Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project...

220
Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Electric Drives and Controls Pneumatics Service Linear Motion and Assembly Technologies Hydraulics

Transcript of Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project...

Page 1: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Rexroth IndraMotion MTXPLC Interface

R911318598Edition 02

Project Planning Manual

Electric Drivesand Controls Pneumatics Service

Linear Motion and Assembly TechnologiesHydraulics

Page 2: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Rexroth IndraMotion MTXPLC Interface

Project Planning Manual

DOK-MTX***-PLC*INT*V06-PR02-EN-P

RS-d9be19da78213a0d0a6846a001fa463b-2-en-US-3

This manual describes the interface signals and the program modules for theintegrated PLC.

Edition Release Date Notes

120-2500-B341-01/EN 10.2006 First edition for 06VRS

120-2500-B341-02/EN 02.2007 Modifications integrated.

© 2006 Bosch Rexroth AGCopying this document, giving it to others and the use or communication of thecontents thereof without express authourity, are forbidden. Offenders are liablefor the payment of damages. All rights are reserved in the event of the grant ofa patent or the registration of a utility model or design (DIN 34-1).The specified data is for product description purposes only and may not bedeemed to be guaranteed unless expressly confirmed in the contract. All rightsare reserved with respect to the content of this documentation and the availa‐bility of the product.Bosch Rexroth AGBgm.-Dr.-Nebel-Str. 2 ■ D-97816 Lohr a. MainPhone +49 (0)93 52/ 40-0 ■ Fax +49 (0)93 52/ 40-48 85http://www.boschrexroth.com/Dept. BRC/ESM11 (BE), BRC/ESM6 (DiLe)This document has been printed on chlorine-free bleached paper.

Title

Type of Documentation

Document Typecode

Internal File Reference

Purpose of Documentation

Record of Revision

Copyright

Validity

Published by

Note

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Page 3: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Table of ContentsPage

1 Overview........................................................................................................................ 1

2 Important Instructions for Use........................................................................................ 52.1 Appropriate Use...................................................................................................................................... 52.1.1 Introduction.......................................................................................................................................... 52.1.2 Areas of Use and Application ............................................................................................................. 52.2 Inappropriate Use................................................................................................................................... 6

3 Safety Instructions for Electric Drives and Controls ...................................................... 73.1 Safety Instructions - General Information............................................................................................... 73.1.1 Using the Safety Instructions and Passing them on to Others............................................................ 73.1.2 How to Employ the Safety Instructions................................................................................................ 73.1.3 Explanation of Warning Symbols and Degrees of Hazard Seriousness.............................................. 83.1.4 Hazards by Improper Use.................................................................................................................... 93.2 Instructions with Regard to Specific Dangers....................................................................................... 103.2.1 Protection Against Contact with Electrical Parts and Housings......................................................... 103.2.2 Protection Against Electric Shock by Protective Extra-Low Voltage................................................. 113.2.3 Protection Against Dangerous Movements....................................................................................... 113.2.4 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting.............. 143.2.5 Protection Against Contact with Hot Parts......................................................................................... 143.2.6 Protection During Handling and Mounting......................................................................................... 143.2.7 Battery Safety.................................................................................................................................... 153.2.8 Protection Against Pressurized Systems........................................................................................... 15

4 Configurations.............................................................................................................. 174.1 Configuration of the PLC NC Bit Interface ........................................................................................... 174.1.1 General.............................................................................................................................................. 174.1.2 The Globale Interface (General Interface)......................................................................................... 174.1.3 The Channel Interface (Channel Interface) ...................................................................................... 174.1.4 The Axis Interface ............................................................................................................................. 184.1.5 The Spindle Interface ....................................................................................................................... 194.2 Configuration of the Local Inputs ......................................................................................................... 204.2.1 General.............................................................................................................................................. 204.2.2 M Keys............................................................................................................................................... 214.2.3 Digital Inputs of the IO Card (HS Input) ............................................................................................ 224.2.4 Digital Outputs of the IO Card (HS Output) ...................................................................................... 224.3 Profibus Configuration ......................................................................................................................... 234.3.1 General.............................................................................................................................................. 234.3.2 The Profibus Master ......................................................................................................................... 234.3.3 Importing Device Master Files .......................................................................................................... 244.3.4 Configuration..................................................................................................................................... 254.3.5 Setting Addresses in a DP Slave ...................................................................................................... 26

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG I/IX

Table of Contents

Page 4: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Page

5 Global Interface Signals............................................................................................... 295.1 Overview Global Interface Signals........................................................................................................ 295.1.1 General ............................................................................................................................................. 295.1.2 Overview Output Signale (PLC -> NC).............................................................................................. 295.1.3 Overview Input Signale (PLC -> NC)................................................................................................. 295.2 Signal Description................................................................................................................................. 305.2.1 Output Signals (PLC-> NC) .............................................................................................................. 30

System reset qGen_Reset ............................................................................................................. 30Edit inhibit function qGen_EditInhibit ............................................................................................. 30Stroke inhibit function qGen_StrokeInhibit ..................................................................................... 31Stroke reserve function qGen_StrokeReserv ................................................................................ 31Stroke on function qGen_StrokeRel .............................................................................................. 31Clear error info qGen_DelErrInfo ................................................................................................... 32

5.2.2 Input Signals (PLC-> NC) ................................................................................................................. 32Hardware warning iGen_HardwareState ....................................................................................... 32Stroke intended function iGen_StrokeIntend ................................................................................. 33'Stroke is not running' function iGen_NoStroke ............................................................................. 33

6 Channel-Related Interface Signals ............................................................................. 356.1 Overview of Channel-Related Interface Signals................................................................................... 356.1.1 General.............................................................................................................................................. 356.1.2 Overview of Output Signals (PLC → NC) .......................................................................................... 356.1.3 Overview of Input Signals (PLC → NC) ............................................................................................. 376.2 Signal Description................................................................................................................................. 396.2.1 Output Signals (PLC → NC) .............................................................................................................. 39

Selection of operating mode qCh_OpModeSel_00 ... 03 ............................................................... 39PLC operating mode qCh_OpModePlc ......................................................................................... 40Automatic restart qCh_Restart ...................................................................................................... 40NC start qCh_NCStart ................................................................................................................... 40'Transfer lock' function qCh_TransferLock .................................................................................... 40'Feed hold' function Halt qCh_FeedHold ....................................................................................... 41'Feed stop' function qCh_FeedStop ............................................................................................... 41Automatic reselection from qCh_ReSelOff .................................................................................... 41Reset qCh_CtrlReset ..................................................................................................................... 41'Cancel distance to go' function qCh_CancDist ............................................................................. 42'Switching to next block' function qCh_NextBlk ............................................................................. 43'Return to contour' function qCh_RetCont ..................................................................................... 43'Fast retract' function qCh_Retract ................................................................................................ 44Asynchronous subroutine 1 ... 8 qCh_ASub1 ... 8 ......................................................................... 44WCS manual + qCh_JogPlusWcs and WCS manual - qCh_JogMinusWcs .................................. 44Handwheel selection bit 0 qCh_HandwSelWcs_00 and handwheel selection Bit 1 qCh_Handw‐SelWcs_01 ..................................................................................................................................... 44Handwheel direction qCh_HandwDirWcs ...................................................................................... 45Handwheel position qCh_HandwPosMode ................................................................................... 45'Block skip' function qCh_BlkSlash ................................................................................................ 45Optional stop qCh_OptStop ........................................................................................................... 45

II/IX Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Table of Contents

Page 5: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Page

Conditional jump qCh_OptJump .................................................................................................... 45Reduced rapid traverse qCh_RedRap ........................................................................................... 46Override 100% qCh_Override100 ................................................................................................. 46Override bit 0 ... Bit 15 qCh_Override_00 ... 15 ............................................................................. 46Customer input 1 ... 8 qCh_Custom1 ... 8 ..................................................................................... 46Online correction enable qCh_OnlCorrWcs ................................................................................... 46Online correction direction qCh_OnlCorrWcsDir ........................................................................... 47Terminate coupling qCh_CoordCoupleOff ..................................................................................... 47TTL enable qCh_TangTRotRel ...................................................................................................... 47Test feed qCh_TestFeed ............................................................................................................... 47Test rapid traverse qCh_TestRap .................................................................................................. 48

6.2.2 Input Signals (NC → PLC) ................................................................................................................. 48Active operating mode iCh_OpMode_00 ... 03 .............................................................................. 48Test mode iCh_DryRun ................................................................................................................. 49NC ready iCh_NCReady ................................................................................................................ 49Program running iCh_ProgRun ..................................................................................................... 50Transfer lock active iCh_TransferLockAct ..................................................................................... 50Feed hold active iCh_FeedHoldAct ............................................................................................... 51Program stop M0 iCh_ProgStopM0 ............................................................................................... 51Program end M30 iCh_ProgStopM30 ............................................................................................ 51Channel reset iCh_Reset ............................................................................................................... 51Remove finish iCh_RemoveFinish ................................................................................................. 51Ready to re-enter contour iCh_ReadyReEnter .............................................................................. 52Re-entry active iCh_ReEnterAct .................................................................................................... 52Asynchronous subroutine 1 ... 8 iCh_ASub1 ... 8 .......................................................................... 52Channel status bit 0 ... 4 iCh_State_00 .. 04 ................................................................................. 52Activate 'Block skip' function qCh_BlkSlash .................................................................................. 53Activate optional stop qCh_OptStop .............................................................................................. 53iCh_OptJump.................................................................................................................................. 53Overview of Interface Signals for NC Program Restart.................................................................. 54NC program restart active iCh_SRunAct ....................................................................................... 54Re-entry active iCh_SRunEnter ..................................................................................................... 55Repositioning active iCh_SRunRepos ........................................................................................... 55Override 0% iCh_Override0 ........................................................................................................... 55Override 100% iCh_Override100 ................................................................................................... 55CPL customer output 1 ... 16 iCh_Cpl01 ... 16 .............................................................................. 55Customer output 1 ... 8 iCh_Custom1 ... 8 .................................................................................... 55Rapid traverse active iCh_G0Act ................................................................................................... 55Inpos range 2 active iCh_InPosAct ................................................................................................ 55G41/141 active iCh_G41G141Act, G42/142 active iCh_G42G142Act .......................................... 56Coordinate coupling active iCh_CoordCoupleAct .......................................................................... 56Tool rotation (TangTool (TTL)) iCh_TangTRotCmd ...................................................................... 56G70 active iCh_ActFunc01 ............................................................................................................ 56Feed 100% active iCh_ActFunc02 ................................................................................................ 56G95 active iCh_ActFunc03 ............................................................................................................ 57Axis transformer 2 inactive iCh_ActFunc04 ................................................................................... 57

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG III/IX

Table of Contents

Page 6: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Page

Program position active iCh_ActFunc05 ........................................................................................ 57Thread cycle active iCh_ActFunc06 .............................................................................................. 57Tapping active iCh_ActFunc07 ...................................................................................................... 57Tapping active iCh_ActFunc08 ...................................................................................................... 57Tool compensation active bit 0 ... Bit 4 iCh_ActFunc09 ... 13 ....................................................... 58G96 active iCh_ActFunc18 ............................................................................................................ 58

7 Axis-Related Interface Signals..................................................................................... 617.1 Overview of Axis-Related Interface Signals.......................................................................................... 617.1.1 General.............................................................................................................................................. 617.1.2 Overview of Output Signals (PLC → NC) .......................................................................................... 617.1.3 Overview of Input Signals (NC → PLC) ............................................................................................. 627.2 Signal Description................................................................................................................................. 647.2.1 Output Signals (PLC → NC) .............................................................................................................. 64

General........................................................................................................................................... 64Axis Mode Bit 0 and 1 qAx_OpModeSel_00 ... 01 ......................................................................... 64Manual+ qAx_JogPlus Manual- qAx_JogMinus ............................................................................ 64Incremental step in inch qAx_JogInch ........................................................................................... 66Incremental step as diameter qAx_JogDia .................................................................................... 66Next notch position qAx_NextNotch .............................................................................................. 67Axis reset qAx_Reset .................................................................................................................... 67Limit switch range 0 ... 1 qAx_TrvLim_00 ... 01 ............................................................................. 67Suppress limit switches qAx_SwLimOff ......................................................................................... 67Cancel fixed stop qAx_FxStopRel ................................................................................................. 67Mode selection (BA) qAx_SafOpModeSwitch ............................................................................... 68Drive lock qAx_SafDrvLock ........................................................................................................... 68Consent key qAx_SafEnablCtrl ..................................................................................................... 68S switch 1 (S1) qAx_SafSwitch1 ................................................................................................... 68Check input safety technology qAx_SafCheckInputState .............................................................. 68Status S signals qAx_SafTechState .............................................................................................. 68Handwheel selection bit 0 and bit 1 qAx_HandwSel_00 ... 01 ....................................................... 69Handwheel direction qAx_HandwDir ............................................................................................. 69Handwheel position qAx_HandwPosMode .................................................................................... 69Manual feed for bit 0 ... Bit 3 qAx_ManFeed_00 ... 03 ................................................................... 69Axis Override 100% qAx_Override10 ............................................................................................ 70Override bit 0 ... Bit 15 qAx_Override_00 ... 15 ............................................................................. 70Customer input 1 ... 8 qAx_Custom1 ... 8 ...................................................................................... 71Suppress standstill error qAx_TrqErrOff ........................................................................................ 71Suppress coupling error qAx_LagErrOff ........................................................................................ 71Gantry on master position qAx_MasterPos ................................................................................... 71Take over actual value offset qAx_TakeActOffs ............................................................................ 72Axis discharged qAx_Discharge .................................................................................................... 72Hold command position qAx_FrzIpoPos ........................................................................................ 72Torque reduction qAx_TrqLi .......................................................................................................... 72Drive on qAx_DrvOn ...................................................................................................................... 73Feed inhibit qAx_DrvLock .............................................................................................................. 73

IV/IX Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Table of Contents

Page 7: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Page

7.2.2 Input Signals (NC → PLC) ................................................................................................................. 75Reference point known iAx_RefKnown ......................................................................................... 75Reference point was reached iAx_RefReached ............................................................................ 75Travel command iAx_TrvCmd ....................................................................................................... 75Negative traversing direction iAx_TrvDirNeg ................................................................................. 76Axis running iAx_Run .................................................................................................................... 76Axis in position iAx_InPos .............................................................................................................. 76Axis on notch position iAx_NotchPos ............................................................................................ 76Axis reset iAx_Reset ...................................................................................................................... 77Axis near end point iAx_DistCtrl .................................................................................................... 77Fixed stop reached iAx_FxStopReached ...................................................................................... 77Fixed stop active iAx_FxStopAct ................................................................................................... 77Bit 0 safety mode ... Bit 3 iAx_SafOpMode_00 ... 03 ..................................................................... 77Status safe position iAx_SafStatePos ........................................................................................... 78Status output controller iAx_SafCtrlOutputState ............................................................................ 78Position switch point 1 ... 8 iAx_PosSwitch1 ... 8 .......................................................................... 78Channel number bit 0 ... Bit 3 iAx_ChIndex_00 ... 03 .................................................................... 78Axis Override 0% iAx_Override0 ................................................................................................... 79Axis Override 100% iAx_Override100 ........................................................................................... 79SCS signal status 0 ...15 iAx_ScsState00 ... 15 ............................................................................ 79Customer output 1 ... 8 iAx_Custom1 ... 8 ..................................................................................... 80Index of master axis bit 0 ... Bit 4 iAx_MasterAxindex_00 ... 04 .................................................... 80Standstill error iAx_TrqExceed ...................................................................................................... 80Coupling lag iAx_CoupleLag ......................................................................................................... 81Gantry command value displacement active iAx_CmdOffsExst .................................................... 81Compensable gantry command value displacement exceeded iAx_CmdOffsExceed .................. 81Error diagnostics class-1 iAx_DrvErrClass1 .................................................................................. 81Change of diagnostics class-2 iAx_DrvChangeClass2 .................................................................. 82Change of diagnostics class-3 iAx_DrvChangeClass3 .................................................................. 82Torque reduced iAx_TrqLim .......................................................................................................... 83Test mode iAx_DryRun .................................................................................................................. 83Enabled for power activation iAx_DrvPower .................................................................................. 83Drive ready iAx_DrvReady ............................................................................................................ 83Drive under control iAx_DrvAct ...................................................................................................... 84

8 Spindle-Related Interface Signals ............................................................................... 858.1 Overview of Spindle-Related Interface Signals.................................................................................... 858.1.1 General.............................................................................................................................................. 858.1.2 Overview of Output Signals (PLC -> NC) ......................................................................................... 858.1.3 Overview of Input Signals (PLC -> NC) ............................................................................................ 868.2 Signal Description................................................................................................................................. 888.2.1 Output Signals (PLC-> NC) .............................................................................................................. 88

General........................................................................................................................................... 88C-Axis on qSp_CAxOn .................................................................................................................. 88C-Axis off qSp_CAxOff .................................................................................................................. 88Spindle jog M3 qSp_JogPlus Spindle jog M4 qSp_JogMinus ....................................................... 88

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG V/IX

Table of Contents

Page 8: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Page

Spindle reset qSp_Reset ............................................................................................................... 89Spindle M3 manual qSp_TurnCW Spindle M4 manual qSp_TurnCCW ........................................ 90Spindle M5 manual qSp_Stop ....................................................................................................... 90Spindle M19 manual qSp_Orientate .............................................................................................. 91Mode selection (BA) qSp_SafModeSel ......................................................................................... 91Consent key qSp_SafAgreeButton ................................................................................................ 92S switch 1 (S1) qSp_SafSwitch1 ................................................................................................... 92Check input safety technology qSp_SafCheckInputState ............................................................. 92Status S signals qSp_SafSignalState ............................................................................................ 92GTS 1 - 4 acknowledgement qSp_Gear1Act ... 4Act Idle gear acknowledgment qSp_GearIdleAct ... 92Spindle speed jog bit 0 ... Bit 2 qSp_ManSpeed_00 ... 02 ............................................................. 92Spindle override 100% qSp_Override100 ..................................................................................... 93Override bit 0 ... Bit 15 qSp_Override_00 ... 15 ............................................................................. 93Customer input 1 ... 8 qSp_Custom1 ... 8 ...................................................................................... 93Drive on qSp_DrvOn ...................................................................................................................... 93Spindle inhibit qSp_DrvLock .......................................................................................................... 94Speed limitation SD qSp_SpeedLimit ............................................................................................ 95

