterandslaves
P2 → P4 Bit 15 is set to "TRUE" for an SAC.
P-0-0914Virtual master axis,velocity thresholdpositioning
Master P2 → P4 Set to "0".
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Parameters
R911343865_Edition 02 Bosch Rexroth AG
Parameterno. Name Axis
typePoint ofchange Influenced by
P-0-0916Master axis formatconverter for signalselection
Master+ slaves P2 → P4
Depending on Y0028, one of the following parameters isapplied:● S-0-0000 (dummy parameter)● P-0-0758 (virtual master axis)● P-0-0052 (measuring encoder)● P-0-0434 (position command value)● S-0-0051 (Position feedback value 1)● S-0-0053 (Actual position value encoder 2)● P-0-0753 (actual position value in the actual value
cycle)● P-0-1277 (master only, if the master axis position
is formed by a CCD slave)● P-0-0048 (velocity command value controller)If the value entered in parameter Y0028 is "4", no valueis written to P-0-0916 in the master. The value ofS-0-0000 is entered in the CCD slave.
P-0-0917 Control word of masteraxis generator Master P2 → P4 Set to "2#0000_0000_0001_0001" (master axis
generator activated with separate master axis format).
P-0-1270 PLC Global Register A0 Master P4 Control word for cyclic field bus communication.
P-0-1271 PLC Global Register A1 Master P4 Data container in the cyclic field bus communicationcommand value channel
P-0-1272 PLC Global Register A2 Master P4 Status word for cyclic field bus communication.
P-0-1273 PLC Global Register A3 Master P4 Data container in the cyclic field bus communicationactual value channel
P-0-1277 PLC Global Register A7 Master P4 Data container for the master axis value, if a CCD slaveis selected as master axis in Y0028.
P-0-1278 PLC Global Register A8 Master P4Data container for the position command value in caseof position coupling, if CCD slave 1 is selected as masteraxis in Yx000.
P-0-1279 PLC Global Register A9 Master P4Data container for the position command value in caseof position coupling, if CCD slave 2 is selected as masteraxis in Yx000.
P-0-1280 PLC Global Register A10 Master P4Data container for the position command value in caseof position coupling, if CCD slave 3 is selected as masteraxis in Yx000.
P-0-1281 PLC Global Register A11 Master P4Data container for the position command value in caseof position coupling, if CCD slave 4 is selected as masteraxis in Yx000.
P-0-1282 PLC Global Register A12 Master P4Data container for the position command value in caseof position coupling, if CCD slave 5 is selected as masteraxis in Yx000.
P-0-1283 PLC Global Register A13 Master P2 + P4 Control word for acyclic field bus communication
P-0-1284 PLC Global Register A14 Master P2 + P4 Data container in the acyclic field bus communicationactual value channel
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Parameters
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Bosch Rexroth AG R911343865_Edition 02
Parameterno. Name Axis
typePoint ofchange Influenced by
P-0-1285 PLC Global Register A15 Master P2 + P4 Status word for acyclic field bus communication.
P-0-1286 PLC Global Register A16 Master P2 + P4 Data container in the acyclic field bus communicationactual value channel
P-0-1296 PLC Global Register A26 Master P4 Velocity command value for axis 1 when the VOAcommand is used
P-0-1297 PLC Global Register A27 Master P4 Velocity command value for axis 2 when the VOAcommand is used
P-0-1298 PLC Global Register A28 Master P4 Velocity command value for axis 3 when the VOAcommand is used
P-0-1299 PLC Global Register A29 Master P4 Velocity command value for axis 4 when the VOAcommand is used
P-0-1300 PLC Global Register A30 Master P4 Velocity command value for axis 5 when the VOAcommand is used
P-0-1301 PLC Global Register A31 Master P4 Velocity command value for axis 6 when the VOAcommand is used
P-0-1367 PLC configuration Master P2 → P4 Is set to "2#0000_0001_1101_0001".
P-0-1387 PLC Global Register AT0 Master P2 + P4 Cyclically displays the SMC system diagnostics (cf.Y0030)
P-0-1800.0.1CCD: Configuration Master P2 → P4 Bit 5 is set to FALSE
P-0-1800.0.10 CCD: Cycle time Master P2 → P4 Set to the value of Y0001
P-0-1800.0.31
CCD: Extrapolatedcommand value of signalselection
Master P2 → P4 If Y0028 is unequal to "0", P-0-0761 is entered
P-0-1804.x.2CCD: Configuration list ofsignal control word Master P2 → P4 Parameters S-0-0199 and S-0-0393 are entered
P-0-1804.x.4CCD: Assignment list ofthe signal control word Master P2 → P4 Bits 0 and 2 are entered
P-0-1805.x.1CCD: Configuration list ofmaster command values Master P2 → P4
The following parameters are configured:● P-0-1808.x.y● Digital outputs: P-0-1422...P-0-1429● For the slaves of a position coupling: S-0-0051 et
seq. or P-0-1278 et seq.
P-0-1805.x.2CCD: Configuration list ofactual master values Master P2 → P4
The following parameters are configured:● P-0-1808.x.y● Digital inputs: P-0-1440...P-0-1447● For the master of a position coupling: P-0-1278 et
seq.● For a global master: P-0-1277
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Parameters
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Parameterno. Name Axis
typePoint ofchange Influenced by
P-0-1805.x.3CCD: Configuration list ofslave command values Master P2 → P4
The following parameters are configured:● S-0-0092, S-0-0081● Yx047 Bit 0: S-0-0037● Yx047 Bit 1: S-0-0081● Function package SRV or SNC: S-0-0275● Generally: S-0-0130,● Digital outputs: P-0-0304● For the slaves of a position coupling: S-0-0047
P-0-1805.x.4CCD: Configuration list ofactual slave values Master P2 → P4
The following parameters are configured:● S-0-0130, P-0-0210,● SMO: Sx: P-0-3262, Lx: P-0-0106● Optional encoder: S-0-0053● Digital inputs: P-0-0303● For the master of a position coupling: S-0-0051 et
seq.● For a global master: P-0-0761
P-0-1808.x.5CCD: Actual value of datacontainer 4, slave x 2bytes
Master P2 → P4Data container for the torque command value in case oftorque coupling with P-0-0049 if CCD slave x is selectedas master axis in Yx000
P-0-1891 CCD: Actual value datacontainer 4, Slave 1 2Byte Master P4
Data container for the torque command value in case oftorque coupling with P-0-0049, if CCD slave1 is selectedas master axis in Yx000.
P-0-1892CCD: Actual value datacontainer 4, slave 2 2bytes
Master P4Data container for the torque command value in case oftorque coupling with P-0-0049, if CCD slave2 is selectedas master axis in Yx000.
P-0-1893CCD: Actual value datacontainer 4, slave 3 2bytes
Master P4Data container for the torque command value in case oftorque coupling with P-0-0049, if CCD slave3 is selectedas master axis in Yx000.
P-0-1894CCD: Actual value datacontainer 4, slave 4 2bytes
Master P4Data container for the torque command value in case oftorque coupling with P-0-0049, if CCD slave4 is selectedas master axis in Yx000.
