IndraMotion MTX micro 14VRS - Bosch Rexroth

IndraMotionMTX micro 14VRSSystem Description

Project Planning ManualR911380186

Edition 01

IndraMotionMTX micro 14VRSSystem Description

Project Planning Manual

DOK-MTXMIC-SYS*DES*V14-PR01-EN-P

RS-d4926020d14f48720a347ea501304e0c-1-en-US-3

Change RecordEdition Release

Date Notes

Edition 01 2017-03 First edition

Copyright © Bosch Rexroth AG 2017This document, as well as the data, specifications and other information setforth in it, are the exclusive property of Bosch Rexroth AG. It may not be re‐produced or given to third parties without its consent.

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 this docu‐mentation and the availability of the product.

Editorial department Engineering Automation Systems Solution Integration HMI and NC Control,PeSc (SyMu)

Title

Type of Documentation

Document Typecode

Internal File Reference

Bosch Rexroth AG DOK-MTXMIC-SYS*DES*V14-PR01-EN-PIndraMotion MTX micro 14VRS System Description

Table of ContentsPage

1 About this documentation.............................................................................................. 51.1 Validity of the documentation.................................................................................................................. 51.2 Required and supplementing documentation MTX micro....................................................................... 51.2.1 Selection/compilation........................................................................................................................... 51.2.2 Configuration....................................................................................................................................... 61.2.3 Commissioning.................................................................................................................................... 61.2.4 Operation............................................................................................................................................. 71.2.5 Drive system: Commissioning and project planning............................................................................ 71.3 Operating and programming in Chinese................................................................................................. 81.4 Information representation...................................................................................................................... 91.4.1 Safety instructions............................................................................................................................... 91.4.2 Symbols used...................................................................................................................................... 91.4.3 Names and abbreviations.................................................................................................................. 10

2 Important instructions on use....................................................................................... 112.1 Intended use......................................................................................................................................... 112.1.1 Introduction........................................................................................................................................ 112.1.2 Areas of use and application............................................................................................................. 112.2 Unintended use..................................................................................................................................... 12

3 Safety instructions for electric drives and controls....................................................... 133.1 Definitions of terms............................................................................................................................... 133.2 General information.............................................................................................................................. 143.2.1 Using the Safety instructions and passing them on to others............................................................ 143.2.2 Requirements for safe use................................................................................................................ 143.2.3 Hazards by improper use.................................................................................................................. 153.3 Instructions with regard to specific dangers.......................................................................................... 163.3.1 Protection against contact with electrical parts and housings........................................................... 163.3.2 Protective extra-low voltage as protection against electric shock .................................................... 173.3.3 Protection against dangerous movements........................................................................................ 183.3.4 Protection against electromagnetic and magnetic fields during operation and mounting.................. 193.3.5 Protection against contact with hot parts........................................................................................... 193.3.6 Protection during handling and mounting.......................................................................................... 203.3.7 Battery safety..................................................................................................................................... 203.3.8 Protection against pressurized systems............................................................................................ 213.4 Explanation of signal words and the Safety alert symbol..................................................................... 22

4 MTX micro system description..................................................................................... 23

5 Loading a newer IndraMotion MTX micro control and drive firmware.......................... 255.1 General information.............................................................................................................................. 255.2 Instruction on the IndraMotion MTX micro Drive and Control Firmware Update.................................. 265.2.1 General.............................................................................................................................................. 26

DOK-MTXMIC-SYS*DES*V14-PR01-EN-P Bosch Rexroth AG I/93IndraMotion MTX micro 14VRS System Description

Table of Contents

2.2 Prerequisites to Update the IndraMotion MTX micro Control and Drive Firmware............................ 265.2.3 Overview: Steps required to update the commissioning software "IndraWorks Engineering"

and to update the control and drive firmware.................................................................................... 275.2.4 Determining the IP address of the MTX micro control system.......................................................... 285.2.5 Identifying currently installed control and drive firmware .................................................................. 285.2.6 Creating backup of all control and drive data ................................................................................... 295.2.7 Installing the new "IndraWorks Engineering" software on the commissioning PC or on the

notebook............................................................................................................................................ 295.2.8 Downloading the new MTX micro control firmware to the control .................................................... 305.2.9 Downloading drive firmware from the Compact Flash card to the internal memory of the drive

system .............................................................................................................................................. 305.2.10 Enabling the default parameter block in each drive via "Load basic parameters"............................. 305.2.11 Downloading data backup to restore the original control and drive data........................................... 315.2.12 Parameter editor: Setting drive parameters....................................................................................... 315.2.13 Restoring the correct position data reference (actual drive position, command "Set absolute

dimension")........................................................................................................................................ 325.2.14 Updating the IndraLogic device descriptions..................................................................................... 325.2.15 Updating PLC project........................................................................................................................ 335.2.16 MTX micro demo or training systems: Operating with a single-phase power supply........................ 335.3 Installing the new "IndraWorks Engineering" software on the commissioning PC or on the note‐

book...................................................................................................................................................... 335.4 Downloading the new MTX micro control firmware to the control......................................................... 34

6 Startup menu of the IndraMotion MTX micro .............................................................. 356.1 Enabling the startup menu view............................................................................................................ 356.2 Describing the different startup modes................................................................................................. 35

7 The MTX micro wizard................................................................................................. 377.1 General................................................................................................................................................. 377.2 MTX micro project template.................................................................................................................. 377.3 "IndraMotion MTX micro" project node ................................................................................................ 37

8 Using USB memory flash drives.................................................................................. 418.1 General information.............................................................................................................................. 418.2 Approach.............................................................................................................................................. 418.3 Limitations when working with USB...................................................................................................... 418.3.1 File names and directory names....................................................................................................... 418.3.2 Too many files................................................................................................................................... 41

9 PLC-specific data for MTX micro................................................................................. 439.1 MTX micro Library................................................................................................................................ 439.1.1 Overview............................................................................................................................................ 439.1.2 MT_DiagLocalIO function.................................................................................................................. 439.1.3 MT_DiagUsbHmiCfg function............................................................................................................ 449.1.4 MT_DiagUsbHmiState function......................................................................................................... 44

Bosch Rexroth AG DOK-MTXMIC-SYS*DES*V14-PR01-EN-PII/93IndraMotion MTX micro 14VRS System Description

Table of Contents

Firmware and software for the IndraMotion MTX......................................................... 4710.1 General information.............................................................................................................................. 4710.2 Commissioning software and project planning software "IndraWorks Engineering"............................ 4710.2.1 General information........................................................................................................................... 4710.2.2 Installation Data Carrier (SWA)......................................................................................................... 4710.2.3 Software license (SWL)..................................................................................................................... 4810.3 Firmware for the MTX micro Control Firmware and Drive Firmware (HCx).......................................... 4810.4 Optional language installation: IndraWorks ......................................................................................... 4810.5 Additional language installation IndraWorks......................................................................................... 4910.6 IndraMotion MTX SWW software......................................................................................................... 49

11 Applications.................................................................................................................. 5111.1 Lathe (X, Z, S1).................................................................................................................................... 5111.2 Lathe with driven tools (X, Z, S1, S2)................................................................................................... 5211.3 Milling machine (X, Y, Z, S1)................................................................................................................ 53

12 Template projects for the IndraMotion MTX micro ...................................................... 5512.1 General information.............................................................................................................................. 5512.2 Basic project: Milling............................................................................................................................. 5512.3 Basic project: Turning 1........................................................................................................................ 5512.4 Basic project: Turning 2 spindles.......................................................................................................... 5512.5 Basic project: Automation..................................................................................................................... 5512.6 Restoring control data........................................................................................................................... 5512.7 Updating data....................................................................................................................................... 56

13 Using QSK motors with HCS drive controllers............................................................. 57

14 Login to user administration via PLC key switch.......................................................... 59

15 Supporting an "external spindle".................................................................................. 6315.1 General information.............................................................................................................................. 6315.2 Example constellation........................................................................................................................... 6315.3 Supported NC functions........................................................................................................................ 6315.4 Limitations............................................................................................................................................. 6415.5 Machine Parameters............................................................................................................................. 64

16 External drives and I/Os............................................................................................... 6516.1 Connecting external Sercos drives....................................................................................................... 6516.2 Sercos I/Os........................................................................................................................................... 6516.2.1 Names and Abbreviations................................................................................................................. 6516.2.2 General information........................................................................................................................... 6516.2.3 Supporting I/O Devices...................................................................................................................... 6616.2.4 Initial commissioning......................................................................................................................... 6616.2.5 Serial Commissioning........................................................................................................................ 66

DOK-MTXMIC-SYS*DES*V14-PR01-EN-P Bosch Rexroth AG III/93IndraMotion MTX micro 14VRS System Description

Table of Contents

2.6 Sercos master functions in the PLC program.................................................................................... 6616.2.7 Sercos I/O Slave................................................................................................................................ 6716.2.8 Adding Sercos I/O modules to the slave........................................................................................... 7116.2.9 Sercos I/O modules........................................................................................................................... 7216.2.10 Disabling Sercos I/O modules........................................................................................................... 75

17 Operation without VDP8x panel................................................................................... 7717.1 Requirements....................................................................................................................................... 7717.2 Parameter settings................................................................................................................................ 7717.3 PLC programming................................................................................................................................. 7717.4 Information about the operation............................................................................................................ 7717.4.1 Generating a core dump.................................................................................................................... 7717.4.2 Archiving and restoring...................................................................................................................... 7717.4.3 IndraWorks Operation with MTX micro.............................................................................................. 7717.4.4 Example Project for Operation without Panel.................................................................................... 77

18 Commissioning, Operation, Diagnostics...................................................................... 7918.1 Operation and Diagnostics................................................................................................................... 7918.1.1 Diagnostic LED Displays................................................................................................................... 7918.1.2 Diagnostic LED Displays with Drive Firmware MPM-16VRS............................................................ 7918.1.3 Diagnostic LED Displays with Drive Firmware MPM-17VRS............................................................ 81

19 Technical data.............................................................................................................. 8519.1 Control.................................................................................................................................................. 8519.2 Motors................................................................................................................................................... 8719.3 Wear parts............................................................................................................................................ 88

20 Service and support..................................................................................................... 89

Index............................................................................................................................ 91

Bosch Rexroth AG DOK-MTXMIC-SYS*DES*V14-PR01-EN-PIV/93IndraMotion MTX micro 14VRS System Description

Table of Contents

1 About this documentation1.1 Validity of the documentation

Purpose This documentation provides an overview on the MTX micro. It describes theproduct features of the IndraMotion MTX micro system.

Overview on target groups andproduct phases

The following graphic refers to the bordered activities, product phases andtarget groups of the present documentation.Example: The target group "Programmer" can "parameterize" in the productphase "Engineering" using this 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

1.2 Required and supplementing documentation MTX micro1.2.1 Selection/compilation

Documentation titles with type codes and part numbers

IndraMotion MTX micro 14VRS System DescriptionDOK-MTXMIC-SYS*DES*V14-PRRS-EN-P, R911380186This documentation provides a system overview and describes the product properties of the Rexroth IndraMotion MTXmicro.

IndraControl VDP 8x, VAM 8x and VAC 06 Machine Operator Panel / DisplayDOK-SUPPL*-VDP-VAM-VAC-ASRS-EN-P, R912005998This document instructs the technical staff of the machine manufacturer on how to perform the mechanic and electrical in‐stallation in a safe way and on how to commission the device.

DOK-MTXMIC-SYS*DES*V14-PR01-EN-P Bosch Rexroth AG 5/93IndraMotion MTX micro 14VRS System Description

About this documentation

Rexroth IndraControl VDP 80.1 Machine Operator Panel Operator DisplayDOK-SUPPL*-VDP*80.1***-PRxx-EN-P, R911329156This documentation contains a detailed description of the standard interface of the HMI operator panel.

Rexroth IndraDrive Drive Controllers HCQ, HCTDOK-INDRV*-HCQ-T+HMQ-T-PRxx-EN-P, R911324185This documentation is used for project planning of the drive systems Rexroth IndraDrive with the listed components● HCQ02● HCT02

xx Corresponding editionTab. 1-1: MTX micro documentation overview - Selection/compilation

1.2.2 ConfigurationDocumentation titles with type codes and part numbers

IndraMotion MTX micro 14VRS Functional Description - BasicsDOK-MTXMIC-NC*F*BA*V14-RERS-EN-P, R911372634This documentation describes the basic functions of the Rexroth IndraMotion MTX micro. The basic commissioning stepsand the control functions are provided as description and handling instruction.

IndraMotion MTX micro 14VRS Functional Description - ExtensionDOK-MTXMIC-NC*F*EX*V14-RERS-EN-P, R911372631This documentation describes the extended functions of the Rexroth IndraMotion MTX micro. The basic commissioningsteps and the control functions are provided as description and handling instruction.

Rexroth IndraMotion MTX micro 13VRS Machine ParametersDOK-MTXMIC-MA*PAR**V13-RERS-EN-P, R911336536This documentation describes the design and adjustment of the available parameters.

IndraMotion MTX 14VRS PLC InterfaceDOK-MTX***-PLC*INT*V14-PRRS-EN-P, R911342622This documentation describes interface signals and program function blocks for the integrated PLC.

Tab. 1-2: MTX micro documentation overview - Configuring

1.2.3 CommissioningDocumentation titles with type codes and part numbers

Rexroth IndraMotion MTX micro Easy Setup for Standard Turning and Milling MachinesDOK-MTXMIC-EASY*******-CORS-EN-P, R911332281This documentation provides an overview of the components of the IndraMotion MTX micro control system and supportsthe initial commissioning with handling instructions and examples.

IndraWorks 14VRS Software InstallationDOK-IWORKS-SOFTINS*V14-CORS-EN-P, R911344286This documentation describes the IndraWorks installation.

IndraWorks 14VRS EngineeringDOK-IWORKS-ENGINEE*V14-APRS-EN-P, R911343566This documentation describes the use of IndraWorks in which the Rexroth Engineering tools are integrated. It includes in‐structions on how to work with IndraWorks and how to operate the oscilloscope function.

