IndraMotion MTX micro 14VRS - Bosch Rexroth

IndraMotion MTX micro 14VRSProject Planning Manual R911380186
Project Planning Manual
DOK-MTXMIC-SYS*DES*V14-PR01-EN-P
Edition 01 2017-03 First edition
Copyright © Bosch Rexroth AG 2017 This document, as well as the data, specifications and other information set forth 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 shall not be deemed to be a guaranteed characteristic unless expressly stipulated in 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
Bosch Rexroth AG DOK-MTXMIC-SYS*DES*V14-PR01-EN-P IndraMotion MTX micro 14VRS System Description
Table of Contents Page
4 MTX micro system description..................................................................................... 23
DOK-MTXMIC-SYS*DES*V14-PR01-EN-P Bosch Rexroth AG I/93 IndraMotion MTX micro 14VRS System Description
Table of Contents
5.2.2 Prerequisites to Update the IndraMotion MTX micro Control and Drive Firmware............................ 26 5.2.3 Overview: Steps required to update the commissioning software "IndraWorks Engineering"
and to update the control and drive firmware.................................................................................... 27 5.2.4 Determining the IP address of the MTX micro control system.......................................................... 28 5.2.5 Identifying currently installed control and drive firmware .................................................................. 28 5.2.6 Creating backup of all control and drive data ................................................................................... 29 5.2.7 Installing the new "IndraWorks Engineering" software on the commissioning PC or on the
notebook............................................................................................................................................ 29 5.2.8 Downloading the new MTX micro control firmware to the control .................................................... 30 5.2.9 Downloading drive firmware from the Compact Flash card to the internal memory of the drive
system .............................................................................................................................................. 30 5.2.10 Enabling the default parameter block in each drive via "Load basic parameters"............................. 30 5.2.11 Downloading data backup to restore the original control and drive data........................................... 31 5.2.12 Parameter editor: Setting drive parameters....................................................................................... 31 5.2.13 Restoring the correct position data reference (actual drive position, command "Set absolute
dimension")........................................................................................................................................ 32 5.2.14 Updating the IndraLogic device descriptions..................................................................................... 32 5.2.15 Updating PLC project........................................................................................................................ 33 5.2.16 MTX micro demo or training systems: Operating with a single-phase power supply........................ 33 5.3 Installing the new "IndraWorks Engineering" software on the commissioning PC or on the note
book...................................................................................................................................................... 33 5.4 Downloading the new MTX micro control firmware to the control......................................................... 34
7 The MTX micro wizard................................................................................................. 37 7.1 General................................................................................................................................................. 37 7.2 MTX micro project template.................................................................................................................. 37 7.3 "IndraMotion MTX micro" project node ................................................................................................ 37
Table of Contents
11 Applications.................................................................................................................. 51 11.1 Lathe (X, Z, S1).................................................................................................................................... 51 11.2 Lathe with driven tools (X, Z, S1, S2)................................................................................................... 52 11.3 Milling machine (X, Y, Z, S1)................................................................................................................ 53
14 Login to user administration via PLC key switch.......................................................... 59
15 Supporting an "external spindle".................................................................................. 63 15.1 General information.............................................................................................................................. 63 15.2 Example constellation........................................................................................................................... 63 15.3 Supported NC functions........................................................................................................................ 63 15.4 Limitations............................................................................................................................................. 64 15.5 Machine Parameters............................................................................................................................. 64
DOK-MTXMIC-SYS*DES*V14-PR01-EN-P Bosch Rexroth AG III/93 IndraMotion MTX micro 14VRS System Description
Table of Contents
Table of Contents
1 About this documentation 1.1 Validity of the documentation
Purpose This documentation provides an overview on the MTX micro. It describes the product features of the IndraMotion MTX micro system.
Overview on target groups and product phases
The following graphic refers to the bordered activities, product phases and target groups of the present documentation. Example: The target group "Programmer" can "parameterize" in the product phase "Engineering" using this documentation.