8.2.2 Input Signal (NC -> PLC) .................................................................................................................. 95C-axis active iSp_CAxAct .............................................................................................................. 95C-axis switching iSp_CAxSwitch ................................................................................................... 96Turn command iSp_TurnCmd ....................................................................................................... 96Direction of rotation M4 iSp_TurnDirM4 ........................................................................................ 96Spindle in position iSp_InPos ........................................................................................................ 96Position control active iSp_PosCtrl ................................................................................................ 96Spindle reset iSp_Reset ................................................................................................................ 97Speed reached iSp_ProgSpReach ................................................................................................ 97Speed limited iSp_SpLim ............................................................................................................... 97Spindle has stopped iSp_Stop ....................................................................................................... 97Spindle orientated iSp_OrientateFinish ......................................................................................... 97Orientate spindle active iSp_OrientateAct ..................................................................................... 97Bit 0 safety mode ... Bit 3 iSp_SafOpMode_00 ... 03 ..................................................................... 98Status safe position iSp_SafStatePos ........................................................................................... 98Status output controller iSp_SafCtrlOutputState ........................................................................... 98Selection for GTS 1 ... 4 iSp_Gear1Sel ... 4Sel ............................................................................. 98GTS change iSp_GearChange ...................................................................................................... 99Idling speed reached iSp_IdleSpeed ............................................................................................. 99Idle gear selection iSp_GearIdleSel .............................................................................................. 99Spindle override 0% iSp_Override0 ............................................................................................. 100Spindle override 100% iSp_Override100 ..................................................................................... 100SCS signal status 0 ...15 iSp_ScsState00 ... 15 .......................................................................... 100Customer output 1 ... 8 iSP_Custom1 ... 8 .................................................................................. 101No. of coupling bits 0 ... Bit 2 iSp_CoupleIndex_00 ... 02 ............................................................ 101Spindle is master iSp_Master ...................................................................................................... 101Coupling error iSp_CoupleErr ...................................................................................................... 101Synchronous 1 iSp_Synchr1 ....................................................................................................... 101

VI/IX Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Table of Contents

Page 9: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Page

Synchronous 2 iSp_Synchr2 ....................................................................................................... 101Error diagnostics class-1 iSp_DrvErrClass1 ................................................................................ 101Change of diagnostics class-2 iSp_DrvChangeClass2 ............................................................... 102Change of diagnostics class-3 iSp_DrvChangeClass3 ............................................................... 103Test mode iSp_DryRun ............................................................................................................... 103Enabled for power activation iSp_DrvPower ............................................................................... 103Drive ready iSp_DrvReady .......................................................................................................... 104Drive under control iSp_DrvAct ................................................................................................... 104

9 Auxiliary Functions .................................................................................................... 1059.1 General............................................................................................................................................... 1059.2 Bit-Coded Auxiliary Functions ............................................................................................................ 1069.3 Non-Bit-Coded Channel-Independent Auxiliary Functions ................................................................ 1079.4 Non-Bit-Coded Channel-Dependent Auxiliary Functions ................................................................... 108

10 Access to Digital I/Os ................................................................................................ 111

11 Program Modules....................................................................................................... 11311.1 General Structure of Program Modules ............................................................................................. 11311.2 Reading Actual Axis Values (MT_ScsPos) ........................................................................................ 11311.2.1 Function........................................................................................................................................... 11311.2.2 Configuration Example.................................................................................................................... 11411.2.3 Status Messages............................................................................................................................. 11811.3 Program Selection/Deselection (MT_ProgSel) .................................................................................. 11811.3.1 Function........................................................................................................................................... 11811.3.2 Configuration Example.................................................................................................................... 12011.3.3 Status Messages............................................................................................................................. 12111.4 NC Block Input (MT_NcBlk) ............................................................................................................... 12211.4.1 Function........................................................................................................................................... 12211.4.2 Configuration Example.................................................................................................................... 12311.4.3 Status Messages............................................................................................................................. 12511.5 Extended NC Block Input (MT_NcBlkExt) .......................................................................................... 12611.5.1 Function........................................................................................................................................... 12611.5.2 Configuration Example.................................................................................................................... 12711.5.3 Status Messages............................................................................................................................. 12811.6 Temperature Compensation (MT_TempComp) ................................................................................. 12911.6.1 Function........................................................................................................................................... 12911.6.2 Configuration Example.................................................................................................................... 13011.6.3 Status Messages............................................................................................................................. 13111.7 Reading Machine Parameter (MT_CfgData) ..................................................................................... 13111.7.1 Function........................................................................................................................................... 13111.7.2 Configuration Example.................................................................................................................... 13211.7.3 Status Messages............................................................................................................................. 13411.8 Hand Wheel Data (MT_Handw) ......................................................................................................... 13411.8.1 Function........................................................................................................................................... 134

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG VII/IX

Table of Contents

Page 10: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Page

11.8.2 Configuration Example.................................................................................................................... 13511.8.3 Status Messages............................................................................................................................. 13611.9 SERCOS Parameters (MT_ScsData) ................................................................................................ 13611.9.1 Function........................................................................................................................................... 13611.9.2 Configuration Example.................................................................................................................... 13711.9.3 Status Messages............................................................................................................................. 13911.10 Editing Tool Lists (MT_P_DbRecList) ................................................................................................ 14011.10.1 Function........................................................................................................................................... 14011.10.2 Configuration Example.................................................................................................................... 14211.10.3 Status Messages............................................................................................................................. 14411.11 Editing Data Records (MT_P_DbData) .............................................................................................. 14511.11.1 Function........................................................................................................................................... 14511.11.2 Configuration Example.................................................................................................................... 14611.11.3 Status Messages............................................................................................................................. 14811.12 Edit Data Record Lists (MT_DbRecList) ............................................................................................ 14911.12.1 Function........................................................................................................................................... 14911.12.2 Configuration Example.................................................................................................................... 15111.12.3 Status Messages............................................................................................................................. 15311.13 Editing Data Records (MT_DbData) .................................................................................................. 15411.13.1 Function........................................................................................................................................... 15411.13.2 Configuration Example.................................................................................................................... 15811.13.3 Status Messages............................................................................................................................. 15911.14 Save Database Table (MT_DbSave) ................................................................................................. 16011.14.1 Function........................................................................................................................................... 16011.14.2 Configuration Example.................................................................................................................... 16111.14.3 Status Messages............................................................................................................................. 16311.15 Load Database Table (MT_DbLoad) ................................................................................................. 16311.15.1 Function........................................................................................................................................... 16311.15.2 Configuration Example.................................................................................................................... 16411.15.3 Status Messages............................................................................................................................. 16511.16 Tool Correction (MT_TCorr) ............................................................................................................... 16611.16.1 Function........................................................................................................................................... 16611.16.2 Configuration Example.................................................................................................................... 16811.16.3 Status Messages............................................................................................................................. 17011.17 Read/Write Permanent CPL Variables (MT_CplData) ....................................................................... 17011.17.1 Function........................................................................................................................................... 17011.17.2 Configuration Example.................................................................................................................... 17111.17.3 Status Messages............................................................................................................................. 17211.18 Read/Write Permanent CPL Variables with Type Conversion (MT_CplDataConv) ........................... 17311.18.1 Function........................................................................................................................................... 17311.18.2 Configuration Example.................................................................................................................... 17411.18.3 Status Messages............................................................................................................................. 17511.19 Read system data (MT_SD_RD) ....................................................................................................... 17511.19.1 Function........................................................................................................................................... 17511.19.2 Configuration Example.................................................................................................................... 17611.19.3 Status Messages............................................................................................................................. 177

VIII/IX

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Table of Contents

Page 11: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Page

11.20 Write System Data (MT_SD_WR) ...................................................................................................... 17811.20.1 Function........................................................................................................................................... 17811.20.2 Configuration Example.................................................................................................................... 17911.20.3 Status Messages............................................................................................................................. 180

12 Configuration of PLC-Specific Data in IndraWorks ................................................... 18312.1 Configuration of Machine Status Display (MSD) ............................................................................... 18312.1.1 General............................................................................................................................................ 18312.1.2 Parameterization of Machine Status Display (MSD)....................................................................... 18312.1.3 Configuration of the MSD Bit Interface ........................................................................................... 18312.1.4 Structure of MSD file....................................................................................................................... 18512.1.5 Activating the Messages.................................................................................................................. 18612.1.6 Additional Information...................................................................................................................... 186

13 Overview of Interface Signals.................................................................................... 18913.1 Global Output Signals (PLC -> NC) ................................................................................................... 18913.2 Global Input Signals (NC -> PLC) ...................................................................................................... 18913.3 Channel-Related Output Signals (PLC -> NC) .................................................................................. 19013.4 Channel-Related Input Signals (NC -> PLC) ..................................................................................... 19113.5 Axis-Related of Output Signals (PLC -> NC) ..................................................................................... 19313.6 Axis-Related Input Signals (NC -> PLC) ............................................................................................ 19413.7 Spindle-Related Output Signals (PLC -> NC) .................................................................................... 19613.8 Spindle-Related Input Signals (NC -> PLC) ...................................................................................... 197

14 Service & Support...................................................................................................... 19914.1 Helpdesk............................................................................................................................................. 19914.2 Service Hotline.................................................................................................................................... 19914.3 Internet................................................................................................................................................ 19914.4 Helpful Information.............................................................................................................................. 199

Index.......................................................................................................................... 201

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG IX/IX

Table of Contents

Page 12: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Page 13: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

1 OverviewThis manual describes software interfaces and their functioning in terms of theIndraLogic PLC integrated into the IndraMotion MTX.

A detailed description of the integrated PLC is given in further man‐uals.

The PLC sequential program is principally capable of communicating with allfunction areas and subsystems of the overall system. The manual describesthe functions that can be addressed directly by the PLC sequential programusing the PLC operands.Individual signals that signal a certain status to the PLC sequential program(e.g. axis in position, auxiliary function output) or that activate a function in theNC (e.g. NC start, stop, feed enable) are refreshed in every PLC cycle or aretransferred in the corresponding direction when an event occurs.They are divided into:● Global interface signals(chapter 5 "Global Interface Signals" on page

29)● Channel-related interface signals(chapter 6 "Channel-Related Interface

Signals " on page 35)● Axis-related interface signals(chapter 7 "Axis-Related Interface Signals"

on page 61)● Spindle-related interface signals(chapter 8 "Spindle-Related Interface

Signals " on page 85)● Decoded auxiliary functions (chapter 9 " Auxiliary Functions " on page

105)These interfaces between the PLC and the NC are configured in the input/out‐put area within the IndraLogic using the configurator of the IndraLogic pro‐gramming interface.Each interface can be configured individually:● Here, the node number specifies the physical interface number (channel

No. starting at 0, axis and spindle numbers starting at 1).● Each interface can be provided with a symbolic designator with which the

interface can be addressed in the sequential program.● A separate I/O address can be assigned to every interface so that the

physical address of the interface is not affected by inserting/deleting in‐terfaces.

If more interfaces are configured within the system than in the I/O Configurator,the unconfigured interfaces are not taken into account during the data ex‐change.

In order to be able to symbolically access the individual signalswithin the programming interface, the “Replace constants” functionunder Project Options Translation optionsmust be activated.

In addition to the transfer of individual signals, other functions have been im‐plemented that are required less often or only by special applications. Thesefunctions can be called and activated using parameterizable program modules.Each call of a program module is acknowledged and, according to the calledfunction, the requested datum is stored in the operands parameterized by thePLC sequential program.

Individual signals

Program Modules

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 1/206

Overview

Page 14: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

See chapter 11 "Program Modules" on page 113 for available pro‐gram modules.

2/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Overview

Page 15: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Example:

Communication structure samples

Fig.1-1: Communication structure samples

All files which are created from the IndraLogic runtime system, are stored in theRAM file system in path /plc/. This is the boot project (DEFAULT.CHK and

Archive of PLC-specific files withinthe control

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 3/206

Overview

Page 16: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

DEFAULT.PRG), the symbol file (BOOT.SDB and DOWNLOAD.SDB) andsome internally used files. If the RAM file system is newly generated e.g. likenecessary during Firmware exchange, this data will be lost and must be previ‐ously saved on /usrfep/plc or in an NC archive (tar-file) if necessary. If the filesare saved in a tar-file, they will be saved during reading the tar-files in /plc andautomatically loaded during next startup of control.If the files are saved in /usrfep/plc they can be restored by “manual” copyingto /plc or by a control startup with startup mode 2 after creating a file system.During switching from PNC to CMP60 module, the PLC program must be cop‐ied from/usrfep to /plc or /usrfep/plc so that the boot project of PLC programcan be loaded. If the files are copied to /usrfep/plc, a new control startup withstartup mode 2 must be executed to activate the PLC program. Afterwards, theboot project must be saved on /plc and is loaded from there in each controlstartup.

4/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Overview

Page 17: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

2 Important Instructions for Use2.1 Appropriate Use2.1.1 Introduction

Bosch Rexroth products represent state-of-the-art developments and manu‐facturing. They are tested prior to delivery to ensure operating safety andreliability.The products may only be used in the manner that is defined as appropriate. Ifthey are used in an inappropriate manner, then situations can develop that maylead to property damage or injury of personnel.

Bosch Rexroth, as manufacturer, is not liable for any damages re‐sulting from inappropriate use. In such cases, the guarantee andthe right to payment of damages resulting from inappropriate useare forefeited. The user alone carries all responsibility of the risks.

Before using Bosch Rexroth products, make sure that all the pre-requisites forappropriate use of the products are satisfied:● Personnel that in a way, shape or form uses our products must first read

and understand the relevant safety instructions and be familiar with ap‐propriate use.

● If the product takes the form of hardware, then they must remain in theoriginal state, in other words, no structural changes are permitted. It its notpermitted to decompile software products or alter source codes.

● Do not mount damaged or faulty products or use them in operation.● Make sure that the products have been installed in the manner described

in the relevant documentation.

2.1.2 Areas of Use and Application The Rexroth IndraMotion MTX control is used to● Programming contour and machining technology (feedrate, spindle

speed, tool change) or a workpiece.● Guiding a machining tool along a programmed bath.Feed drives, spindles and auxiliary axes of a machine tool are activated viaSERCOS interface.

This additionally requires I/O components for the integrated PLCwhich, in combination with the actual CNC, controls the machiningprocess as a whole and also monitors this process with regard totechnical safety.The unit may be operated only with the explicitly specified hardwarecomponent configurations and combinations and only with the soft‐ware and firmware specified in the appropriate documentations andfunctional descriptions.

The Rexroth IndraMotion MTX has been developed for control tasks in multi-axis installations.Typical applications are:● lathes● milling machines

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 5/206

Important Instructions for Use

Page 18: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

● machining centers

2.2 Inappropriate UseUsing the Rexroth IndraMotion MTX outside of the above-referenced areas ofapplication or under operating conditions other than described in the documentand the technical data specified is defined as "inappropriate use".The Rexroth IndraMotion MTX may not be used if● they are subject to operating conditions that do not meet the above speci‐

fied ambient conditions. This includes, for example, operation under wa‐ter, in the case of extreme temperature fluctuations or extreme maximumtemperatures or if

● Bosch Rexroth has not specifically released Rexroth IndraMotion MTX forthat intended purpose. Please note the specifications outlined in the gen‐eral safety instructions!

6/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Important Instructions for Use

Page 19: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

3 Safety Instructions for Electric Drives and Controls 3.1 Safety Instructions - General Information3.1.1 Using the Safety Instructions and Passing them on to Others

Do not attempt to install or commission this device without first reading all doc‐umentation provided with the product. Read and understand these safetyinstructions and all user documentation prior to working with the device. If youdo not have the user documentation for the device, contact your responsibleBosch Rexroth sales representative. Ask for these documents to be sent im‐mediately to the person or persons responsible for the safe operation of thedevice.If the device is resold, rented and/or passed on to others in any other form,these safety instructions must be delivered with the device in the official lan‐guage of the user's country.

WARNING

Improper use of these devices, failure to follow the safety instructions inthis document or tampering with the product, including disabling of safe‐ty devices, may result in material damage, bodily harm, electric shockor even death!Observe the safety instructions!

3.1.2 How to Employ the Safety InstructionsRead these instructions before initial commissioning of the equipment in orderto eliminate the risk of bodily harm and/or material damage. Follow these safetyinstructions at all times.● Bosch Rexroth AG is not liable for damages resulting from failure to ob‐

serve the warnings provided in this documentation.● Read the operating, maintenance and safety instructions in your language

before commissioning the machine. If you find that you cannot completelyunderstand the documentation for your product, please ask your supplierto clarify.

● Proper and correct transport, storage, assembly and installation, as wellas care in operation and maintenance, are prerequisites for optimal andsafe operation of this device.

● Only assign trained and qualified persons to work with electrical installa‐tions:– Only persons who are trained and qualified for the use and operation

of the device may work on this device or within its proximity. Thepersons are qualified if they have sufficient knowledge of the assem‐bly, installation and operation of the product, as well as an under‐standing of all warnings and precautionary measures noted in theseinstructions.

– Furthermore, they must be trained, instructed and qualified to switchelectrical circuits and devices on and off in accordance with technicalsafety regulations, to ground them and to mark them according to therequirements of safe work practices. They must have adequate safe‐ty equipment and be trained in first aid.

● Only use spare parts and accessories approved by the manufacturer.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 7/206

Safety Instructions for Electric Drives and Controls

Page 20: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

● Follow all safety regulations and requirements for the specific applicationas practiced in the country of use.

● The devices have been designed for installation in industrial machinery.● The ambient conditions given in the product documentation must be ob‐

served.● Only use safety-relevant applications that are clearly and explicitly ap‐

proved in the Project Planning Manual. If this is not the case, they areexcluded. Safety-relevant are all such applications which can cause dan‐ger to persons and material damage.

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

application and check the information given in this documentationwith regard to the use of the components,

– make sure that his application complies with the applicable safetyregulations and standards and carry out the required measures,modifications and complements.

● Commissioning of the delivered components is only permitted once it issure that the machine or installation in which they are installed complieswith the national regulations, safety specifications and standards of theapplication.

● Operation is only permitted if the national EMC regulations for the appli‐cation are met.

● The instructions for installation in accordance with EMC requirements canbe found in the section on EMC in the respective documentation (ProjectPlanning Manuals of components and system).The machine or installation manufacturer is responsible for compliancewith the limiting values as prescribed in the national regulations.

● Technical data, connection and installation conditions are specified in theproduct documentation and must be followed at all times.

National regulations which the user must take into account● European countries: according to 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)

3.1.3 Explanation of Warning Symbols and Degrees of Hazard SeriousnessThe safety instructions describe the following degrees of hazard seriousness.The degree of hazard seriousness informs about the consequences resultingfrom non-compliance with the safety instructions:

8/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Safety Instructions for Electric Drives and Controls

Page 21: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Warning symbolSignal wordDegree of hazard seriousness acc. to ANSI Z 535.4-2002

Danger Death or severe bodily harm will occur.