Bosch Rexroth AG DOK-MTXMIC-SYS*DES*V14-PR01-EN-P6/93IndraMotion MTX micro 14VRS System Description


IndraMotion MTX 14VRS CommissioningDOK-MTX***-STARTUP*V14-CORS-EN-P, R911342620This documentation describes the commissioning of the IndraMotion MTX control. Apart from a complete overview, com‐missioning and configuration of the axes and the user interface as well as the PLC data are described.

IndraWorks 14VRS PLC Programming System IndraLogic 2GDOK-IWORKS-IL2GPRO*V14-APRS-EN-P, R911343571This documentation describes the PLC programming tool IndraLogic 2G and its use. The documentation includes the basicuse, first steps, visualization, menu items and editors.

IndraWorks 14VRS Basic Libraries IndraLogic 2GDOK-IL*2G*-BASLIB**V14-LIRS-EN-P, R911343920This documentation describes the system-comprehensive PLC libraries.

Tab. 1-3: MTX micro documentation overview - Commissioning

1.2.4 OperationDocumentation titles with type codes and part numbers

Rexroth IndraMotion MTX micro 14VRS Standard NC OperationDOK-MTXMIC-NC*OP***V14-APRS-EN-P, R912005790This documentation describes the MMI operating software of the IndraMotion MTX micro.

IndraMotion MTX 14VRS Programming ManualDOK-MTX***-NC**PRO*V14-RERS-EN-P, R911342634The following documentation provides information on the standard programming of the Rexroth IndraMotion MTX control.

IndraMotion MTX 14VRS Standard NC CyclesDOK-MTX***-NC*CYC**V14-PRRS-EN-P, R911342638This documentation describes the application of the standard cycles of the different technologies for Rexroth IndraMotionMTX control.

Rexroth IndraMotion MTX 12VRS Block Pre-RunDOK-MTX***-BLK*RUN*V12-APRS-EN-P, R911334379This documentation explains to the machine manufacturer how to setup the "Block pre-run" function at the machine for theend user.

Tab. 1-4: MTX micro documentation overview - Operation

1.2.5 Drive system: Commissioning and project planningDocumentation titles with type codes and part numbers

Rexroth IndraDrive Drive Controllers HCQ, HCTDOK-INDRV*-HCQ-T+HMQ-T-PRxx-EN-P, R911324185This documentation is used for project planning of the drive systems Rexroth IndraDrive with the listed components● HCQ02● HCT02

Rexroth IndraDrive MPx-18 FunctionsDOK-INDRV*-MP*-18VRS**-APRS-EN-P, R911338673This documentation describes all functional properties in the MPB-18, MPM-18, MPC-18 and MPE-18 variants.



Rexroth IndraDrive MPx-16 to MPx-20 and PSB ParametersDOK-INDRV*-GEN1-PARA**-RERS-EN-P, R911328651This documentation describes all parameters implemented in the firmware for drive controllers of the IndraDrive family. Thedocumentation supports the parameterization of the drive controllers.

Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic MessagesDOK-INDRV*-GEN1-DIAG**-RERS-EN-P, R911326738This documentation contains the descriptions of the diagnostic messages implemented in the following firmware products:● FWA-INDRV*-MPx-16VRS● FWA-INDRV*-MPx-17VRS● FWA-INDRV*-MPx-18VRS● FWA-INDRV*-MPx-19VRS● FWA-INDRV*-MPx-20VRS● FWA-INDRV*-PSB-19VRS● FWA-INDRV*-PSB-20VRSIt assists machine operators and installation programmers with troubleshooting.

Rexroth IndraDrive MPx-18 Version NotesDOK-INDRV*-MP*-18VRS**-RNRS-EN-P, R911338658The documentation provides a brief overview on the firmware function or the topic of the section.

Rexroth IndraDyn S MSK Synchronous MotorsDOK-MOTOR*-MSK********-PRRS-EN-P, R911296289This documentation…● explains the features of the product, possibilities for use, operating conditions and operational limits of MSK motors.● contains technical data regarding available MSK motors.● provides information regarding product selection, handling and operation

xx Corresponding editionTab. 1-5: MTX micro documentation overview - Drive system: Commissioning

and project planning

1.3 Operating and programming in ChineseTitle Documentation type Part number Purpose

Rexroth IndraMotionMTX micro 14VRS标准操作手册

DOK-MTXMIC-NC*OP***V14-APRS-ZH-P R912005789 该手册介绍了 MTXmicro 系统的标准 NC 操作

Rexroth IndraMotionMTX micro 13VRS编程手册

DOK-MTXMIC-NC**PRO*V13-RERS-ZH-P R911339741

本文档描述了 RexrothIndraMotion MTX micro 控制器的标准编程。除了 NC 编程的基本内容外，本文档还描述了符合 DIN 66025 的 NC 函数用法以及使用高级语言语法和 CPL 函数的 NC 函数。

Rexroth IndraMotion MTXmicro功能描述 13VRS简介

DOK-MTXMIC-NC*F*BA*V13-RERS-ZH-P R911339745

本文档描述了 RexrothIndraMotion MTX micro 的功能。描述和操作指南中说明了基本调试步骤和控制器功能。



Title Documentation type Part number Purpose

Rexroth IndraMotion MTXmicro功能描述 13VRS扩展

DOK-MTXMIC-NC*F*EX*V13-RERS-ZH-P R911339744

本文档描述了 RexrothIndraMotion MTX micro 的功能。描述和操作指南中说明了基本调试步骤和控制功能。

Rexroth IndraMotionMTX 13VRS标准 NC 循环

DOK-MTX***-NC*CYC**V13-PRRS-ZH-P R911339742该文档描述了 RexrothIndraMotion MTX 控制之不同技术的标准循环应用。

Rexroth IndraMotion MTX10VRS诊断消息

DOK-MTX***-DIAGMES*V10-WA0x-ZH-P R911328899本文件综述了 RexrothIndraMotion MTX 控制系统中的错误、警告和消息。

Tab. 1-6: Operating and programming

1.4 Information representation1.4.1 Safety instructions

If there are safety instructions in the documentation, they contain certain sig‐nal words (Danger, Warning, Caution, Notice) and sometimes a safety alertsymbol (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 three exclamationmarks), preceding the signal words Danger, Warning, Caution indicates haz‐ards for persons.

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 moderate in‐jury can occur.

NOTICE

In case of non-compliance with this safety instruction, material or propertydamage can occur.

1.4.2 Symbols usedNote Notes are represented as follows:



This is a note for the user.

Tip Tips are represented as follows:

This is a tip for the user.

1.4.3 Names and abbreviationsTerm Explanation

CPL Customer Programming Language

Ethernet Communication interface

IWE IndraWorks Engineering

IWO IndraWorks Operation

NC Numerical Control

OEM Original Equipment Manufacturer

Sercos Field bus

Tab. 1-7: Names and abbreviations used



2 Important instructions on use2.1 Intended use2.1.1 Introduction

Bosch Rexroth products are developed and manufactured according to thestate-of-the-art. The products are tested prior to delivery to ensure operatingsafety and reliability.The products may only be used as intended. If they are not used as intended,situations occur that result in damage to property or injury to persons.

Bosch Rexroth shall not assume any warranty, liability or paymentof damages in case of damage resulting from a non-intended useof the products; the use shall solely bear all risks from unintendeduse of the products.

Before using Bosch Rexroth products, the following requirements have to bemet to guarantee the intended use of the products:● Anybody dealing with Bosch Rexroth products in any way is obliged to

read and consent to the relevant safety instructions and the intendeduse.

● Hardware products may not be altered and have to remain in their origi‐nal state; i.e. no structural changes are permitted. The decompilation ofsoftware products or the alteration of source codes is not permitted.

● Do not install or operate damaged or faulty products.● It has to be ensured that the products have been installed as described

in the relevant documentation.

Ensure that the data present in the control or entered or read inby the user is correct before applying it to exclude unwanted axismotion. It can be the following invalid or old data:● Part programs● ZO tables● Compensation tables● Tool tables● Permanent CPL variables● Remanent PLC data● Permanent system data

2.1.2 Areas of use and applicationThe Rexroth IndraMotion MTX control is used to● program contour and machining technology (path feed, spindle speed,

tool change) of a workpiece.● guide a machining tool along a programmed path.Feed drives, spindles and auxiliary axes of a machine tool are activated viasercos interface.


Important instructions on use

This additionally requires I/O components for the integrated PLCwhich - together with the actual CNC - control the machining proc‐ess as a whole and also monitors this process with regard totechnical safety.It may only be operated with the explicitly specified hardwarecomponent configurations and combinations and only with thesoftware and firmware specified in the appropriate documenta‐tions and functional descriptions.

The Rexroth IndraMotion MTX provides the perfect CNC system solution forcutting and forming for the following technologies:● Turning● Milling● Drilling● Grinding● Bending● Nibbling● Punching● Contour cutting● Handling

2.2 Unintended useThe use of the Rexroth IndraMotion MTX in application areas other thanthose specified or described in the documentation and technical data is con‐sidered as "unintended".The Rexroth IndraMotion MTX must not be used if ...● it is subjected to operating conditions not corresponding to the specified

ambient conditions. Operation under water, under extreme temperaturefluctuations or under extreme maximum temperatures is prohibited.

● the intended applications have not expressively been released by BoschRexroth. Therefore, please read the information given the general safetyinstructions!

● The Rexroth IndraMotion MTX may not be used in systems or machinesconnected to the internet via an unsecure network connection Other‐wise, malfunctions or a control failure can result due to unauthorized ac‐cess.


Important instructions on use

3 Safety instructions for electric drives and controls3.1 Definitions of terms

Application documentation Application documentation comprises the entire documentation used to in‐form the user of the product about the use and safety-relevant features forconfiguring, integrating, installing, mounting, commissioning, operating, main‐taining, repairing and decommissioning the product. The following terms arealso used for this kind of documentation: Operating Instructions, Commis‐sioning Manual, Instruction Manual, Project Planning Manual, Application De‐scription, etc.

Component A component is a combination of elements with a specified function, whichare part of a piece of equipment, device or system. Components of the elec‐tric drive and control system are, for example, supply units, drive controllers,mains choke, mains filter, motors, cables, etc.

Control system A control system comprises several interconnected control componentsplaced on the market as a single functional unit.

Device A device is a finished product with a defined function, intended for users andplaced on the market as an individual piece of merchandise.

Electrical equipment Electrical equipment encompasses all devices used to generate, convert,transmit, distribute or apply electrical energy, such as electric motors, trans‐formers, switching devices, cables, lines, power-consuming devices, circuitboard assemblies, plug-in units, control cabinets, etc.

Electric drive system An electric drive system comprises all components from mains supply to mo‐tor shaft; this includes, for example, electric motor(s), motor encoder(s), sup‐ply units and drive controllers, as well as auxiliary and additional compo‐nents, such as mains filter, mains choke and the corresponding lines and ca‐bles.

Installation An installation consists of several devices or systems interconnected for adefined purpose and on a defined site which, however, are not intended to beplaced on the market as a single functional unit.

Machine A machine is the entirety of interconnected parts or units at least one ofwhich is movable. Thus, a machine consists of the appropriate machine driveelements, as well as control and power circuits, which have been assembledfor a specific application. A machine is, for example, intended for processing,treatment, movement or packaging of a material. The term "machine" alsocovers a combination of machines which are arranged and controlled in sucha way that they function as a unified whole.

Manufacturer The manufacturer is an individual or legal entity bearing responsibility for thedesign and manufacture of a product which is placed on the market in the in‐dividual's or legal entity's name. The manufacturer can use finished products,finished parts or finished elements, or contract out work to subcontractors.However, the manufacturer must always have overall control and possessthe required authority to take responsibility for the product.

Product Examples of a product: Device, component, part, system, software, firmware,among other things.

Project Planning Manual A Project Planning Manual is part of the application documentation used tosupport the sizing and planning of systems, machines or installations.

Qualified persons In terms of this application documentation, qualified persons are those per‐sons who are familiar with the installation, mounting, commissioning and op‐eration of the components of the electric drive and control system, as well aswith the hazards this implies, and who possess the qualifications their work


Safety instructions for electric drives and controls

requires. To comply with these qualifications, it is necessary, among otherthings,● to be trained, instructed or authorized to switch electric circuits and devi‐

ces safely on and off, to ground them and to mark them.● to be trained or instructed to maintain and use adequate safety equip‐

ment.● to attend a course of instruction in first aid.

User A user is a person installing, commissioning or using a product which hasbeen placed on the market.

3.2 General information3.2.1 Using the Safety instructions and passing them on to others

Do not attempt to install and operate the components of the electric drive andcontrol system without first reading all documentation provided with the prod‐uct. Read and understand these safety instructions and all user documenta‐tion prior to working with these components. If you do not have the user doc‐umentation for the components, contact your responsible Bosch Rexrothsales partner. Ask for these documents to be sent immediately to the personor persons responsible for the safe operation of the components.If the component is resold, rented and/or passed on to others in any otherform, these safety instructions must be delivered with the component in theofficial language of the user's country.Improper use of these components, failure to follow the safety instructions inthis document or tampering with the product, including disabling of safety de‐vices, could result in property damage, injury, electric shock or even death.

3.2.2 Requirements for safe useRead the following instructions before initial commissioning of the compo‐nents of the electric drive and control system in order to eliminate the risk ofinjury and/or property damage. You must follow these safety instructions.● Bosch Rexroth is not liable for damages resulting from failure to observe

the safety instructions.● Read the operating, maintenance and safety instructions in your lan‐

guage before commissioning. If you find that you cannot completely un‐derstand the application documentation in the available language,please ask your supplier to clarify.

● Proper and correct transport, storage, mounting and installation, as wellas care in operation and maintenance, are prerequisites for optimal andsafe operation of the component.