Presales Aftersales
phases
Dismount
Dispose
Fig. 1-1: Assigning this documentation to the target groups, product phases and target group activities
1.2 Required and supplementing documentation MTX micro 1.2.1 Selection/compilation
Documentation titles with type codes and part numbers
IndraMotion MTX micro 14VRS System Description DOK-MTXMIC-SYS*DES*V14-PRRS-EN-P, R911380186 This documentation provides a system overview and describes the product properties of the Rexroth IndraMotion MTX micro.
IndraControl VDP 8x, VAM 8x and VAC 06 Machine Operator Panel / Display DOK-SUPPL*-VDP-VAM-VAC-ASRS-EN-P, R912005998 This 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 5/93 IndraMotion MTX micro 14VRS System Description
About this documentation
Rexroth IndraControl VDP 80.1 Machine Operator Panel Operator Display DOK-SUPPL*-VDP*80.1***-PRxx-EN-P, R911329156 This documentation contains a detailed description of the standard interface of the HMI operator panel.
Rexroth IndraDrive Drive Controllers HCQ, HCT DOK-INDRV*-HCQ-T+HMQ-T-PRxx-EN-P, R911324185 This documentation is used for project planning of the drive systems Rexroth IndraDrive with the listed components HCQ02 HCT02
xx Corresponding edition Tab. 1-1: MTX micro documentation overview - Selection/compilation
1.2.2 Configuration Documentation titles with type codes and part numbers
IndraMotion MTX micro 14VRS Functional Description - Basics DOK-MTXMIC-NC*F*BA*V14-RERS-EN-P, R911372634 This documentation describes the basic functions of the Rexroth IndraMotion MTX micro. The basic commissioning steps and the control functions are provided as description and handling instruction.
IndraMotion MTX micro 14VRS Functional Description - Extension DOK-MTXMIC-NC*F*EX*V14-RERS-EN-P, R911372631 This documentation describes the extended functions of the Rexroth IndraMotion MTX micro. The basic commissioning steps and the control functions are provided as description and handling instruction.
Rexroth IndraMotion MTX micro 13VRS Machine Parameters DOK-MTXMIC-MA*PAR**V13-RERS-EN-P, R911336536 This documentation describes the design and adjustment of the available parameters.
IndraMotion MTX 14VRS PLC Interface DOK-MTX***-PLC*INT*V14-PRRS-EN-P, R911342622 This documentation describes interface signals and program function blocks for the integrated PLC.
Tab. 1-2: MTX micro documentation overview - Configuring
1.2.3 Commissioning Documentation titles with type codes and part numbers
Rexroth IndraMotion MTX micro Easy Setup for Standard Turning and Milling Machines DOK-MTXMIC-EASY*******-CORS-EN-P, R911332281 This documentation provides an overview of the components of the IndraMotion MTX micro control system and supports the initial commissioning with handling instructions and examples.
IndraWorks 14VRS Software Installation DOK-IWORKS-SOFTINS*V14-CORS-EN-P, R911344286 This documentation describes the IndraWorks installation.
IndraWorks 14VRS Engineering DOK-IWORKS-ENGINEE*V14-APRS-EN-P, R911343566 This 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-P6/93 IndraMotion MTX micro 14VRS System Description
IndraMotion MTX 14VRS Commissioning DOK-MTX***-STARTUP*V14-CORS-EN-P, R911342620 This 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 2G DOK-IWORKS-IL2GPRO*V14-APRS-EN-P, R911343571 This documentation describes the PLC programming tool IndraLogic 2G and its use. The documentation includes the basic use, first steps, visualization, menu items and editors.
IndraWorks 14VRS Basic Libraries IndraLogic 2G DOK-IL*2G*-BASLIB**V14-LIRS-EN-P, R911343920 This documentation describes the system-comprehensive PLC libraries.
Tab. 1-3: MTX micro documentation overview - Commissioning
1.2.4 Operation Documentation titles with type codes and part numbers
Rexroth IndraMotion MTX micro 14VRS Standard NC Operation DOK-MTXMIC-NC*OP***V14-APRS-EN-P, R912005790 This documentation describes the MMI operating software of the IndraMotion MTX micro.