Warning Death or severe bodily harm may occur.

Caution Minor or moderate bodily harm or material damage mayoccur.

Fig.3-1: Hazard classification (according to ANSI Z 535)

3.1.4 Hazards by Improper Use

DANGER

High electric voltage and high working current! Risk of death or severebodily injury by electric shock!Observe the safety instructions!

DANGER

Dangerous movements! Danger to life, severe bodily harm or materialdamage by unintentional motor movements!Observe the safety instructions!

WARNING

High electric voltage because of incorrect connection! Risk of death orbodily injury by electric shock!Observe the safety instructions!

WARNING

Health hazard for persons with heart pacemakers, metal implants andhearing aids in proximity to electrical equipment!Observe the safety instructions!

CAUTION

Hot surfaces on device housing! Danger of injury! Danger of burns!Observe the safety instructions!

CAUTION

Risk of injury by improper handling! Risk of bodily injury by bruising,shearing, cutting, hitting or improper handling of pressurized lines!Observe the safety instructions!

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 9/206

Safety Instructions for Electric Drives and Controls

Page 22: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

CAUTION

Risk of injury by improper handling of batteries!Observe the safety instructions!

3.2 Instructions with Regard to Specific Dangers3.2.1 Protection Against Contact with Electrical Parts and Housings

This section concerns devices and drive components with voltagesof more than 50 volts.

Contact with parts conducting voltages above 50 volts can cause personaldanger and electric shock. When operating electrical equipment, it is unavoid‐able that some parts of the units conduct dangerous voltage.

DANGER

High electrical voltage! Danger to life, electric shock and severe bodilyinjury!● Only those trained and qualified to work with or on electrical equipment

are permitted to operate, maintain and repair this equipment.● Follow general construction and safety regulations when working on elec‐

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

have been permanently connected to all electrical equipment in accord‐ance with the connection diagram.

● Do not operate electrical equipment at any time, even for brief measure‐ments or tests, if the equipment grounding conductor is not permanentlyconnected to the mounting points of the components provided for thispurpose.

● Before working with electrical parts with voltage potentials higher than50 V, the device must be disconnected from the mains voltage or powersupply unit. Provide a safeguard to prevent reconnection.

● For electrical drive and filter components, observe the following:Wait 30 minutes after switching off power to allow capacitors to dis‐charge before beginning to work. Measure the electrical voltage on thecapacitors before beginning to work to make sure that the equipment issafe to touch.

● Never touch the electrical connection points of a component while poweris turned on.

● Install the covers and guards provided with the equipment properly beforeswitching the device on. Before switching the equipment on, cover andsafeguard live parts safely to prevent contact with those parts.

● A residual-current-operated circuit-breaker or r.c.d. cannot be used forelectric drives! Indirect contact must be prevented by other means, forexample, by an overcurrent protective device according to the relevantstandards.

● Secure built-in devices from direct touching of electrical parts by providingan external housing, for example a control cabinet.

10/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Safety Instructions for Electric Drives and Controls

Page 23: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

For electrical drive and filter components with voltages of more than50 volts, observe the following additional safety instructions.

DANGER

High housing voltage and high leakage current! Risk of death or bodilyinjury by electric shock!● Before switching on, the housings of all electrical equipment and motors

must be connected or grounded with the equipment grounding conductorto the grounding points. This is also applicable before short tests.

● The equipment grounding conductor of the electrical equipment and thedevices must be non-detachably and permanently connected to the powersupply unit at all times. The leakage current is greater than 3.5 mA.

● Over the total length, use copper wire of a cross section of a minimum of10 mm2 for this equipment grounding connection!

● Before commissioning, also in trial runs, always attach the equipmentgrounding conductor or connect to the ground wire. Otherwise, high vol‐tages may occur at the housing causing electric shock.

3.2.2 Protection Against Electric Shock by Protective Extra-Low VoltageProtective extra-low voltage is used to allow connecting devices with basic in‐sulation to extra-low voltage circuits.All connections and terminals with voltages between 5 and 50 volts at Rexrothproducts are PELV systems. 1) It is therefore allowed to connect devicesequipped with basic insulation (such as programming devices, PCs, notebooks,display units) to these connections and terminals.

WARNING

High electric voltage by incorrect connection! Risk of death or bodilyinjury by electric shock!If extra-low voltage circuits of devices containing voltages and circuits of morethan 50 volts (e.g. the mains connection) are connected to Rexroth products,the connected extra-low voltage circuits must comply with the requirements forPELV. 2)

3.2.3 Protection Against Dangerous MovementsDangerous movements can be caused by faulty control of connected motors.Some common examples are:● improper or wrong wiring of cable connections● incorrect operation of the equipment components● wrong input of parameters before operation● malfunction of sensors, encoders and monitoring devices● defective components● software or firmware errorsThese errors can occur immediately after equipment is switched on or evenafter an unspecified time of trouble-free operation.

1) “Protective Extra-Low Voltage”2) “Protective Extra-Low Voltage”

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 11/206

Safety Instructions for Electric Drives and Controls

Page 24: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

The monitoring in the drive components will normally be sufficient to avoid faultyoperation in the connected drives. Regarding personal safety, especially thedanger of bodily harm and/or material damage, this alone cannot be relied uponto ensure complete safety. Until the integrated monitoring functions becomeeffective, it must be assumed in any case that faulty drive movements will occur.The extent of faulty drive movements depends upon the type of control and thestate of operation.

12/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Safety Instructions for Electric Drives and Controls

Page 25: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

DANGER

Dangerous movements! Danger to life, risk of injury, severe bodily harmor material damage!● For the above reasons, ensure personal safety by means of qualified and

tested higher-level monitoring devices or measures integrated in the in‐stallation.They have to be provided for by the user according to the specific condi‐tions within the installation and a hazard and fault analysis. The safetyregulations applicable for the installation have to be taken into consider‐ation. Unintended machine motion or other malfunction is possible if safetydevices are disabled, bypassed or not activated.

To avoid accidents, bodily harm and/or material damage:● Keep free and clear of the machine’s range of motion and moving parts.

Possible measures to prevent people from accidentally entering themachine’s range of motion:– use safety fences– use safety guards– use protective coverings– install light curtains or light barriers

● Fences and coverings must be strong enough to resist maximum possiblemomentum.

● Mount the emergency stop switch in the immediate reach of the operator.Verify that the emergency stop works before commissioning. Do not op‐erate the device if the emergency stop switch is not working.

● Isolate the drive power connection by means of an emergency stop circuitor use a safety related starting lockout to prevent unintentional start.

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

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

● The standard equipment motor brake or an external brake controlled bythe drive controller are not sufficient to guarantee personal safety!

● Disconnect electrical power to the equipment using a master switch andsecure the switch against reconnection 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 electronics circuits and supply leads. If the use of such devicescannot be avoided, verify the system and the installation for possible mal‐functions in all possible positions of normal use before initial commission‐ing. If necessary, perform a special electromagnetic compatibility (EMC)test on the installation.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 13/206

Safety Instructions for Electric Drives and Controls

Page 26: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

3.2.4 Protection Against Magnetic and Electromagnetic Fields During Oper‐ation and Mounting

Magnetic and electromagnetic fields generated by current-carrying conductorsand permanent magnets in motors represent a serious personal danger tothose with heart pacemakers, metal implants and hearing aids.

WARNING

Health hazard for persons with heart pacemakers, metal implants andhearing aids in proximity to electrical equipment!● Persons with heart pacemakers and metal implants are not permitted to

enter following areas:– Areas in which electrical equipment and parts are mounted, being

operated or commissioned.– Areas in which parts of motors with permanent magnets are being

stored, repaired or mounted.● If it is necessary for somebody with a pacemaker to enter such an area,

a doctor must be consulted prior to doing so. The noise immunity of pres‐ent or future implanted heart pacemakers differs greatly so that no generalrules can be given.

● Those with metal implants or metal pieces, as well as with hearing aids,must consult a doctor before they enter the areas described above. Oth‐erwise health hazards may occur.

3.2.5 Protection Against Contact with Hot Parts

CAUTION

Hot surfaces at motor housings, on drive controllers or chokes! Dangerof injury! Danger of burns!● Do not touch surfaces of device housings and chokes in the proximity of

heat sources! Danger of burns!● Do not touch housing surfaces of motors! Danger of burns!● According to the operating conditions, temperatures can be higher than

60 °C, 140 °F during or after operation.● Before accessing motors after having switched them off, let them cool

down for a sufficiently long time. Cooling down can require up to 140 mi‐nutes! Roughly estimated, the time required for cooling down is five timesthe thermal time constant specified in the Technical Data.

● After switching drive controllers or chokes off, wait 15 minutes to allowthem to cool down before touching them.

● Wear safety gloves or do not work at hot surfaces.● For certain applications, the manufacturer of the end product, machine or

installation, according to the respective safety regulations, has to takemeasures to avoid injuries caused by burns in the end application. Thesemeasures can be, for example: warnings, guards (shielding or barrier),technical documentation.

3.2.6 Protection During Handling and MountingIn unfavorable conditions, handling and mounting certain parts and compo‐nents in an improper way can cause injuries.

14/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Safety Instructions for Electric Drives and Controls

Page 27: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

CAUTION

Risk of injury by improper handling! Bodily injury by bruising, shearing,cutting, hitting!● Observe the general construction and safety regulations on handling and

mounting.● Use suitable devices for mounting and transport.● Avoid jamming and bruising by appropriate measures.● Always use suitable tools. Use special tools if specified.● Use lifting equipment and tools in the correct manner.● If necessary, use suitable protective equipment (for example safety gog‐

gles, safety shoes, safety gloves).● Do not stand under hanging loads.● Immediately clean up any spilled liquids because of the danger of skidding.

3.2.7 Battery SafetyBatteries consist of active chemicals enclosed in a solid housing. Therefore,improper handling can cause injury or material damage.

CAUTION

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 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 electrical parts in‐

stalled in the devices.● Only use the battery types specified by the manufacturer.

Environmental protection and disposal! The batteries contained inthe product are considered dangerous goods during land, air, andsea transport (risk of explosion) in the sense of the legal regulations.Dispose of used batteries separate from other waste. Observe thelocal regulations in the country of assembly.

3.2.8 Protection Against Pressurized SystemsAccording to the information given in the Project Planning Manuals, motorscooled with liquid and compressed air, as well as drive controllers, can be par‐tially supplied with externally fed, pressurized media, such as compressed air,hydraulics oil, cooling liquids and cooling lubricating agents. Improper handlingof the connected supply systems, supply lines or connections can cause injuriesor material damage.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 15/206

Safety Instructions for Electric Drives and Controls

Page 28: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

CAUTION

Risk of injury by improper handling of pressurized lines!● Do not attempt to disconnect, open or cut pressurized lines (risk of explo‐

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

shoes, safety gloves).● Immediately clean up any spilled liquids from the floor.

Environmental protection and disposal! The agents used to operatethe product might not be economically friendly. Dispose of ecolog‐ically harmful agents separately from other waste. Observe the localregulations in the country of assembly.

16/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Safety Instructions for Electric Drives and Controls

Page 29: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

4 Configurations4.1 Configuration of the PLC NC Bit Interface4.1.1 General

After a new IndraWorks project has been created and the screen (e.g. HMI BTV40_1) and the IndraMotion MTXP60 control have been set up, you will find theconfiguration of the PLC NC bit interface as a subnode of this control. Theassociated node name is “CyclicProcessData”.The bit interface consists of the General Interface, the Channel Interface, theAxis Interface and the Spindles Interface. The Machine Status Display can alsobe added to the bit interface .The configuration of MSD is described in chapter “Configuration of machinestatus display (MSD)”.By default, only the interface for General Data exists and is preset when a newproject is created.

Fig.4-1: The preset bit interface with the Properties dialog box for the GeneralInterface

The signals of the bit interface should always be viewed from the viewpoint ofthe PLC. For example, the signals from qGen are General Interface signalsfrom the PLC to the NC.

4.1.2 The Globale Interface (General Interface)The Global Interface is always present and cannot be deleted. The symbolicname for output signals is “qGen” and the start address for the structureMT_qGif_Type is 4000. The symbolic name for input signals is “iGen” and thestart address for the structure MT_iGif_Type is 4000. You can enter the prop‐erties dialog by double-clicking on the node “General Interface” (or in thecontext menu via “Open”). In this Properties dialog box, you can change thepreassigned names and addresses for the inputs and outputs; you can alsoassign comments.

4.1.3 The Channel Interface (Channel Interface) The IndraMotion MTX supports a switching function channel (channel 0) andup to twelve machining channels. By default, no channels are yet defined. Newchannels are created by clicking the contextual menu on the “Channel Interfa‐ces” node.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 17/206

Configurations

Page 30: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.4-2: Example for creating channel 1New channels are created sequentially starting with channel 0 (switching func‐tion channel). The node number is the deciding property for the meaning of achannel; for example, a channel interface with a node number of 2 is the inter‐face for machining channel 2.The symbolic name for output signals is “qChan_<node number with precedingzero>” and the start address for the structure MT_qCh_Type (length of 14 byte)is 5000 + node number*14. The symbolic name for input signals is“iChan_<node number with preceding zero>” and the start address for thestructure MT_iCh_Type is 5000 + node number*14.You can open the properties dialog box by double-clicking the node “Channelinterface <Node number>” node (or via “Open” in the context menu).The Properties dialog box can be used to change symbolic names, addressesand comments as well as the corresponding node number.

Fig.4-3: Properties dialog for the channel interface

The node number for channel interfaces must always be unique;therefore, each node number may occur only once within the chan‐nel interfaces.

4.1.4 The Axis Interface The IndraMotion MTX supports up to 64 axes. By default, no axes are yet de‐fined. New axes are created by clicking the contextual menu on the “AxesInterfaces” node.

18/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Configurations

Page 31: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.4-4: Example for creating axis 2New axes are created sequentially starting with axis 1. The node number is thedeciding property for the meaning of an axis; for example, an axis interface witha node number of 4 is the interface for axis 4.The symbolic name for output signals is “qAxis_<node number with precedingzero>” and the start address for the structure MT_qAx_Type (length of 12 byte)is 6000 + node number*12. The symbolic name for input signals is “iAxis_<nodenumber with preceding zero>” and the start address for the structureMT_iAx_Type is 6000 + node number*12.You can open the properties dialog box by double-clicking the node “Axis in‐terface <Node number>” node (or via “Open” in the context menu).The Properties dialog box can be used to change symbolic names, addressesand comments as well as the corresponding node number.

Fig.4-5: Properties dialog for the axis interface

The node number for axis interfaces must always be unique; there‐fore, each node number may occur only once within the axis inter‐faces.

4.1.5 The Spindle Interface The IndraMotion MTX supports up to 32 spindles. By default, no spindles areyet defined. New spindles are created by clicking the contextual menu on the“Spindles Interfaces” node.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 19/206

Configurations

Page 32: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.4-6: Example for creating spindle 2New spindles are created sequentially starting with spindle 1. The node numberis the deciding property for the meaning of a spindle; for example, a spindleinterface with a node number of 6 is the interface for spindle 6.The symbolic name for output signals is “qSpindle_<node number with pre‐ceding zero>” and the start address for the structure MT_qSp_Type (length of12 byte) is 6000 + node number*12. The symbolic name for input signals is“iSpindle_<node number with preceding zero>” and the start address for thestructure MT_iSp_Type is 6000 + node number*12.You can open the properties dialog box by double-clicking the node “Spindleinterface <Node number>” node (or via “Open” in the context menu).The Properties dialog box can be used to change symbolic names, addressesand comments as well as the corresponding node number.

Fig.4-7: Properties dialog for the spindle interface

The node number for spindle interfaces must always be unique;therefore, each node number may occur only once within the spin‐dle interfaces.

4.2 Configuration of the Local Inputs4.2.1 General

Local I/Os in the IndraMotion MTX02VRS are digital inputs/outputs that areconnected with the Rexroth IndraMotion MTXCMP60 control card using ribboncables.These local I/Os include:1. M keys (freely configurable machine function keys)

20/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Configurations

Page 33: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

2. High-speed I/O card (8 digital inputs)3. High-speed I/O card (8 digital outputs)Local I/Os are added by clicking the contextual menu on the "Local IOs" node.

Fig.4-8: Contextual menu for adding local I/Os

4.2.2 M KeysAfter adding the M keys , open the corresponding Properties dialog box bydouble-clicking the “M keys” node in “Local I/Os”. In this dialog box, one canassign or change symbolic names for the 2 byte inputs and the related ad‐dresses as well as remarks. The M keys are 2 byte digital inputs which can beevaluated in the PLC.

Fig.4-9: Properties dialog box for M keys

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 21/206

Configurations

Page 34: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

The function of each machine function key is defined in the HMIconfiguration.

4.2.3 Digital Inputs of the IO Card (HS Input) After adding the digital inputs of the I/O card, open the corresponding Propertiesdialog box by double-clicking the “HS input” node in “Local I/Os”. In this dialogbox, one can assign or change symbolic names for the input byte and relatedaddresses as well as remarks. The 8 digital inputs of the I/O cards can be eval‐uated both in the PLC and in the NC.

Fig.4-10: Properties dialog for HS input

The NC-side configuration is described in manual “Machine param‐eter”.

4.2.4 Digital Outputs of the IO Card (HS Output) After adding the digital outputs of the I/O card, open the corresponding Prop‐erties dialog box by double-clicking the “HS output” node in “Local I/Os”. In thisdialog box, one can assign or change symbolic names for the output byte andrelated addresses as well as remarks. The 8 digital inputs of the I/O cards canbe evaluated both in the PLC and in the NC.

22/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Configurations

Page 35: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.4-11: Properties dialog box for HS output

The NC-side configuration is described in manual “Machine param‐eter”.

4.3 Profibus Configuration4.3.1 General

The Rexroth IndraMotion MTX CMP60 control card has an onboard ProfibusDP Master. The ASPC2 Profibus controller is operated in “Dual Port” mode.512 kB of memory is available. The physical interface is optically decoupled.

4.3.2 The Profibus MasterThe Properties dialog box of the MTX CMP60 DP Master is opened by double-clicking the “Profibus/M” node. Among other things, the bus address and thebaud rate can be set here.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 23/206

Configurations

Page 36: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.4-12: Properties dialog box of the MTX CMP60 DP Master

Modified settings will not until the next download into PLC be acti‐vated!

Additional optimization settings are possible by setting Optimization to “Man‐ual”. But the following note must be observed:

CAUTION

Modifications on the standard bus parameters can lead to unpredictablebehavior of profibus DP!The bus parameter may only be modified by specifically instructed Profibus DBspecialists!