● Only qualified persons may work with components of the electric driveand control system or within its proximity.

● Only use accessories and spare parts approved by Bosch Rexroth.● Follow the safety regulations and requirements of the country in which

the components of the electric drive and control system are operated.● Only use the components of the electric drive and control system in the

manner that is defined as appropriate. See chapter "Appropriate Use".● The ambient and operating conditions given in the available application

documentation must be observed.



● Applications for functional safety are only allowed if clearly and explicitlyspecified in the application documentation "Integrated Safety Technolo‐gy". If this is not the case, they are excluded. Functional safety is a safe‐ty concept in which measures of risk reduction for personal safety de‐pend on electrical, electronic or programmable control systems.

● The information given in the application documentation with regard tothe use of the delivered components contains only examples of applica‐tions and suggestions.The machine and installation manufacturers must– make sure that the delivered components are suited for their indi‐

vidual application and check the information given in this applica‐tion documentation with regard to the use of the components,

– make sure that their individual application complies with the appli‐cable safety regulations and standards and carry out the requiredmeasures, modifications and complements.

● Commissioning of the delivered components is only allowed once it issure that the machine or installation in which the components are instal‐led complies with the national regulations, safety specifications andstandards of the application.

● Operation is only allowed if the national EMC regulations for the applica‐tion are met.

● The instructions for installation in accordance with EMC requirementscan be found in the section on EMC in the respective application docu‐mentation.The machine or installation manufacturer is responsible for compliancewith the limit values as prescribed in the national regulations.

● The technical data, connection and installation conditions of the compo‐nents are specified in the respective application documentations andmust be followed at all times.

National regulations which the user has to comply with● European countries: In accordance with European EN standards● United States of America (USA):

– National Electrical Code (NEC)– National Electrical Manufacturers Association (NEMA), as well as

local engineering regulations– Regulations of the National Fire Protection Association (NFPA)

● Canada: Canadian Standards Association (CSA)● Other countries:

– International Organization for Standardization (ISO)– International Electrotechnical Commission (IEC)

3.2.3 Hazards by improper use● High electrical voltage and high working current! Danger to life or seri‐

ous injury by electric shock!● High electrical voltage by incorrect connection! Danger to life or injury by

electric shock!● Dangerous movements! Danger to life, serious injury or property dam‐

age by unintended motor movements!



● Health hazard for persons with heart pacemakers, metal implants andhearing aids in proximity to electric drive systems!

● Risk of burns by hot housing surfaces!● Risk of injury by improper handling! Injury by crushing, shearing, cutting,

hitting!● Risk of injury by improper handling of batteries!● Risk of injury by improper handling of pressurized lines!

3.3 Instructions with regard to specific dangers3.3.1 Protection against contact with electrical parts and housings

This section concerns components of the electric drive and con‐trol system with voltages of more than 50 volts.

Contact with parts conducting voltages above 50 volts can cause personaldanger and electric shock. When operating components of the electric driveand control system, it is unavoidable that some parts of these componentsconduct dangerous voltage. High electrical voltage! Danger to life, risk of injury by electric shock or seri‐ous injury!● Only qualified persons are allowed to operate, maintain and/or repair the

components of the electric drive and control system.● Follow the general installation and safety regulations when working on

power installations.● Before switching on, the equipment grounding conductor must have

been permanently connected to all electric components in accordancewith the connection diagram.

● Even for brief measurements or tests, operation is only allowed if theequipment grounding conductor has been permanently connected to thepoints of the components provided for this purpose.

● Before accessing electrical parts with voltage potentials higher than50 V, you must disconnect electric components from the mains or fromthe power supply unit. Secure the electric component from reconnec‐tion.

● With electric components, observe the following aspects:Always wait 30 minutes after switching off power to allow live capacitorsto discharge before accessing an electric component. Measure the elec‐trical voltage of live parts before beginning to work to make sure that theequipment is safe to touch.

● Install the covers and guards provided for this purpose before switchingon.

● Never touch any electrical connection points of the components whilepower is turned on.

● Do not remove or plug in connectors when the component has beenpowered.

● Under specific conditions, electric drive systems can be operated atmains protected by residual-current-operated circuit-breakers sensitiveto universal current (RCDs/RCMs).



● Secure built-in devices from penetrating foreign objects and water, aswell as from direct contact, by providing an external housing, for exam‐ple a control cabinet.

High housing voltage and high leakage current! Danger to life, risk of injuryby electric shock!● Before switching on and before commissioning, ground or connect the

components of the electric drive and control system to the equipmentgrounding conductor at the grounding points.

● Connect the equipment grounding conductor of the components of theelectric drive and control system permanently to the main power supplyat all times. The leakage current is greater than 3.5 mA.

● Establish an equipment grounding connection with a minimum crosssection according to the table below. With an outer conductor cross sec‐tion smaller than 10 mm2 (8 AWG), the alternative connection of twoequipment grounding conductors is allowed, each having the samecross section as the outer conductors.

Cross section outer con‐ductor

Minimum cross section equipment grounding conductorLeakage current ≥ 3.5 mA

1 equipment groundingconductor

2 equipment groundingconductors

1.5 mm2 (16 AWG)

10 mm2 (8 AWG)

2 × 1.5 mm2 (16 AWG)

2.5 mm2 (14 AWG) 2 × 2.5 mm2 (14 AWG)

4 mm2 (12 AWG) 2 × 4 mm2 (12 AWG)

6 mm2 (10 AWG) 2 × 6 mm2 (10 AWG)

10 mm2 (8 AWG) -

16 mm2 (6 AWG)

16 mm2 (6 AWG)

-

25 mm2 (4 AWG) -

35 mm2 (2 AWG) -

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

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

... ... ...

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

3.3.2 Protective extra-low voltage as protection against electric shock Protective extra-low voltage is used to allow connecting devices with basic in‐sulation to extra-low voltage circuits.On components of an electric drive and control system provided by BoschRexroth, all connections and terminals with voltages up to 50 volts are PELV("Protective Extra-Low Voltage") systems. It is allowed to connect devicesequipped with basic insulation (such as programming devices, PCs, note‐books, display units) to these connections.



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

3.3.3 Protection against dangerous movementsDangerous movements can be caused by faulty control of connected motors.Some common examples are:● Improper or wrong wiring or cable connection● Operator errors● Wrong input of parameters before commissioning● Malfunction of sensors and encoders● Defective components● Software or firmware errorsThese errors can occur immediately after equipment is switched on or evenafter an unspecified time of trouble-free operation.The monitoring functions in the components of the electric drive and controlsystem will normally be sufficient to avoid malfunction in the connecteddrives. Regarding personal safety, especially the danger of injury and/orproperty damage, this alone cannot be relied upon to ensure complete safety.Until the integrated monitoring functions become effective, it must be as‐sumed in any case that faulty drive movements will occur. The extent of faultydrive movements depends upon the type of control and the state of opera‐tion. Dangerous movements! Danger to life, risk of injury, serious injury or propertydamage!A risk assessment must be prepared for the installation or machine, with itsspecific conditions, in which the components of the electric drive and controlsystem are installed.As a result of the risk assessment, the user must provide for monitoring func‐tions and higher-level measures on the installation side for personal safety.The safety regulations applicable to the installation or machine must be takeninto consideration. Unintended machine movements or other malfunctionsare possible if safety devices are disabled, bypassed or not activated.To avoid accidents, injury and/or property damage:● Keep free and clear of the machine’s range of motion and moving ma‐

chine parts. Prevent personnel from accidentally entering the machine’srange of motion by using, for example:– Safety fences– Safety guards– Protective coverings– Light barriers

● Make sure the safety fences and protective coverings are strong enoughto resist maximum possible kinetic energy.

● Mount emergency stopping switches in the immediate reach of the oper‐ator. Before commissioning, verify that the emergency stopping equip‐



ment works. Do not operate the machine if the emergency stoppingswitch is not working.

● Prevent unintended start-up. Isolate the drive power connection bymeans of OFF switches/OFF buttons or use a safe starting lockout.

● Make sure that the drives are brought to safe standstill before accessingor entering the danger zone.

● Additionally secure vertical axes against falling or dropping after switch‐ing off the motor power by, for example,– mechanically securing the vertical axes,– adding an external braking/arrester/clamping mechanism or– ensuring sufficient counterbalancing of the vertical axes.

● The standard equipment motor holding brake or an external holdingbrake controlled by the drive controller is not sufficient to guarantee per‐sonal safety!

● Disconnect electrical power to the components of the electric drive andcontrol system using the master switch and secure them from reconnec‐tion ("lock out") for:– Maintenance and repair work– Cleaning of equipment– Long periods of discontinued equipment use

● Prevent the operation of high-frequency, remote control and radio equip‐ment near components of the electric drive and control system and theirsupply leads. If the use of these devices cannot be avoided, check themachine or installation, at initial commissioning of the electric drive andcontrol system, for possible malfunctions when operating such high-fre‐quency, remote control and radio equipment in its possible positions ofnormal use. It might possibly be necessary to perform a special electro‐magnetic compatibility (EMC) test.

3.3.4 Protection against electromagnetic and magnetic fields during opera‐tion and mounting

Electromagnetic and magnetic fields!Health hazard for persons with active implantable medical devices (AIMD)such as pacemakers or passive metallic implants.● Hazards for the above-mentioned groups of persons by electromagnetic

and magnetic fields in the immediate vicinity of drive controllers and theassociated current-carrying conductors.

● Entering these areas can pose an increased risk to the above-men‐tioned groups of persons. They should seek advice from their physician.

● If overcome by possible effects on above-mentioned persons during op‐eration of drive controllers and accessories, remove the exposed per‐sons from the vicinity of conductors and devices.

3.3.5 Protection against contact with hot partsHot surfaces of components of the electric drive and control system. Risk ofburns!



● Do not touch hot surfaces of, for example, braking resistors, heat sinks,supply units and drive controllers, motors, windings and laminatedcores!

● According to the operating conditions, temperatures of the surfaces canbe higher than 60 °C (140 °F) during or after operation.

● Before touching motors after having switched them off, let them cooldown for a sufficient period of time. Cooling down can require up to 140minutes! The time required for cooling down is approximately five timesthe thermal time constant specified in the technical data.

● After switching chokes, supply units and drive controllers off, wait 15 mi‐nutes to allow them to cool down before touching them.

● Wear safety gloves or do not work at hot surfaces.● For certain applications, and in accordance with the respective safety

regulations, the manufacturer of the machine or installation must takemeasures to avoid injuries caused by burns in the final application.These measures can be, for example: Warnings at the machine or in‐stallation, guards (shieldings or barriers) or safety instructions in the ap‐plication documentation.

3.3.6 Protection during handling and mountingRisk of injury by improper handling! Injury by crushing, shearing, cutting, hit‐ting!● Observe the relevant statutory regulations of accident prevention.● Use suitable equipment for mounting and transport.● Avoid jamming and crushing by appropriate measures.● Always use suitable tools. Use special tools if specified.● Use lifting equipment and tools in the correct manner.● Use suitable protective equipment (hard hat, safety goggles, safety

shoes, safety gloves, for example).● Do not stand under hanging loads.● Immediately clean up any spilled liquids from the floor due to the risk of

falling!

3.3.7 Battery safetyBatteries consist of active chemicals in a solid housing. Therefore, improperhandling can cause injury or property damage.Risk of injury by improper handling!● Do not attempt to reactivate low batteries by heating or other methods

(risk of explosion and cauterization).● Do not attempt to recharge the batteries as this may cause leakage or

explosion.● Do not throw batteries into open flames.● Do not dismantle batteries.● When replacing the battery/batteries, do not damage the electrical parts

installed in the devices.● Only use the battery types specified for the product.



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

3.3.8 Protection against pressurized systemsAccording to the information given in the Project Planning Manuals, motorsand components cooled with liquids and compressed air can be partially sup‐plied with externally fed, pressurized media, such as compressed air, hy‐draulics oil, cooling liquids and cooling lubricants. Improper handling of theconnected supply systems, supply lines or connections can cause injuries orproperty damage.Risk of injury by improper handling of pressurized lines!● Do not attempt to disconnect, open or cut pressurized lines (risk of ex‐

plosion).● Observe the respective manufacturer's operating instructions.● Before dismounting lines, relieve pressure and empty medium.● Use suitable protective equipment (safety goggles, safety shoes, safety

gloves, for example).● Immediately clean up any spilled liquids from the floor due to the risk of

falling!

Environmental protection and disposal! The agents (e.g., fluids)used to operate the product might not be environmentally friendly.Dispose of agents harmful to the environment separately fromother waste. Observe the national regulations of your country.



3.4 Explanation of signal words and the Safety alert symbolThe Safety Instructions in the available application documentation containspecific signal words (DANGER, WARNING, CAUTION or NOTICE) and,where required, a safety alert symbol (in accordance with ANSIZ535.6-2011).The signal word is meant to draw the reader's attention to the safety instruc‐tion and identifies the hazard severity.The safety alert symbol (a triangle with an exclamation point), which pre‐cedes the signal words DANGER, WARNING and CAUTION, is used to alertthe reader to personal injury hazards.

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 injurycould occur.

CAUTION

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

NOTICE

In case of non-compliance with this safety instruction, property damage couldoccur.



4 MTX micro system descriptionIndraMotion MTX micro is a compact, simple, high-performance and cost-ef‐fective Bosch Rexroth CNC solution for standard lathes and milling ma‐chines. It consists of a high-performance CPU, a customized operator paneland a compact multi-axis drive controller.

Fig. 4-1: IndraMotion MTX micro systemCurrently, two hardware variants are available:● MTX micro c - HCQ - Variant four drives + Eight external drives max.● MTX micro c - HCT - Variant three drives + Nine external drives max.All control modules provide CNC and PLC functionalities.

Up to 10 Sercos I/O devices can be connected!