IndraMotion MTX 14VRS Programming Manual DOK-MTX***-NC**PRO*V14-RERS-EN-P, R911342634 The following documentation provides information on the standard programming of the Rexroth IndraMotion MTX control.
IndraMotion MTX 14VRS Standard NC Cycles DOK-MTX***-NC*CYC**V14-PRRS-EN-P, R911342638 This documentation describes the application of the standard cycles of the different technologies for Rexroth IndraMotion MTX control.
Rexroth IndraMotion MTX 12VRS Block Pre-Run DOK-MTX***-BLK*RUN*V12-APRS-EN-P, R911334379 This documentation explains to the machine manufacturer how to setup the "Block pre-run" function at the machine for the end user.
Tab. 1-4: MTX micro documentation overview - Operation
1.2.5 Drive system: Commissioning and project planning Documentation titles with type codes and part numbers
Rexroth IndraDrive Drive Controllers HCQ, HCT DOK-INDRV*-HCQ-T+HMQ-T-PRxx-EN-P, R911324185 This documentation is used for project planning of the drive systems Rexroth IndraDrive with the listed components HCQ02 HCT02
Rexroth IndraDrive MPx-18 Functions DOK-INDRV*-MP*-18VRS**-APRS-EN-P, R911338673 This 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 Parameters DOK-INDRV*-GEN1-PARA**-RERS-EN-P, R911328651 This documentation describes all parameters implemented in the firmware for drive controllers of the IndraDrive family. The documentation supports the parameterization of the drive controllers.
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages DOK-INDRV*-GEN1-DIAG**-RERS-EN-P, R911326738 This 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-20VRS It assists machine operators and installation programmers with troubleshooting.
Rexroth IndraDrive MPx-18 Version Notes DOK-INDRV*-MP*-18VRS**-RNRS-EN-P, R911338658 The documentation provides a brief overview on the firmware function or the topic of the section.
Rexroth IndraDyn S MSK Synchronous Motors DOK-MOTOR*-MSK********-PRRS-EN-P, R911296289 This 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 edition Tab. 1-5: MTX micro documentation overview - Drive system: Commissioning
and project planning
1.3 Operating and programming in Chinese Title Documentation type Part number Purpose
Rexroth IndraMotion MTX micro 14VRS
DOK-MTXMIC-NC*OP***V14-APRS-ZH-P R912005789 MTXmicro NC
DOK-MTXMIC-NC**PRO*V13-RERS-ZH-P R911339741
Rexroth IndraMotion MTX micro NC DIN 66025 NC CPL NC
DOK-MTXMIC-NC*F*BA*V13-RERS-ZH-P R911339745
Rexroth IndraMotion MTX micro
DOK-MTXMIC-NC*F*EX*V13-RERS-ZH-P R911339744
Rexroth IndraMotion MTX micro
Rexroth IndraMotion MTX 13VRS NC
DOK-MTX***-NC*CYC**V13-PRRS-ZH-P R911339742 Rexroth IndraMotion MTX
Rexroth IndraMotion MTX 10VRS
DOK-MTX***-DIAGMES*V10-WA0x-ZH-P R911328899 Rexroth IndraMotion MTX
Tab. 1-6: Operating and programming
1.4 Information representation 1.4.1 Safety instructions
If there are safety instructions in the documentation, they contain certain sig nal words (Danger, Warning, Caution, Notice) and sometimes a safety alert symbol (according to ANSI Z535.6-2006). The signal word draws attention to the safety instruction and indicates the risk potential. The safety alert symbol (triangular safety reflector with three exclamation marks), 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 injury will occur.
WARNING
In case of non-compliance with this safety instruction, death or serious injury can 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 property damage can occur.
1.4.2 Symbols used Note Notes are represented as follows:
Tip Tips are represented as follows:
This is a tip for the user.
1.4.3 Names and abbreviations Term Explanation
CPL Customer Programming Language
2 Important instructions on use 2.1 Intended use 2.1.1 Introduction
Bosch Rexroth products are developed and manufactured according to the state-of-the-art. The products are tested prior to delivery to ensure operating safety 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 payment of damages in case of damage resulting from a non-intended use of the products; the use shall solely bear all risks from unintended use of the products.