P-0-1895CCD: Actual value datacontainer 4, slave 5 2bytes
Master P4Data container for the torque command value in case oftorque coupling with P-0-0049, if CCD slave5 is selectedas master axis in Yx000.
P-0-4004 Magnetizing currentMasterandslaves
P2 → P4 The value is set to "0" for SAC.
P-0-4021 Baud rate RS-232/485 Master P2 → P4 The value is set to "2" (38.4 kbauds).
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Parameters
IndraMotion for Metal Forming 14VRS Sequential MotionControl
Bosch Rexroth AG R911343865_Edition 02
Parameterno. Name Axis
typePoint ofchange Influenced by
P-0-4080 Field bus: Config. list ofcyclic actual value data ch. Master P2 → P4
If Y0010 is set to "TRUE" and master communication isset to "Profibus" or "Profinet", the following parametersare assigned to the list: P-0-4078, P-0-1414..P-0-1419,P-0-1272, P-0-1273.If Y0010 is set to "TRUE" and master communication isset to "Ethernet/IP", the following parameters areassigned to the list: P-0-4078, S-0-0000,P-0-1414..P-0-1419, P-0-1272, P-0-1273.
P-0-4081Field bus: Config. list ofcyclic command valuedata ch.
Master P2 → P4
If Y0010 is set to "TRUE" and master communication isset to "Profibus" or "Profinet", the following parametersare assigned to the list: P-0-4077, P-0-1394..P-0-1399,P-0-1270, P-0-1271.If Y0010 is set to "TRUE" and master communication isset to "Ethernet/IP", the following parameters areassigned to the list: P-0-4077, S-0-0000,P-0-1394..P-0-1399, P-0-1270, P-0-1271.
P-0-4084 Field bus: Profile type Master P2 → P4 If master communication is set to "Profibus", "Profinet" or"Ethernet/IP", the value "FFFD" is set.
P-0-4088 Master communication:Drive configuration Master P2 → P4
Bit3 (runs according to "bb" if there is no mastercommunication) and Bit0 (device remains in parametermode after powering up) are set to TRUE.
P-0-4095 RS-232/485 Parity Master P2 → P4 The value "0" is entered.
Tab. 11-158: S/P-parameters of the drive, which are influenced by the SMC
11.6 S/P-Parameters of IndraDriveFor a list with related documentation, please refer to the chapter 1 RelatedDocumentation, page 1.This list also includes the IndraDrive parameter description(DOK-INDRV*-GEN-**VRS**-PA**-EN-P) as well as related documentationson firmware and hardware.
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12 Connection diagrams12.1 General information
For the pin assignments of the IndraDrive hardware, refer to the followingproject planning manuals:● IndraDrive Cs Drive Systems with HCS01
DOK-INDRV*-HCS01******-PRxx-EN-P● IndraDrive Mi, Drive Systems with KCU02, KSM02, KMS02/03, KMV03
DOK-INDRV*-KCU02+KSM02-PRxx-EN-P● IndraDrive ML, Drive Systems with HMU05
DOK-INDRV*-Hxx05******-PRxx-EN-P● Supply Units, power Section HMV, HMS, HMD, HCS02, HCS03
DOK-INDRV*-HMV-S-D+HCS-PRxx-EN-P● IndraDrive Control Sections CSE02, CSB02, CDB02, CSH02
DOK-INDRV*-Cxx02******-PRxx-EN-P
12.2 Input/output assignment of the I/OsThe following two tables show the default assignment of I/O signals on theconnectors X31, X35, X36 and X37 of the master board card (if parameterY010 was "TRUE" when switching from "Parameter mode" to "Manualmode").
Pin I/O Function Parameter Bit no.
1 I Touch probe 1 P-0-0401 0
2 I Touch probe 2 P-0-0402 0
3 I E-Stop input 2) P-0-0223 0
4 I Not assigned S-0-0000 0
5 I Not assigned S-0-0000 0
6 I Not assigned S-0-0000 0
7 I Reference switch S-0-0400 0
8 O 1) Not assigned S-0-0000 0
1) Can also be configured as input2) Only configured for the SMC masterTab. 12-1: Connector X31 - IndraDrive: Advanced, Basic, Economy - IndraDrive
Cs: Advanced, Basic, Economy
Pin I/O Function Parameter Bit no.
1.1 I Axis 1 - Touch probe 1 P-0-0401 0
1.2 I Axis 1 - Touch probe 2 P-0-0402 0
1.3 I Axis 1 - Not assigned S-0-0000 0
1.4 I Axis 1 - Not assigned S-0-0000 0
1.5 I Axis 1 - Not assigned S-0-0000 0
1.6 I Axis 1 - Not assigned S-0-0000 0
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1.7 I Axis 1 - Reference switch S-0-0400 0
1.8 O 1) Axis 1 - Not assigned S-0-0000 0
2.1 I Axis 2 - Touch probe 1 P-0-0401 0
2.2 I Axis 2 - Touch probe 2 P-0-0402 0
2.3 I Axis 2 - Not assigned S-0-0000 0
2.4 I Axis 2 - Not assigned S-0-0000 0
2.5 I Axis 2 - Not assigned S-0-0000 0
2.6 I Axis 2 - Not assigned S-0-0000 0
2.7 I Axis 2 - Reference switch S-0-0400 0
2.8 O 1) Axis 2 - Not assigned S-0-0000 0
1) Can also be configured as inputTab. 12-2: Connector X31 - IndraDrive: Double Axis
Pin I/O Function Parameter Bit no.
1 - Connection for cable shield - -
2I Analog input P-0-0210 -
3
Tab. 12-3: Connector X32 - IndraDrive: Advanced, Basic, Economy - IndraDriveCs: Advanced, Basic, Economy
Pin I/O Function Parameter Bit no.
1.1 - Connection for cable shield - -
1.2I Axis 1 - Analog input P-0-0210 -
1.3
2.1 - Connection for cable shield - -
2.2I Axis 2 - Analog input P-0-0210 -
2.3
Tab. 12-4: Connector X32 - IndraDrive: Double Axis
Pin I/O Function Parameter Bit no.
1.1 - Voltage supply of the digital inputsand outputs - -
1.2 - GND reference of the digital inputsand outputs - -
2.1 - Bb relay - -
2.2 - Bb relay - -
Tab. 12-5: Connector X33 - IndraDrive: Advanced, Basic, Economy, Double Ax‐is
Pin I/O Function Parameter Bit no.
1.1I Analog input 2) P-0-0211
-
1.2 -
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Pin I/O Function Parameter Bit no.