MTX micro system description

5 Loading a newer IndraMotion MTX micro control anddrive firmware

5.1 General informationThe software and firmware of the IndraMotion MTX micro consist of threecompatible components:● The commissioning software and the project planning software

"IndraWorks Engineering"● The control firmware "FWC-HCQ-MTX"● The drive firmware "FWA-INDRV*-MPM"

WARNING

Please note that only use officially released software by Bosch Rexrothshould be used. The components of the software are compatible with eachother and have been thoroughly tested.

Optionally, the control firmware "FWW-MICRO-MTX" subject toexport authorization requirement can also be used.

Commissioning software and proj‐ect planning software "IndraWorks

Engineering"

The Bosch Rexroth "IndraWorks Engineering" software is installed on a PCor a notebook under Microsoft Windows XP, Windows 7 or Windows 10. Theconnection to the control system is established via a network connection(Ethernet). IndraWorks Engineering can be used to configure and operate thedrive and control system of the IndraMotion MTX micro.Examples:● Load an already configured IndraWorks project.● Configure all machine parameters of the control.● Commission and configure the PLC system.● Commission and configure the drive system.● Save the created IndraWorks project.● Update the control and drive firmware.

Control firmware "FWC-MICRO-MTX"

The actual CNC control firmware is stored on the Compact Flash card of theIndraMotion MTX micro. The operating panel (HMI), the PLC runtime system,the file system of the IndraMotion MTX micro are part of the CNC controlfirmware.In this file system, a copy of the respective drive firmware is contained whichcan be loaded into the drive system via the user interface. The CNC controlfirmware on the Compact Flash card can be replaced by a later version usingIndraWorks Engineering (firmware download) if required.

Note that only one firmware exists for both MTX micro hardwarevariants. The FW-MICRO-MTX-xx.y.z.fw has to be transmitted tothe HCT devices as well

Drive firmwares "FWA-INDRV*-MPM", "FWA-INDRV*-MPE" and

"FWA-INDRV*-MPB"

The drive firmware is stored on a drive-internal memory and is automaticallyloaded from the memory. If not already executed, the drive firmware has tobe transferred once from the CF card of the IndraMotion MTX micro to theinternal drive or the external drives using the user interface (HMI).


Loading a newer IndraMotion MTX micro control and drive firmware

5.2 Instruction on the IndraMotion MTX micro Drive and ControlFirmware Update

5.2.1 GeneralThe software and firmware of the IndraMotion MTX micro consist of threecompatible components:● Commissioning software and project planning software "IndraWorks En‐

gineering"The Bosch Rexroth "IndraWorks Engineering" software is installed on aPC or a notebook under Microsoft Windows XP, Windows 7 or Windows10. The connection to the control system is established via a networkconnection (Ethernet). IndraWorks Engineering can be used to config‐ure and operate the drive and control system of the IndraMotion MTXmicro.

● Control firmware "FWC-MICRO-MTX"The actual CNC control firmware is suitable for the devices of the type"HCT" (three internal axes) as well as for the devices of the type "HCQ"(four internal axes) and stored on the Compact Flash card of theIndraMotion MTX micro. Part of the CNC control firmware are the actualNC kernel, the user interface (HMI), the PLC runtime system, the filesystem of the IndraMotion MTX micro, etc. The drive firmware "FWA-INDR*-MPM" is also stored in the file system. Thus, the drive firmware ispart of the control firmware.The CNC control firmware on the Compact Flash card can only be re‐placed by a later version using IndraWorks Engineering (firmware down‐load).

● Drive firmware "FWA-INDRV*-MPM"The drive firmware is stored in a drive-internal memory and is automati‐cally loaded from there. The drive firmware has to be transferred oncefrom the Compact Flash card of the IndraMotion MTX micro to the driveusing the user interface (HMI).

Please note that only use officially releasedsoftware by Bosch Rexroth should be used.The components of the software are compati‐ble with each other and have been thoroughlytested.

WARNING

5.2.2 Prerequisites to Update the IndraMotion MTX micro Control and DriveFirmware

To successfully update the MTX micro control and drive firmware, the follow‐ing prerequisites are required:● An operable IndraMotion MTX micro control and drive system. Knowl‐

edge about the version and the installed control and drive firmware.● An "engineering" PC or an "engineering" notebook on which the

"IndraWorks" version installed fits the control and on which the respec‐tive IndraWorks project is located.

● Knowledge of the IP address of the MTX micro control.● Access to the respective MTX micro control via network connection

(Ethernet) using "IndraWorks Engineering".



● A password to log in as "MTB" (Machine Tool Builder) or "Developer" onthe MTX micro control system.

● A USB memory stick with a free capacity of at least 2 GB.● The new IndraWorks software version was provided via the respective

IndraWorks installation DVD. The MTX micro firmware file (*.fw) is partof the IndraWorks software installation.

Please note that the machine must be stopped at a safe positionand the power of the drives has to be switched off before ex‐changing the firmware. Since the PLC is automatically stopped fora data backup and a later data restoration, the machine cannot beoperated while exchanging firmware!

5.2.3 Overview: Steps required to update the commissioning software"IndraWorks Engineering" and to update the control and drive firm‐ware

The following list provides an overview on the required steps and their se‐quence. For a detailed description of the individual steps, go to chapter 5.2.4 "Determining the IP address of the MTX micro control system" on page 28.

1. Stop the machine at a safe position and switch off the power of thedrives.

2. Determine the IP address of the MTX micro control system (see chapter5.2.4 "Determining the IP address of the MTX micro control system" onpage 28).

3. Identify the currently installed control and drive firmware (see chapter5.2.5 "Identifying currently installed control and drive firmware " onpage 28).

4. Note down the actual positions of all drives (ACS).5. Create a backup of all control and drive data (see chapter 5.2.6 "Creat‐

ing backup of all control and drive data " on page 29).6. Install the new "IndraWorks Engineering" software on the commission‐

ing PC or on the notebook (see chapter 5.2.7 "Installing the newIndraWorks Engineering software on the commissioning PC or on thenotebook" on page 29).

7. Download the new MTX micro control firmware to the control (see chap‐ter 5.2.8 "Downloading the new MTX micro control firmware to the con‐trol " on page 30).

8. Download the new drive firmware from the Compact Flash card to theinternal memory of the drive system (see chapter 5.2.9 " Downloadingdrive firmware from the Compact Flash card to the internal memory ofthe drive system " on page 30).

9. Switch on/off the drive and control system.10. Execute "Load basic parameter" function for all drives (see chapter

5.2.10 "Enabling the default parameter block in each drive via Loadbasic parameters" on page 30).

The drive system requires some time internally to fully executethis function. Wait at least one minute after the execution beforeproceeding with step 11.



11. Load the current data backup (from step 5) to restore the original controland drive data (see chapter 5.2.11 "Downloading data backup to re‐store the original control and drive data" on page 31).

12. Switch on/off the drive and control system.13. Check the proper machine function. Before the machine is used for pro‐

duction again, ensure the accurate function of the machine due to safetyreasons. Ensure that the PLC runs properly, that all drives are refer‐enced and that the respectively correct axis position (cf. step 3) is dis‐played.

In general, this completes the update.If function packages changed in the drive or there are still invalid drive pa‐rameters, execute the following steps:

1. Parameter editor: Set drive parameter S-0-0269 "Storage mode" to 0 forall drives (enable storage mode).

2. Execute "Load basic parameter" function for all drives (see chapter5.2.10 "Enabling the default parameter block in each drive via Loadbasic parameters" on page 30).

The drive system requires some time internally to fully executethis function. Wait at least one minute after the execution beforeproceeding with step 3.

3. Load current data backup (from step chapter 5.2.6 "Creating backup ofall control and drive data " on page 29) to restore the original controland drive data (see chapter 5.2.11 "Downloading data backup to re‐store the original control and drive data" on page 31).

4. Switch on/off the drive and control system.5. Check the proper machine function.

If there are still invalid parameters after the steps 1 to 5, these parametershave to be individually and explicitly set to valid. Use the Rexroth IndraDriveMPx-16 Parameter Description if necessary to set the parameters correctlyaccording to the application.If the servo drives with absolute measuring system display an incorrect axisposition after activation (cf. step 4), the actual position value of the absolutemeasuring system has to be set once to the respectively noted position usingthe command "Set absolute position". For more information, refer to chapter5.2.13 "Restoring the correct position data reference (actual drive position,command Set absolute dimension)" on page 32.If the PLC program does not run properly, open the respective PLC projectwith IndraWorks Engineering, update the IndraLogic device description, re‐compile the PLC program and transfer it as boot project to the control. Alsorefer to chapter 5.2.15 "Updating PLC project" on page 33.

5.2.4 Determining the IP address of the MTX micro control system● User interface (HMI), operating area "System"● IP address information is displayed on the start page of the operating

area

5.2.5 Identifying currently installed control and drive firmware ● User interface (HMI), operating area "System"● F-key "F4 Version"



● The currently installed firmware versions are displayed:– IndraWorks software version– HMI firmware version– NC kernel, firmware version– Drive firmware version

5.2.6 Creating backup of all control and drive data ● Stop the machine at a safe position and switch off the power of the

drives.● Insert USB flash drive in the HMI operating device (not required, if only

data is to be backed up on the CF card).● A maximum of two directories can be created for data backup on the

USB flash drive/CF card. For the "Backup" directory (default), a pass‐word is required ("MTB" or "Developer"). No password has to be en‐tered for the "UserBackup" directory (daily or weekly backup).

● User interface (HMI), operating area "Maintain".● F-key "F2 Login": Log in as "MTB" or "Developer". Therefore, you need

the respective password. Without a password, a backup can be createdunder Operator.

● Click on "F9 Back" to return to the basic "Maintain" screen.● F-key "F8 Backup".● When logged in as "MTB" or as "Developer", select "F7 Operator" (User‐

Backup) or "F8 OEM" (Backup).● F-key "F8 Yes" to start data backup.● The data backup is automatically stored on the CF card. By pressing

"F8 Export", the directory is copied to the USB flash drive. By pressing"F9 No", the directory is not copied and is only stored on the CF card.

The data backup generally requires 5 to 10 minutes. Please wait until thecompletion dialog for the data backup is displayed. If the data backup hasbeen completed, the USB stick can be removed for the HMI operating device.

The PLC is stopped during backup. Therefore, it is not possible tooperate the machine!

The data backup is always stored in the"Backup" or "UserBackup" directories on theCF card or the USB flash drive. Thus, onlyone signal data backup can be stored per di‐rectory on the USB flash drive by default. Analready existing data backup is overwrittenwithout prompt.

WARNING

5.2.7 Installing the new "IndraWorks Engineering" software on the commis‐sioning PC or on the notebook

The "Bosch Rexroth IndraWorks Engineering" software has to be installed ona PC or on a notebook under Microsoft Windows 7. For an instruction andfurther information on this topic, refer to the documentation "RexrothIndraWorks 14VRS Software Installation" (DOK-IWORKS-SOFTINS*V14-CORS-EN-P, R911344286).



5.2.8 Downloading the new MTX micro control firmware to the control ● IndraWorks Engineering: Open the respective IndraWorks project and

connect to the control.● Right click on the control node: Select "Switch device online".● Right click again on the control node: Select "Configure device" - "Firm‐

ware management".● The following dialog shows the respective control firmware "FWC-

MICRO-MTXxx.x.x.x.fw" (with xx.x.x.x = version specification) under"Available firmware for download".

● Select the desired control firmware via mouse and click on "Down‐load...".

Downloading the control firmware generally takes three to five minutes.Please wait until the control firmware download has been completed.As soon as the control firmware transfer is complete, the control system hasto be rebooted to activate the new control firmware.

5.2.9 Downloading drive firmware from the Compact Flash card to the inter‐nal memory of the drive system

● User interface (HMI): Operating area "Maintain".● F-key "F2 Login": Log in as "MTB" or "Developer". Therefore, you need

the respective password.● Click on "F9 Back" to return to the basic "Maintain" screen.● Operating area "System".● Use the M-keys "M1" ... "M5" to check which Sercos phase is active.

The drive firmware can only be updated in the Sercos phase 0 ... 2. Ifeither Sercos phase 3 or 4 are active, press the M-key "M1 Phase 0"and wait until phase switching is executed (M-key "Phase 0" has a lightblue background color and is thus shown as "active").

● Operating area "Maintain".● F-key "F7 Update".● F-key "F2 DrFirmw" to prepare the transmission of the drive firmware.● F-key "F8 Yes" to start the transmission of the drive firmware.Transferring the drive firmware generally takes three to four minutes. Pleasedo not switch off the control system during transfer.As soon as the drive firmware transfer is completed, the control system hasto be rebooted to activate the new drive firmware.

5.2.10 Enabling the default parameter block in each drive via "Load basicparameters"

● IndraWorks Engineering: Open the respective IndraWorks project andconnect to the control.

● Right click on the control node: Select "Switch device online".● Select the "Drives" node located below the control node. If the "Drives"

node is not expanded, click on the "plus" sign in front of the "Drives"node to display the subordinate nodes.

● Right click on the first axis node "Axis [1]". Select the "parameter" –"Load basic parameters...".



● Select "Set saved parameters to default value". Select the two fields"Without master communication" and "Without serial interface/engineer‐ing port" and click on the "Perform" button.

● If requested, agree to the switching to "parameterization level one 1".● At the selected drive, the command "C0700 Load defaults procedure

command" is executed.● If the command was successful, close the "Load defaults procedure

command" dialog and then the "Load basic parameters" dialog.● Select now the next axis (e.g. axis [2]) and repeat the steps for the

"Basic parameter load".● Execute the "Basic parameter load" for all connected drives.● After the "Load defaults procedure" command has been executed for all

drives, wait for approximately one minute to provide sufficient time to thedrive system to fully execute this function.

5.2.11 Downloading data backup to restore the original control and drive da‐ta

● Stop the machine at a safe position and switch off the power of thedrives

● Insert USB flash drive in the HMI operating device (not required, if datais to be restored from a backup directory on the CF card).