Before using Bosch Rexroth products, the following requirements have to be met 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 intended use.
Hardware products may not be altered and have to remain in their origi nal state; i.e. no structural changes are permitted. The decompilation of software 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 in by the user is correct before applying it to exclude unwanted axis motion. 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 application The 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 via sercos interface.
Important instructions on use
This additionally requires I/O components for the integrated PLC which - together with the actual CNC - control the machining proc ess as a whole and also monitors this process with regard to technical safety. It may only be operated with the explicitly specified hardware component configurations and combinations and only with the software and firmware specified in the appropriate documenta tions and functional descriptions.
The Rexroth IndraMotion MTX provides the perfect CNC system solution for cutting and forming for the following technologies: Turning Milling Drilling Grinding Bending Nibbling Punching Contour cutting Handling
2.2 Unintended use The use of the Rexroth IndraMotion MTX in application areas other than those 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 temperature fluctuations or under extreme maximum temperatures is prohibited.
the intended applications have not expressively been released by Bosch Rexroth. Therefore, please read the information given the general safety instructions!
The Rexroth IndraMotion MTX may not be used in systems or machines connected 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 controls 3.1 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 for configuring, integrating, installing, mounting, commissioning, operating, main taining, repairing and decommissioning the product. The following terms are also 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, which are 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 components placed on the market as a single functional unit.
Device A device is a finished product with a defined function, intended for users and placed 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, circuit board 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 a defined purpose and on a defined site which, however, are not intended to be placed on the market as a single functional unit.
Machine A machine is the entirety of interconnected parts or units at least one of which is movable. Thus, a machine consists of the appropriate machine drive elements, as well as control and power circuits, which have been assembled for a specific application. A machine is, for example, intended for processing, treatment, movement or packaging of a material. The term "machine" also covers a combination of machines which are arranged and controlled in such a way that they function as a unified whole.
Manufacturer The manufacturer is an individual or legal entity bearing responsibility for the design 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 possess the 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 to support 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 as with 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 other things, 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 has been placed on the market.
3.2 General information 3.2.1 Using the Safety instructions and passing them on to others
Do not attempt to install and operate the components of the electric drive and control 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 Rexroth sales partner. Ask for these documents to be sent immediately to the person or persons responsible for the safe operation of the components. If the component is resold, rented and/or passed on to others in any other form, these safety instructions must be delivered with the component in the official language of the user's country. Improper use of these components, failure to follow the safety instructions in this 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 use Read the following instructions before initial commissioning of the compo nents of the electric drive and control system in order to eliminate the risk of injury 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 well as care in operation and maintenance, are prerequisites for optimal and safe operation of the component.
Only qualified persons may work with components of the electric drive and 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 explicitly specified 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 to the 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 required measures, modifications and complements.
Commissioning of the delivered components is only allowed once it is sure that the machine or installation in which the components are instal led complies with the national regulations, safety specifications and standards 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 requirements can be found in the section on EMC in the respective application docu mentation. The machine or installation manufacturer is responsible for compliance with 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 and must 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 and hearing 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 dangers 3.3.1 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 personal danger and electric shock. When operating components of the electric drive and control system, it is unavoidable that some parts of these components conduct 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 accordance with the connection diagram.
Even for brief measurements or tests, operation is only allowed if the equipment grounding conductor has been permanently connected to the points of the components provided for this purpose.
Before accessing electrical parts with voltage potentials higher than 50 V, you must disconnect electric components from the mains or from the 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 capacitors to discharge before accessing an electric component. Measure the elec trical voltage of live parts before beginning to work to make sure that the equipment is safe to touch.
Install the covers and guards provided for this purpose before switching on.
Never touch any electrical connection points of the components while power is turned on.
Do not remove or plug in connectors when the component has been powered.
Under specific conditions, electric drive systems can be operated at mains protected by residual-current-operated circuit-breakers sensitive to universal current (RCDs/RCMs).