1.3 - Connection for cable shield - -
1.4O Analog output 2) P-0-0139
-
1.5 -
1.6 O 1) Not assigned S-0-0000 0
1.7 O 1) Not assigned S-0-0000 0
1.8 O 1) Not assigned S-0-0000 0
1.9 O 1) Not assigned S-0-0000 0
2.1I Analog input 2) P-0-0228 -
2.2
2.3 - Connection for cable shield - -
2.4O Analog output 2) P-0-0140 -
2.5
2.6 I Not assigned S-0-0000 0
2.7 I Not assigned S-0-0000 0
2.8 I Not assigned S-0-0000 0
2.9 I Not assigned S-0-0000 0
1) Can also be configured as input2) Can only be used for the SMC masterTab. 12-6: Connector X35 - IndraDrive: Advanced, Basic
Pin I/O Function Parameter Bit no.
1.1I Analog output 2) - -
1.2
1.3 - Connection for inner shield of cables - -
1.4 O 1) Not assigned S-0-0000 0
1.5 O 1) Not assigned S-0-0000 0
1.6 O 1) Not assigned S-0-0000 0
2.1I Analog output 2) - -
2.2
2.3 - Connection for inner shield of cables - -
2.4 O 1) Not assigned S-0-0000 0
2.5 O 1) Not assigned S-0-0000 0
2.6 O 1) Not assigned S-0-0000 0
1) Can also be configured as input2) Cannot be used in the SMCTab. 12-7: Connector X36 - IndraDrive: Double Axis
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Pin I/O Function Parameter Bit no.
1.1 I Not assigned S-0-0000 0
1.2 I Not assigned S-0-0000 0
1.3 I Not assigned S-0-0000 0
1.4 I Not assigned S-0-0000 0
1.5 I Not assigned S-0-0000 0
1.6 I Not assigned S-0-0000 0
1.7 - 24 V - voltage supply - -
1.8 - 0 V - voltage supply - -
2.1 I 1) Not assigned S-0-0000 0
2.2 I 1) Not assigned S-0-0000 0
2.3 O Not assigned S-0-0000 0
2.4 O Not assigned S-0-0000 0
2.5 O Not assigned S-0-0000 0
2.6 O Not assigned S-0-0000 0
2.7 O Not assigned S-0-0000 0
2.8 O Not assigned S-0-0000 0
1) Can also be configured as inputTab. 12-8: Connector X37 - Option DA - IndraDrive: Advanced, Basic, Double
Axis - IndraDrive Cs: Advanced, Basic
Pin I/O Function Parameter Bit no.
1.1O Analog output 1) P-0-0414 -
1.2
1.3 - Connection for inner shield of cables - -
1.4O Analog output 1) P-0-0415 -
1.5
2.1I Analog input 1) P-0-0229 -
2.2
2.3 - Connection for inner shield of cables - -
2.4I Analog input 1) P-0-0208 -
2.5
1) Can only be used for the SMC masterTab. 12-9: Connector X38 - Option DA - IndraDrive: Advanced, Basic, Double
Axis - IndraDrive Cs: Advanced, Basic
Pin I/O Function Parameter Bit no.
1.1O Analog output 1) P-0-0414 -
1.2
1.3 - Connection for inner shield of cables - -
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Pin I/O Function Parameter Bit no.
1.4O Analog output 1) P-0-0415 -
1.5
2.1I Analog input 1) P-0-0229 -
2.2
2.3 - Connection for inner shield of cables - -
2.4I Analog input 1) P-0-0208 -
2.5
1) Can only be used for the SMC masterTab. 12-10: Connector X38 - Option DA - IndraDrive: Advanced, Basic, Double
Axis - IndraDrive Cs: Advanced, Basic
12.3 Input/output assignment of the parallel interfaceThe following table provides the default configuration of the I/O signals on theparallel interface (X15 plug).
Pin I/O Function Par. Bit Pin I/O Function Par. Bit
1 I Automatic mode S-0-00002 0 5 I Not assigned1) S-0-00002 0
20 I Start S-0-00002 0 24 I Not assigned1) S-0-00002 0
2 I nStop S-0-00002 0 6 I Not assigned1) S-0-00002 0
21 I Clear error S-0-00002 0 25 I Not assigned1) S-0-00002 0
3 I Not assigned1) S-0-00002 0 7 I Not assigned1) S-0-00002 0
22 I Not assigned1) S-0-00002 0 26 I Not assigned1) S-0-00002 0
4 I Not assigned1) S-0-00002 0 8 I Not assigned1) S-0-00002 0
23 I Not assigned1) S-0-00002 0 27 I Not assigned1) S-0-00002 0
9 PWR GNDext -- -- 30 PWR Uext0 -- --
28 O Manual mode P-0-1414 0 33 O Not assigned P-0-1414 8
10 O Automatic mode P-0-1414 1 15 O Not assigned P-0-1414 9
29 O SMC program valid P-0-1414 2 34 O Not assigned P-0-1414 10
11 O Run P-0-1414 3 16 O Not assigned P-0-1414 11
14 PWR Uext1 -- -- 35 PWR Uext2 -- --
12 O Drive enable for axes P-0-1414 4 17 O Not assigned P-0-1414 12
31 O Operating barrier P-0-1414 5 36 O Not assigned P-0-1414 13
13 O Errorneg P-0-1414 6 18 O Not assigned P-0-1414 14
32 O Not assigned P-0-1414 7 37 O Not assigned P-0-1414 15
19 PWR Uext3 -- --
1) All unassigned input signals can be used for safety technologyand other features.
2) The input word is directly read from drive parameter S-0-0145.Tab. 12-11: Connector X15, HCC01
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12.4 Connection diagrams of the Sercos III I/O modules12.4.1 Sercos III I/O module with digital inputs and outputs
The connection diagrams of the Rexroth Inline Sercos III I/O module withdigital inputs and outputs (module R-ILB S3 24 DI16 DIO16) can be found inthe "DOK-CONTRL-S3DI16/DIO16-KB01-EN-P" documentation.
12.4.2 Sercos III I/O module with analog inputs and outputsThe connection diagrams of the Rexroth Inline Sercos III I/O module withanalog inputs and outputs (module R-ILB S3 AI4 AO2) can be found in the"DOK-CONTRLS3AI4AO2- KB01-EN-P" documentation.
12.5 Encoder connectionThe interface is provided as X4 for the motor encoder and as X8 or X10(option EC) as optional or external encoder.The following encoder systems are supported:● MSM motor encoder● MSK motor encoder● Sin/cos encoder 1 Vss; HIPERFACE®● Sin/cos encoder 1 Vss; EnDat 2.1● Sin/cos encoder 1 Vss; with reference track● 5-V-TTL square wave encoder; with reference track● SSI● SSI combi encoder (combination of SSI and Sin-Cos encoders 1 Vss)● Resolvers (resolvers are not supported if an optional safety technology
"Safe Motion" is available at the same time)● Hall sensor box SHL02.1● Digital Hall sensor together with Hall sensor adapter box SHL03.1
Connection Signal Function
1 GND_shld Connection for signal shields (internal shields)
2 A+ Analog track A positive
3 A- Analog track A negative
4 GND_Encoder Reference potential of the voltage supplies
5 B+ Analog track B positive
6 B- Analog track B negative
7EncData+ Data transfer positive
A+TTL Track A TTL positive
8EncData- Data transfer negative
A-TTL Track A TTL negative
9 R+ Reference track positive
10 R- Reference track negative
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11 +12V Encoder supply 12 V
12 +5V Encoder supply 5 V
13EncCLK+ Cycle positive
B+TTL Track B TTL positive
14EncCLK- Cycle negative
B-TTL Track B TTL negative
15Sense- Return of the reference potential (Sense line)
VCC_Resolver Resolver power supply
Connectorhousing Outer shield
Tab. 12-12: Connector X4, X8, X10 - Pin assignment
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13 Service and supportOur worldwide service network provides an optimized and efficient support.Our experts offer you advice and assistance should you have any queries.You can contact us 24/7.