4.3.3 Importing Device Master FilesThe DP slaves of most Bosch Rexroth products are provided automaticallyduring installation. If additional specific DP slaves are required nevertheless,they can be announced to the system by importing the associated GSD files.To start the import of GSD files , right-click on the “Profibus/M” node.

Fig.4-13: Contextual menu of the "Profibus/M" node

24/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Configurations

Page 37: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

After this window has been called, GSE or GSD files on the hard disk can beselected and opened using the file browser. Multiple selection is possible. Afterimporting, IndraWorks requests a restart. After this procedure, the imported DPslaves are visible and are available for use in the library under peripherals.

4.3.4 ConfigurationThe DP slaves that are available for configuration are shown under Peripheralsin the device library on the right side of IndraWorks. The slaves are in turngathered into function groups. The figure below shows two possible DP slavesof function group I_O with the modules for the Bosch Rexroth RECO Inlinemodule.

Fig.4-14: Example of DP slavesTo configure the Profibus, , DP slaves must be moved by drag-and-drop – orvia context menu - from the device library to the left towards the “Profibus/M”node.Example:

See the following for an exemplary configuration of a Profibus with DP slave“RIL PB BK” (RECO Inline Profibus terminal) and modules “R-IB IL 24 DI8” (RECO Inline module, 24 V, 8 inputs) and “R-IB IL 24 DO 16” (RECO Inlinemodule, 24 V, 16 outputs).

First, drag DP slave “R-IL PB BK” and drop it on the "Profibus/M" node; alter‐natively, use the context menu. When this is completed, a Wizard appearsimmediately, in which you can make a great variety of settings for this DP slave,such as the bus address. After you close this Wizard by pressing “Finish”, DP

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 25/206

Configurations

Page 38: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

slave “R-IL PB BK” is now one of the nodes of the DP master. Then, drag mod‐ules “R-IB IL 24 DI 8” and “R-IB IL 16 DO 16” and drop them on the node of thecorresponding DP slave; alternatively, use the context menu. After each drag-and-drop procedure is completed, a Wizard appears in which you can make agreat variety of settings, such as symbolic names, addresses and comments.The completed Profibus configuration – with the default values – appears asfollows:

Fig.4-15: Sample Profibus configurationThe number before the name of the DP slave indicates the set bus address.

4.3.5 Setting Addresses in a DP SlaveThe addresses of DP slave participants are always set in the Properties dialogbox, which is opened by double-clicking the DP slave or a subordinate module.If a series of addresses without gaps is desired within a DP slave, addressingin the Properties dialog of the DP slave must take place in the “I/O settings”register card of the DP slave. The following example shows a series of ad‐dresses without any gaps for DP slave “R-IL PBBK”:

Fig.4-16: Example of a series of addresses without any gapsIndraWorks also supports completely random addressing within a DP slave. Todo this, however, addressing must be carried out separately in the Propertiesdialog box of each individual module.

26/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Configurations

Page 39: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Example:

Random addressing for the DP slave “R-IL PB BK”:

Fig.4-17: Example of random addressing

Addressing using the Properties dialog box of the DP slave over‐writes any addressing previously executed in the modules of the DPslave.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 27/206

Configurations

Page 40: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Page 41: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

5 Global Interface Signals5.1 Overview Global Interface Signals5.1.1 General

Global interface signals are higher level signals used with functions relating tothe NC as a whole.

5.1.2 Overview Output Signale (PLC -> NC)Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

0.0 qGen_Reset System control reset 1.0 qGen_StrokeInhibit Stroke inhibit

0.1 qGen_EditInhibit Edit inhibit 1.1 qGen_StrokeReserv Stroke reservation

0.2 qGen_DelErrInfo Clear error info 1.2 qGen_StrokeRel Stroke on

0.3 - res. 1.3 - res.

0.4 - res. 1.4 - res.

0.5 - res. 1.5 - res.

0.6 - res. 1.6 - res.

0.7 - res. 1.7 - res.

2.0 - res. 3.0 - res.

2.1 - res. 3.1 - res.

2.2 - res. 3.2 - res.

2.3 - res. 3.3 - res.

2.4 - res. 3.4 - res.

2.5 - res. 3.5 - res.

2.6 - res. 3.6 - res.

2.7 - res. 3.7 - res.

Fig.5-1: Overview of output signals (PLC -> NC)

5.1.3 Overview Input Signale (PLC -> NC)Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

0.0 - res. 1.0 iGen_StrokeIntend Stroke intended

0.1 iGen_HardwareState Hardware warning 1.1 iGen_NoStroke Stroke is not running

0.2 - res. 1.2 - res.

0.3 - res. 1.3 - res.

0.4 - res. 1.4 - res.

0.5 - res. 1.5 - res.

0.6 - res. 1.6 - res.

0.7 - res. 1.7 - res.

2.0 - res. 3.0 - res.

2.1 - res. 3.1 - res.

2.2 - res. 3.2 - res.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 29/206

Global Interface Signals

Page 42: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

2.3 - res. 3.3 - res.

2.4 - res. 3.4 - res.

2.5 - res. 3.5 - res.

2.6 - res. 3.6 - res.

2.7 - res. 3.7 - res.

Fig.5-2: Overview of input signals (NC -> PLC)

5.2 Signal Description5.2.1 Output Signals (PLC-> NC) System reset qGen_Reset

This signal acts on all channels of the NC. Its effect on the individual channelsis identical with a control reset of each single channel.System reset affects:● axis-related signals of the NC to the PLC● channel-related signals of the NC:

– Control reset executed– NC ready– Program is running

1: A system reset is effected on all channels.0: No effect.

Edit inhibit function qGen_EditInhibit

Edit inhibit is in the MTX 02VRS without function!

Edit inhibit prohibits the user from performing certain operations on the NC.Only user actions directly related with the production process are allowed.The effect of the Edit inhibit is independent of the channel.1: The following functions are either locked or restricted:

- File management- Tables- Editor- Machine parameter administration

0: No effect.

CAUTION

Edit inhibit does not act on tool management.If required, tool management can be locked via the PLC.

User level Edit inhibit applicable

System no

Developer no

MTB no

Signal level

Signal level

30/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Global Interface Signals

Page 43: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

User level Edit inhibit applicable

Setter no

User Yes

Fig.5-3: Overview of user levels to which edit inhibit applies:

When activated, Edit inhibit affects the “lowest user level” only.

Stroke inhibit function qGen_StrokeInhibit With this signal, the PLC inhibits the triggering of a punching stroke, i.e. thecorresponding fast output on the High Speed I/O plug-in card is locked.1: The high-speed output HSO is disabled.0: No effect.

Stroke reserve function qGen_StrokeReserv With this signal, the PLC reserves a high-speed output (HSO) on the HighSpeed I/O plug-in card for its own stroke trigger (see the figure below).1: The high-speed output HSO is reserved for the PLC.0: No effect.

Stroke on function qGen_StrokeRel With the stroke on signalStroke on the PLC instructs the NC to trigger a punch‐ing stroke via the high-speed output HSO on the high speed I/O plug-in card.0 -> 1: Punching stroke to be triggered by the PLC via the high-speed

output HSO.0: No effect.Individual strokes can be triggered by the PLC.The PLC can trigger a stroke by instructing the NC to do so via interface signals.The bit signals used in the communication among the NC, the punching controland the PLC are shown in the following figure:

Fig.5-4: Punching HS logicThe punching HS logic can process five interface signals:

Interface signal Meaning

iGen_StrokeIntend“Stroke intended”

The NC communicates to the PLC that the NC wants to triggera stroke.

iGen_NoStroke“Stroke is not running”

The stroke HS logic transmits the fast HSI input to the PLC.

Signal level

Signal level

Signal edge/level

Punching HS logic

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 31/206

Global Interface Signals

Page 44: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Interface signal Meaning

qGen_StrokeInhibit“Stroke inhibit”

The PLC inhibits the HSO from being set.

qGen_StrokeReserv“Stroke reservation”

The PLC reserves the high speed output (HSO) for its own stroketriggering.

qGen_StrokeRel“Stroke on”

The PLC instructs the NC to trigger a stroke.

Fig.5-5: Interface signalsA punching stroke can be triggered both from the NC and from the PLC:

Fig.5-6: Stroke trigger by the NC

Clear error info qGen_DelErrInfoSignal “Clear error info” allows to delete via PLC all errors, warnings and mes‐sage entries within the diagnosis memory of diagnosis overview (info dialog) ofRexroth IndraMotion MTX standard user interface. The interface signal has thesame effect as the “Delete” F key if the F key is set to the “All” status for thefilter.1: Deleting all entries of errors, warnings and messages within a

diagnosis memory.0: No effect

5.2.2 Input Signals (PLC-> NC) Hardware warning iGen_HardwareState

Signal Hardware Warning is set if one or more of the following conditions arefulfilled:● NC module reports “Overtemperature”. This is the case in “CMP60” mod‐

ule if the speed of processor fan is descends under the defined speed.● NC module reports “Battery advance warning”.PLC program can evaluate the system data● /SysHwStates/BattFail● /SysHwStates/OverTemp● /SysStates/BdTemp/CpuTempand derive an adequate reaction (see functional description).

Signal level

32/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Global Interface Signals

Page 45: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Stroke intended function iGen_StrokeIntend With the Stroke intended signal, the NC communicates to the PLC that the NCwants to trigger a punching stroke. If the PLC permits the stroke to be triggered(qGen_StrokeInhibit = 0 and qGen_StrokeReserv = 0), the high speed output(HSO) on the high speed I/O plug-in card is set by the punching (chapter 5.2 "Signal Description" on page 30).1: The NC communicates to the PLC that the NC wants to trigger

a stroke.0: No effect.

'Stroke is not running' function iGen_NoStroke The response signal stroke is not running from the punching control (high speedinput HSI on the high speed I/O plug-in card) is relayed to the PLC.1: Stroke is not running = response signal from the punching con‐

trol to the PLC.0: Stroke running.

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 33/206

Global Interface Signals

Page 46: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Page 47: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

6 Channel-Related Interface Signals6.1 Overview of Channel-Related Interface Signals6.1.1 General

The channel structure of the IndraMotion MTX is designed to allow severaltasks to be processed simultaneously.Channel-related interface signals thus mainly affect NC functions which arerelated to the execution of the NC part program.Every channel has its own interface; i.e. with n-channels, the interface depictedin sections chapter 6.1.2 "Overview of Output Signals (PLC → NC) " on page35 and chapter 6.1.3 "Overview of Input Signals (PLC → NC) " on page37 is mapped n-times on the corresponding markers.In addition to the channel-related interface, the axis-related interface is of sig‐nificance to the machining axes combined to form a channel as well as to theauxiliary axes.At least 2 channels must always be entered:● Channel 0 for switching functions● Channel 1 for a machining channelThe following description shows the interface signals for a channel.

6.1.2 Overview of Output Signals (PLC → NC) Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

0.0 qCh_OpModeSel_00 Sel. operating mode for bit 0 1.0 qCh_OpModePlc PLC operating mode

0.1 qCh_OpModeSel_01 Sel. operating mode for bit 1 1.1 qCh_Restart Automatic restart

0.2 qCh_OpModeSel_02 Sel. operating mode for bit 2 1.2 qCh_NCStart Cycle start

0.3 qCh_OpModeSel_03 Sel. operating mode for bit 3 1.3 qCh_TransferLock Read lock

0.4 - res. 1.4 qCh_FeedHold Feed stop

0.5 - res. 1.5 qCh_FeedStop Feed inhibit

0.6 - res. 1.6 - res.

0.7 - res. 1.7 qCh_ReSelOff Autom. reselection off

2.0 qCh_CtrlReset Control reset 3.0 qCh_ASub1 Asynchr. subprogr. 1

2.1 - res. 3.1 qCh_ASub2 Asynchr. subprogr. 2

2.2 qCh_CancDist Cancel distance to go 3.2 qCh_ASub3 Asynchr. subprogr. 3

2.3 qCh_NextBlk Switch to next block 3.3 qCh_ASub4 Asynchr. subprogr. 4

2.4 - res. 3.4 qCh_ASub5 Asynchr. subprogr. 5

2.5 - res. 3.5 qCh_ASub6 Asynchr. subprogr. 6

2.6 qCh_RetCont Return to path 3.6 qCh_ASub7 Asynchr. subprogr. 7

2.7 qCh_Retract Rapid retraction 3.7 qCh_ASub8 Asynchr. subprogr. 8

4.0 qCh_JogPlusWcs WCS manual + 5.0 qCh_BlkSlash Block slash

4.1 qCh_JogMinusWcs WCS manual - 5.1 qCh_OptStop Optional stop

4.2 - res. 5.2 qCh_OptJump Conditional jump

4.3 - res. 5.3 - res.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 35/206

Channel-Related Interface Signals

Page 48: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

4.4 qCh_HandwSelWcs_00 Select handwheel Bit0 5.4 qCh_RedRap Limit rapid travel

4.5 qCh_HandwSelWcs_01 Handwheel selection bit 1 5.5 - res.

4.6 qCh_HandwDirWcs Handwheel direction 5.6 - res.

4.7 qCh_HandwPosMode Position handwheel 5.7 qCh_Override100 Override100%

6.0 qCh_Override_00 Override bit 0 7.0 qCh_Override_08 Override bit 8

6.1 qCh_Override_01 Override bit 1 7.1 qCh_Override_09 Override bit 9

6.2 qCh_Override_02 Override bit 2 7.2 qCh_Override_10 Override bit 10

6.3 qCh_Override_03 Override bit 3 7.3 qCh_Override_11 Override bit 11

6.4 qCh_Override_04 Override bit 4 7.4 qCh_Override_12 Override bit 12

6.5 qCh_Override_05 Override bit 5 7.5 qCh_Override_13 Override bit 13

6.6 qCh_Override_06 Override bit 6 7.6 qCh_Override_14 Override bit 14

6.7 qCh_Override_07 Override bit 7 7.7 qCh_Override_15 Override bit 15

8.0 qCh_Custom1 Customer input 1 9.0 qCh_OnlCorrWcs Online correction release

8.1 qCh_Custom2 Customer input 2 9.1 qCh_OnlCorrWcsDir Online correction direction

8.2 qCh_Custom3 Customer input 3 9.2 - res.

8.3 qCh_Custom4 Customer input 4 9.3 - res.

8.4 qCh_Custom5 Customer input 5 9.4 - res.

8.5 qCh_Custom6 Customer input 6 9.5 - res.

8.6 qCh_Custom7 Customer input 7 9.6 qCh_CoordCoupleOff Decoupling

8.7 qCh_Custom8 Customer input 8 9.7 qCh_TangTRotRel TTL release

10.0 - res. 11.0 - res.

10.1 - res. 11.1 - res.

10.2 - res. 11.2 - res.

10.3 - res. 11.3 - res.

10.4 - res. 11.4 - res.

10.5 - res. 11.5 - res.

10.6 - res. 11.6 - res.

10.7 - res. 11.7 - res.

12.0 - res. 13.0 qCH_TestFeed Test feed

12.1 - res. 13.1 qCH_TestRap Test rapid traverse

12.2 - res. 13.2 - res.

12.3 - res. 13.3 - res.

12.4 - res. 13.4 - res.

12.5 - res. 13.5 - res.

12.6 - res. 13.6 - res.

12.7 - res. 13.7 - res.

Fig.6-1: Overview of output signals (PLC → NC)

36/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 49: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

6.1.3 Overview of Input Signals (PLC → NC)Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

0.0 iCh_OpMode_00 Sel. Operating mode for bit 0 1.0 iCh_DryRun Test mode

0.1 iCh_OpMode_01 Sel. Operating mode for bit 1 1.1 iCh_NCReady NC ready

0.2 iCh_OpMode_02 Sel. Operating mode for bit 2 1.2 iCh_ProgRun Program is running

0.3 iCh_OpMode_03 Sel. Operating mode for bit 3 1.3 iCh_TransferLockAct Block transfer inhibit active

0.4 res. 1.4 iCh_FeedHoldAct Feed hold active

0.5 res. 1.5 - res.

0.6 res. 1.6 iCh_ProgStopM0 Program stop M0

0.7 res. 1.7 iCh_ProgStopM30 Program stop M30

2.0 iCh_Reset Channel reset 3.0 iCh_ASub1 Asynchr. Unterpr. 1

2.1 - res. 3.1 iCh_ASub2 Asynchr. Unterpr. 2

2.2 - res. 3.2 iCh_ASub3 Asynchr. Unterpr. 3

2.3 - res. 3.3 iCh_ASub4 Asynchr. Unterpr. 4

2.4 iCh_RemoveFinish Remove finished 3.4 iCh_ASub5 Asynchr. Unterpr. 5

2.5 iCh_ReadyReEnter Ready for re-entry 3.5 iCh_ASub6 Asynchr. Unterpr. 6

2.6 iCh_ReEnterAct Reenter active 3.6 iCh_ASub7 Asynchr. Unterpr. 7

2.7 - res. 3.7 iCh_ASub8 Asynchr. Unterpr. 8

4.0 iCh_State_00 Channel status bit 0 5.0 iCh_BlkSlash Activate block slash

4.1 iCh_State_01 Channel status bit 1 5.1 iCh_OptStop Optional stop activated

4.2 iCh_State_02 Channel status bit 2 5.2 - res.

4.3 iCh_State_03 Channel status bit 3 5.3 iCh_SRunAct NC program restart active

4.4 iCh_State_04 Channel status bit 4 5.4 iCh_SRunReEnter Reenter active

4.5 - res. 5.5 iCh_SRunRepos Repositioning active

4.6 - res. 5.6 iCh_Override0 Override 0%

4.7 - res. 5.7 iCh_Override100 Override 100%

6.0 iCh_Cpl01 CPL customer output 1 7.0 iCh_Cpl09 CPL customer output 9

6.1 iCh_Cpl02 CPL customer output 2 7.1 iCh_Cpl10 CPL customer output 10

6.2 iCh_Cpl03 CPL customer output 3 7.2 iCh_Cpl11 CPL customer output 11

6.3 iCh_Cpl04 CPL customer output 4 7.3 iCh_Cpl12 CPL customer output 12

6.4 iCh_Cpl05 CPL customer output 5 7.4 iCh_Cpl13 CPL customer output 13

6.5 iCh_Cpl06 CPL customer output 6 7.5 iCh_Cpl14 CPL customer output 14

6.6 iCh_Cpl07 CPL customer output 7 7.6 iCh_Cpl15 CPL customer output 15

6.7 iCh_Cpl08 CPL customer output 8 7.7 iCh_Cpl16 CPL customer output 16

8.0 iCh_Custom1 Customer output 1 9.0 iCh_G0Act Rapid traverse active

8.1 iCh_Custom2 Customer output 2 9.1 iCh_InPosAct Inpos range 2 active

8.2 iCh_Custom3 Customer output 3 9.2 iCh_G41G141Act G41/G141 active

8.3 iCh_Custom4 Customer output 4 9.3 iCh_G42G142Act G42/G142 active

8.4 iCh_Custom5 Customer output 5 9.4 - res.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 37/206

Channel-Related Interface Signals

Page 50: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

8.5 iCh_Custom6 Customer output 6 9.5 - res.