Secure built-in devices from penetrating foreign objects and water, as well 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 injury by electric shock! Before switching on and before commissioning, ground or connect the
components of the electric drive and control system to the equipment grounding conductor at the grounding points.
Connect the equipment grounding conductor of the components of the electric drive and control system permanently to the main power supply at all times. The leakage current is greater than 3.5 mA.
Establish an equipment grounding connection with a minimum cross section according to the table below. With an outer conductor cross sec tion smaller than 10 mm2 (8 AWG), the alternative connection of two equipment grounding conductors is allowed, each having the same cross section as the outer conductors.
Cross section outer con ductor
Minimum cross section equipment grounding conductor Leakage current ≥ 3.5 mA
1 equipment grounding conductor
2 equipment grounding conductors
1.5 mm2 (16 AWG)
10 mm2 (8 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)
... ... ...
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 Bosch Rexroth, all connections and terminals with voltages up to 50 volts are PELV ("Protective Extra-Low Voltage") systems. It is allowed to connect devices equipped 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 of more than 50 volts (e.g., the mains connection) are connected to Bosch Rexroth products, the connected extra-low voltage circuits must comply with the requirements for PELV ("Protective Extra-Low Voltage").
3.3.3 Protection against dangerous movements Dangerous 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 errors These errors can occur immediately after equipment is switched on or even after an unspecified time of trouble-free operation. The monitoring functions in the components of the electric drive and control system will normally be sufficient to avoid malfunction in the connected drives. Regarding personal safety, especially the danger of injury and/or property 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 faulty drive movements depends upon the type of control and the state of opera tion. Dangerous movements! Danger to life, risk of injury, serious injury or property damage! A risk assessment must be prepared for the installation or machine, with its specific conditions, in which the components of the electric drive and control system 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 taken into consideration. Unintended machine movements or other malfunctions are 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’s range of motion by using, for example: – Safety fences – Safety guards – Protective coverings – Light barriers
Make sure the safety fences and protective coverings are strong enough to 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 stopping switch is not working.
Prevent unintended start-up. Isolate the drive power connection by means of OFF switches/OFF buttons or use a safe starting lockout.
Make sure that the drives are brought to safe standstill before accessing or 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 holding brake controlled by the drive controller is not sufficient to guarantee per sonal safety!
Disconnect electrical power to the components of the electric drive and control 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 their supply leads. If the use of these devices cannot be avoided, check the machine or installation, at initial commissioning of the electric drive and control system, for possible malfunctions when operating such high-fre quency, remote control and radio equipment in its possible positions of normal 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 the associated 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 parts Hot surfaces of components of the electric drive and control system. Risk of burns!
Do not touch hot surfaces of, for example, braking resistors, heat sinks, supply units and drive controllers, motors, windings and laminated cores!
According to the operating conditions, temperatures of the surfaces can be higher than 60 °C (140 °F) during or after operation.
Before touching motors after having switched them off, let them cool down for a sufficient period of time. Cooling down can require up to 140 minutes! The time required for cooling down is approximately five times the 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 take measures 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 mounting Risk 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 safety Batteries consist of active chemicals in a solid housing. Therefore, improper handling 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 in the product are considered dangerous goods during land, air, and sea 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 systems According to the information given in the Project Planning Manuals, motors and 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 the connected supply systems, supply lines or connections can cause injuries or property 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 from other waste. Observe the national regulations of your country.
3.4 Explanation of signal words and the Safety alert symbol The Safety Instructions in the available application documentation contain specific signal words (DANGER, WARNING, CAUTION or NOTICE) and, where required, a safety alert symbol (in accordance with ANSI Z535.6-2011). 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 alert the reader to personal injury hazards.
DANGER
In case of non-compliance with this safety instruction, death or serious injury will occur.
WARNING
In case of non-compliance with this safety instruction, death or serious injury could 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 could occur.
4 MTX micro system description IndraMotion 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 panel and a compact multi-axis drive controller.
Fig. 4-1: IndraMotion MTX micro system Currently, 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 and drive firmware
5.1 General information The software and firmware of the IndraMotion MTX micro consist of three compatible 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 Rexroth should be used. The components of the software are compatible with each other and have been thoroughly tested.