Service Germany Our technology-oriented Competence Center in Lohr, Germany, isresponsible for all your service-related queries for electric drive and controls.Contact the Service Hotline and Service Helpdesk under:
Phone: +49 9352 40 5060Fax: +49 9352 18 4941E-mail: [email protected]: http://www.boschrexroth.com
Additional information on service, repair (e.g. delivery addresses) and trainingcan be found on our internet sites.
Service worldwide Outside Germany, please contact your local service office first. For hotlinenumbers, refer to the sales office addresses on the internet.
Preparing information To be able to help you more quickly and efficiently, please have the followinginformation ready:● Detailed description of malfunction and circumstances● Type plate specifications of the affected products, in particular type
codes and serial numbers● Your contact data (phone and fax number as well as your e-mail
address)
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IndexAAbbreviations........................................................ 3Abort program................................................... 320Abort program, In-config................................... 408About this documentation..................................... 1
Validity of the documentation........................... 1ACC.................................................................. 144Acceleration change......................................... 144Access to inputs, outputs, flags and varia‐bles................................................................... 373Acknowledge bit................................................ 146Activate position limit switch............................. 449Active system command................................... 416Active system command status........................ 416Adding more Sercos III slaves............................ 20Address
Sercos I/O 1................................................. 418Sercos I/O 2................................................. 418Sercos I/O 3................................................. 419Sercos I/O 4................................................. 419
AEA................................................................... 146AKN................................................................... 146AKP............................................................. 27, 146Analog constant 1 PFx Cmd............................. 454Analog constant 2 PFx Cmd............................. 455ANSI Z535.6-2006................................................ 2APE............................................................. 27, 148Application type................................................. 427Archiving and restoring projects........................ 383AutoConfig I/Os................................................. 404Automatic formatting........................................... 42Automatic mode................................................ 230Automatic mode, In-config................................ 405Automatic mode, Out-config............................. 409Automatic tasks................................................. 103Axis address..................................................... 447Axis configuration.............................................. 452Axis coupling..................................................... 252Axis diagnostic number..................................... 450Axis type........................................................... 429Axis-dependent system inputs.......................... 129
Crop cut....................................................... 132Cut Inhibit..................................................... 132Drive enable................................................. 130Homing......................................................... 131Homing switch.............................................. 132Immediate cut.............................................. 132Jog –............................................................ 131Jog +............................................................ 131Lift rolls......................................................... 131nFeedControl............................................... 132nInterrupt...................................................... 130No material................................................... 133Optional encoder.......................................... 131Rapid stop.................................................... 132
Registration mark......................................... 132Reset material length counter...................... 133Reset product length counter....................... 133Reset production length counter.................. 133Return Inhibit................................................ 132Return optimization...................................... 132Rolls closed.................................................. 131Setup end..................................................... 132Setup mode.................................................. 132Test mode.................................................... 133
Axis-dependent system outputs........................ 134Cut inhibit active........................................... 136Drive enabled............................................... 135In position..................................................... 135In reference.................................................. 135Lift rolls enabled........................................... 135Material pulse............................................... 136Maximum part length reached..................... 136Optional encoder active............................... 135Presignal active............................................ 135Presync pulse.............................................. 136Return inhibit active..................................... 136Return optimization active............................ 136Scrap cut active........................................... 136Setup active................................................. 135Setup end position....................................... 135Setup start position...................................... 135Tailout done................................................. 136Velocity reached.......................................... 135
Axis-independent system inputs....................... 127Abort program.............................................. 129Automatic mode..................................... 58, 128Clear error.............................................. 58, 128Manual routine............................................. 129nE-Stop........................................................ 128nStop...................................................... 58, 128Parameter mode.......................................... 128Restart......................................................... 129Single step............................................. 58, 128Start....................................................... 58, 128
Axis-independent system outputs..................... 133Automatic mode..................................... 59, 134Drive enabled............................................... 134Manual mode............................................... 134nError..................................................... 58, 133Operating barrier.......................................... 134Parameter mode.......................................... 134Restart possible........................................... 134Run........................................................ 59, 134SMC program valid...................................... 134
BBAC................................................................... 150BCE................................................................... 151BIC.............................................................. 27, 151
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Branch conditional on bit................................... 151Branch conditional on bit mask......................... 151Branch conditional on count.............................. 150Build menu.......................................................... 44
CCam axes: Activation........................................ 153Cam axis................................................... 251, 330
Commands................................................... 251Parameterization.......................................... 251
Cam axis: Configuration.................................... 154Cam axis: Motion step...................................... 155Cam axis: Profile............................................... 160Cam axis: Settings............................................ 162Cams................................................................... 29CCD
Configuration.................................................. 20Cyclic data................................................... 391Free process data........................................ 391Signal control word...................................... 393Signal status word........................................ 393
Change record...................................................... 1CIO.............................................................. 27, 152Clear error, In-config......................................... 405Clear outputs............................................. 318, 404Clear position lag.............................................. 167Clear subroutine stack...................................... 170CMA.................................................................. 153CMC.................................................................. 154CMM.................................................................. 155CMP.................................................................. 160CMS.................................................................. 162Command description....................................... 144Commanding the axes using PLCopen func‐tion blocks or axis interfaces ............................ 377Commissioning the Sercos III slaves.................. 20Communication with an external PLC................... 9Compare and jump........................................... 167Compare and set a bit....................................... 169Complaints............................................................ 4Complete backup.............................................. 359Complete restoration......................................... 360CON.................................................................. 164Configuration
Sercos I/O 1................................................. 419Sercos I/O 2................................................. 420Sercos I/O 3................................................. 420Sercos I/O 4................................................. 421
Configuration cyclic CCD – process data.......... 451Connection diagrams........................................ 491
General information..................................... 491Input/output assignment of the I/Os............. 491Input/output assignment of the parallel in‐terface.......................................................... 495Sercos III I/O Modules................................. 496
Continuous operation........................................ 164Control
VCP control.................................................... 76Converting variable <-> bit pattern.................... 177Copy bit field..................................................... 152COU.................................................................. 164Counter............................................................. 164CPA................................................................... 165CPJ................................................................... 167CPL................................................................... 167CPS................................................................... 169Creating an SMC program.................................. 25Criticism................................................................ 4CRL................................................................... 169Crop cut............................................................ 291Crop cut length.................................................. 462Crop cut, In-config............................................. 470CST................................................................... 170CTA................................................................... 171CTC................................................................... 173Customer Feedback.............................................. 4Cut inhibit.......................................................... 294Cut inhibit active, Out-config............................. 473Cut inhibit, In-config.......................................... 468CVA................................................................... 174CVC.................................................................. 176CVT............................................................. 29, 177Cycle time......................................................... 398Cyclic CCD data................................................ 391Cyclic task......................................................... 107