8.6 iCh_Custom7 Customer output 7 9.6 iCh_CoordCoupleAct Coord. Coupling active

8.7 iCh_Custom8 Customer output 8 9.7 iCh_TangTRotCmd Tool rotation (TangTool)

10.0 iCh_ActFunc01 G70 active 11.0 iCh_ActFunc09 Tool compensation active bit 0

10.1 iCh_ActFunc02 Feed 100% active 11.1 iCh_ActFunc10 Tool compensation active bit 1

10.2 iCh_ActFunc03 G95 active 11.2 iCh_ActFunc11 Tool compensation active bit 2

10.3 iCh_ActFunc04 Axis transformer 2 inactive 11.3 iCh_ActFunc12 Tool compensation active bit 3

10.4 iCh_ActFunc05 Program position active 11.4 iCh_ActFunc13 Tool compensation active bit 4

10.5 iCh_ActFunc06 Thread cycle active 11.5 iCh_ActFunc14 not assigned

10.6 iCh_ActFunc07 Tapping without compensating chuckactive 11.6 iCh_ActFunc15 not assigned

10.7 iCh_ActFunc08 Thread cutting active 11.7 iCh_ActFunc16 not assigned

12.0 iCh_ActFunc17 not assigned 13.0 iCh_TestFeed Test feed active

12.1 iCh_ActFunc18 G96 active 13.1 iCh_TestRap Test of rapid traverse active

12.2 iCh_ActFunc19 not assigned 13.2 - res.

12.3 iCh_ActFunc20 not assigned 13.3 - res.

12.4 iCh_ActFunc21 not assigned 13.4 - res.

12.5 iCh_ActFunc22 not assigned 13.5 - res.

12.6 iCh_ActFunc23 not assigned 13.6 - res.

12.7 iCh_ActFunc24 not assigned 13.7 - res.

Fig.6-2: Overview of input signals (NC -> PLC)

Please note that the preset assignment of the NC function-specificbit interface signals iCH_ActFunc<nn> have possibly been config‐ured differently by the machine manufacturer (configuration param‐eter: /PLC/NcFuncBitIf/NcFunc [1] “iChActFunc [1..24 ] //NCfunction assignment \n (max. 8 characters)” (3020 00001) or /PLC/NcFuncBitIf/NcFunc [1] “iChActFunc [1..24 ] //NC function assign‐ment \n (supplement max. 8 characters)” (3020 00002)).

The signal iCh_ActFunc02 was assigned twice in V01 with “Feed100%” / “G95 active”. The dual assignment was disbanded. Thefollowing conditions in the presetting apply as of V02:● iCh_ActFunc02 Feed 100%● iCh_ActFunc03G95 activeG196 is no longer displayed in iCh_ActFunc18 and must be spe‐cially configured if necessary.

38/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 51: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

6.2 Signal Description6.2.1 Output Signals (PLC → NC) Selection of operating mode qCh_OpModeSel_00 ... 03

The operating mode can be entered using either the PLC or the NC user inter‐face (see qCh_OpModePlc, chapter "PLC operating mode qCh_OpModePlc "on page 40).The following operating modes are possible:

Operating mode Mode selection

Bit 3

(qCh_

OpModeSel_03)

Bit 2

(qCh_

OpModeSel_02)

Bit 1

(qCh_

OpModeSel_01)

Bit 0

(qCh_

OpModeSel_00)

No operating mode 0 0 0 0

Manual set up 0 0 0 1

Manual traverse to referencepoint

0 0 1 0

reserved 0 0 1 1

Manual input of NC block 0 1 0 0

Contin. Block 0 1 0 1

Program block 0 1 1 0

Single step 0 1 1 1

reserved 1 0 0 0

reserved 1 0 0 1

Single block 1 0 1 0

Return to path 1 0 1 1

CPL debugger program block 1 1 0 0

CPL debugger next block 1 1 0 1

Manual setup, workpiece co‐ordinates

1 1 1 0

reserved 1 1 1 1

Fig.6-3: Mode selectionSwitching from one operating mode to another is possible under the followingconditions:

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 39/206

Channel-Related Interface Signals

Page 52: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Operating mode Operating mode switch, channel active Mode switch, channelinactive

(iCh_Reset = 1, channelreset)

Contin. Block Automatic mode, group 1 yes, within group 1 yes, within groups 1and 2:

Is channel state readyfor program start, i.e.at start of end of pro‐gram?

yes

Single step yes

Single block yes

Program block Automatic mode, group 2 yes, within group 2 yes

CPL debugger programblock

yes

CPL debugger next block yes

Manual input of NC block yes, with a control reset executed for the chan‐nel prior to switching

yes

Return to path yes

Manual set up yes

Manual traverse to reference point yes

Manual setup, workpiece coordinates yes

Fig.6-4: With a change of mode of operation

PLC operating mode qCh_OpModePlc The selection of operating modes can be carried out manually via the NC userinterface or via the PLC sequential program.1: The mode is prescribed by the PLC using qCh_OpMode‐

Sel_00...03.As long as signal level = 1 is set, it is not possible to preselectan operating mode via the NC user interface.

0: The operating mode is entered via the NC user interface.As long as signal level = 0 is set, it is not possible to specify theoperating mode via the PLC.

Automatic restart qCh_Restart 1: When a program has come to an end, it is restarted automati‐

cally.0: No automatic program reselection.

NC start qCh_NCStart Affects the operating modes Next block, Single block, Single step, Programblock,and Manual input NC block.In connection with NC start, the input signals NC-ready, Feed stop active, andProgram is running are significant.0 –> 1: Starts the execution of a part program (next block) or an NC

block. Feed hold active is reset and the axis movement is ini‐tiated again.

1 → 0: No effect.

'Transfer lock' function qCh_TransferLock Affects the operating modes Next block, Single block and Manual input NCblock.

Signal level

Signal level

Signal edge

40/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 53: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

1: Execution of the next NC block is inhibited. However, executionof the active block continues. Upon completion of the activeblock, the signal Block transfer inhibit active is set.As long as 'Transfer lock' is set, NC start cannot execute theparts program or the input NC block.The Block transfer inhibit signal will not stop block preparation,which continues to run regardless until the memory space forblock preparation is allocated.

0: The processing of an NC part program interrupted by the Blocktransfer inhibit is continued.

'Feed hold' function Halt qCh_FeedHold Affects all machining axes of a channel.Feed hold has no effect on NC blocks in which no movement is programmed,i.e. the execution of the NC program is continued until a machining axis is aboutto perform a traversing movement.Feed hold is self-sustaining. Input signal Feed hold active remains set as longas Feed hold is active.Self-sustainment is canceled by the channel-related interface signal NC start.1: Axis motions are slowed to a halt with the deceleration; tra‐

versing motions cannot be started again before self-sustain‐ment is cancelled.Feed hold has no effect on thread cutting (G33). In this case,the feed rate is dependent on the spindle speed and the threadpitch.

0: As soon as Feed hold is reset, its self-sustainment can be can‐celled by setting NC start and the next traversing motion canbe started.

'Feed stop' function qCh_FeedStop Acts simultaneously on all machining axes assigned to a channel in operatingmodes Next block, Single block, Single step and NC block manual data input.This signal has no effect on auxiliary axes since auxiliary axes are not assignedto any particular channel.Axis-related feed inhibit has priority over the channel related feed inhibit generalsignal.1: The axes do not traverse while the signal is set. If the signal is

set while the axes are in motion, all axes of the channel areslowed to a halt at the respective path deceleration.Feed inhibit has no effect on thread cutting (G33). The feedrate is dependent on the spindle speed and the thread pitch.

0: When feed inhibit has been reset, the axes are put back intomovement. They accelerate to the current path velocity.

Automatic reselection from qCh_ReSelOff This signal affects the automatic reselection of a part program.1: Automatic program reselection is suppressed.0: Automatic reselection permitted.

Reset qCh_CtrlReset This signal has an effect on the axes interrelated by interpolation on one chan‐nel as well as on the part program running on this channel. It has the same

Signal level

Signal level

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 41/206

Channel-Related Interface Signals

Page 54: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

effect as the Control reset function, which can be performed using the NC op‐erator interface.In connection with the Control reset, the channel related signals Channel re‐set, NC ready and Program running are significant. Furthermore, Control resethas an effect on the axis related signals Axis in position, axis running and Travelcommand.1: Control reset causes - among others - the deselection of the

NC parts program and the reset of NC functions to the on statedefined in machine parameter /CHAN/Ch[1]/Ini/ChResetState“On state after reset” (7060 00020). Furthermore, the machin‐ing axes are braked to a standstill.If the Control reset function is terminated from within the con‐trol, the NC sets signal Control reset executed. Then the PLCresets the signal level to 0.If the signal edges of all channels are simultaneously set from0 to 1, a general control reset will be performed. This meansthat, in addition to the individual resetting operations, auxiliaryaxes and spindles are decelerated until they come to a halt andcross-channel machine parameters are applied.In the case of thread cutting (G33), Control reset triggers arapid retraction (also see Rapid retraction, chapter "'Fast re‐tract' function qCh_Retract " on page 44).

0: No effectExample:

Control reset

Signal Control reset is set via the channel related interface in order to abort theprocessing of a part program.

Fig.6-5: Control reset*) for auxiliary axes and spindles only with a general control reset

The NCr eady signal is not set until an NC part program has beenselected.

'Cancel distance to go' function qCh_CancDist Affects the operating modes Next block, Single block, Single step, Programblock with the active program, and the Manual input NC block.

Signal level

42/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 55: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

First, the program is stopped using Feed hold (qCh_FeedHold; this is not com‐pulsory). The display shows the distance the axes still have to traverse until theend of the block.Having initiated “Cancel distance to go”, all prepared NC blocks, including theremainder of the current block, are cancelled and prepared again.

This must be considered:● CPL blocks or CPL parts are not taken into consideration:

Example: CPL variable POS has a value of 10 during prepa‐ration: the X[POS] NC word is then interpreted as X10 follow‐ing “Cancel distance to go” even though POS may have atotally different value at this time.

● Any changed compensation values are taken into account.In the display, the end point is set to the current position, atthe same time deleting the indicated distance to go. The chan‐nel then changes to the NC ready state (iCh_NCReady).Following the NC start (iCh_NCStart), the program is contin‐ued at the point of interruption, taking into account the newcompensation values.

0 → 1: Triggers Cancel distance to go when the program is active.1 → 0: No effect.

This signal must not be set when thread cutting is active.

'Switching to next block' function qCh_NextBlk When the part program is active, this signal has an effect in operating modesNext block, Single block, Single step and Program block.0 → 1: The synchronous axis movement of the channel is stopped

with the admissible path deceleration. Subsequently, all pre‐pared NC blocks are cancelled. The channel switches to theNC ready state (iCh_NCReady).After the NC start (qCh_NCStart), the subsequent blocks areprepared again and executed. The part of the interrupted NCblock that has not yet been executed is ignored in the process.To be able to activate the function selectively, it is necessaryto previously stop the program at a defined position using Feedhold.

1 → 0: No effect.

This function generally only works if the aborted block is followedby a linear block (due to the changed starting position, a consistentcircle is no longer achieved using, for example, the programmedparameters).If cutter path compensation is active, the function usually leads toundesired traversing movements and thus to the destruction of thepart to be machined.

'Return to contour' function qCh_RetCont 1: Following the NC start, the tool returns to contour on the stored

departing movement.0: Machining is continued immediately after the NC start.

Signal edge

Signal edge

Signal level / edge

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 43/206

Channel-Related Interface Signals

Page 56: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

0 → 1: Recording of the motion in departing from the contour is stop‐ped.

'Fast retract' function qCh_Retract If thread cutting (G33) is active, this triggers retraction if the cutting movementhas been started.Requirement:Retraction is configured with /THRD/Ch[1]/Retr/DrIndRetrAx, /THRD/Ch[1]/Retr/DrIndSeconAx “Thread cutting: fast retract, system axis numbers” (705000645) - /THRD/Ch[1]/Retr/RetrVectRetrAx, /THRD/Ch[1]/Retr/RetrVectSeco‐nAx “Thread cutting: fast retract, path and direction” (7050 00650) or with theThreadSet(RD( , )) function and enabled through /THRD/Ch[1]/Retr/Enabl‐RetrThrd “Thread cutting:fast retract, activation” (7050 00640) or with theThreadSet(RON1) function.1: Retraction from the contour is initiated.

A linear retraction movement is superimposed on the “secondcutting axis”, which moves the cutting tool away from the ma‐chined part.Second cutting axis:● Secondary axis of the plane in case of longitudinal thread,

or● Main axis of the plane in case of face thread

0: No effect.

Asynchronous subroutine 1 ... 8 qCh_ASub1 ... 8 Each of these signals triggers one of a maximum of 8 asynchronous subrou‐tines. The processing of an NC part program is interrupted and the asynchro‐nous subroutine is started immediately. Processing of the NC part program canbe continued after the asynchronous subroutine is terminated.

WCS manual + qCh_JogPlusWcs and WCS manual - qCh_JogMinusWcs These signals are effective in the Manual setup workpiece coordinates oper‐ating mode. For a detailed description of this operating mode, please refer tothe “Function Description” manual.0 → 1: When a coordinate is selected in the “Manual setup workpiece

coordinates” operating mode, the movement of the coordinateis started using Manual + or Manual -.

1 → 0: Manual + or Manual - continuous movement is stopped.

Handwheel selection bit 0 qCh_HandwSelWcs_00 and handwheel selection Bit 1 qCh_Handw‐SelWcs_01

These signals are effective in the Manual setup workpiece coordinates oper‐ating mode. For a detailed description of this operating mode, please refer tothe “Function Description” manual.Two handwheels can be connected to the NC control. As soon as one of thetwo signals is set, the selected coordinate can be traversed with the selectedhandwheel. The signals WCS manual + and WCS manual – are without aneffect.0 → 1: If the operation mode and a coordinate is selected, the hand‐

wheel mode is activated via handwheel selection Bit0 or hand‐wheel selection Bit1.

1 → 0: The handwheel mode is deselected. A movement which mayoccur is cancelled.

Signal level

Signal edge

Signal edge

44/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 57: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Handwheel direction qCh_HandwDirWcs This signal permits the direction of coordinate movement to be specified, re‐gardless of the direction of handwheel rotation.1: The direction of coordinate movement is vice-versa.0: No effect.

Handwheel position qCh_HandwPosMode With this signal it is possible to specify the behavior of handwheel mode duringexceeding the currently allowed maximum speed.

The level of the signal is adopted from the NC during settingqCh_HandwSelWcs_0x.

1: The distance specified by the handwheel movement is alsoprocessed when the maximum speed is exceeded.Note: Axis movements can also occur after exiting the hand‐wheel movement.

0: When exceeding the maximum speed, the traverse path is re‐duced accordingly.

'Block skip' function qCh_BlkSlash Affects the operating modes Next block, Program block, Single block and Singlestep.1: At the time of block preparation, the NC blocks marked with a

slash “/” in the NC part program are skipped during execution.Block preparation may be ahead of the active block by severalNC blocks. To make sure that the skip is definitely carried out,it is necessary to interrupt block preparation at an appropriatepoint (prior to the NC block with the slash /), depending on theapplication. Interruption of block preparation is effected in thepart program using the WAIT command.

0: The NC block with the slash “/” is not skipped.

Optional stop qCh_OptStop Effective in conjunction with function M1, which is programmed in the NC partprogram.1: The execution of the NC part program is stopped after the NC

block in which function M1 has been programmed. It may berestarted with NC start.

0: Function M1 is not effective; the NC part program is not stop‐ped.

Conditional jump qCh_OptJump Effective in conjunction with function GoCond (GOC), which is programmed inthe NC part program.1: In the NC part program, a jump is executed to the NCblock

which is defined as the jump destination.For this purpose, the signal level logic 1 must be detected al‐ready at the time of block preparation.Block preparation may be ahead of the active block by severalNC blocks.To make sure that the jump is actually carried out, it is neces‐sary to interrupt block preparation at an appropriate point (prior

Signal level

Signal level

Signal level

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 45/206

Channel-Related Interface Signals

Page 58: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

to the NC block with the GoCond function), depending on theapplication. The interruption is effected in the part program us‐ing the WAIT command.

0: The jump in the part program is not performed.

Reduced rapid traverse qCh_RedRap In the operating modes MDI NC block, Next block, Program block, Singlestep, rapid traverse G0 is restricted by the setting of this signal to a maximumvalue specified in machine parameter /CHAN/Ch[1 ]/Path/Vel/RedChVel “Valuefor restricted rapid mode velocity” (7030 00110).If the reduction is set after the program is started, it becomes effective only afterall the blocks already prepared at this time have been executed.If this is not the required action, machining must be stopped by using the Feedhold function and the prepared blocks must be canceled using "Cancel distanceto go" before machining can be continued using NC start.Channel override is also valid with the Limit rapid travel function active, i.e.100% override is exactly equivalent to the limit rapid travel velocity.The function is effective for all NC functions traversing at rapid travel velocity.The Limit rapid travel function does not affect the spindle speed or the pro‐grammed feed rate.This function has an effect only on the synchronous axes assigned to the chan‐nel.1: All rapid travel blocks are prepared for execution at Limit rapid

travel velocity.0: Limit rapid travel is inactive and all rapid travel blocks are pre‐

pared for execution at the maximum travel velocity possible.

Override 100% qCh_Override100 Acts on all axes defined on the channel.1: Cancels the Override function; the axes travel with the pro‐

grammed/preselected speed.0: The Override function is effective.

Override bit 0 ... Bit 15 qCh_Override_00 ... 15 The traversing speed of all machining axes of a channel can be controlled withthe Override function. The Override function affects the speeds programmedin the NC part program and on the preselectable speeds in Set-up mode.qCh_Override_00 ... 15 can be used to continuously specify 16 bits. TheIndraMotion MTX interprets the value directly as an override value in 0.01%.

Channel 0 defines the values for the auxiliary axes for which thevalues cannot be set directly.

Customer input 1 ... 8 qCh_Custom1 ... 8 Interface that can be configured on the NC side and can be assigned as re‐quired.(This option is currently not yet active.)

