IndraMotionIndraMotion MLCMLCfor hydraulic applicationsfor hydraulic applications

Si lSi l-- SimpleSimple

-- OpenOpen

-- FlexibleFlexible

1

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

Control hardware IndraControl L

IndraControl L25 – low performance rangeIndraControl L25 low performance range

Processor Reneas SH7785 (SH4)NVRAM 256 kB

Technical data

Onboard I/O -Local I/O 512 E/A (64 Byte)Function modules 2

C ti itConnectivityFig.: CML25.1-3N

sercos III (Master) PROFIBUS DP (Master/Slave) PROFINET RT (Controller/Device) EtherNet/IP (Adapter)

PerformanceU 12 MB (C d D t )

EtherNet/IP (Adapter) Ethernet TCP/IP

User memory 12 MB (Code + Data)Processing time typ. 35 µs / 1.000 instructions

mixed codeNumber of axes 16Number of tasks 10 Fig : CML25 1-PN

2

Fig.: CML25.1 PN

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

Control hardware IndraControl L

IndraControl L45 – middle performance rangeIndraControl L45 middle performance range

Processor AMD Geode LX800 / 500 MHzNVRAM 256 kB

Technical data

Onboard I/O 8 DI/8 DOLocal I/O 512 I/O (64 Byte)Function modules 4

C ti it Fi CML45 1 3PConnectivity sercos III (Master) PROFIBUS DP (Master/Slave) PROFINET RT (Controller/Device) EtherNet/IP (Adapter)

Fig.: CML45.1-3P

EtherNet/IP (Adapter) Ethernet TCP/IP

PerformanceU 24 MB (C d + D t )User memory 24 MB (Code + Data)Processing time typ. 30 µs / 1.000 instructions

mixed instructionsNumber of axes 32Number of tasks 20

Fi CML4 1 NP

3

Fig.: CML45.1-NP

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

Control hardware IndraControl L

IndraControl L65 – high performance rangeIndraControl L65 high performance range

Processor INTEL Celeron M / 1 GHzNVRAM 256 kB

Technical data

Onboard I/O 8 DI/8 DOLocal I/O 512 E/A (64 Byte)Function modules 4

C ti it Fig : CML65 1-3PConnectivity sercos III (Master) PROFIBUS DP (Master/Slave) PROFINET RT (Controller/Device) EtherNet/IP (Adapter)

Fig.: CML65.1-3P

EtherNet/IP (Adapter) Ethernet TCP/IP

PerformanceU 36 MB (C d + D t )User memory 36 MB (Code + Data)Processing time typ. 5 µs / 1.000 instructions

mixed instructionsNumber of axes 64Number of tasks 20

4

Fig.: CML65.1-NP

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

IndraMotion MLC for hydraulic drives

Inline Block I/O for four hydraulic drivesInline Block I/O for four hydraulic drives 12 analog difference inputs, resolution:

16bit Current: +/- 10mA; +/-20mA; 0-20mA; 4..20mA Voltage: 0 10V; +/ 10V Voltage: 0-10V; +/- 10V Input filter: 10 kHz HW filter; Software filter (average) Cable break detection at 4-20mA Dielectric strength up to 28V

4 analog outputs, resolution: 16bit Current: +/- 10mA; +/-20mA; 0-20mA; 4..20mA Voltage: 0-10V; +/- 10V Short circuit and overload protection, self-healing Dielectric strength 28V

4 SSI encoder inputs, signal type: RS422p , g yp Resolution: 8-31bit (typical 28bit) Transmission frequency: 67,5kHz, 100kHz, 125kHz,

200kHz, 250kHz, 300kHz, 400kHz, 500kHz, 600kHz, 700kHz, 800kHz, 900kHz, 1MHz, 2MHz, 4MHz

Code: gray/binary Parity: odd/even/non Parity: odd/even/non Error bit supported Sensor supply 24V / 500mA Short circuit and overload protection, self-resetting Dielectric strength up to 28V