DDA option card...................................................... 8Data storage......................................................... 9Debug functions
only for Sequential Motion Control................. 57Diagnostic numbers.......................................... 342Diagnostics....................................................... 341Digital inputs and outputs.................................. 121Disabling I/Os.................................................... 424Display defective................................................. 32Documentation
Change record................................................. 1Drive controller
Replace.......................................................... 30Drive enable, In-config...................................... 436Drive enable, Out-config........................... 410, 442Drive-controlled positioning............................... 305
EE-STOP active (SMES)..................................... 312EC option cards.................................................... 8EDG.................................................................. 179Edge detection bit............................................. 179Edit menu............................................................ 43Enable axis....................................................... 429Enable test mode, In-config.............................. 471End of synchronization.............................. 179, 279EOS.......................................................... 179, 279
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Error detection.................................................. 341Error diagnostics............................................... 345Error numbers................................................... 345Error reaction max. part length......................... 463EtherCAT
General information....................................... 76Ethernet communication..................................... 16
Changing the network settings....................... 16Commissioning the drives withIndraWorks..................................................... 18Going online with the SMC-Editor.................. 17Testing the IP address................................... 17
Ethernet/IPGeneral information....................................... 76
External compiler................................................ 74External encoder............................................... 241
FFAK................................................................... 180Feedback.............................................................. 4Field bus
Communication types.................................... 78Cyclic communication.................................... 78Data access and data exchange.................... 78Data check..................................................... 92Data communication...................................... 81Error codes.................................................... 91Field bus interface structure........................... 81Field bus master request scheme.................. 81Field bus slave request scheme.................... 83Handshaking.................................................. 92Overview........................................................ 76Parameter channel......................................... 80System configuration..................................... 78
Field of application................................................ 5File menu............................................................ 42Firmware version of the SMC........................... 422Flags................................................................. 119
Programmable flags..................................... 119System flags................................................ 120
Flying CutoffApplication types.......................................... 261Configuring the measuring encoder............. 269Cut inhibit..................................................... 294Error ............................................................ 279Errors during Flying Cutoff motion com‐mands.......................................................... 279Example without registration sensor............ 337Flying Cutoff commands.............................. 271Flying Cutoff functions................................. 285Function....................................................... 261Material length counter................................ 297Maximum part length................................... 298Maximum stroke routine............................... 293Motion commands....... 261, 271, 273, 274, 276,279Overview...................................................... 261
Part separation............................................. 299Presync pulse.............................................. 302Product length counter................................. 297Production length counter............................ 297Program example if Flying Cutoff is used.... 280Registration.................................................. 338Return inhibit................................................ 295Return optimization...................................... 295Scrap cut output........................................... 298Sequence summary..................................... 303Short parts................................................... 296Short parts inhibit......................................... 296SMC program example................................ 280Tailout machining......................................... 300Travel pulse................................................. 302
Flying Cutoff commandsEOS – End of synchronization..................... 279LMC – Part length by registration markcounter......................................................... 276LMK – Part length or registration mark........ 274LML – Part length......................................... 271LMR – Part length by registration mark........ 273
Flying Cutoff configuration................................ 467Flying Cutoff functions
Crop cut....................................................... 291Cut inhibit..................................................... 294Immediate cut (automatic mode)................. 291Manual cut (manual mode).......................... 289Material length counter................................ 297Material pulse............................................... 302Maximum part length................................... 298Maximum stroke routine............................... 293Part Separation............................................ 299Presync pulse.............................................. 302Product length counter................................. 297Production length counter............................ 297Rapid stop routine........................................ 292Return inhibit................................................ 295Return optimization...................................... 295Scrap cut output........................................... 298Short parts................................................... 296Tailout.......................................................... 300Test mode (simulation)................................ 285
Flying Cutoff routineMaximum stroke routine............................... 109Rapid stop routine........................................ 109
Flying Cutoff routines........................................ 109FOA................................................................... 181FOC.................................................................. 182Free process data............................................. 391FTP debug output............................................... 44FUN................................................................... 183Functional description......................................... 42
Build menu..................................................... 44Debug function - Sequential Motion Con‐trol.................................................................. 57Edit menu....................................................... 43External compiler........................................... 74
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File menu....................................................... 42Online menu................................................... 47Parameter box............................................... 59Target system toolbar.................................... 51Tools menu.................................................... 44Useful shortcuts............................................. 76
Functions.................................................. 183, 229Axis coupling........................ 252, 257, 259, 260External encoder.......................................... 241Flying Cutoff................................................. 261Operation modes......................................... 229Optional encoder (measuring wheelmode)........................................................... 239Overview on synchronization modes andaxis coupling................................................ 243Parking axis................................................. 242Synchronous axis......................................... 247System commands...................................... 232Velocity override.......................................... 241Virtual axis................................................... 243
GGSD file............................................................... 93
HHazard warnings................................................... 1Helpdesk........................................................... 499HOM.................................................................. 185Home axis......................................................... 185Homing...................................................... 305, 314Homing switch, In-config................................... 439Homing, In-config.............................................. 439Hotline............................................................... 499
IIControl force controller PFx Cmd..................... 455Immediate cut............................................. 29, 291Immediate cut, In-config.................................... 469Important instruction for use............................... 13Improper use....................................................... 14In position, Out-config....................................... 444In reference, Out-config.................................... 443Information representation
Names and abbreviations................................ 3Input support....................................................... 39
Automatic formatting...................................... 42Intellisense..................................................... 39Symbolic addressing...................................... 40
Input window for variables.................................. 39Intellisense.......................................................... 39Intended use....................................................... 13Interrupt, In-config............................................. 436
JJMP................................................................... 186Jog velocity....................................................... 430Jog-, In-config................................................... 439
Jog+, In-config.................................................. 438JSR................................................................... 187JST.................................................................... 187JTK.................................................................... 188Jump and stop.................................................. 187Jump to subroutine........................................... 187