Online correction enable qCh_OnlCorrWcs This signal enables the “Online correction in workpiece coordinates” NC func‐tion for a selected coordinate.

Signal level

Signal level

46/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 59: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

In the case of online correction in workpiece coordinates, a handwheel is usedto correct the position and orientation in the workpiece coordinate system(WCS) of a channel. This correction is possible with the part program active orinactive. For a detailed description please refer to the “Function Description”manual.

The online correction cannot be enabled in the “Manual setup”,“Manual setup workpiece coordinates” and “Manual approachingthe reference point” operating modes.

1: The selected online correction processes the handwheel data.0 The selected online correction does not respond to the hand‐

wheel data.

Online correction direction qCh_OnlCorrWcsDir Using this signal, it is possible to change the direction of correction.1: A positive direction of rotation of the handwheel results in a

negativeonline correction.0: A positive direction of rotation of the handwheel results in a

positiveonline correction.

Terminate coupling qCh_CoordCoupleOff Using this signal, the coordinate coupling for a slave channel is terminated.Since the master channel must be at a standstill when the slave is coupled, itis recommended that the master be stopped during the coupling process usingBlock transfer inhibit and Feed inhibit. Both signals can be reset by the slavechannel outputting the coordinate coupling active signal.When coordinate coupling is completed, the axes of the master channel shouldbe at a standstill.0 → 1: The coordinate coupling for a slave channel is terminated. The

slave channel then switches to the next block; the Coordinatecoupling active signal is set to logic 0.

0: No effect.

TTL enable qCh_TangTRotRel This signal allows the control to execute an intermediate block if the contourknee angle for the tool rotation between two blocks is too large (also see chapter"Tool rotation (TangTool (TTL)) iCh_TangTRotCmd " on page 56).1: Release for the control to execute the intermediate block.0: The release of the execution of an intermediate block is termi‐

nated. The control can execute additional blocks.

Test feed qCh_TestFeed The control uses this signal to ignore the programmed velocity information; in‐stead, it moves with the velocity value stored in the permanent Test feed CPLvariables.There are 2 writable parameters for Test feed for each channel. The Test feedfunction can be activated by the NCS function or using the bit interface of thecorresponding channel.The switch occurs immediately because the evaluation of the signals occursdirectly within the interpolator logic, which influences the command feed.

Signal level

Signal level

Signal edge

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 47/206

Channel-Related Interface Signals

Page 60: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Note, however, that a certain amount of time passes until the com‐mand feed is attained since the braking or acceleration proceduresoccur with the parameterized/programmed acceleration.

The NC reports the currently active status back to the NC output interface. Itcan be queried according to each channel using a new NCS function.The Test feed function works under G93 (Time programming), G94 (Direct feedprogramming) and G95 (Feed/rotation). However, the behavior does not de‐pend on the status of G93/G94/G95. When the function is active, Test feed isweighted with the corresponding feed override. In the case of G95, the spindlevelocity has no effect.1: The control ignores the programmed velocity information and

moves with the velocity value stored in the permanent Testfeed CPL variables.

0: Test feed is no longer active; the control is once again movingwith the programmed velocity.

Test rapid traverse qCh_TestRap The control uses this signal to ignore the programmed velocity information; in‐stead, it moves with the velocity value stored in the permanent Test rapidtraverse CPL variables.There are 2 writable parameters for Test rapid traverse for each channel. TheTest rapid traverse function can be activated by the NCS function or using thebit interface of the corresponding channel.The switch occurs immediately because the evaluation of the signals occursdirectly within the interpolator logic, which influences the command rapid tra‐verse.

Note, however, that a certain amount of time passes until the com‐mand rapid traverse is attained since the braking or accelerationprocedures occur with the parameterized/programmed accelera‐tion.

The NC reports the currently active status back to the NC output interface. Itcan be queried according to each channel using a new NCS function.The Test rapid traverse function works under G93 (Time programming), G94(Direct feed programming) and G95 (Feed/rotation). However, the behaviordoes not depend on the status of G93/G94/G95. When the function is active,Test rapid traverse is weighted with the corresponding feed override. In thecase of G95, the spindle velocity has no effect.1: The control ignores the programmed velocity information and

moves with the velocity value stored in the permanent Testrapid traverse CPL variables.

0: Test rapid traverse is no longer active; the control is once againmoving with the programmed velocity.

6.2.2 Input Signals (NC → PLC) Active operating mode iCh_OpMode_00 ... 03

The active operating mode is output in coded form:

Signal level

Signal level

48/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 61: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Operating mode Active mode

Bit 3

(iCh_

OpMode_03)

Bit 2

(iCh_

OpMode_02)

Bit 1

(iCh_

OpMode_01)

Bit 0

(iCh_

OpMode_00)

No operating mode 0 0 0 0

Manual set up 0 0 0 1

Manual traverse to refer‐ence point

0 0 1 0

reserved 0 0 1 1

Manual input of NC block 0 1 0

Contin. Block 0 1 0 0

Program block 0 1 1 1

Single step 0 1 1 0

reserved 1 0 0 1

reserved 1 0 0 0

Single block 1 0 1

Return to path 1 0 1 1

CPL debugger programblock

1 1 0 0

CPL debugger next block 1 1 0 1

Manual setup, workpiececoordinates

1 1 1 0

reserved 1 1 1 1

Fig.6-6: Active mode

Test mode iCh_DryRun This signal is set when every axis of the channel is in Test mode.In test mode, an axis is still interpolated internally; however, the calculatedcommand values are only shown on the display and not transmitted to the drive.The axis is held in the same position where it was when test mode was activa‐ted.Test mode can be activated using a softkey, automatically for drives that arenot connected (no SERCOS ring present) or using machine parameter 100100010 /MAIN/Dr[1]/EnablVirtMode “Virtual drive”.

NC ready iCh_NCReady The NC ready signal is a prerequisite for setting the NC start signal.1: This is set when:

● a program has been selected or, while in MDI mode, ablock is activated but not yet started.

● execution of a block in operating modes Program block,Single block or Single step is finished but execution of thenext block has not yet started,

● execution of a program in operating modes Next block,Program block, Single block or Single step is finished.

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 49/206

Channel-Related Interface Signals

Page 62: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

● the NC functions “Program stop” M0 or M1 have beenexecuted.

● Cancel distance to go (qCh_CancDist) has been execu‐ted.

0: This is reset when:● no NC program has been selected,● the NC block has been entered,● execution has already been initiated with the NC start and

the Program running signal has been set.NC start must not be set while NC ready is reset.There is only one exception, i.e. in combination with Feedhold. When Feed hold has been set, NC ready = 0, the ma‐chining program can nevertheless be started with NC start.

Program running iCh_ProgRun This has an effect in operating modes Next block ,Program block, Singleblock and Single steponly if a program or, in MDI mode, an NC block has beenselected previously.1: The signal is set when an NC parts program has been started

with NC start in the operating modes Next block, Programblock, Single block, and Single step, or when execution of asingle NC block has been initiated with NC start in MDI mode.Output signals Feed inhibit, Block transfer inhibit and Driveoff have no effect on this signal. If Override = 0 is entered, thesignal level remains at logic 1.

0: This is reset when:● execution of a program in operating modes Next block,

Program block, Single block or Single step is finished,● a program has been selected or, while in MDI mode, a

block is activated but not yet started,● execution of a block in operating modes Program block,

Single block or Single step is finished but execution of thenext block has not yet started,

● NC functions M0, M1, M2 or M30 were executed previ‐ously.

● Feed hold (qCh_FeedHold) is active.

Transfer lock active iCh_TransferLockAct This signal indicates that the channel will, due to an active block transfer inhibit,delay the execution of blocks until the block transfer inhibit is reset.1: After a block transfer inhibit has been activated and execution

of the NC block active at that time has been completed, thechannel waits for the Block transfer inhibit to be reset and setsthe “Block transfer inhibit active” signal.This signal can be used if, for example, Cancel distance togo is to be executed for the transfer of the external compen‐sation at the block end.As soon as this signal has been set after the Block transferinhibit has been activated, Cancel distance to go can be usedto delete the prepared blocks so that the transferred compen‐sation values are active as of the next block.

0: Block transfer inhibit active.

Signal level

Signal level

50/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 63: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

This signal is not an acknowledgement signal indicating that theBlock transfer inhibit has been recognized by the NC; it indicatesonly that the Block transfer inhibit has become active.

Feed hold active iCh_FeedHoldAct This signal remains set as long as the signal Feed hold is self-sustaining.1: The self-sustainment of the Feed hold signal is active; no tra‐

versing motions of machining axes can be executed until theFeed hold signal is reset by NC start.

0: Feed hold is not active; traversing motion of machining axescan be executed.

Program stop M0 iCh_ProgStopM0 This signal is output when the NC function Program stop (conditional and un‐conditional) is carried out. At the same time, NCready (iCh_NCReady) is set.If no NC start (qCh_NCStart) is set before the block is completed, the programstops; it must be restarted using qCh_NCStart.1: This is set when:

● an NC block becomes active with Program stop (M0) .● an NC block becomes active with a conditional program

stop (M1) and the signal Optional stop (qCh_OptStop) setat the same time.

0: This is reset when:● a program is restarted with NC start after a program stop

(M0, M1),● a program is deselected.

Program end M30 iCh_ProgStopM30 This signal is output when the main program is terminated.1: This is set when execution of the NC block is completed with

M30 in the main program or when the main program has beenfully executed, i.e. M30 terminates.

0: The signal is reset at an NC start (qCh_NCStart) at the begin‐ning of a program or when a program is deselected.

Channel reset iCh_Reset This signal has an effect in conjunction with the Control reset signal and theControl reset function which is initiated via the NC operator interface (see alsothe signal diagram for Control reset on page chapter "Reset qCh_CtrlReset "on page 41).1: The Control reset function has been carried out internally by

the control; the channel is in the power up state.The Control reset signal must be reset by this signal.Signal level 1 is maintained for as long as the channel is in thepower up state and no program has yet been selected.

0: The channel is no longer in the power up state; an NC partprogram has been selected or is already active.

Remove finish iCh_RemoveFinish 1: The Remove Finish movement was terminated with an in‐

creasing edge (qCh_RetCont) or with pressing the softkey

Signal level

Signal level

Signal level

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 51/206

Channel-Related Interface Signals

Page 64: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

“Return to contour”. Any subsequent traversing motions will notbe recorded.

0: Departing movements are recorded up to a maximum numberof blocks (specified in machine parameters /OPF/ReturnPath/Ch[1]/NofJogSteps “Minimum shape order for jolt limita‐tion” (7050 00330)).

Ready to re-enter contour iCh_ReadyReEnter 1: In the “Automatic return to path” mode, with the Return to con‐

tour (qCh_RetCont) signal set, you can return to the savedcontour using the NC start. In all other cases, machining canbe continued with the NC start.

0: No automatic return to path or continuation of machining ispossible.

Re-entry active iCh_ReEnterAct 1: Automatic return to the saved contour has been started with an

NC start; the point of return to path has not been reached yet.0: Automatic return to path has not been started yet or is already

completed.

Asynchronous subroutine 1 ... 8 iCh_ASub1 ... 8 Each of these signals is assigned to one of a maximum of 8 asynchronoussubroutines.1: Asynchronous subroutine No. x active0: Asynchronous subroutine No. x inactive

Channel status bit 0 ... 4 iCh_State_00 .. 04 Depending on the operating mode, the following channel states are output inbinary code:

Operating mode Channel status

Bit 4,

(iCh_

State_04)

Bit 3,

(iCh_

State_03)

Bit 2,

(iCh_

State_02)

Bit 1,

(iCh_

State_01)

Bit 0,

(iCh_

State_00)

Inactive Mode is not active; a process may be selec‐ted. 0 0 0 0 1

Ready The mode is ready; the process may be star‐ted. 0 0 0 1 0

Runs The mode is active and executing a programor NC block. 0 0 0 1 1

Internal/reserved reserved 0 0 1 0 0

Internal/reserved reserved 0 0 1 0 1

ErrorAn error has occurred in the operating mode;this can be cleared only by “Control reset” or“Program deselection”.

0 0 1 1 0

Internal/reserved reserved 0 0 1 1 1

Control reset

active

Control reset is being executed on the chan‐nel. No jobs may be accepted until the statusswitches to “inactive”.

0 1 0 0 0

Program selection

runningA program has been selected and is beingprepared (e.g. linked). 0 1 0 0 1

Signal level

Signal level

Signal level

52/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 65: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Operating mode Channel status

Bit 4,

(iCh_

State_04)

Bit 3,

(iCh_

State_03)

Bit 2,

(iCh_

State_02)

Bit 1,

(iCh_

State_01)

Bit 0,

(iCh_

State_00)

Cancel distance to go

Preparation“Cancel distance to go” was triggered; clean‐up is taking place. 0 1 0 1 0

Cancel distance to go

runningThe mode is active and is reprocessing exist‐ing buffers. 0 1 0 1 1

Ready for

Program StartThe mode is ready; the process is at the be‐ginning of the program and may be started. 0 1 1 0 0

Ready for

next block

All the blocks of the buffered NC block inputhave been executed. Waiting for the next in‐put.

0 1 1 0 1

Fig.6-7: Binary coded active channel status

Activate 'Block skip' function qCh_BlkSlash This exists in conjunction with the character for Block skip (/) programmed inthe NC part program and the interface signal Block skip.1: This is set when “Block skip” was actuated on the NC operator

interface. The signal remains set until the block skip softkey ispressed again.The NC internal function Block skip is not yet activated by ac‐tuating the softkey; to activate the function, the input signalBlock skip (qCh_BlkSlash) must be set. This can be easilyachieved by feeding Activate block skip back to the Blockskip signal.All NC blocks in the part program identified with a slash “/” arethen skipped.

0: The Block skip softkey was not activated.

Activate optional stop qCh_OptStop This exists in conjunction with the M1 function programmable in the NC partprogram and the signal Optional stop.1: This is set when the Optional stop softkey is actuated on the

NC operator interface. The signal remains set until the Optionalstop softkey is pressed again.The NC internal function Optional stop is not yet activated byactuating the softkey; to activate the function, the input signalOptional stop (qCh_OptStop) must be set. This can be easilyachieved by feeding Activate optional stop back to the Optionalstop signal.During execution of the NC part program, program executionis then interrupted in the block in which the function M1 hasbeen programmed. Program execution can be continued bysetting an NC start.

0: The Optional stop softkey was not activated.

iCh_OptJumpCurrently, this signal is not supported. The corresponding functionality has notyet been implemented within the MTX interface.

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 53/206

Channel-Related Interface Signals

Page 66: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Overview of Interface Signals for NC Program Restart

Fig.6-8: Interface signals for NC program restart

NC program restart active iCh_SRunAct The signal acts in conjunction with the NC program restart function.1: In the “Calculation run”, the program is processed until the

aborted block (= target block-1).0: No calculation run active.

Signal level

54/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 67: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Re-entry active iCh_SRunEnter The signal acts in conjunction with the NC program restart function.1: The action block or the adjustment program is processed.0: No action block or adjustment program is processed.

Repositioning active iCh_SRunRepos The signal acts in conjunction with the NC program restart function.1: The return block to the target block is active.0: The return block is not active.

Override 0% iCh_Override0 This signal acts in conjunction with the Override function.The steps of the feed influencing can be weighted with /CHAN/Ch[1]/Path/Ovrd/ChOvrdStep[1], /AX/AsynchrAxOvrdIf/AxOvrdStep[1] “Feed override for chan‐nel” (7030 00010).1: Signal Override 100% (qCh_Override100) is not set for the

channel.Any 100% feed programmed with “OvrDis”(OVD) has no effecton this signal.

0: Override 100% has been selected using the interface.

Override 100% iCh_Override100 This signal acts in conjunction with the Override function.The steps of the feed influencing can be weighted with machine parameter /CHAN/Ch[1]/Path/Ovrd/ChOvrdStep[1], or /AX/AsynchrAxOvrdIf/AxOvrdStep[1] “Feed override for channel” (7030 00010).1: Signal Override 100% (qCh_Override100) is set for the chan‐

nel.Any 100% feed programmed with “OvrDis”(OVD) has no effecton this signal.

0: No Override 100% has been selected using the interface.

CPL customer output 1 ... 16 iCh_Cpl01 ... 16 These 16 signals can be read and written directly from the CPL part programby CPL command “ BITIF(..) ” (see the “Programming Manual”).

Customer output 1 ... 8 iCh_Custom1 ... 8 Interface that can be configured on the NC side and can be assigned as re‐quired.(This option is currently not yet active.)

Rapid traverse active iCh_G0Act This signal is set if “Rapid traversing” is active modally (G0 variants).1: The signal is output as long as rapid traversing variants are

active.0: No rapid traversing effective.

Inpos range 2 active iCh_InPosAct This signal indicates that the Accurate stop mode is active in In-position window2 (rough) (e.g. G0(IPS2)) for all of the axes assigned to the channel. In-positionwindow 2 is specified for each axis with SERCOS parameter S-00261.

Signal level

Signal level

Signal level

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 55/206

Channel-Related Interface Signals

Page 68: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

If Accurate stop modes ..(IPS1) or ..(IPS3) are active, this signal is not set; thepositioning window of SERCOS parameter S-0-0057, which is used to form theaxis interface signal Axis in position (iAx_InPos), is used for the correspondingchannel axes.1: In-position window 2 (rough) is active for all axes assigned to

the channel.0: The “normal” positioning window is active for all axes assigned

to the channel.

G41/141 active iCh_G41G141Act, G42/142 active iCh_G42G142Act These signals indicate that the respective function is active modally on thechannel. G41/141 and G42/142 mutually exclude each other in programming,i.e. only one of these signals can be active at any time. If neither of the signalsis set, no tool radius compensation is selected, i.e. G40 and G140 are active.1: G41/141 or G42/142 is active.0: G41/141 or G42/142 is not active.

Coordinate coupling active iCh_CoordCoupleAct This signal indicates that the respective channel is coupled to a master channel.1: Coordinate coupling is active.0: Coordinate coupling is not active.

Tool rotation (TangTool (TTL)) iCh_TangTRotCmd This signal indicates that the angle between 2 movement blocks has exceededthe current contour knee angle that has been programmed with TangTool(TTL) (Tangential tool leading).Before executing the internally generated intermediate block, the NC waits untilthe PLC has set the acknowledgment TangTool (TTL) release (qCh_TangTRo‐tRel).The iCh_TangTRotCmd signal remains set until the execution of the intermedi‐ate block is completed.1: The angle between two blocks exceeds the programmed con‐

tour knee angle.The NC is waiting for the PLC to set the release or is executingan intermediate block.