● There are two directories on the USB flash drive/CF card on which a da‐ta backup can be stored. For the "Backup" directory (default), a pass‐word is required ("MTB" or "Developer"). No password has to be en‐tered for the "UserBackup" directory (daily or weekly backup).

● User interface (HMI): Operating area "Maintain".● F-key "F2 Login": Log in as "MTB" or "Developer". Therefore, you need

the respective password. Without a password, the backup "UserBackup"can be loaded as operator

● Click on "F9 Back" to return to the basic "Maintain" screen.● F-key "F9 Restore".● When logged in as "MTB" or as "Developer", select "F7 Operator" (User‐

Backup) or "F8 OEM" (Backup).● Using the F-key "F7 USB" (the directory is copied from the USB flash

drive to the CF card) or "F8 Local" (the directory on the CF card is se‐lected)

● F-key "F8 Yes" to start data restoration.The restoration generally requires five to eight minutes. Please wait until the"completion dialog" is displayed.If requested, switch off the control system and switch it on again.

5.2.12 Parameter editor: Setting drive parameters● User interface (HMI): Operating area "Maintain".● F-key "F2 Login": Log in as "MTB" or "Developer". Therefore, you need

the respective password.● Switch to the "System" operating area.● F-key "F3 DrPara": Select the desired Sercos parameter and describe it

with the fitting parameter value.



Please consider the following notes:● A change in the drive parameters can only be permanently saved if the

drive parameter S-0-0269 "Save mode" has been set to 0 before (0 =Save mode active).

● Whether there are invalid parameters and which these are, can befound in the two parameters S-0-0021 "IDN list of invalid operating datafor communication phase 2" and S-0-0022 "IDN list of invalid operatingdata for communication phase 3".

● The drive parameter S-0-0269 "Storage mode" is automatically set to 1for all drives at next Sercos startup by the control.

5.2.13 Restoring the correct position data reference (actual drive position,command "Set absolute dimension")

● User interface (HMI): Operating area "Maintain"● F-key "F2 Login": Log in as "MTB" or "Developer". Therefore, you need

the respective password.● Switch to the "System" operating area● F-key "F3 DrPara"● M-key "M8 setting guide"● M-key "M3 Refer. Position"● Select the desired axis using the F-keys "F2 Axis +" and "F3 Axis –".● Check the "Actual Position" and compare it with the actual position no‐

ted down in step 4 and the actual position of the axis in the machine.● If the "Actual Position" is incorrect, correct it as follows: Enter the correct

actual position of the selected axis into the "New Reference Distance"field. If the axis is not moved, it should be the axis position noted downin step 4. Then press the M-key "M6 Set Position". Please note that thedrives have to be either in the "Bb" (read for operation) or in the "Ab"(read for drive) state.

● Repeat this action for all axes with an incorrect "Actual Position".The "Set absolute dimension" command can also be performed inIndraWorks Engineering.

5.2.14 Updating the IndraLogic device descriptionsAfter an older IndraWorks project has been opened with the new IndraWorkssoftware, IndraLogic device descriptions of the project have to be updated.● For this purpose, open the context menu on the "IndraMotion MTX

micro" node in the IndraWorks project tree.● Select the entry "Logic ==> Update device".● In the "Update device" dialog, check whether the project uses the latest

device descriptions. If old device descriptions are still used, select these(preselection) and update the device descriptions via "Start update".

● Then recompile your IndraLogic project and transfer it to the control (seechapter 5.2.15 "Updating PLC project" on page 33).

Target blocks are not downward compatible. The project can onlybe used in the current software version after an update.



5.2.15 Updating PLC projectIf the PLC program does not run properly, open the respective PLC projectwith IndraWorks Engineering, update the IndraLogic device description, re‐compile the PLC program and transfer it as boot project to the control.● First, perform the required steps to update the IndraLogic device de‐

scriptions (see chapter 5.2.14 "Updating the IndraLogic device descrip‐tions" on page 32).

Then perform the following steps in IndraWorks Engineering:● Main menu "Build"⇒"Clear all".● Main menu "Build"⇒"Generate code for application...".● Main menu "Debug"⇒"Login". If you are requested, accept the loading of

the current code and the replacement of the existing application.● Main menu "Debug"⇒"Generate boot application".● Main menu "Debug"⇒"Start" to start the PLC program.Ensure that the PLC runs properly.

5.2.16 MTX micro demo or training systems: Operating with a single-phasepower supply

A single-phase operation with the new IndraMotion MTX micro control anddrive firmware is not possible anymore by default. Please contact the respon‐sible Bosch Rexroth Sales, Application or Service Representative if an MTXmicro demo or training system should further be operated with single phase.The drive parameter P-0-4059 (element 12, bit 0 = 1) has to be changed.This may only be executed by authorized Bosch Rexroth employees (drivefirmware master password required).● Set drive parameter S-0-0269 "Save mode" to 0 for all HCT- or HCQ-

internal drives (0 = storage mode active).● Enter the drive firmware master password for the MPM into the parame‐

ter S-0-0267 "Password".● Set bit 0 to 1 in element 12 in the parameter P-0-4059 "Electric type da‐

ta of power section".Remark: The list starts with element 0.

● Switch off the MTX micro demo system and switch it on again. Thedemo or training system can now permanently be operated with single-phase.

5.3 Installing the new "IndraWorks Engineering" software on thecommissioning PC or on the notebook

The Bosch Rexroth "IndraWorks Engineering" software has to be installed ona PC or a notebook under Microsoft Windows XP or Windows 7. An instruc‐tion and further information on this topic is provided in the following documen‐tations:

Title: IndraWorks 14VRS Software Installation

Type code: DOK-IWORKS-SOFTINS*V14-CORS-EN-P

Part number: R911344286



5.4 Downloading the new MTX micro control firmware to the con‐trol

The drive and control firmware can also be updated via "download" with the"IndraWorks Engineering". Therefore, start "IndraWorks Engineering", openthe respective IndraWorks project and connect to the control.

Even if the firmware is transferred to IndraWorks Engineering, abackup is required before the firmware download and a restora‐tion after the firmware download.

● Right click on the control node: Select "Switch device online".● Right click again on the control node: Select "Configure device" – "Firm‐

ware management".● The following dialog shows the respective control firmware "FWC-

MICRO-MTX-xx.x.x.x.fw" (with xx.x.x.x = version specification) under"Available firmware for download".

● Select the desired control firmware via mouse and click on "Down‐load...".

● Downloading the control firmware generally takes three to five minutes.Please wait until the control firmware download has been completed.

Note that a download of the drive firmware from the CF card tothe internal memory of the drive system might be necessary.



6 Startup menu of the IndraMotion MTX micro 6.1 Enabling the startup menu view

The startup menu view can only be enabled at control startup.Switch on the control and wait until the following lines appeared on thescreen:● Init screen of Drive FPGA● Initialize of BIOS (MTX micro logo on the screen)● MBR Bootloader (black screen with multiple "+" characters)● Initialize of VxWorks (blue screen)Press <ESC> until this text is displayed on the screen.Please release key!Release <ESC> and the startup menu is displayed.

Fig. 6-1: Startup menu of the IndraMotion MTX microTo activate a special startup mode, enter the respective characters

6.2 Describing the different startup modesStartupmode

Description

0 Normal operationAll existing data and file systems are retained. The root file system is checked at startup. If a defective file systemis detected, a critical system error is displayed. A new empty root file system is automatically created at nextstartup.

1 PLC stopThe behavior corresponds to Startup mode 0 with the difference that the PLC remains in the STOP state and thePLC user program is not processed.


Startup menu of the IndraMotion MTX micro

Startupmode

Description

2 Reloading the PLC boot projectThe PLC boot project is loaded from the user FEPROM. Any possible PLC boot project in the root file system isdiscarded. Otherwise, the behavior corresponds to the startup mode 0.

3 Save startupIn rare cases, due to faulty machine parameter specifications, a control startup can be impossible. Startup mode3 carries out a startup in this error situation irrespective of the set machine parameters. A startup with the mini‐mum configuration is executed. The machine parameters set are ignored. After the startup, the invalid machineparameter settings can be corrected and a new startup with Startup mode 0 can be carried out.

4 Deleting the permanent CPL variablesThe permanent CPL variables are deleted. Otherwise, the behavior would correspond to Startup mode 0.

5 Cold startThe power-up management logic is not run through. Otherwise, the behavior would correspond to Startup mode0.

6 BootstrapA new root file system is created. As a result, all old file system data is lost. If an intact user FEPROM file systemexists, the PLC boot project and the configuration data is loaded from there.

7 Creating the user FEPROM file systemThe user FEPROM is created again. As a result, all old file system data is lost. This is required for example if auser FEPROM file system is defective. The root file system is retained. The permanent CPL variables are de‐leted.

9 Debug modeThis is normally for debugging if the control does not automatically boot after a reset. After the basic monitor hasbeen initialized, the boot loader is enabled and the subsystems are automatically loaded.

Tab. 6-1: Startup mode

CautionDANGER

The startup menu modes may only be used in case of critical errors or if thecontrol does not operate anymore and there is no other option to communi‐cate with the control. Ensure that all control and drive data is backed up.

In startup mode 3 "Protected", the axis name for all axes is"SAFE-MODE"


Startup menu of the IndraMotion MTX micro

7 The MTX micro wizard7.1 General

Introduction In the Engineering framework "IndraWorks" by Bosch Rexroth - the uniformlyand intuitively operable software environment to commission and configurecontrol systems - the control type "IndraMotion MTX micro" is available in the"Drive and Control" library.

General information The following general device data is entered here:● Device name: Device name displayed in the project tree. By default, the

name is preassigned with the device type.● Comment: Comment on the device. This is shown as tooltip in the proj‐

ect tree on the device.● Created by: Creator of the device. The entry is set to the currently log‐

ged-on Windows user by default.

Fig. 7-1: General informationCommunication settings The communication settings for the control, such as IP address, port and

timeout are internally preassigned by default and not displayed in the wizard.They can be seen and modified later on via the "Properties..." dialog of thesubsequently created project node.

7.2 MTX micro project template*** has to be supplemented ***

7.3 "IndraMotion MTX micro" project node The "IndraMotion MTX micro" node in the project tree describes the functionsregarding the control hardware.


The MTX micro wizard

Fig. 7-2: Project node – "IndraMotion MTX micro"IndraMotion MTX micro Different device functions can be found on this node. The functions can be

selected according to the communication state (online/offline).The menu of the node (context menu and submenu) provides the followingfunctions:● Going online● Going offline● Connection test● NC restart (with specification of the startup mode)● Configuring devices

– Firmware management– Setting time– Configuring mount directories

● Archiving (archiving NC data parameters, NC programs etc.)● Restore● Logic

– Updating device– Logic communication settings

● Displaying drivesThe "Drive" node can be shown and hidden

● PropertiesMotion This node represents the functions of the control hardware.

Right-click to activate the following functions:● Saving configuration data permanently (only online):

The machine parameters are stored in the "userfep" directory of thecontrol so that they can, for example, be automatically restored after afirmware download.

Motion - NC configuration This node represents the machine parameters of the control. If changes ofthe parameters are not yet active, this is visualized by a warning symbol onthe node.



The following functions can be called at this node:● Starting the configuration function to edit machine parameters (only on‐

line)● Applying changes depending on the parameters changed (NC restart,

system reset)Motion - NC file system This node represents the file system of the control. The navigator opens with

a double-click and allows a look at the files on the control and as well as toedit them.

Logic The "Logic" node represents the integrated PLC functionality "IndraLogic".NC-PLC interface Overview on all processes in the project. The configured channels, axes and

spindles are displayed to select address settings in the corresponding views.Local I/Os Configuring the local inputs and outputs. The I/O card is fixedly installed, ad‐

ditional cards can be added.USB Configuring the inputs and outputs at the operating device.

Drives The additional data of the drives can be parameterized.The following functions can be called at this node:● Archiving the drive parameters● Restoring the drive parameters● Switching the Sercos phaseThis menu item can be shown or hidden. Therefore, a function is available atthe "IndraMotion MTX micro" device node.



8 Using USB memory flash drives8.1 General information

The MTX micro supports the usage of USB memory flash drives. The memo‐ry flash drives have to be formatted with FAT32.The USB is hot-plug-capable. That means that a USB flash drive can beplugged into a USB port at runtime and it can be used afterwards.

A USB flash drive should not be plugged in or removed while pro‐cessing an NC program.

8.2 ApproachPlug the USB flash drive into the USB port on the HMI panel. The control de‐tects the USB flash drive and reports the plugging in or removal of the USBflash drive as note text. The USB flash drive is read by the control after plug‐ging in.

Check the number of files on your USB flash drive. The more filesor directories are saved on your USB flash drive, the more time isrequired to read the flash drive. In case of a larger number offiles, it can take up to several minutes till the data is read in.

After the USB memory flash drive has been read in, it can be accessed asany control directory. Files can be copied, pasted, cut and created. NC pro‐grams can be directly processed from the USB flash drive.

When selecting large files (>1MB), linking the NC program cantake several minutes.

8.3 Limitations when working with USB8.3.1 File names and directory names

The control does not support UNICODE characters. File names and directorynames have to be specified in ASCII characters.

WARNING

When using UNICODE, problems with the displayed file structures or directo‐ry structures can occur. Depending on the sequence in which the data wasstored on the stick, the data is only partially displayed or error messages canoccur and write and copy functions cannot be executed.

The file name length is restricted to 28 characters.

Please ensure that the USB flash drive has been formatted with aFAT file system!

8.3.2 Too many filesIf there are too many files (>100) in the directory, it is possible that not all da‐ta is displayed due to lack of memory. The operator should then reduce thenumber of files.