LL3, Safe torque off............................................ 309L4, Safe torque off and safe brake control........ 309Language.......................................................... 397Language version............................................. 138Lift rolls.............................................................. 316Lift rolls active, Out-config................................. 443Lift rolls, In-config.............................................. 437Linking external and internal inputs and out‐puts................................................................... 369LMC.......................................................... 190, 276LMK........................................................... 191, 274LML........................................................... 191, 271LMR.......................................................... 191, 273Loading of SMC program blocks (Onlinechange)............................................................. 378Loading user program......................................... 99
MManual cut........................................................ 289Manual cut routine............................................ 106Manual mode.................................................... 229Manual mode, Out-config.................................. 410Manual routine.................................................. 104Manual routine after automatic mode............... 403Manual routine, In-config.................................. 408Master axis selection of the system.................. 412MAT.................................................................. 192Material length counter..................................... 297Material length output....................................... 192Material pulse distance..................................... 466Material pulse, Out-config................................. 474Mathematics...................................................... 192Max. number of press strokes........................... 447Max. part length reached, Out-config................ 474Maximum acceleration...................................... 431Maximum part length................................ 298, 463Maximum stroke position.................................. 462Maximum stroke routine.............................. 29, 293Maximum tailout length..................................... 476Maximum torque............................................... 432Maximum velocity............................................. 430Measuring encoder
Configuration................................................ 269Measuring wheel feed constant........................ 461MF/MFR............................................................ 119MicroAdjust....................................................... 435Min. synchronization cycles.............................. 459Minimum travel limit.......................................... 450MLO.................................................................. 192
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Modulo value..................................................... 433MOM................................................................. 193MS..................................................................... 120Multilingualism.................................................. 319Multiplication factor for feed.............................. 180Multitasking....................................................... 101
Automatic tasks............................................ 103Flying Cutoff routines................................... 109Manual cut routine....................................... 106Manual routine............................................. 104
NnE-stop, In-config.............................................. 407Negation of positioning data............................. 434nError, Out-config............................................. 409Next error............................................................ 43nFeedControl, In-config.................................... 441No material, In-config........................................ 476No operation..................................................... 194NOP.................................................................. 194nStop, In-config................................................. 408Number of axes................................................. 417Number of Sercos I/Os..................................... 417
OOnline change .................................................. 378Online menu........................................................ 47Operate............................................................... 37Operating
Load user program......................................... 99Operating barrier, Out-config............................ 412Operation
Field bus........................................................ 76SMC-Editor.................................................... 37
Operation modes.............................................. 229Option / General.................................................. 45Optional encoder (measuring wheel mode)...... 239Optional encoder active, Out-config.................. 444Optional encoder, In-config............................... 438Options_/_Display............................................... 47Override.................................................... 241, 442
PParallel acknowledge with mask....................... 146Parallel setting with mask................................. 148Parameter box.................................................... 59Parameter mode............................................... 231Parameter mode, In-config............................... 406Parameter mode, Out-config............................. 410Parameterization................................................. 25Parameters
S/P-parameters of IndraDrive...................... 489Y-parameters............................................... 395
Parking axis...................................................... 242Part length................................................. 191, 271Part length by registration................................. 273Part length by registration counter.................... 276
Part length by registration mark........................ 191Part length by registration mark counter........... 190Part length or registration.................................. 274Part length or registration mark......................... 191Part separation.................................................. 299PBK................................................................... 194PControl force controller PFx Cmd................... 454PFA................................................................... 194PFC................................................................... 195PFI.................................................................... 197Phase-synchronous axes: Activation................ 181Phase-synchronous axis........................... 248, 327Phase-synchronous axis: Configuration........... 182PLC extensions................................................. 361
Provision...................................................... 362POA.................................................................. 198POI.............................................................. 29, 199Position coupling....................................... 257, 332Position mode drive controlled.......................... 305Position offset of synchronous axes................. 213Position-coupled axes: Activation..................... 165Positioning to positive stop: Configuration........ 195Positioning, absolute to positive stop................ 194Positioning, absolute with immediate blockstepping............................................................ 198Positioning, absolute with in-position................ 200Positioning, incremental to positive stop........... 197Positioning, incremental with immediateblock stepping................................................... 199Positioning, incremental with in-position........... 201Positive stop drive procedure............................ 316Presignal........................................................... 318
Active, Out-config......................................... 447Distance....................................................... 435
Presignal duration............................................. 435Presync pulse................................................... 302Presync pulse, Out-config................................. 475Presync value................................................... 475Previous error..................................................... 43Process input image......................................... 124Process output image....................................... 126Product data management................................ 325Product length counter...................................... 297Production length counter................................. 297Profibus
General information....................................... 76Profinet
General information....................................... 76Profinet controller configuration..................... 92
Program example if Flying Cutoff is usedProgram example......................................... 280Requirements............................................... 280
Program examplesConditional statements................................ 323Loops........................................................... 325Simple minimum program............................ 323
Programming.................................................... 101Command description.................................. 144
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Index
Digital inputs and outputs............................. 121Flags............................................................ 119General information..................................... 101Language version........................................ 138Multitasking.................................................. 101Starting the user program............................ 109Stopping the user program.......................... 109System inputs and outputs........................... 126User commands overview............................ 138Variables...................................................... 110
Programming examples.................................... 323Programming module defective.......................... 32Projects
Archiving and restoring................................ 383PSA................................................................... 200PSI.............................................................. 29, 201
RRapid stop routine............................................. 292Rapid stop, In-config......................................... 470Read/write Y-parameter.................................... 207Registration mark interrupt................................ 202Registration mark sensor offset........................ 464Registration mark, In-config.............................. 441Registration position limit.................................. 202Release update................................................... 33REP................................................................... 202Replace
Drive controller............................................... 30Replacing devices
Drive controller............................................... 29Reset material length counter, In-config........... 471Reset product length counter, In-config.... 472, 477Restart.............................................................. 320Restart behavior................................................ 205Restart possible, Out-config.............................. 423Restart routine.................................................. 107Restart, In-config............................................... 423Restoring Y-parameters.................................... 359Return acceleration........................................... 461Return from subroutine..................................... 206Return inhibit..................................................... 295Return inhibit active, Out-config........................ 474Return inhibit, In-config..................................... 469Return optimization........................................... 295Return optimization active, Out-config.............. 473Return optimization, In-config........................... 470Return position.................................................. 460Return velocity.................................................. 460RMI................................................................... 202Roll feed............................................................ 334
Feed before press........................................ 335Press before feed......................................... 334