0: The tool rotation does not exceed the contour knee angle.No intermediate block waiting for the release to be set is cur‐rently present in the NC.

G70 active iCh_ActFunc01 This signal is set if G70 has been selected in the respective channel. The valuesprogrammed for the linear synchronous axes are then interpreted as being setin inches.1: G71 is active (metric programming).0: G70 is active (inch programming).

Feed 100% active iCh_ActFunc02 This signal indicates that the Set override 100% function has been programmedfor the channel and is applied modally. The Override 100% interface signal hasno effect on the Feed 100% active signal. If this signal is not set, the OvrEnafunction (OVR) (Feed 100% off) is active on the channel, which in turn can besuperimposed by the Override 100% interface signal.1: The OvrDis (OVD) function is active.

Signal level

Signal level

Signal level

Signal level

Signal level

Signal level

56/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 69: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

0: The OvrDis (OVD) function is not active.

G95 active iCh_ActFunc03 This signal shows that the speed definition in channel is interpreted in F wordas feed per rotation. G95 is selected via basic setting or programming G95.1: Feed per rotation is effective.0: Feed per rotation is not active.

Axis transformer 2 inactive iCh_ActFunc04 This signal shows if the axis transformation 2 is switched off.1: Axis transformation 2 is inactive.0: Axis transformation 2 is active (e.g. lateral cylinder surface or

transmit transformation).

Program position active iCh_ActFunc05 This signal indicates that a SetPos offset is active on the channel. The SetPosoffset is selected by control reset or by programming SetPos (PLC) without anyaxis addresses.1: A SetPos offset is active.0: A SetPos offset is not active.

Thread cycle active iCh_ActFunc06 This signal can be set from a part program using the ThreadSet (TST) TCIxfunction.

The end of the main program (M30) or a control reset cancel thesignal.

1: ThreadSet (TST) TCI1 is programmed.0: ThreadSet (TST) TCI0 is programmed or no program is active.

Tapping active iCh_ActFunc07 This signal indicates that the tapping function is active.1: Tapping (G63) is active.0: Tapping is not active.Example:

The sequence of the most important signals for tapping can be illustrated in anexample.

Fig.6-9: Signals at tapping

Tapping active iCh_ActFunc08 This signal is set in case of active thread cutting (G33).1: G33 active. The feed rate is dependent on the spindle speed

and the thread pitch.

Signal level

Signal level

Signal level

Signal level

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 57/206

Channel-Related Interface Signals

Page 70: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

The following signal reacts differently:● qCh_CtrlReset (control reset): If configured and released,

this triggers a rapid retraction (see qCh_Retract, Rapidretraction).

The following signals have no effect:● qCh_Override100 (Override 100%)● qCh_Override_00-15 (Override bit 0-15)● qCh_FeedStop (feed stop)● qCh_FeedHold (feed hold).The following signal must not be set:● qCh_CancDist (Cancel distance to go)

0: G33 is not active.

Tool compensation active bit 0 ... Bit 4 iCh_ActFunc09 ... 13 These signals indicate which tool compensation function is active in the chan‐nel.

Tool compensation Output signal

Bit 4

iCh_ActFunc13

Bit 3

iCh_ActFunc12

Bit 2

iCh_ActFunc11

Bit 1

iCh_

ActFunc10

Bit 0

iCh_

ActFunc09

ED0 0 0 0 0 0

ED1 0 0 0 0 1

ED2 0 0 0 1 0

ED3 0 0 0 1 1

ED4 0 0 1 0 0

ED5 0 0 1 0 1

ED6 0 0 1 1 0

ED7 0 0 1 1 1

ED8 0 1 0 0 0

ED9 0 1 0 0 1

ED10 0 1 0 1 0

ED11 0 1 0 1 1

ED12 0 1 1 0 0

ED13 0 1 1 0 1

ED14 0 1 1 1 0

ED15 0 1 1 1 1

ED16 1 0 0 0 0

Fig.6-10: Tool correction active

G96 active iCh_ActFunc18 This signal indicates whether the spindle on the channel traverses at constantcutting speed (G96).1: Constant cutting velocity is active.Signal level

58/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Channel-Related Interface Signals

Page 71: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

0: Direct speed programming for spindle is active.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 59/206

Channel-Related Interface Signals

Page 72: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Page 73: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

7 Axis-Related Interface Signals7.1 Overview of Axis-Related Interface Signals7.1.1 General

The axis-related interface signals act on the NC functions which are associatedwith the control of a machining or auxiliary axis.The number of the existing axis interfaces corresponds to the index of the lastaxis or C-axis/spindle (identical with the physical axis or drive index) entered inmachine parameter /MAIN/NofDr, /MAIN/Dr[1]/EnablDr, /MAIN/Dr[1]/AxFunc, /MAIN/Dr[1]/SpFunc, /MAIN/Dr[1]/SpFunc/SpInd “Drive function type” (100100001). The axis interface of a C-axis is evaluated or written by the NC onlywhen the C-axis is being operated.When axes have been suppressed or “simple” spindles have been configuredbefore the last axis or C axis/spindle was defined, an axis related interface ismapped to the corresponding markers for each of these axes; however, theseinterfaces will not be served by the NC!The following description refers to the interface signals for one axis.

7.1.2 Overview of Output Signals (PLC → NC) Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

0.0 qAx_OpModeSel_00 Axis mode bit 0 1.0 qAx_TrvLim_00 Limit switch range bit 0

0.1 qAx_OpModeSel_01 Axis mode bit 1 1.1 qAx_TrvLim_01 Limit switch range bit 1

0.2 qAx_JogPlus Manual + 1.2 qAx_SwLimOff Suppress limit switch

0.3 qAx_JogMinus Manual - 1.3 - res.

0.4 qAx_JogInch Schrittmaß in Inch 1.4 - res.

0.5 qAx_JogDia Incremental step diameter 1.5 - res.

0.6 qAx_NextNotch Next grid position 1.6 - res.

0.7 qAx_Reset Axis reset 1.7 qAx_FxStopRel Cancel fixed stop

2.0qAx_

SafOpModeSwitchMode selection (BA) 3.0 qAx_HandwSel_00 Handwheel selection bit 0

2.1 qAX_SafDrvLock Drive lock 3.1 qAx_HandwSel_01 Handwheel selection bit 1

2.2 qAx_SafEnablCtrl Consent key (ZT) 3.2 qAx_HandwDir Handwheel direction

2.3 qAx_SafSwitch1 S switch 1 (S1) 3.3 qAx_HandwPosMode Handwheel position

2.4 qAx_SafSwitch2 S switch 2 (S2) 3.4 - res.

2.5qAx_

SafCheckInputStateCheck input safety technology 3.5 - res.

2.6 qAx_SafTechState Status S signals 3.6 - res.

2.7 - res. 3.7 - res.

4.0 qAx_ManFeed_00 Manual feed for bit 0 5.0 - res.

4.1 qAx_ManFeed_01 Manual feed for bit 1 5.1 - res.

4.2 qAx_ManFeed_02 Manual feed for bit 2 5.2 - res.

4.3 qAx_ManFeed_03 Manual feed for bit 3 5.3 - res.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 61/206

Axis-Related Interface Signals

Page 74: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

4.4 - res. 5.4 - res.

4.5 - res. 5.5 - res.

4.6 - res. 5.6 - res.

4.7 - res. 5.7 qAx_Override100 Axis override 100 %

6.0 qAx_Override_00 Override bit 0 7.0 qAx_Override_08 Override bit 8

6.1 qAx_Override_01 Override bit 1 7.1 qAx_Override_09 Override bit 9

6.2 qAx_Override_02 Override bit 2 7.2 qAx_Override_10 Override bit 10

6.3 qAx_Override_03 Override bit 3 7.3 qAx_Override_11 Override bit 11

6.4 qAx_Override_04 Override bit 4 7.4 qAx_Override_12 Override bit 12

6.5 qAx_Override_05 Override bit 5 7.5 qAx_Override_13 Override bit 13

6.6 qAx_Override_06 Override bit 6 7.6 qAx_Override_14 Override bit 14

6.7 qAx_Override_07 Override bit 7 7.7 qAx_Override_15 Override bit 15

8.0 qAx_Custom1 Customer input 1 9.0 - res.

8.1 qAx_Custom2 Customer input 2 9.1 - res.

8.2 qAx_Custom3 Customer input 3 9.2 - res.

8.3 qAx_Custom4 Customer input 4 9.3 - res.

8.4 qAx_Custom5 Customer input 5 9.4 - res.

8.5 qAx_Custom6 Customer input 6 9.5 - res.

8.6 qAx_Custom7 Customer input 7 9.6 - res.

8.7 qAx_Custom8 Customer input 8 9.7 - res.

10.0 qAx_TrqErrOff Suppress standstill error 11.0 qAx_Discharge Axis discharged

10.1 qAx_LagErrOff Suppress coupling error 11.1 qAx_FrzIpoPos Hold command position

10.2 qAx_MasterPos Gantry on master position 11.2 - res.

10.3 qAx_TakeActOffs Take over actual value offset 11.3 qAx_TrqLim Torque reduction

10.4 - res. 11.4 - res.

10.5 - res. 11.5 - res.

10.6 - res. 11.6 qAx_DrvOn Drive on

10.7 - res. 11.7 qAx_DrvLock Feed lock

Fig.7-1: Overview of output signals (PLC -> NC)

7.1.3 Overview of Input Signals (NC → PLC) Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

0.0 iAx_RefKnown Reference point known 1.0 iAx_DistCtrl Axis before end point

0.1 iAx_RefReached Reference point reached 1.1 - res.

0.2 iAx_TrvCmd Travel command 1.2 - res.

0.3 iAx_TrvDirNeg Negative traversing direction 1.3 - res.

0.4 iAx_Run Axis running 1.4 - res.

0.5 iAx_InPos Axis in position 1.5 - res.

62/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 75: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

0.6 iAx_NotchPos Axis on grid position 1.6 iAx_FxStopReached Fixed stop reached

0.7 iAx_Reset Axis is reset 1.7 iAx_FxStopAct Fixed stop active

2.0 iAx_SafOpMode_00 Bit 0 safety mode 3.0 iAx_PosSwitch1 Position switch point 1

2.1 iAx_SafOpMode_01 Bit 1 safety mode 3.1 iAx_PosSwitch2 Position switch point 2

2.2 iAx_SafOpMode_02 Bit 2 safety mode 3.2 iAx_PosSwitch3 Position switch point 3

2.3 iAx_SafOpMode_03 Safety mode bit3 3.3 iAx_PosSwitch4 Position switch point 4

2.4 iAx_SafStatePos Status safe position 3.4 iAx_PosSwitch5 Position switch point 5

2.5iAx_

SafCtrlOutputStateStatus output controller 3.5 iAx_PosSwitch6 Position switch point 6

2.6 - res. 3.6 iAx_PosSwitch7 Position switch point 7

2.7 - res. 3.7 iAx_PosSwitch8 Position switch point 8

4.0 iAx_ChIndex_00 Channel number bit 0 5.0 - res.

4.1 iAx_ChIndex_01 Channel number bit 1 5.1 - res.

4.2 iAx_ChIndex_02 Channel number bit 2 5.2 - res.

4.3 iAx_ChIndex_03 Channel number bit 3 5.3 - res.

4.4 - res. 5.4 - res.

4.5 - res. 5.5 - res.

4.6 - res. 5.6 iAx_Override0 Axis override 0 %

4.7 - res. 5.7 iAx_Override100 Axis override 100 %

6.0 iAx_ScsState00 SCS signal status 0 7.0 iAx_ScsState08 SCS signal status 8

6.1 iAx_ScsState01 SCS signal status 1 7.1 iAx_ScsState09 SCS signal status 9

6.2 iAx_ScsState02 SCS signal status 2 7.2 iAx_ScsState10 SCS signal status 10

6.3 iAx_ScsState03 SCS signal status 3 7.3 iAx_ScsState11 SCS signal status 11

6.4 iAx_ScsState04 SCS signal status 4 7.4 iAx_ScsState12 SCS signal status 12

6.5 iAx_ScsState05 SCS signal status 5 7.5 iAx_ScsState13 SCS signal status 13

6.6 iAx_ScsState06 SCS signal status 6 7.6 iAx_ScsState14 SCS signal status 14

6.7 iAx_ScsState07 SCS signal status 7 7.7 iAx_ScsState15 SCS signal status 15

8.0 iAx_Custom1 Customer output 1 9.0 iAx_MasterAxIndex_00 Index of master axis bit 0

8.1 iAx_Custom2 Customer output 2 9.1 iAx_MasterAxIndex_01 Index of master axis bit 1

8.2 iAx_Custom3 Customer output 3 9.2 iAx_MasterAxIndex_02 Index of master axis bit 2

8.3 iAx_Custom4 Customer output 4 9.3 iAx_MasterAxIndex_03 Index of master axis bit 3

8.4 iAx_Custom5 Customer output 5 9.4 iAx_MasterAxIndex_04 Index of master axis bit 4

8.5 iAx_Custom6 Customer output 6 9.5 - res.

8.6 iAx_Custom7 Customer output 7 9.6 - res.

8.7 iAx_Custom8 Customer output 8 9.7 - res.

10.0 iAx_TrqExceed Standstill error 11.0 iAx_DrvErrClass1 Error status class 1

10.1 iAx_CoupleLag Coupling lag 11.1 iAx_DrvChangeClass2 Modification status class 2

10.2 iAx_CmdOffsExst Gantry command value offset active 11.2 iAx_DrvChangeClass3 Modification status class 3

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 63/206

Axis-Related Interface Signals

Page 76: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

10.3 iAx_CmdOffsExceed Compensable gantry command val‐ue displacement exceeded 11.3 iAx_TrqLim Torque limited

10.4 - res. 11.4 iAx_DryRun Test mode

10.5 - res. 11.5 iAx_DrvPower Enabled for power activation

10.6 - res. 11.6 iAx_DrvReady Drive under control

10.7 - res. 11.7 iAx_DrvAct Drive under control

Fig.7-2: Overview of input signals (NC -> PLC)

7.2 Signal Description7.2.1 Output Signals (PLC → NC) General

Depending on their function, the IndraMotion MTX evaluates the signals aseither static signals with signal levels logic 0 and logic 1 or as edge-triggeredsignals with signal edges 0 → 1 or 1 → 0.

Axis Mode Bit 0 and 1 qAx_OpModeSel_00 ... 01 This signal is used to specify whether auxiliary axes are to move when Manual+/- is operated in the Manual setup or Setup approaching of the referencepoint (precondition: the axis is not occupied by programming in a channel, i.e.it must not move).The selected modes of the channels are of no importance because asynchro‐nous axes are not assigned to a specific channel.Operating modes are coded as follows:

Operating modesMode selectionBit 1

(qAx_OpModeSel_01)

Bit 0

(qAx_OpModeSel_00)Programming 0 0Manual set up 0 1Manual traverse to referencepoint 1 0

reserved 1 1

Fig.7-3: Coding of operating modes

Manual+ qAx_JogPlus Manual- qAx_JogMinus The Manual+ and Manual- signals are effective for channel axes (synchronousaxes) and auxiliary axes (asynchronous axes) in the Manual set up and Manualtraverse to reference point operating modes.In addition, the signals are used for manual jogging of synchronous axes whenmoving away from the contour. The active part program is stopped with feedhold in this context.1: Continuous jogging:

If channel/axis mode Manual setup has been set and all otherrequirements have been fulfilled (feed hold, feed inhibit, etc.are not set), the axis is moved in the appropriate direction usingManual+ or Manual-.Feed is selected via “Manual feed” (qAx_ManFeed_00 ... 03),the acceleration is parameterized in machine parameter /AX/

Signal level

64/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 77: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Dr[1]/Jog/VarDistAxJog “Variable incremental step” (101500002).Signals “Travel command” (iAx_TrvCmd), “Axis run‐ning” (iAx_Run) and, depending on the travel direction, “Neg‐ative travel direction” (iAx_TrvDirNeg) are set on the axisinterface. The “Axis in position” (iAx_InPos) signal is cancelledat the same time.Incremental jogging:The same as above, but the axis travels the incremental stepselected using “Manual feed” (qAx_ManFeed_00 ... 03). Theaxis continues to move even when the Manual+ or Manual-signal is no longer active and the movement along the prese‐lected path has not been completed. The path is traversed withthe velocity entered in Manual feed bit 0 ... bit 3 under 'definedsteps' or 'variable steps'.A new movement can be triggered only if Manual+ or Manual-previously had signal level logic 0 (edge triggering).Traverse to reference point:If the channel or axis operating mode Manual traverse to ref‐erence point has been set and all other prerequisites havebeen met, drive controlled referencing is triggered for the axisusing Manual+ or Manual-. The drive's behavior is determinedin SERCOS referencing parameter S-0-0147.

0: Continuous jogging:When signal Manual+ or Manual- is cancelled, the traversingmovement is stopped with the deceleration set in the machineparameters. The travel command is reset. As soon as the axisis located in the inposition window, the “Axis running” signal isreset and Axis in position is output.

Example:

Moving an axis (synchronous or asynchronous) in the positive direction in“Manual” operating mode.

Fig.7-4: Movement in positive direction

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 65/206

Axis-Related Interface Signals

Page 78: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

The control is switched on, the control circuit is already closed and the drivegenerates a torque. Drive under control (iAx_DrvAct) has been set.Setup mode must be active on the respective channel in order to move an axismanually in the positive or negative direction. Setup mode is coded into thechannel-related interface and output on signals iCH_OpMode_00-03.For auxiliary axes, the mode selection qAx_OpModeSel_00...01 must havebeen set accordingly. Manual feed or Incremental step is set in coded formatwith signals qAx_ManFeed_00-03.When the Manual+ signal is set, the travel command and traversing directionsignals are output.When the Travel command is output, the Axis in position signal is reset.As long as Feed inhibit is active, movement is impossible. Once the Feed inhibitsignal is reset, the axis moves as long as Manual+ is actuated or until thespecified incremental step has been executed. While the axis is traversing, theAxis running signal is output. If feed inhibit was reset at an earlier point in time,the axis will start moving as soon as the Manual+ signal is set.The Travel command signal remains set until the traversing movement hasbeen completed. When the axis has come to a standstill, the Axis running signalis reset and the Axis in position signal is output if the axis is within the Inpositionwindow. The Traversing direction signal remains until the next travel commandin the opposite direction is output.

Incremental step in inch qAx_JogInch Setting this signal allows jogging by “Incremental steps in inches” or traversingwith the handwheel while in setup mode. The incremental step specified via theinterface is also interpreted in inches.The inch increment of an axis results from:0.0001 * AXSP\Dr[x]\AxFun\Jog\Incr [axis] in inch.Machine parameter AXSP\Dr[x]\AxFun\Jog\Incr corresponds to /AX/Dr[1]/Jog/IncrAxJog “Axis resolution” (1015 00001).