Using USB memory flash drives

9 PLC-specific data for MTX micro9.1 MTX micro Library9.1.1 Overview

The MTX micro library consists of the following function blocks● MT_DiagLocalIO● MT_DiagUsbHmiCfg● MT_DiagUsbHmiState

9.1.2 MT_DiagLocalIO functionInterface description

Fig. 9-1: Graphical representation of MT_DiagLocalIO

Name Type Description

VAR_INPUT bEnable BOOL Enabling input

byDevice BYTE Device selection

VAR_OUTPUT bDone BOOL Process successfully completed

bError BOOL Error IDTRUE - Error occurred during execution

enErrorID ERROR_CODE For the error description, refer to the error number (ErrorID)

stErrorIdent ERROR_STRUCT Values:0x0000 - No error0x0006 - Incorrect input values0x7FFE - Undefined error

uiDeviceType UINT Type of installed modulesValue:0 - No I/O module installed1 - Installed I/O module: "Standard I/O module"

uiDeviceState UINT Device state

Tab. 9-1: Inputs/outputs of the MT_DiagLocalIOFunctional description Analyzes type and status of a local I/O module


PLC-specific data for MTX micro

9.1.3 MT_DiagUsbHmiCfg functionInterface description

Fig. 9-2: Graphical representation of MT_DiagUsbHmiCfg


VAR_INPUT bExecute BOOL Enabling input triggered by edge




stErrorIdent ERROR_STRUCT Values:0x0000 - No error0x7FFE - Undefined error

wVID WORD USB manufacturer ID for HMI devices

wPID WORD USB product ID for HMI devices

wRevID WORD Change ID

wstrVendorName WSTRING[128] Manufacturer name

wstrProductName WSTRING[128] Product name

wNofInput WORD Number of received packages

wNofOutput WORD Number of sent packages

Tab. 9-2: Inputs/outputs of the MT_DiagUsbHmiCfgFunctional description Provides information about the connected HMI panel (VDP8x)

9.1.4 MT_DiagUsbHmiState functionInterface description

Fig. 9-3: Graphical representation of MT_DiagUsbHmiState




VAR_INPUT bEnable BOOL Enabling input




stErrorIdent ERROR_STRUCT

Values:0x0000 - No error0x7FFE - Undefined error

dwUSBState DWORD USB-bus state

dwDevState DWORD Coding for the individual bits:

Bit 0 : Loading status of the USB driver0 - Error; USB driver not loaded1 - USB driver successfully loaded

Bit 1 : USB connection status0 - No error1 - USB connection interrupted since last start

Bit 2: USB reading status0 - No error1 - The last read data is not up-to-date

Bit 3: USB writing status0 - No error1 - Last attempt to successfully write data to the USB output is olderthan 100 ms

Tab. 9-3: Inputs/outputs of the MT_DiagUsbHmiStateFunctional description Provides information about the status of the connected HMI panel (VDP8x)



10 Firmware and software for the IndraMotion MTX10.1 General information

The software and firmware of the IndraMotion MTX micro consist of threecompatible components:● The commissioning software and the project planning software

"IndraWorks Engineering".● The control firmware "FWC-HCQ-MTX".● The drive firmware "FWA-INDRV*-MPM".Please note that only use officially released software by Bosch Rexrothshould be used. The components of the software are compatible with eachother and have been thoroughly tested.More information on the "control firmware" and the "drive firmware" can befound in chapter 5 "Loading a newer IndraMotion MTX micro control anddrive firmware" on page 25.The control system IndraMotion MTX micro is equipped with firmware andsoftware packages covering many applications and technology functions.

10.2 Commissioning software and project planning software"IndraWorks Engineering"

10.2.1 General informationThe Bosch Rexroth "IndraWorks Engineering" can centrally execute all engi‐neering tasks in one single software environment. The system-comprehen‐sive framework is used for all Bosch Rexroth automation systems (e.g.IndraMotion MTX, IndraMotion MLC, IndraLogic) and for the drives(IndraDrive).The engineering software is installed on a PC or a notebook under MicrosoftWindows XP or Microsoft Windows 7. The connection to the control systemIndraMotion MTX micro is established via a network connection (Ethernet).IndraWorks Engineering can be used to configure and operate the drive andcontrol system of the IndraMotion MTX micro.Examples:● Load an already configured IndraWorks project.● Configure all machine parameters of the control.● Commission and configure the PLC system.● Commission and configure the drive system.● Save the created IndraWorks project.● Update the control and drive firmware.IndraWorks Engineering is provided in the languages English (EN) and Ger‐man (DE) by default. Additional languages (e.g. French, Spanish, Italian orChinese) are optionally provided as separate language installations.

10.2.2 Installation Data Carrier (SWA)A DVD is provided for the "IndraWorks" software installation.


Firmware and software for the IndraMotion MTX

Order designation:

Type: SWA-IWORKS-MTX-14VRS-D0-DVD**


Tab. 10-1: System-comprehensive basic software packageThe following software variants can be installed for the system controlIndraMotion MTX using software licenses:

10.2.3 Software license (SWL)To activate the installation of the respective "IndraWorks Engineering" for theIndraMotion MTX micro, a respective software license (SWL) is required.Order designation:

Type: SWL-IWORKS-MTX-NNVRS-D0-MICRO

Part number R911331698

Tab. 10-2: Software license (SWL)

10.3 Firmware for the MTX micro Control Firmware and DriveFirmware (HCx)

The control firmware for the IndraMotion MTX micro contains the followingfunctions:● CNC functions for the following technologies: drilling, turning, and mill‐

ing. (two CNC channels, up to twelve drives, thereof a maximum of fourinterpolating at the same time)

● Integrated PLC (IndraLogic)● Languages: German (DE), English (EN) and Chinese (ZH)Order designation:

Type: FWA-MICRO*-MTX-14VRS-NN

Part number R911342885

Tab. 10-3: Firmware MTX micro (HCx)

10.4 Optional language installation: IndraWorks There are different language extensions for the system MTX micro. To installan optional language, the DVD language installationOrder designation:

Type: SWA-IWORKS-SED-14VRS-NN-DVD**


Tab. 10-4: Data carrier for the language installationThe ZH language installation provides the Chinese language files forIndraWorks Engineering (IWE).



Order designation:

Type: SWL-IWORKS-SED-14VRS-ZH-OPDENG


Tab. 10-5: Software license for the Chinese language installation (example)

The list of the supported language is permanently extended.

10.5 Additional language installation IndraWorksThere are different language extensions for the system MTX micro.

10.6 IndraMotion MTX SWW softwareThis software is provided as a separate product for the customer and is in‐stalled on-site. It can only be used together with the MTX controls. The soft‐ware● includes several functional extensions of the CNC and● supports interpolation groups of more than four axes to control the path.

This software is subject to export approval according to part 1 Cof the export list. (EC spec.).

The software is ordered under the following designation:Order designation:

Type: SWW-IWORKS-MTX-14VRS-D0-CD650


Tab. 10-6: Data carrier for the SWW installation



11 Applications11.1 Lathe (X, Z, S1)

Fig. 11-1: Standard lathe with two axes and one spindle

Fig. 11-2: Principle of a lathe


Applications

11.2 Lathe with driven tools (X, Z, S1, S2)

Fig. 11-3: Standard lathe with two axes, one spindle and one or several driventools

Fig. 11-4: Principle of a lathe


Applications

11.3 Milling machine (X, Y, Z, S1)

Fig. 11-5: Standard milling machine with three axes and one spindle

Fig. 11-6: Principles of a vertical milling machine

Fig. 11-7: Principles of a horizontal milling machine


Applications

12 Template projects for the IndraMotion MTX micro 12.1 General information

To operate an IndraMotion MTX micro as fast as possible, default projects fordifferent machine configurations are provided.Access these default projects using the "Restore project" function. This func‐tion is located in the menu Project\Restore. Select "Restore from file system"in the open wizard.One of the following default projects can now be selected in the dialog below:● Basic project: Milling● Basic project: Turning 1● Basic project Turning 2● Basic project Automation

The present basic projects are intended for a faster commission‐ing. The machine manufacturer has to ensure that the safetymeasures and switching functions required for the machine oper‐ate safely.The machine manufacturer must adapt these programs for the re‐spective machine type!

12.2 Basic project: MillingUsage of an HCQ02.1 with four axes for a simple milling machine with an x-,y- and z-axis and spindle. Support of the HMI panel VDP80.1FBN-C1-NN-ENfor milling machines. The default data of the control and the drives is archivedin the project and can be directly applied to the control.

12.3 Basic project: Turning 1Usage of an HCT02.1 with 3 axes for a simple lathe with an x- and z-axis andspindle. Support of the HMI panel VDP80.1FAN-C1-NN-EN for lathes. Thedefault data of the control and the drives is archived in the project and can bedirectly applied to the control.

12.4 Basic project: Turning 2 spindlesUsage of an HCQ02.1 with four axes for a simple lathe with x- and z-axis andtwo spindles. Support of the HMI panel VDP80.1FAN-C1-NN-EN for lathes.The default data of the control and the drives is archived in the project andcan be directly applied to the control.

12.5 Basic project: AutomationUsage of an HCT02.1 with 3 axes for a simple machine with an x- ,y- and z-axis. Support of the HMI panel VDP80.1FBN-C1-NN-EN for milling machines.The default data of the control and the drives is archived in the project andcan be directly applied to the control.

12.6 Restoring control dataAll data required for the configuration of the control is located in an archivestored in the project.


Template projects for the IndraMotion MTX micro

The backed up data for the control (TAR format) is located in the <Project‐Path>\tar directory.The drive data is archived in the <ProjectPath>\par directory. The data canbe transferred to the control via the "Restore" menu item.

12.7 Updating dataTemplates have to be set to the current version.

To set the current version, perform the following steps:● Start the “Properties” dialog for the MTX micro node in the Project Ex‐

plorer.● Select the "Configuration" tab.● Set the latest firmware version in the “Firmware release” field.● Press <OK> to apply the changes.● The changed configuration data is applied. Wait until the process is

complete.● Select <Create> -> <Clear> from the menu. This deletes all already

compiled PLC program libraries.● Select <Debug> -> <Log in> from the menu. It is now connected to the

control. The PLC program is then compiled again and transferred to thecontrol.

● Data update is now complete.


Template projects for the IndraMotion MTX micro

13 Using QSK motors with HCS drive controllersFrom version 12V08 or 13V06, QSK motors are accepted by the externaldrive controllers.Precondition: At least one of the following versions needs to be installed inthe drives:● MPB-18V24● MBE-18V24

QSK motors are compatible with MTX micro. These motors can‐not be connected to a standard MTX control.

Exemplary use case

Fig. 13-1: MTX micro with externally connected QSK motor


Using QSK motors with HCS drive controllers

14 Login to user administration via PLC key switchGeneral information

Fig. 14-1: PLC key switchMany end customers required the machine operator to register via a keyswitch.Two states are evaluated in the MTX micro:Position 1: Guest loginPosition 2: User loginTo login the other user levels OEM or developer, the key switch positionneeds to be Operator. Login is possible via the known HMI login.

Realization In the internal PLC data structure "DB10_2CHAN", special bits are used forthe user management (PLC variable DB_Interface.DB10)Enabling the key switch MKeyOut[1].4 = 1Setting a user right:

MKeyOut[1].5 = 0 Guest login

MKeyOut[1].5 = 1 User login

Tab. 14-1: Setting a user rightResponse of the registered user in the PLC:

MKeyIn[5].0 =0 and MKeyIn[5].1 =0 Guest

MKeyIn[5].0 =1 and MKeyIn[5].1 =0 Operator

MKeyIn[5].0 =0 and MKeyIn[5].1 =1 OEM

MKeyIn[5].0 =1 and MKeyIn[5].1 =1 DEVELOPER

Tab. 14-2: Response of the registered user in the PLCExemplary use case Adjusting the PLC program


Login to user administration via PLC key switch

Creating a POUs prUsrMngt:

Fig. 14-2: Header POU prUsrMngt

Fig. 14-3: Program POU prUsrMngtMain program call prMain:

Fig. 14-4: Using the POU prUsrMngt in prMainInput %IX10.4 (X86.4) to enable the key switch. TRUE --> PLC key switchactive, FALSE --> key switch not active.Input %IX10.5 (X86.5) key switch connection.The registered user can be displayed at the outputs.



Login as OEM or developer: Key switch in position Operator ->Login via HMI.

Login without key switch or if the PLC program is not running:In both cases, the user can use the login screen of the HMI inter‐face.



15 Supporting an "external spindle"15.1 General information

This function offers more options to use an external spindle controlled via aPLC. The function also provides the option to use the analog spindle.

Prerequisites ● The external spindle has a mounted encoder (load side) whose data istransmitted to the MTX.

● The encoder data have to be transmitted as rotary position data in pre‐ferred scaling (0.0001 degrees) to the MTX.

● The spindle is programmed in the MTX using the part program or man‐ual input by specifying auxiliary functions (M-functions, S-functions). Theauxiliary functions sent from the MTX to the PLC use the PLC to actuatethe spindle.

15.2 Example constellation

Fig. 15-1: Schematic representation for the external spindle connection● The external spindle is programmed using the known M-/S-auxiliary

functions. These auxiliary functions are sent from the MTX to the PLC.● The PLC actuates the external spindle.● A mounted encoder (load side) records the change in position of the

spindle head. The encoder data are transmitted to the MTX, e.g. via theexternal encoder input of an existing drive.

15.3 Supported NC functionsThe "external spindle with encoder" supports the spindle functions clockwiserotation, counter clockwise rotation and stop (M3, M4 and M5) as well as thedirect speed specification (S).These motion specifications and the information supplied by the encoder areused to generate If signals to monitor the spindle:● iSp_TurnCmd● iSp_TurnDirM4


Supporting an "external spindle"

● iSp_ProgSpReach● iSp_StopThe following NC functions can be used with the encoder data:● Feed programming in rpm G95● Thread cutting G33To use the G96 function (constant cut velocity), the external spindle has to beconfigured as "analog spindle". The speed command value is transmitted viaan analog output to the spindle.