Rolls closed, In-config....................................... 437RSV................................................................... 205RTS................................................................... 206Run, Out-config................................................. 411
Runtime environment.......................................... 37RWY.................................................................. 207
SS4...................................................................... 309S4, Safe motion................................................ 309S5...................................................................... 309S5, Safe motion................................................ 309SAC..................................................... 28, 208, 319Safe motion............................................... 309, 310Safe operation modes....................................... 310Safe torque off.................................................. 309Safe torque off activated................................... 313Safe torque off and safe brake control.............. 309Safety instructions................................................. 1Safety related reduced speed........................... 448Safety technology, drive-integrated.................. 305
Commissioning............................................ 306Safety technology hardware........................ 309
Saving Y-parameters........................................ 358SB..................................................................... 310SB, Safe motion................................................ 310Scaling type...................................................... 432Scrap cut active, Out-config.............................. 472Scrap cut output................................................ 298SDDml file........................................................... 97Search for registration mark.............................. 214Sercos analog converter................................... 319Sercos III
General information....................................... 76Sercos master configuration.......................... 96
Sercos III I/O modules.......................................... 9Connection Diagrams.................................. 496
Service hotline.................................................. 499Service work....................................................... 29SET................................................................... 209Set / reset / toggle bit........................................ 146Set absolute counter......................................... 208Set tailout length - cam axis.............................. 169Set task cycle counter....................................... 217Set variable value............................................. 209Setting up and commissioning the drives
Setting up Ethernet communication............... 16Setting up and commissioning the system.......... 15
Creating an SMC program............................. 25Parameterization............................................ 25Prerequisites.................................................. 15Release update.............................................. 33Service work.................................................. 29Setting up and commissioning the drives...... 15Switching from CLM/FLP to SMC.................. 26
Setup active, Out-config.................................... 445Setup end position, Out-config.......................... 446Setup end, In-config.......................................... 440Setup mode....................................................... 313Setup mode, In-config....................................... 440Setup start position, Out-config......................... 446
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Index
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Setup velocity.................................................... 431Short parts........................................................ 296Short Parts Inhibit............................................. 296SI – Lock-off behavior....................................... 448Signal alert symbol................................................ 2Signal control word........................................... 393Signal status word............................................. 393Signal words......................................................... 2Single step, In-config........................................ 406Slippage............................................................ 240SMC FW version............................................... 422SMC program valid, Out-config......................... 411SMC_GetIOM.................................................... 373SMC_GetVar..................................................... 375SMC_SetOM..................................................... 374SMC_SetVar..................................................... 376SMC-Editor..................................................... 5, 37
Functional description.................................... 42Input support.................................................. 39Installation...................................................... 37Overview........................................................ 37Runtime environment..................................... 37Source program format.................................. 38Tips & tricks................................................... 76Version dependencies of the SMC-Editoron the system................................................. 38
SMES................................................................ 312SMM1-4............................................................ 312SMST1.............................................................. 310SMST2.............................................................. 311SOA.................................................................. 210SOC.................................................................. 212Source program format....................................... 38
Input window for variables............................. 39Sequential Motion Control.............................. 38
Source, torque/force value PFx Cmd................ 453Special mode “Safe motion”.............................. 312Special mode “Safe standstill with STO acti‐vated”................................................................ 310Special mode safe standstill with SOS acti‐vated................................................................. 311SPO.................................................................. 213SRM.................................................................. 214Standards.............................................................. 5Start program.................................................... 400Start, In-config................................................... 407Starting block
Automatic task 2.......................................... 401Automatic task 3.......................................... 401Automatic task 4.......................................... 402Cyclic task.................................................... 403Manual cut routine....................................... 457Manual routine............................................. 402Maximum stroke routine............................... 458Rapid stop routine........................................ 459Restart routine............................................. 422
Starting the user program................................. 109Starting value, analog range 2 PFx Cmd.......... 455
STC................................................................... 217STO................................................................... 313Stop motion....................................................... 194Stopping the user program............................... 109Suggestions.......................................................... 4Support............................................................. 499Supported hardware............................................. 8Switching from CLM/FLP to SMC....................... 26
Command block............................................. 27Data areas..................................................... 26Flying cutoff.................................................... 29Logic task....................................................... 27Online change................................................ 26Vectors........................................................... 27
Symbolic addressing with Sequential MotionControl................................................................ 40Symbols................................................................ 3Synchronization mode...................................... 305Synchronization modes and axis coupling
Overview...................................................... 243Synchronous axis.............................................. 247System command............................................. 415
Delete programmable flags.......................... 237Delete programmable variables................... 237File selection................................................ 234Load default values...................................... 235Load single parameter set from microSD.... 237No system command................................... 234Overview...................................................... 232Reset material length counter...................... 237Restore drive parameters from microSD..... 238Save drive parameters to microSD.............. 239Save single parameter set to microSD........ 238System command 1: Load SMC programfrom microSD............................................... 234System command 4: Load SMC datafrom microSD............................................... 235System command 5: Save SMC data tomicroSD....................................................... 236
System command parameter............................ 416System control.................................................. 421System diagnostic number................................ 414System diagnostics........................................... 414System flags
Axis-dependent............................................ 120Axis-independent......................................... 120
System inputsDefault configuration.................................... 136
System inputs and outputs................................ 126Axis-dependent system inputs..................... 129Axis-dependent system outputs................... 134Axis-independent system inputs.................. 127Axis-independent system outputs................ 133Configuration................................................ 127
System outputsDefault configuration.................................... 136
System overview................................................... 5System presentation............................................. 5
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Index
System variablesAxis-dependent............................................ 115Axis-independent......................................... 112
TTAA................................................................... 219TAC................................................................... 221Tailout done, Out-config.................................... 477Tailout machining.............................................. 300Target groups........................................................ 1Target system toolbar......................................... 51Task configuration............................................. 367Technical data....................................................... 6Test mode (simulation)..................................... 285Test mode acceleration..................................... 466Test mode velocity............................................ 465Tool cycle time.................................................. 465Tool offset......................................................... 465Tool width.......................................................... 464Tools menu......................................................... 44Torque average: Activation............................... 219Torque average: Configuration......................... 221Torque Control.................................................. 305Torque coupling........................................ 260, 333Torque limit....................................................... 193Torque-coupled axes: Activation....................... 171Torque-coupled axes: Configuration................. 173Travel limit, maximum value............................. 450Travel pulse...................................................... 302