Fig.: R-ILB S3 AI12 AO4 SSI-IN4

5

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

MLC System Components

Engineering• Software IndraWorks • Compatible with Windows 7

Function modules• Communication• Technology

Controls & hydraulic components

• Compact design• Maintenance-free

I/O modules IP20• Modular extensibility• Wide portfolio

Visualization

• Graduated portfolio • Embedded and IPC

Electrical, hydraulicand hybrid drives

System firmware

• Compact Flash card• System and programs

I/O modules IP67• Decentralized, modular• Wide portfolio

Variable-speed pump drives

• Variable Pumps• Energie efficient

Safety• Products corresponding

to the norms • Easy to implement

6

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

MLC Hydraulic Features, Rexroth moving with you...

Valve monitoring is integrated, it only needs to be parametrized!

A t ti ll th f ti f d d d t d I

"Details", making your life easier"Details", making your life easier

Automatically use the function of a secondary redundant encoder. In case Encoder 1 would get wrecked in the middle of a move!

Adjustable, automatic masking of an encoder makes it possible to ignore errors.

Tests without all hardware and drive thanks to the possibility of encoder Tests without all hardware and drive thanks to the possibility of encoder simulation for the central hydraulic controller axes.

Intelligent Synchronized Controller to overcome errors by obstacles / resistance or unsteady oil volume

Alternate between PDB (i.e. as in „free fall“ in a press) and closed-loop control (pressing) easily per parameter and at any time

Service mode for an easy commissioning of hydraulic axes (Apply Voltage to a l ith t P i !)valve with out any Programming!)

7

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

MLC System Overview with diverse Drive Technology

IndraWorksEnd-User-Tool

IndraControl VHMI

PROFINET IO/PROFIBUS (M t /Sl )

Ethernet TCP/UDP/IP

PROFINET IO/PROFIBUS (Master/Slave)

EtherNet/IP/DeviceNet (Master/Slave)

Drive Communication I/O Communication

central close loop control for hydraulic drives

IndraControl L25 (4 central axes)IndraControl L45 (8 central axes)IndraControl L65 (32 central axes)

Drive Communication

electrical drives I/O-module for hydraulic drives

8

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

MLC System Overview with Connected Drive Technology

IndraWorksEnd-User-Tool

IndraControl VHMI

Ethernet TCP/UDP/IP

PROFINET IO/PROFIBUS (master/slave)

EtherNet/IP (master/slave)IndraControl L25IndraControl L45IndraControl L65

EtherNet/IP (slave)

Cross-communication (C2C)

Drive communication

SERCOS III I/O

I/O communication

9

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

MLC System overview I

IndraWorksEnd-User-Tool

IndraControl VHMI WinView for

Diagnostic /

PROFINET IO/PROFIBUS (M t /Sl )

Ethernet TCP/UDP/IP

Monitoring

PLC ApplicationPROFINET IO/PROFIBUS (Master/Slave)

EtherNet/IP/DeviceNet (Master/Slave)

Drive Communication I/O Communication

central close loop control for hydraulic drives

IndraControl L25IndraControl L45IndraControl L65

electrical, hybrid and hydraulic drives I/O-module for hydraulic drives

10

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

MLC System overview II

IndraWorksEnd-User-Tool

WinCC Flexibel

WinCC FlexibelVia OPC Server

WinView für Diagnose / Monitoring

PROFINET IO/PROFIBUS (M t /Sl )

Ethernet TCP/UDP/IP

g

PLC ApplicationPROFINET IO/PROFIBUS (Master/Slave)

EtherNet/IP/DeviceNet (Master/Slave)