Optionally, the control firmware "FWW-MICRO-MTX" subject to export 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 PC or a notebook under Microsoft Windows XP, Windows 7 or Windows 10. The connection to the control system is established via a network connection (Ethernet). IndraWorks Engineering can be used to configure and operate the drive 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 the IndraMotion MTX micro. The operating panel (HMI), the PLC runtime system, the file system of the IndraMotion MTX micro are part of the CNC control firmware. In this file system, a copy of the respective drive firmware is contained which can be loaded into the drive system via the user interface. The CNC control firmware on the Compact Flash card can be replaced by a later version using IndraWorks Engineering (firmware download) if required.
Note that only one firmware exists for both MTX micro hardware variants. The FW-MICRO-MTX-xx.y.z.fw has to be transmitted to the 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 automatically loaded from the memory. If not already executed, the drive firmware has to be transferred once from the CF card of the IndraMotion MTX micro to the internal 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 Control Firmware Update
5.2.1 General The software and firmware of the IndraMotion MTX micro consist of three compatible components: Commissioning software and project planning software "IndraWorks En
gineering" The Bosch Rexroth "IndraWorks Engineering" software is installed on a PC or a notebook under Microsoft Windows XP, Windows 7 or Windows 10. The connection to the control system is established via a network connection (Ethernet). IndraWorks Engineering can be used to config ure and operate the drive and control system of the IndraMotion MTX micro.
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 the IndraMotion MTX micro. Part of the CNC control firmware are the actual NC kernel, the user interface (HMI), the PLC runtime system, the file system of the IndraMotion MTX micro, etc. The drive firmware "FWA- INDR*-MPM" is also stored in the file system. Thus, the drive firmware is part 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 once from the Compact Flash card of the IndraMotion MTX micro to the drive using the user interface (HMI).
Please note that only use officially released software by Bosch Rexroth should be used. The components of the software are compati ble with each other and have been thoroughly tested.
WARNING
5.2.2 Prerequisites to Update the IndraMotion MTX micro Control and Drive Firmware
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" on the 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 part of the IndraWorks software installation.
Please note that the machine must be stopped at a safe position and the power of the drives has to be switched off before ex changing the firmware. Since the PLC is automatically stopped for a data backup and a later data restoration, the machine cannot be operated 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 the drives.
2. Determine the IP address of the MTX micro control system (see chapter 5.2.4 "Determining the IP address of the MTX micro control system" on page 28).
3. Identify the currently installed control and drive firmware (see chapter 5.2.5 "Identifying currently installed control and drive firmware " on page 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 new IndraWorks Engineering software on the commissioning PC or on the notebook" 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 the internal memory of the drive system (see chapter 5.2.9 " Downloading drive firmware from the Compact Flash card to the internal memory of the 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 Load basic parameters" on page 30).
The drive system requires some time internally to fully execute this function. Wait at least one minute after the execution before proceeding with step 11.
11. Load the current data backup (from step 5) to restore the original control and 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 safety reasons. 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 for all drives (enable storage mode).
2. Execute "Load basic parameter" function for all drives (see chapter 5.2.10 "Enabling the default parameter block in each drive via Load basic parameters" on page 30).
The drive system requires some time internally to fully execute this function. Wait at least one minute after the execution before proceeding with step 3.
3. Load current data backup (from step chapter 5.2.6 "Creating backup of all control and drive data " on page 29) to restore the original control and 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 parameters have to be individually and explicitly set to valid. Use the Rexroth IndraDrive MPx-16 Parameter Description if necessary to set the parameters correctly according to the application. If the servo drives with absolute measuring system display an incorrect axis position after activation (cf. step 4), the actual position value of the absolute measuring system has to be set once to the respectively noted position using the command "Set absolute position". For more information, refer to chapter 5.2.13 "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 project with IndraWorks Engineering, update the IndraLogic device description, re compile the PLC program and transfer it as boot project to the control. Also refer 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 created under 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 the completion dialog for the data backup is displayed. If the data backup has been completed, the USB stick can be removed for the HMI operating device.