15.4 LimitationsAll spindle functions requiring a directly controlled drive amplifier cannot beexecuted in the "external spindle with encoder" spindle variant:● Spindle positioning (M19)● Position-controlled spindle operation● Position-synchronous operation (spindle coupling)● C-axis● Spindle/ turret axis● Tapping without compensating chuck (G63)● Gear stage and winding switching controlled by the NC

15.5 Machine ParametersActivate The external spindle with encoder is activated via SP/SpFunc/Sp[1..32]/Base/

SpType.Settings The window for the If-signal iSp_Stop is specified by the new parameter SP/

SpFunc/Sp[1..32]/SpeedWin/StandstillWin.The maximum possible speed (maximum used S-value) has to be entered inMP 1040 00012 [1] SP/SpFunc/Sp[1..32]/Gear/GearStep[1]/MaxSpSpeed.

The acceleration parameters are not taken into consideration.


Supporting an "external spindle"

16 External drives and I/Os16.1 Connecting external Sercos drives

Three (HCT) or four (HCQ) drives are supported by default by theIndraMotion MTX micro control and drive system. If required, additional exter‐nal Sercos drives can be connected.Connect external Sercos drives at the IndraMotion MTX micro control anddrive system via the RJ45 sockets X24 and/or X25:

Type: Ethernet 100BaseT

Cable length: 100 m max.

Cable type: CAT5e with S/STP

Transfer rate: 100MBIT/s

The connection to the external drives is established by means of fiber opticcables. Line or ring structure can optionally be used as topology.For the line structure, the Sercos socket X24 can be connected to the Sercosconnection of the external drive via Ethernet cable. If required, anotherSercos drive can be connected to the second Sercos connection.For the ring structure, the second Sercos connection of the last drive can beadditionally connected to the Sercos socket X25 of the MTX micro controland drive system.IndraMotion MTX micro supports up to 12 Sercos drives● IndraDrive Cs from drive firmware MPB-18V24 or MPE-18V24 (and

higher)● IndraDrive C from the drive firmware MPx-07VRS (and higher)● IndraDrive M from the drive firmware MPx-07VRS (and higher)

16.2 Sercos I/Os16.2.1 Names and Abbreviations

Master: The Sercos field bus master is called master

Slave: The Sercos field bus slaves are called slaves

Sercos ad‐dress: The criterion to address a slave is the Sercos address

16.2.2 General information"External" Sercos I/Os are supported apart from the external Sercos drives.Up to ten Sercos I/O devices are supported.The current implementation of the Sercos I/O master comprises the followingfunctionalities:● Cyclic data traffic● Bus scan of Sercos slaves● Remote address specification● Automatic configuration of the devices in the device tree (offline/online

adjustment of the devices in the project)● Slave-related connection status on the interface


External drives and I/Os

● Diagnostics of the Sercos master and slaves via function blocks● Acyclic data transfer (service channel or IP channel) via function blocks

16.2.3 Supporting I/O DevicesUp to ten I/O devices are provided by the MTX micro.

16.2.4 Initial commissioningWhen creating an MTX micro project, it can be selected between four exam‐ple projects. In these MTX micro example projects, a list of preconfiguredSercos I/O devices is already created. Up to ten I/O devices are provided.The I/O devices are all disabled. I/O ranges and Sercos addresses or topolo‐gies are predefined for Sercos I/O devices.The I/O devices are listed in the "Drives and External I/Os" below the dis‐played drives.The required devices have to be activated. For this, select the checkbox inthe Navigator. Subsequently, recompile the PLC user program and load it tothe control. To enable the I/O modules, restart the NC.Complete access to the Sercos I/O library is granted. Preconfigured modulesand I/O ranges can be deleted, added or replaced at any time.

16.2.5 Serial CommissioningTo simplify the serial commissioning of Sercos I/O devices, the MTX microdoes not identify the I/O devices via their Sercos address but their topologyorder.The I/O devices have to be wired in a specified order in the Sercos ring (orline). This order is specified by the list of Sercos I/O devices shown under theSercos I/O node.The specified Sercos addresses have to be set in the command configurationfor the I/O devices. Otherwise, the Sercos addresses are automatically adjus‐ted.

16.2.6 Sercos master functions in the PLC programDiagnostic functions and acyclic communication functions can be used fromthe PLC program via functions blocks or FUNs.

Diagnostic functions in the PLCprogram

Device-specific diagnostics with PLC function blocksFunction blocks and functions are only briefly explained here.

IL_S3IO_GetStatus This function provides a fast and simple diagnostics of a Sercos slave.

Fig. 16-1: IL_S3IO_GetStatus function blockAcyclic communication in the PLC

programWrite/read-only functionsFunction blocks and functions are only briefly explained here.

IL_SIIISvcRead Using the IL_SIIISvcRead function block, slave device parameters can beread via the Sercos service channel.



Fig. 16-2: IL_SIIISvcRead function blockIL_SIIISvcWrite Using the IL_SIIISvcWritefunction block, slave device parameters can be writ‐

ten via the Sercos service channel.

Fig. 16-3: IL_SIIISvcWrite function block

16.2.7 Sercos I/O SlaveGeneral information

Double-click on the Sercos object to open the editor window in the ProjectExplorer.The dialogs provide information on the configuration of the complete slaveand allow modifications if necessary.

Fig. 16-4: Sercos slave (configuring)(Sercos I/O slave) tab● Sercos slave



● Sercos configurationThis window is used for service purposes and only visible if the "Displaygeneric configuration data" option was enabled under Tools ▶ Op‐tions ▶ IndraLogic 2G ▶ Device editor.

● Status● Information

"Sercos Slave" tabThe settings in all dialog tabs are specified by the device description file ofthe module. Specifications about the preassignment of a value or whether ornot a value can be change can be found in this file.

Fig. 16-5: “Sercos slave” tabIdentification The "Identification" area provides specific information on the Sercos slave

uniquely identifying the slave.

Sercos ad‐dress: Bus-specific address of the Sercos slave

Device num‐ber: Logic address of the Sercos slave

Topologic Topologic address of the Sercos slave

Vendor code Vendor ID of the Sercos slave

Vendor Name of manufacturer of the Sercos slave, e.g. Bosch Rexroth

Device ID ID number specified for the Sercos slave by the manufacturer

Device name Name of the Sercos slave by the manufacturer

FSP Type This number defines device-specific functions of the Sercos slavessuch as device properties

"Sercos configuration" tabThis window is used for service purposes and only visible if the "Display ge‐neric configuration data" option was enabled under Tools ▶ Op‐tions ▶ IndraLogic 2G ▶ Device editor.

Please contact the customer service before making changes inthe editable parameters.



Fig. 16-6: “Sercos configuration” tab

At a running bus, changed parameters can be transferred bypressing "Write parameters".

"Status" tab

Fig. 16-7: "Status" tabThe "Status" tab provides status information [(e.g. "Running" (bus active) and"n/a" (no information available)] and specific diagnostic messages from therespective device and information on the card and internal bus system used.



Changes in the bus can only be made in offline state.A prerequisite to switch to online with the "Sercos" bus is:● Configuration of the Sercos devices in the project and con‐

trol matches according to type, order and Sercos address.● All modules operate without errors.

This can be determined for the specific slave in the "Status"window by pressing "Device identification" and "Extendeddevice identification".

● Sercos state: "Operation" (phase 4)

Incorrect slaves (starting from first) are provided with a yellow warning trian‐gle and an error tooltip in the project tree.

Fig. 16-8: Sercos bus, error message in the Project Explorer

"Information" tabThe window displays some general information from the device description:● Name● Vendor● Categories● Version● Order number● Description● Screen



Fig. 16-9: Dialog: "Information" tab

16.2.8 Adding Sercos I/O modules to the slaveThe modules matching the respective slaves are located in the "Periphery"library in the "Sercos" folder below the respective slave.

I/O modules can only be inserted in the Sercos bus coupler.

Drag the required modules from the library and drop it to the slave object.New modules can also be inserted between already existing modules in theProject Explorer.Modules can also be added in the context menu of the slave underAdd ▶ Module ....The new module is added as last module below the slave.

Fig. 16-10: Adding Sercos I/Os



16.2.9 Sercos I/O modulesGeneral information

Click twice on the desired module to open the editor window in the ProjectExplorer.The dialogs provide information on the configuration of the module and allowmodifications if necessary.The settings in all dialog tabs are specified by the device description file ofthe module. Specifications about the preassignment of a value or whether ornot a value can be change can be found in this file.

"Sercos module" tab

Fig. 16-11: “Sercos I/O module” tab (module)Module information Module type code: A unique module type ID of the respective vendor ex‐

ists for each module. Depending on the vendor, thisnumber can either be a hexadecimal number or a jobnumber.

Input length/bytes: Indicates the input length of the module in bytes.

Output length/Bytes: Indicates the output length of the module in bytes.

"Function groups" tabThe "Function groups" tab provides information on the inputs and outputs ofthe function group.

The dialog settings cannot be changed.



Fig. 16-12: “Sercos I/O module” tab (function groups)

Name: Name of the channel

Number of channels: Number of channels supported for the module

Width of channel (bits): Bit size of the individual channels

Type: Number of structure elements (SE) of the I/O functiongroups. Depending on the I/O functions

IDN.SI.SE: IDN ID number, e.g. 15xx

SI (Structure Instance) The SI number is identical to the insertion number ofthe modules.Module 1 has SI number 1At fix modules, module 1 has the SI number 0

SE (Structure Element) Number of structure elements (SE) of the I/O functiongroups. Depending on the I/O functions

"Information" tabThe window displays some general information from the device descriptionfile:● Name● Vendor● Categories● Version● Order number● Description● Screen



Fig. 16-13: “Sercos I/O module” tab (information)

"Sercos I/O module mapping" tabThe window is used to assign inputs and outputs of the Sercos modules tovariables which can be used as local or global variables in the individualPOUs.The current value of the individual variables is displayed in online mode.

Fig. 16-14: “Sercos I/O module” tab (module I/O mapping)Reset mappingDeletes the assignment made in the editor.Always update variablesIf this option is enabled, all variables are updated in each bus cycle irrespec‐tive of whether being used or imaged on a input or output channel.



"Sercos module configuration" tabThis window is used for service purposes and only visible if the "Display ge‐neric configuration data" option was enabled under Tools ▶ Op‐tions ▶ IndraLogic 2G ▶ Device editor.

Fig. 16-15: “Sercos I/O module” tab (module configuration)

Please contact the customer service before making changes inthe editable parameters.

16.2.10 Disabling Sercos I/O modulesSercos I/O modules that are physically not available in the machine can beentered in the Project Explorer. These I/O modules can be selected or dese‐lected (red arrow) using a checkbox in the Project Explorer. After entering anew I/O module, these I/O modules are always active.



Fig. 16-16: Enabling or disabling via checkbox in the Project ExplorerA disabled module is identified in the Project Explorer by a changed icon(green arrow). An active module has no identification (blue arrow).



17 Operation without VDP8x panel17.1 Requirements

From version 13V06 (NC-kernel version 21.6.x), MTX micro can also be usedwithout the VDP8x panel.

17.2 Parameter settingsTo operate the MTX micro without VDP8x panel, set the parameter "SCSP\Global\HMIActive" to the value "No" in the NC configuration. To enable theparameter, reboot the control. The control is now running without VDP80panel. A visualization now has to be realized via an Ethernet connection asfor all standard MTX devices.

17.3 PLC programmingWhen using existing projects, ensure the I/Os are not stored on the MTXmi‐cro_USB_DI256_DO96USB anymore. The programmed I/Os have to be re‐programmed to other I/O areas (e.g. Sercos VAMxx).

17.4 Information about the operation17.4.1 Generating a core dump

A core dump can only be started via the MTX system status when operatingwithout panel. After starting the system status, wait until the control has beenrestarted completely.The core dump is stored in the “Prog” directory.

Please note that approximately 2 GB memory is available in the“Prog” directory.

17.4.2 Archiving and restoringMTX micro data can only be archived or restored via a connected PC withIndraWorks Engineering or IndraWorks Operation.

17.4.3 IndraWorks Operation with MTX microA special IndraWorks Operation variant is available for MTX micro. This var‐iant can be selected when adding a visualization device to the project. Selectthe application type "MTX micro application" and the "Classic micro" paneldesign in the visualization device.

An IndraWorks Operation license is required to use IndraWorksOperation with MTX micro!

17.4.4 Example Project for Operation without PanelThe example project "Basicproject_Milling_VAM_VPP" is available for opera‐tion without panel in the MTX micro. A VPP16 is used as visualization device.A Sercos VAM10 is connected for operation.


Operation without VDP8x panel

18 Commissioning, Operation, Diagnostics18.1 Operation and Diagnostics18.1.1 Diagnostic LED Displays

H10…13 Ethernet status (X24, X25)H14 Drive statusH17 Control unit statusH18, H19 Ethernet status (X26)Fig. 18-1: Diagnostic Displays – LEDs

18.1.2 Diagnostic LED Displays with Drive Firmware MPM-16VRSVia the operator panel, you can find out which drive firmware has been instal‐led on your system:Operating area "Maintain" ▶ F-key "F6 About"

H10 … 13; H18 … 19Color / flashing pattern

Significance (Ethernet status) Measures

Green Connection to network available

Yellow Data transmission running

Tab. 18-1: LED Displays H10, H11, H12, H13, H18, H19

H14Color / flashing pattern

Significance (drive status) Measures

Off Supply unit not switched on Check 24V supply and switch it on, if not yet done

Cable interrupted Check cable and connector X18

Hardware defective Replace hardware


Commissioning, Operation, Diagnostics



Flashing green Baud rate scan (P‑1)Drive is error-free (phases 0, 1, 2, 3 and 4);in phase 4, drive is ready for drive enable("Bb")Transition command active (C01xx/C02xx)Transition command error (C01xx/C02xx)Drive command active (Cxxxx)Drive command error (Cxxxx)

If necessary, read exact status via "S‑0‑0095, Di‐agnostic message"

Green Power on and DC bus voltage available("Ab")

Drive is error-free in operation and runs accordingto inputs

Drive in control ("AF", "AH")

Flashing green-yellow

Firmware update running During the firmware update, do not interrupt the24V supply and do not unplug connectors

Flashing yellow Identifying the drive controller

Yellow Drive warning (E2xxx … E3xxx)Communication warning (E4xxx)Travel range warning (E6xxx … E7xxx)Fatal warnings (E8xxx)

During the firmware update, do not interrupt the24V supply and do not unplug connectors

Flashing red Error (F2xxx, F3xxx, F4xxx, F6xxx, F7xxx,F8xxx)

Read exact status via "S‑0‑0095, Diagnostic mes‐sage" and carry out service function

Firmware update error Repeat firmware update

Red Booting phase Wait until booting phase is over (approx. 2 mi‐nutes)

System error (F9xxx, E0800) Switch off and on; replace hardware, if necessary

Tab. 18-2: LED Displays H14


Significance (control unit status) Measures

Green Rexroth IndraMotion MTX control is ready foroperation

Observe information displayed at operator panel.See also Application Description "RexrothIndraMotion MTX" and documentation "RexrothIndraMotion MTX Diagnostics Messages"

Yellow Rexroth IndraMotion MTX control is booting Wait for booting phase to end





Red Error Rexroth IndraMotion MTX controlIn the case of errors during the booting proc‐ess (approx. 30 s), an error code is displayedat the operator panel.