Drive Communication I/O Communication

central close loop control for hydraulic drives

IndraControl L25IndraControl L45IndraControl L65

electrical, hybrid and hydraulic drives I/O-module for hydraulic drives

11

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

MLC System overview III

IndraWorksEnd-User-Tool /Siemens Tools

Wi CC Fl ib l

WinView für Diagnose / Monitoring

Ethernet TCP/UDP/IP

WinCC Flexibel Monitoring

PROFINET IO/PROFIBUSSiemens Controller

PLC Application

PROFINET IO/PROFIBUS

central close loop control for hydraulic drives

Synchronized Axis

IndraControl

I/O module for hydraulic drives

12

I/O-module for hydraulic drives

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

MLC Overview of Functions

Standard functionsStandard functions

Logic Controlto IEC 61131-3 with extensions

Electronic camsBest-in-class controllerCentrally processed “Best of“ controller for hydraulic axes -fast modular and flexible

„best of“ Regler

Hydraulics-specific functionsHydraulics-specific functions

Multi-axis synchronizationElectronic Line Shafting

PLCopenStandardized componentsfor Motion Control

fast, modular and flexible

Synchronization controller Centrally processed synchronization controller -specifically for hydraulic axes,position active and force passive

Gleichlauf Regler

PositioningMotionProfileMotion profiles related to master axis

GAT

Ablösende Regelung

Fade to Force control Positioning with automatic transition to force control and back

WAB

Robot Control

Electronic transmission

Seq.ST“Structured Text” with

GATGeneric Application TemplateProject Creation Wizard

SPF

Mode Select Position-dependent braking Open-loop controlled positioning with deceleration to target position

Variable-speed pump drives DVP Regler

Editor and functionsfor Coordinated Motion

Structured Text withsequential processing foroptimum motion programming

controllerCentrally processed DVP controller forhybrid axes

M

WinViewDiagnostic Tool

13

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

MLC Example configuration for hydraulics

Mold Height Adj t t

Clamp Ejector Core pull /Squeze height adjustmentti it

Shot unitAdjustment casting unit

Inline I/O, PROFIBUS I/O, PROFINET I/O

P/QEthernet

IndraControl VHMI

14

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

Mobile impact excavator

MLC Example of Herrenknecht Project

Mobile impact excavatorMotion axes:

TO/RO synchronization of ex-tending/retracting and slewing oft l ttool tower

R1 main movement - removal process R2 slewing in – removal process

Task:Task:Complete automation of hydraulically powered tunnel boring machines for the special field of “connecting tunnels”tunnels .

Technical description:This machine is a prototype development and a novelty on the world market So farThis machine is a prototype development and a novelty on the world market. So far, connecting tunnels have been blasted and therefore caused enormous secondary costs, because driving of the main tunnel had to be suspended while the connecting tunnel was being excavated. This is no longer required with the new machine.

15

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

H d li f

MLC Example of a Deep Drawing Press

Downstroke ram (travel/force control)

Hydraulic axes fordeep drawing and punching

Parallel holding (active/passive synchronization)

Die cushion (travel/force control)

X-axis (horizontal)

Electric axes for part insertion and part removal

Z-axis (vertical)

C-axis (turning)

Pneumatic functions for part insertion and partPneumatic functions for part insertion and part removal

Y-axes (arm) with gripper

16

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

Visualization

MLC Example of Deep Drawing Press, System Overview

MLC

WinStudio

Ethernet

The control loop for the hydraulic axes is computed within the MLC

Electric drives PneumaticsHydraulic drives

MLC SPS u.Motion Control

Hydraulic power unit

Engineering ToolIndraWorks

4-axis module IndraDrive

Field Bus I/O 4 x SSI encoder4 x analog Out12 x analog In

ldin

g 1

am n g 2

a a og

Para

llel h

ol

Dow

nstr

oke

ra

Die

cus

hion

Para

llel h

oldi

ng

Simplified representation of the press functions Simplified representation of the inserterAuxiliary functions of the inserter

17

Simplified representation of the press functions Simplified representation of the inserter o t e se te

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com

Thank you very much!

18

y y

Cou

rtesy

of C

MA

/Flo

dyne

/Hyd

rady

ne ▪

Mot

ion

Con

trol ▪

Hyd

raul

ic ▪

Pne

umat

ic ▪

Ele

ctric

al ▪

Mec

hani

cal ▪

(800

) 426

-548

0 ▪ w

ww

.cm

afh.

com