The PLC is stopped during backup. Therefore, it is not possible to operate the machine!
The data backup is always stored in the "Backup" or "UserBackup" directories on the CF card or the USB flash drive. Thus, only one signal data backup can be stored per di rectory on the USB flash drive by default. An already existing data backup is overwritten without 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 on a PC or on a notebook under Microsoft Windows 7. For an instruction and further information on this topic, refer to the documentation "Rexroth IndraWorks 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 has to 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. If either 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 light blue 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. Please do not switch off the control system during transfer. As soon as the drive firmware transfer is completed, the control system has to be rebooted to activate the new drive firmware.
5.2.10 Enabling the default parameter block in each drive via "Load basic parameters"
IndraWorks Engineering: Open the respective IndraWorks project and connect 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 the drive 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 the drives
Insert USB flash drive in the HMI operating device (not required, if data is 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 be found in the two parameters S-0-0021 "IDN list of invalid operating data for communication phase 2" and S-0-0022 "IDN list of invalid operating data for communication phase 3".
The drive parameter S-0-0269 "Storage mode" is automatically set to 1 for 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 down in step 4. Then press the M-key "M6 Set Position". Please note that the drives 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 in IndraWorks Engineering.
5.2.14 Updating the IndraLogic device descriptions After an older IndraWorks project has been opened with the new IndraWorks software, 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 (see chapter 5.2.15 "Updating PLC project" on page 33).
Target blocks are not downward compatible. The project can only be used in the current software version after an update.
5.2.15 Updating PLC project If the PLC program does not run properly, open the respective PLC project with 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-phase power supply
A single-phase operation with the new IndraMotion MTX micro control and drive firmware is not possible anymore by default. Please contact the respon sible Bosch Rexroth Sales, Application or Service Representative if an MTX micro 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 (drive firmware 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. The demo or training system can now permanently be operated with single- phase.
5.3 Installing the new "IndraWorks Engineering" software on the commissioning PC or on the notebook
The Bosch Rexroth "IndraWorks Engineering" software has to be installed on a 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
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", open the respective IndraWorks project and connect to the control.
Even if the firmware is transferred to IndraWorks Engineering, a backup 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 to the 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 the screen: 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 micro To activate a special startup mode, enter the respective characters
6.2 Describing the different startup modes Startup mode
Description
0 Normal operation All existing data and file systems are retained. The root file system is checked at startup. If a defective file system is detected, a critical system error is displayed. A new empty root file system is automatically created at next startup.
1 PLC stop The behavior corresponds to Startup mode 0 with the difference that the PLC remains in the STOP state and the PLC user program is not processed.
Startup menu of the IndraMotion MTX micro
Startup mode
Description
2 Reloading the PLC boot project The PLC boot project is loaded from the user FEPROM. Any possible PLC boot project in the root file system is discarded. Otherwise, the behavior corresponds to the startup mode 0.
3 Save startup In rare cases, due to faulty machine parameter specifications, a control startup can be impossible. Startup mode 3 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 machine parameter settings can be corrected and a new startup with Startup mode 0 can be carried out.
4 Deleting the permanent CPL variables The permanent CPL variables are deleted. Otherwise, the behavior would correspond to Startup mode 0.
5 Cold start The power-up management logic is not run through. Otherwise, the behavior would correspond to Startup mode 0.
6 Bootstrap A new root file system is created. As a result, all old file system data is lost. If an intact user FEPROM file system exists, the PLC boot project and the configuration data is loaded from there.
7 Creating the user FEPROM file system The user FEPROM is created again. As a result, all old file system data is lost. This is required for example if a user FEPROM file system is defective. The root file system is retained. The permanent CPL variables are de leted.
9 Debug mode This is normally for debugging if the control does not automatically boot after a reset. After the basic monitor has been 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 the control 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 wizard 7.1 General
Introduction In the Engineering framework "IndraWorks" by Bosch Rexroth - the uniformly and intuitively operable software environment to commission and configure control 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 information Communication 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 the subsequently 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 functions regarding 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 following functions: 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 drives The "Drive" node can be shown and hidden
Properties Motion 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 the control so that they can, for example, be automatically restored after a firmware download.