Observe information displayed at operator panel.If an error is present, generate log file "MtxaCri‐tErr.log" on programming module by switchingoff/on (storage location of log file: Program → root/cf).See also Application Description "RexrothIndraMotion MTX" and documentation "RexrothIndraMotion MTX Diagnostics Messages"

Flashing red Error Rexroth IndraMotion MTX control

Off Supply unit not switched on Check 24V supply at X18 and switch it on, if notyet done


18.1.3 Diagnostic LED Displays with Drive Firmware MPM-17VRSVia the operator panel, you can find out which drive firmware has been instal‐led on your system:Operating area "Maintain" ▶ F-key "F6 About"

H10 … 13; H18 … 19Color / flashing pattern

Significance (Ethernet status) Measures

Green Connection to network available

Yellow Data transmission running

Tab. 18-4: LED Displays H10, H11, H12, H13, H18, H19

H14Color / flashing pat‐

tern 1)


Off Supply unit not switched on Check and, if necessary, switch on the 24-V sup‐ply

Cable interrupted Check cable and connector X18

Hardware defective Replace hardware

Flashing green Drive is error-free (phases 2, 3 and 4); inphase 4, drive is ready for drive enable ("Bb")


Green Power on and DC bus voltage available("Ab")

Drive is error-free in operation and runs accordingto inputs

Drive in control ["AF", "AH" or drive commandactive (Cxxxs)]



H14Color / flashing pat‐

tern 1)


Flashing green-yellow

Switching command active (C01xx/C02xx)Switching command error (C01xx/C02xx)


Firmware update runningLoader active

Do not interrupt the 24-V supply and do not unplugconnectors while the firmware is being updated

Drive command error (Cxxxx)

Flashing yellow Drive warning (E2xxx … E3xxx) Read exact status via "S‑0‑0095, Diagnostic mes‐sage" and execute service function

Communication warning (E4xxx)

Travel range warning (E6xxx … E7xxx)

Drive controller identification

Yellow Fatal warning (E8xxx) Do not interrupt the 24-V supply and do not unplugconnectors while the firmware is being updated

Flashing red-yellow

Drive is error-free (phase 0), but not yetready for drive enable ("Bb")


Drive is error-free (phase 1), but not yetready for drive enable ("Bb")

Communication error (F4xxx)

Flashing red-green

Baud rate scan (P‑1) If necessary, read exact status via "S‑0‑0095, Di‐agnostic message"

Flashing red Error (F2xxx, F3xxx, F6xxx, F7xxx, F8xxx) Read exact status via "S‑0‑0095, Diagnostic mes‐sage" and execute service function

Firmware update: Repeat firmware update

Red Booting phase Wait until booting phase is over (approx. 2 mi‐nutes)

System error (F9xxx, E0800) ● Switch off and on; replace hardware, if nec‐essary

● Check whether the programming module isinserted; if necessary replace KSM/KMScrosswise to check whether the program‐ming module is defective

1) A square in the illustrated flashing patterns corresponds to atime period of 250 ms.






Green Rexroth IndraMotion MTX control is ready foroperation

Observe information displayed at operator panel.See also Application Description "RexrothIndraMotion MTX" and documentation "RexrothIndraMotion MTX Diagnostics Messages"

Yellow Rexroth IndraMotion MTX control is booting Wait for booting phase to end

Red Error Rexroth IndraMotion MTX controlIn the case of errors during the booting proc‐ess (approx. 30 s), an error code is displayedat the operator panel.

Observe information displayed at operator panel.If an error is present, generate log file "MtxaCri‐tErr.log" on programming module by switchingoff/on (storage location of log file: Program → root/cf).See also Application Description "RexrothIndraMotion MTX" and documentation "RexrothIndraMotion MTX Diagnostics Messages"

Flashing red Error Rexroth IndraMotion MTX control

Off Supply unit not switched on Check 24V supply at X18 and switch it on, if notyet done




19 Technical data19.1 Control1 Machining technologies

1.1 Rotate ●

1.2 Drilling ●

1.3 Milling ●

2 Axis control

2.1 Default number of axesHCT 3-axesHCQ 4-axes

●

2.2 Max. number of axes 12 ○

2.3 Thereof maximum number of spindles 4 ●

2.4 Default number of independent channels 2 ●

2.5 Default number of interpolating axes per channel4 ●

8 ○

2.6 Spindle/C-axis switching ●

2.7 Channel-comprehensive axis transfer ●

2.8 Software limit switches ●

2.9 Additional spindle encoder 1 ●

2.10 Max. number of additional Sercos I/O devices 10 ●

3 Interpolation functions

3.1 Linear interpolation with/without exact stop ●

3.2 Circular interpolation with radius programming, center point programming, helixinterpolation and tangential entry ●

3.3 Tapping with/without compensating chuck ●

3.4 Thread cutting ●

3.5 NC block preview, Look-Ahead with jerk limitation ●

3.6 Jogging with active transformation ●

3.7 Nanometer resolution ●

4 Feed functions

4.1 Feed in mm/min or inch/min ●

4.2 Time programming ●

4.3 Feed per revolution ●

4.4 Constant cutting velocity ●

4.5 Move to fixed stop ●

4.6 Torque reduction ●

5 Offsets and corrections


Technical data

1 Machining technologies

5.1 Mirroring, scaling and rotating ●

5.2 Zero offset ●

5.3 Placements (FRAMES) - Coordinate offset and coordinate rotation in space ●

5.4 2D path correction

6 Tool management

6.1 Integrated tool management with database up to 99 tools ●

6.2 Tool database and organization of tool lists ●

6.3 Tool corrections (length, radius, edge position) ●

6.4 Edges per tool 2 max. ●

6.5 Tool life management ●

6.6 Access to tool data from PLC and CNC ●

7 CNC programming DIN ISO 66025/RS 274 ●

7.1 Part program creation

7.2 High level language CPL (Customer Programming Language) ●

7.3 CNC RAM 64 MB ●

7.4 Static memory 4 MB ●

7.5 Maximum part program size 64 MB ●

7.6 Compact Flash data memory 1024 MB ●

7.7 Technology cycles for turning, drilling and milling ●

7.8 Cycle for basic contour element machining ●

8 Functions

8.1 Dwell time in seconds ●

8.2 Acceleration programming ●

8.3 Referencing via NC program ●

8.4 Absolute dimension, relative dimension ●

8.5 Switching inch/mm ●

8.6 Touch probe, static/flying measurement ●

8.7 Roundings and chamfers ●

8.8 Rounding corners with splines ●

8.9 NC block specification by PLC ●

8.10 Block pre-run/block search ●

8.11 Dry run ●

8.12 Leaving from and returning to contour ●

9 PLC functions

9.1 Integrated PLC: IndraLogic ●

9.2 Programming languages IEC 61131-3 (IL, LD, FUP, ST, AS, CFC) ●


Technical data

1 Machining technologies

9.3 PLC program memory 2 MB ●

9.4 Number of local/onboard I/Os 32 I / 16 O ●

9.5 Max. number of local/onboard I/Os 96 I / 48 O ○

9.6 Number of high-speed inputs/outputs 8 I / 8 O ●

9.7 Optional, modular I/O with Sercos 8 KB ○

9.8 Multitasking ●

9.9 Max. number of PLC tasks 2 ●

10 Diagnostic and commissioning tools

10.1 Automatic system diagnostics ●

10.2 Notes and error messages in plain text ●

10.3 Installation of additional national languages ○

10.4 Integrated drive project planning ●

10.5 Drive oscilloscope ○●

10.6 Integrated PLC project planning ○

10.7 Engineering tool IndraWorks ○

11 Drive system

11.1 Three-phase mains voltage on the mains TT, TN-C, TN-S, IT 200 - 500 V ±10%

11.2 Mains frequency 50 - 60 Hz ±2 Hz

11.3 Mains connection power with mains choke 30 KVA

11.4 Nominal current 44 A

● Default○ OptionTab. 19-1: Technical data 1

19.2 Motors12 Servo motors Axis 1 Axis 2 Axis 3 Axis 4

12.1 Controlled servo drive ● ● ●

12.2 Standstill torque M0 [NM] 17 12 12

12.3 Nominal current In [A] 32 28 17 17

12.4 Maximum current Imax 55 50 26 26

13 Main spindle

13.1 Controlled main spindle drive (closed-loop) ● ● - -

13.2 Standard asynchronous spindle motor (open-loop) ● ● - -


Technical data

13.3 Nominal power Pn[KW] 11 5 - -

13.4 Connection for external spindle encoder ● ● - -

● Default○ OptionTab. 19-2: Technical data 2

19.3 Wear partsThis section describes the wear parts and their service lives. Wear parts arenot subject to any warranty.

CMOS battery The service life of a CMOS battery is at least five years. Please contact theBosch Rexroth customer service for battery exchange.


Technical data

20 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, is responsi‐ble for all your service-related queries for electric drive and controls.Contact the Service Hotline and Service Helpdesk under:

Phone: +49 9352 40 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 co‐

des and serial numbers● Your contact data (phone and fax number as well as your e-mail ad‐

dress)


Service and support

mailto:[email protected]

http://www.boschrexroth.com

IndexAAbbreviations...................................................... 10About this documentation..................................... 5

Information representation............................... 9Operate and program in Chinese..................... 8Validity of the documentation........................... 5

Applications......................................................... 51Lathe (X, Z, S1).............................................. 51Lathe with driven tools (X, Z, S1, S2)............ 52Milling machine (X, Y, Z, S1)......................... 53

DDefault projects

Automation 2.................................................. 55Milling............................................................. 55Restore control data....................................... 55Turning 1........................................................ 55Turning 2........................................................ 55

Diagnostic displays............................................. 79Drive system....................................................... 13

EElectric drive system........................................... 13External drives and I/Os...................................... 65

Connect external Sercos drives..................... 65Sercos I/Os.................................................... 65

FFirmware and software....................................... 47Firmware exchange

Firmware download from IWE........................ 34Firmware replacement........................................ 25Firmware update................................................. 26

Backup of control and drive data................... 29Determine IP address of the MTX microcontrol system................................................ 28Download firmware to the control.................. 30Download firmware to the drive system......... 30Enable drive firmware.................................... 30General.......................................................... 26Identify firmware............................................. 28Install IndraWorks Engineering...................... 29MTX micro demo or training systems:Operate with a single-phase power supply.... 33Parameter editor: Set drive parameters......... 31Prerequisites.................................................. 26Restore correct position data reference(actual drive position)..................................... 32Step by step approach................................... 27Update IndraLogic device descriptions.......... 32Update PLC project........................................ 33

Firmware UpdateRestore control and drive data....................... 31

HH10…19

LEDs.............................................................. 79Helpdesk............................................................. 89High-speed inputs/outputs.................................. 87Hotline................................................................. 89

IInformation about the operation

Archiving and restoring.................................. 77Example project for operation withoutpanel.............................................................. 77Generating a core dump................................ 77IndraWorks Operation with MTX micro.......... 77

Information representationNames and abbreviations.............................. 10Safety instructions............................................ 9Symbols used.................................................. 9

Install IndraWorks Engineering........................... 33Intended use

Areas of Application....................................... 11Introduction.................................................... 11Use cases...................................................... 11

LLEDs

H10…19......................................................... 79

MMTX micro library................................................ 43

MT_DiagLocalIO............................................ 43MT_DiagUsbHmiCfg...................................... 44MT_DiagUsbHmiState................................... 44

OOperation without VDP8x panel.......................... 77

Information about the operation..................... 77Parameter settings......................................... 77PLC programming.......................................... 77Requirements................................................. 77

PPELV................................................................... 17Project node

IndraMotion MTX micro.................................. 37Protective extra-low voltage................................ 17

SSafety instructions for electric drives andcontrols............................................................... 13Service hotline.................................................... 89Start menu.......................................................... 35

Enabling......................................................... 35Startup modes................................................ 35


Index

Support............................................................... 89Supporting an external spindle........................... 63

Example constellation.................................... 63General information....................................... 63Limitations...................................................... 64Machine parameters...................................... 64Supported NC functions................................. 63

System description.............................................. 23

TTarget groups........................................................ 5Technical data..................................................... 85Template projects............................................... 55

UUnintended use................................................... 12Unintended Use

Consequences, non-liability........................... 11USB memory flash drive..................................... 41

Limitations...................................................... 41Usage............................................................. 41

User administrationPLC key switch.............................................. 59

WWizard................................................................. 37

Create............................................................ 37


Index

Notes


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

*R911380186*R911380186

DOK-MTXMIC-SYS*DES*V14-PR01-EN-P

http://www.boschrexroth.com/electrics

IndraMotion MTX micro 14VRS - Bosch Rexroth

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