UUnconditional jump........................................... 186Unconditional jump task.................................... 188Unit.................................................................... 434User commands overview................................. 138User-defined extensions................................... 361
Cyclic CCD data........................................... 391Overview...................................................... 361PLC extensions............................................ 361
UserAdjust variables......................................... 377
VVariable I/O link................................................. 362Variables........................................................... 110
Programmable variables.............................. 112System variables.......................................... 112
VCC.................................................................. 221VCP control......................................................... 76Velocity change................................................. 221Velocity control.................................................. 305Velocity coupled axis via PLC global register... 226Velocity coupling....................................... 259, 333Velocity override............................................... 224Velocity reached, Out-config............................. 445Velocity-coupled axes: Activation..................... 174Velocity-coupled axes: Configuration................ 176Velocity-synchronous axes: Activation.............. 210
Velocity-synchronous axis........................ 249, 328Velocity-synchronous axis: Configuration......... 212VEO............................................................ 27, 224VF/VFR............................................................. 112Virtual axis........................................................ 243Visualization devices............................................. 9VOA.................................................................. 226VS..................................................................... 112
WWAI................................................................... 228Waiting time...................................................... 228Warnings............................................................... 1Watchdog.......................................................... 318Watchdog sensitivity......................................... 415
YY-parameters
Axis-dependent............................................ 425Axis-independent......................................... 395Flying Cutoff................................................. 456General information..................................... 395
Y0000: Language.............................................. 397Y0001: Cycle time............................................. 398Y0002: Start program........................................ 400Y0003: Starting block automatic task................ 401Y0004: Starting block automatic task................ 401Y0005: Starting block automatic task................ 402Y0006: Starting block manual routine............... 402Y0007: Starting block cyclic task...................... 403Y0008: Manual routine after automaticmode................................................................. 403Y0009: Clear outputs........................................ 404Y0010: AutoConfig I/Os.................................... 404Y0011: Automatic mode, In-config.................... 405Y0012: Clear error, In-config............................. 405Y0013: Single step, In-config............................ 406Y0014: Parameter mode, In-config................... 406Y0015: nE-stop, In-config................................. 407Y0016: Start, In-config...................................... 407Y0017: nStop, In-config.................................... 408Y0018: Manual routine...................................... 408Y0019: Abort program, In-config....................... 408Y0020: nError, Out-config................................. 409Y0021: Automatic mode, Out-config................. 409Y0022: Manual mode, Out-config..................... 410Y0023: Parameter mode, Out-config................ 410Y0024: Drive enable, Out-config....................... 410Y0025: Run, Out-config.................................... 411Y0026: SMC program valid, Out-config............ 411Y0027: Operating barrier, Out-config................ 412Y0028: Y0028: Master axis selection of thesystem............................................................... 412Y0029: System diagnostic number................... 414Y0030: System diagnostics............................... 414Y0031: Watchdog sensitivity............................. 415Y0032: System command................................. 415
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Index
IndraMotion for Metal Forming 14VRS Sequential MotionControl
Y0033: System command parameter............... 416Y0034: Active system command....................... 416Y0035: Active system command status............ 416Y0036: Number of axes.................................... 417Y0037: Number of Sercos I/Os......................... 417Y0038: Address, Sercos I/O 1.......................... 418Y0039: Address, Sercos I/O 2.......................... 418Y0040: Address, Sercos I/O 3.......................... 419Y0041: Address, Sercos I/O 4.......................... 419Y0042: Configuration, Sercos I/O 1.................. 419Y0043: Configuration, Sercos I/O 2.................. 420Y0044: Configuration, Sercos I/O 3.................. 420Y0045: Configuration, Sercos I/O 4.................. 421Y0046: System control...................................... 421Y0047: SMC FW version.................................. 422Y0048: Starting block restart routine................. 422Y0049: Restart, In-config.................................. 423Y0050: Restart possible, Out-config................. 423Y0051: Disabling I/Os....................................... 424Yx000: Application type.................................... 427Yx001: Axis type............................................... 429Yx002: Enable axis........................................... 429Yx003: Jog velocity........................................... 430Yx004: Maximum velocity................................. 430Yx005: Setup velocity....................................... 431Yx006: Maximum acceleration.......................... 431Yx007: Maximum torque................................... 432Yx008: Scaling type.......................................... 432Yx009: Modulo value........................................ 433Yx010: Unit....................................................... 434Yx011: Negation of positioning data................. 434Yx012: MicroAdjust........................................... 435Yx013: Presignal duration................................. 435Yx014: Presignal, distance............................... 435Yx015: Drive enable, In-config.......................... 436Yx016: nInterrupt, In-config............................... 436Yx017: Lift rolls, In-config.................................. 437Yx018: Rolls closed, In-config........................... 437Yx019: Optional encoder, In-config................... 438Yx020: Jog+, In-config...................................... 438Yx021: Jog-, In-config....................................... 439Yx022: Homing, In-config.................................. 439Yx023: Homing switch, In-config....................... 439Yx024: Setup mode, In-config........................... 440Yx025: Setup end, In-config.............................. 440Yx026: nFeedControl, In-config........................ 441Yx027: Registration mark, In-config.................. 441Yx028: Override................................................ 442Yx029: Drive enable, Out-config....................... 442Yx030: In reference, Out-config........................ 443Yx031: Lift rolls active, Out-config.................... 443Yx032: Optional encoder active, Out-config..... 444Yx033: In position, Out-config........................... 444Yx034: Velocity reached, Out-config................. 445Yx035: Setup active, Out-config....................... 445Yx036: Setup start position, Out-config............ 446Yx037: Setup end position, Out-config............. 446Yx038: Presignal active, Out-config.................. 447
Yx039: Axis address......................................... 447Yx40: Max. number of press strokes................ 447Yx041: Safety-related reduced speed............... 448Yx042: SI - Lock-off behavior............................ 448Yx043: Activate position limit switch................. 449Yx044: Travel limit, maximum value................. 450Yx045: Minimum travel limit.............................. 450Yx046: Axis diagnostic number......................... 450Yx047: Configuration cyclic CCD – processdata................................................................... 451Yx048: Axis configuration................................. 452Yx049: Source, torque/force value PFx Cmd.... 453Yx050: Analog constant 1 PFx Cmd................. 454Yx051: PControl force controller PFx Cmd....... 454Yx052: IControl force controller PFx Cmd........ 455Yx053: Analog constant 2 PFx Cmd................. 455Yx054: Starting value, analog range 2 PFxCmd.................................................................. 455Yx500: Starting line manual cut routine............ 457Yx501: Starting line maximum stroke routine... 458Yx502: Starting line rapid stop routine.............. 459Yx503: Min. synchronization cycles.................. 459Yx504: Return position...................................... 460Yx505: Return velocity...................................... 460Yx506: Return acceleration............................... 461Yx507: Yx507: Measuring wheel feed con‐stant.................................................................. 461Yx508: Maximum stroke position...................... 462Yx509: Crop cut length..................................... 462Yx510: Maximum part length............................ 463Yx511: Error reaction max. part length............. 463Yx512: Registration mark sensor offset............ 464Yx513: Tool width............................................. 464Yx514: Tool offset............................................. 465Yx515: Tool cycle time...................................... 465Yx516: Test mode velocity................................ 465Yx517: Test mode acceleration........................ 466Yx518: Material pulse distance......................... 466Yx519: Flying Cutoff configuration.................... 467Yx520: Cut inhibit, In-config.............................. 468Yx521: Return inhibit, In-config......................... 469Yx522: Immediate cut, In-config....................... 469Yx523: Crop cut, In-config................................ 470Yx524: Return optimization, In-config............... 470Yx525: Rapid stop, In-config............................. 470Yx526: Reset material length counter, In-config................................................................ 471Yx527: Enable test mode, In-config.................. 471Yx528: Reset product length counter, In-config................................................................ 472Yx529: Scrap cut active, Out-config.................. 472Yx530: Cut inhibit active, Out-config................. 473Yx531: Return optimization active, Out-con‐fig...................................................................... 473Yx532: Return inhibit active, Out-config............ 474Yx533: Max. part length reached, Out-config... 474Yx534: Material pulse, Out-config..................... 474Yx535: Presync pulse, Out-config..................... 475
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Index
Yx536: Presync value....................................... 475Yx537: Maximum tailout length......................... 476Yx538: No material, In-config............................ 476Yx539: Tailout done, Out-config....................... 477Yx540: Reset product length counter, In-config................................................................ 477
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Index
IndraMotion for Metal Forming 14VRS Sequential MotionControl
Notes
IndraMotion for Metal Forming 14VRS Sequential MotionControl
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Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyPhone +49 9352 18 0Fax +49 9352 18 8400www.boschrexroth.com/electrics
*R911343865*R911343865
DOK-IM*MF*-TF*SMC**V14-RE02-EN-P