Motion - NC configuration This node represents the machine parameters of the control. If changes of the parameters are not yet active, this is visualized by a warning symbol on the 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 to edit 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 phase This menu item can be shown or hidden. Therefore, a function is available at the "IndraMotion MTX micro" device node.
8 Using USB memory flash drives 8.1 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 be plugged 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 Approach Plug 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 USB flash 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 files or directories are saved on your USB flash drive, the more time is required to read the flash drive. In case of a larger number of files, 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 as any 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 can take several minutes.
8.3 Limitations when working with USB 8.3.1 File names and directory names
The control does not support UNICODE characters. File names and directory names 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 was stored on the stick, the data is only partially displayed or error messages can occur 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 a FAT file system!
8.3.2 Too many files If 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 the number of files.
Using USB memory flash drives
9 PLC-specific data for MTX micro 9.1 MTX micro Library 9.1.1 Overview
The MTX micro library consists of the following function blocks MT_DiagLocalIO MT_DiagUsbHmiCfg MT_DiagUsbHmiState
9.1.2 MT_DiagLocalIO function Interface description
Fig. 9-1: Graphical representation of MT_DiagLocalIO
Name Type Description
byDevice BYTE Device selection
bError BOOL Error ID TRUE - Error occurred during execution
enErrorID ERROR_CODE For the error description, refer to the error number (ErrorID)
stErrorIdent ERROR_STRUCT Values: 0x0000 - No error 0x0006 - Incorrect input values 0x7FFE - Undefined error
uiDeviceType UINT Type of installed modules Value: 0 - No I/O module installed 1 - Installed I/O module: "Standard I/O module"
uiDeviceState UINT Device state
PLC-specific data for MTX micro
9.1.3 MT_DiagUsbHmiCfg function Interface description
Fig. 9-2: Graphical representation of MT_DiagUsbHmiCfg
VAR_OUTPUT bDone BOOL Process successfully completed
stErrorIdent ERROR_STRUCT Values: 0x0000 - No error 0x7FFE - Undefined error
wVID WORD USB manufacturer ID for HMI devices
wPID WORD USB product ID for HMI devices
wRevID WORD Change ID
wNofInput WORD Number of received packages
wNofOutput WORD Number of sent packages
Tab. 9-2: Inputs/outputs of the MT_DiagUsbHmiCfg Functional description Provides information about the connected HMI panel (VDP8x)
9.1.4 MT_DiagUsbHmiState function Interface description
Fig. 9-3: Graphical representation of MT_DiagUsbHmiState
VAR_OUTPUT bDone BOOL Process successfully completed
stErrorIdent ERROR_STRUC T
dwUSBState DWORD USB-bus state
dwDevState DWORD Coding for the individual bits:
Bit 0 : Loading status of the USB driver 0 - Error; USB driver not loaded 1 - USB driver successfully loaded
Bit 1 : USB connection status 0 - No error 1 - USB connection interrupted since last start
Bit 2: USB reading status 0 - No error 1 - The last read data is not up-to-date
Bit 3: USB writing status 0 - No error 1 - Last attempt to successfully write data to the USB output is older than 100 ms
Tab. 9-3: Inputs/outputs of the MT_DiagUsbHmiState Functional description Provides information about the status of the connected HMI panel (VDP8x)
10 Firmware and software for the IndraMotion MTX 10.1 General information
The software and firmware of the IndraMotion MTX micro consist of three compatible 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 Rexroth should be used. The components of the software are compatible with each other and have been thoroughly tested. More information on the "control firmware" and the "drive firmware" can be found in chapter 5 "Loading a newer IndraMotion MTX micro control and drive firmware" on page 25. The control system IndraMotion MTX micro is equipped with firmware and software packages covering many applications and technology functions.
10.2 Commissioning software and project planning software "IndraWorks Engineering"
10.2.1 General information The 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 t

IndraMotion MTX micro 14VRS - Bosch Rexroth

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