The “Incremental step in inch” interface signal is insignificant forrotary and endless axes.

Example:

AXSP\Dr[x]\AxFun\Jog\Incr = 1

1 incremental step in inches = 0.0001 inch1 incremental step in metric units = 0.001 mm

1: In jog mode or handwheel mode, the incremental step specifiedis interpreted in “inches”.

0: In jog mode or handwheel mode, the incremental step specifiedis interpreted in “inches”.

Incremental step as diameter qAx_JogDia Setting this signal allows jogging by “incremental steps in diameter” or tra‐versing with the handwheel while in setup mode. The incremental step specifiedvia the interface is also interpreted as a diameter difference.The unit of measurement of the increments is specified by the signal “Incre‐mental step in inch”.

Signal level

66/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 79: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

1: In jog or handwheel mode, the incremental step specified isinterpreted as a diameter difference.

0: In jog or handwheel mode, the incremental step specified isinterpreted as a radius difference.

Next notch position qAx_NextNotch With this signal, the NC can move a Hirth axis to its next grid position. For thispurpose, the NC must be in Manual set up mode and the Hirth axis must notbe activated by Jog mode at the same time (iAx_NotchPos has been set).The traversing direction which was active last (see iAx_TrvDirNeg) determinesthe direction in which the Hirth axis is moved.The signal can be used to return a Hirth axis which has come to a standstillbetween 2 notch positions (e.g. with EMERGENCY STOP) to a notch positionin the pending traversing direction.

Axis reset qAx_Reset This signal is used to cancel the movement of an asynchronous axis. After theaxis has come to a standstill, the signal axis is reset (iAx_Reset).0 → 1: The signal axis reset (iAx_Reset) is set.1 → 0: No effect.

Limit switch range 0 ... 1 qAx_TrvLim_00 ... 01 Selects one of four possible limit switch ranges.

Bit combination 0: 1. Limit switch range activeBit combination 1: 2. Limit switch range activeBit combination 2: 3. Limit switch range active (not yet available)Bit combination 3: 4. Limit switch range active (not yet available)

Fig.7-5: Limit switch ranges

Signal “Suppress limit switches” (qAx_SwLimOff) affects the selec‐ted limit switch range.

Suppress limit switches qAx_SwLimOff This signal suppresses the positive and negative limit switches of the respectiveaxis. In this case, no position limit monitoring is active on the NC for this axis.As long as the reference point of the axis is not known (see iAx_RefKnown),this signal is not relevant. The internal checks performed by the NC are alwaysswitched off in this case.Monitoring within the drive is not affected by this signal (e.g. S-0-0049 Positionlimit value positive; S-0-0050 Position limit value negative). Other safety-rele‐vant functions must be assumed by the machine and/or PLC when the softwarelimit switches are suppressed.The Suppress limit switches signal is active in all operating modes.1: The software limit switches are suppressed.0: The software limit switches are not suppressed. The NC mon‐

itors the position limits as defined in the machine parametersin accordance with the limit switch range selected.

Cancel fixed stop qAx_FxStopRel Setting this signal cancels an active fixed stop for an asynchronous axis.

Signal level

Signal edge

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 67/206

Axis-Related Interface Signals

Page 80: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Mode selection (BA) qAx_SafOpModeSwitch This signal is a component of the safety technology for the IndraDrive series.The operating mode selection of the PLC is transferred as channel 1 to the drivevia the SERCOS interface in real time.0: Normal mode NO1: Special mode SO

(special mode at standstill / with movement)

Drive lock qAx_SafDrvLock This signal is a component of the safety technology for the IndraDrive series.The “Drive lock” signal is transferred as channel 1 to the drive using the PLCvia the SERCOS interface in real time. The drive releases itself from torquewhen the drive lock is selected.1: Drive lock on.0: Drive lock off.

Consent key qAx_SafEnablCtrl This signal is a component of the safety technology for the IndraDrive series.Switching to “Special mode with movement” via the PLC is transferred as chan‐nel 1 to the drive via the SERCOS interface in real time.1: Special mode with movement.0: Special mode at standstill.

S switch 1 (S1) qAx_SafSwitch1 These signals are components of the safety technology for the IndraDrive ser‐ies.Two different parameter sets can be stored in the drive for “Special mode withmovement”. The parameter set selected using the PLC is transferred as chan‐nel 1 to the drive via the SERCOS interface in real time.1: Parameter set 2 for safe movement active.0: Parameter set 1 for safe movement active.

Check input safety technology qAx_SafCheckInputState This signal is a component of the safety technology for the IndraDrive series.The safe status signal set using the PLC is transferred as channel 1 to the drivevia the SERCOS interface in real time.

Status S signals qAx_SafTechState This signal is a component of the safety technology for the IndraDrive series.The control signals of the PLC (qAx_Saf...) that are transferred via channel 1to the drive must be adjusted periodically so that they can be checked. As aresult, the PLC sets the signals to “0” for one cycle. At the same time, the PLCsets the safety signal status from "valid" to "adjusted", thus informing the drivethat the control signals are invalid.Then the signals are reset.1: The control signals of the safety technology are valid.0: The control signals of the safety technology are being adjusted.

Signal level

Signal level

Signal level

Signal level

Signal level

68/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 81: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Handwheel selection bit 0 and bit 1 qAx_HandwSel_00 ... 01 Two handwheels can be connected to the NC control. As soon as one of thetwo signals is set, the axis can be traversed with the selected handwheel. Sig‐nals Manual + and Manual - have no effect.If the axis is traversed with the handwheel, signals Manual feed 0...3 are active.In this context, the incremental steps that can be selected are used in the cal‐culation to weight the scale marks of the handwheel.

HandwheelHandwheel assignmentBit 1

(qAx_HandwSel_01)

Bit 0

(qAx_HandwSel_00)no handwheel active 0 0Handwheel 1 0 1Handwheel 2 1 0reserved 1 1

Fig.7-6: Handwheel selection, bit 0 and bit 1

Handwheel direction qAx_HandwDir This signal permits the direction of axis rotation to be specified, regardless ofthe direction of handwheel rotation.1: The direction of axis rotation is opposite to the direction of

handwheel rotation.0: The directions of axis and handwheel rotation are the same.

Handwheel position qAx_HandwPosMode With this signal it is possible to specify the behavior of handwheel mode duringexceeding the currently allowed maximum speed.

The level of the signal is adopted from the NC during settingqAx_HandwSel_0x .

1: The distance specified by the handwheel movement is alsoprocessed when the maximum speed is exceeded.Note: Axis movements can also occur after exiting the hand‐wheel movement.

0: When exceeding the maximum speed, the traverse path is re‐duced accordingly.

Manual feed for bit 0 ... Bit 3 qAx_ManFeed_00 ... 03 These signals are effective in the Setupoperating mode. If the axes are trav‐ersed manually with the jog button or handwheel, the feed rates or incrementalsteps which are assigned to the corresponding bit combination become active.The velocities will be defined in the machine parameters AXSP\Dr[x]\AxFun\Jog\Vel\...When the axes are moved using a handwheel, the incremental steps are eval‐uated as the weighting factor for the scale divisions of the handwheel.The incremental steps for x increments are specified in machine parameter /AX/Dr[1]/Jog/VarDistAxJog “Variable incremental step” (1015 00002).

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 69/206

Axis-Related Interface Signals

Page 82: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Manual feed /incrementalstep

Machine parame‐ter

Bit 3

(qAx_

Man‐Feed_03)

Bit 2

(qAx_

Man‐Feed_02)

Bit 1

(qAx_

Man‐Feed_01)

Bit 0

(qAx_

Man‐Feed_00)

no input - 0 0 0 0

Fast

/AX/Dr[1]/Jog/Vel/FastAxVel“Manual feedfast” (100500005)

0 0 1 0

Medium

/AX/Dr[1]/Jog/Vel/MediumAx‐Vel “Manual feedfast” (100500004)

0 0 1 1

Slow

/AX/Dr[1]/Jog/Vel/SlowAxVel“Manual feedslow” (100500003)

0 1 0 0

x increments

/AX/Dr[1]/Jog/Vel/VarDistAxVel“Manual feed forvariablesteps” (100500008)

0 1 0 1

1000 incre‐ments

/AX/Dr[1]/Jog/Vel/DefStepAx‐Vel “Manual feedfor definedsteps” (100500007)

0 1 1 0

100 incre‐ments 0 1 1 1

10 increments 1 0 0 01 increment 1 0 0 1

Fig.7-7: Manual feed for bit 0 ... Bit 3 - incremental step

Axis Override 100% qAx_Override10 This signal suppresses the axis override of an asynchronous axis. In this case,the axis traverses at the preselected or programmed velocity. The signal refersto programmed asynchronous movements/external command value inputs aswell as to manual mode (jogging).The signal has no effect on movements interpolated by the drive (e.g. traverseto reference point).1: Axis override is suppressed.0: Axis override is active.

Override bit 0 ... Bit 15 qAx_Override_00 ... 15 The traversing speed of asynchronous axes can be influenced by the overridefunction. It affects the speeds programmed in the part program and on the pre‐selected speeds in Setup mode.This signal is used to activate one override weighting level for an auxiliary axisif the override has not been suppressed either using the interface (qAx_Over‐ride100) or the machine parameters.The levels of the override switch are queried by the NC in binarily coded form.Via machine parameter /CHAN/Ch[1]/Path/Ovrd/ChOvrdStep[1], /AX/Asyn‐chrAxOvrdIf/AxOvrdStep[1] “Feed override for channel” (7030 00010), each

Signal level

70/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 83: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

binary code is assigned a value by channel 0 (!) which interprets the respectivevelocity as a percentage.

Customer input 1 ... 8 qAx_Custom1 ... 8 Interface that can be configured on the NC side and can be assigned as re‐quired.(This option is currently not yet active.)

Suppress standstill error qAx_TrqErrOff This signal suppresses an internal error state when the standstill torque hasbeen exceeded. In this case, it is necessary for standstill torque monitoring tobe programmed in the PLC.

Regardless of this signal, the “Standstill error” (iAx_TrqExceed) er‐ror signal is set when the standstill torque has been exceeded!

1: If the standstill torque has been exceeded, the NC will not gen‐erate an internal error signal. Exceedance is tolerated.

0: Error status when the level drops below the standstill torque.

Suppress coupling error qAx_LagErrOff This signal suppresses an internal error state when the coupling lag limit hasbeen exceeded. In this case, monitoring of the coupling lag must be program‐med in the PLC.

Regardless of this signal, the “Coupling lag” (iAx_CoupleLag) signalis set if the coupling lag limit has been exceeded!

1: In case a coupling lag limit is exceeded, the NC will not gen‐erate an internal error signal. Exceedance is tolerated.

0: Coupling lag limit monitoring generates an error.

Gantry on master position qAx_MasterPos

CAUTION

The signal may only be set when the encoders have been commis‐sioned.Otherwise, there is the risk of mechanical damages.

In case of a Gantry slave with an absolute encoder, this signal is used to transferthe command position of the master axis without any offset as the commandposition of the slave axis. The signal effects on the slave axis.Prerequisites:● Master and slave with absolute encoder.● Difference of positions less than the maximum following error configured

in the machine parameters.● The signal effects also in incremental measuring systems with distance-

coded encoders if referencing with “Travel distance” is set.● The signal applies in following conditions:

– Drive in reference.– Maximum following error not exceeded or following error monitoring

deactivated.

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 71/206

Axis-Related Interface Signals

Page 84: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

In case of cyclically absolute encoders, the axis positions are not known priorto referencing. This is why the distance between the gantry axes, which is de‐termined from the actual position values provided by the encoders, is main‐tained until referencing for safety reasons.In case of axes with absolute encoders, the actual position values are alsoknown without referencing. When the encoders have been commissioned, apossible skew can be recognized from the values they supply.0 → 1: The skew of the slave axis is compensated by a jerk as soon

as the drives are in operation. If the distance is too great, aservo error will occur.

Take over actual value offset qAx_TakeActOffs Acceptance of actual value displacement of this slave as command value dis‐placement.0 → 1: Acceptance of actual value displacement during open control‐

ler.The command value displacement of a Gantry slave is created from the controlof the current actual value displacement and retightened as long as the con‐troller is open. When the controller closes, the value is frozen.The signal must be set for the slave axis.

Axis discharged qAx_Discharge When this signal is set, the axis is no longer checked within the Inposlogic.Nevertheless, the axis can remain in the configuration of a channel if signalDrive on has not also been set.

Hold command position qAx_FrzIpoPos This signal prevents the actual drive position from being corrected with the po‐sition control loop open, i.e. “Drive under control” (iAx_DrvAct) is not set.1: The actual position of the drive is not transferred to the NC

when the position control loop is open.0: When the position control loop is open, the actual drive position

is input in the NC.

Torque reduction qAx_TrqLi This signal allows the torque limit (SERCOS parameter S-0-0092) valid in thedrive to be changed.This signal is of particular significance in conjunction with the axis clampingfunction: With the axis clamped, the position control loop may remain closedwhile the torque of the drive can be reduced in order to minimize mechanicalstress. To a large extent, this prevents mechanical axis displacement whenclamping is applied or released.The value of the changed torque limit is set individually for each axis via ma‐chine parameter RedMaxTorq “Reduced maximum torque when torque reduc‐tion enabled” (1003 00010). Besides, it can be programmed via the RedTorque(RDT) NC function.A torque changeover is permissible only when the axis is at a standstill.If the torque limit is not accepted by the drive (e.g. because the parameter iswrite-protected), no error message is displayed. However, signal “Torque limi‐ted” (iAx_TrqLim) is not set.0 → 1: The torque reduction is transmitted to the drive via the

SERCOS interface.

Signal edge

Signal edge

Signal level

Signal edge

72/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 85: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

1 →0: The original torque limit, as specified in SERCOS parameterS-0-0092, is transmitted to the drive.

Drive on qAx_DrvOn This signal switches the torque in the drive on when it is ready for operation(iAx_DrvReady has been set). The control circuit is closed.Resetting Drive on initiates a shutdown process. If the axis is still in motion atthis time, it is brought to a halt at the preset deceleration.When the axis has come to a standstill, the position control loop is opened andthe Drive under control signal is reset. Torque is no longer applied on the drive.

Fig.7-8: Drive onExample:

Functioning of the starting and shutdown cycles

When the machine is started or voltage is applied, the NC unit and the servoand spindle drives go through an initialization phase.While the initialization phase of the individual components is running, the digitalinterface for communication between the NC and the drives is established,among other things.This digital interface corresponds to the settings of the SERCOS interface.Initialization of the SERCOS interface is in system, automatic and consists of4 phases. Once the interface is initialized and cyclic operation is active, theEnabled for power activation signal is output.Power can be switched on for the affected drives. When the power has beenconnected, the Drive ready signal is output.The position control loop is closed by setting Drive on. The drive is under torqueand the Drive under control signal is issued.The shutdown cycle or disconnection from the system is initiated by the PLCsequential program resetting the Drive on signal.If the axis is still in motion at this time, it is brought to a halt at the preset de‐celeration.When the axis has come to a standstill, the position control loop is opened andthe Drive under control signal is reset. Torque is no longer applied on the drive.The power can be switched off in the next step.The Enabled for power activation signal remains set as long as the machinecomponents (NC and drives) remain initialized.

Feed inhibit qAx_DrvLock This signal is effective when the control loop is closed and torque is applied onthe axis.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 73/206

Axis-Related Interface Signals

Page 86: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

It prevents a programmed or manually preset axis movement from being carriedout; however, it has no influence on the Travel command, Negative travel di‐rection and Axis in position input signals.1: Either the axis cannot be moved or it is stopped with the de‐

celeration set in the parameters if a movement is alreadyactive.If Feed inhibit is set for an axis which participates in an inter‐polation with other axes, the other axes cannot be traversedeither.

0: Axis feed is not inhibited. If an axis travel command is initiated(via the NC part program or manually), the axis can start tra‐versing immediately.If a traversing axis was previously brought to a standstill withFeed inhibit, it will start accelerating to its programmed speedas soon as the Feed inhibit signal is reset.

Example:

Feed lock

The machine is switched on and the control loop has been closed. A negativetraversing motion has been programmed for an axis via the NC part program.

Fig.7-9: Drive under controlThe Drive under control signal informs the PLC sequential program that thecontrol loop is closed.The Travel command and Neg. traversing direction signals are output as soonas the NC block where the traversing motion is programmed is executed. Thetraversing direction is up-to-date only if a traversing command has been set.The Axis in position signal is reset when the travel command is activated.Traversing movement is not carried out as long as the Feed inhibit signal is set.When Feed inhibit is reset, the programmed traversing movement is performedand Axis running is set.If Feed inhibit is set again during the traversing movement, the traversingmovement is stopped and Axis running is reset when the axis has come to astandstill.When Feed inhibit is reset, the axis accelerates up to the previously appliedspeed, Axis running is set and the traversing movement is completed.When the programmed end position is reached, the Travel command and Axisrunning signals are reset and the Axis in position signal is set.

Signal level

74/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 87: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

7.2.2 Input Signals (NC → PLC) Reference point known iAx_RefKnown

This signal is set as soon as the reference point of the axis has been reached,or, if absolute encoders are used, as soon as they have been recognized bythe control. To do this, the control evaluates SERCOS parameter Actual posi‐tion value status S-0-0403. The NC does not monitor any limit switches as longas the Reference point known signal has not yet been set.

After this signal has been set once, it will be reset only when a newSERCOS phase runup has been initiated, or in the case of a drivefault (e.g. defective encoder).

1: The reference point has been reached, or the axis is equippedwith absolute encoders.

0: No reference point has been approached yet.

1 Start approaching reference point2 Approaching reference point completed3 Start approaching reference point4 Abort approaching of reference point (drive has identified reference

point)5 Control reset6 Start approaching reference point7 Approaching reference point completed8 Drive lost reference point due to a fault9 Control resetFig.7-10: Homing point

Reference point was reached iAx_RefReached In contrast to the Reference point is known signal, this signal is set only whentraversing to the reference point has been successfully completed. If traversingto the reference point was cancelled, neither of the two signals will be set.While a subsequent basic setting causes a status check of the actual positionvalues to be performed in the drive (parameter S-0-0403) and sets (or clears)the Reference point is known signal, as applicable, the Reference point wasreached signal remains unchanged.This signal is reset at the beginning of any traverse to a reference point.1: The last traverse to the reference point was properly completed

by reaching the reference point.0: Either no reference points have been approached so far, or

traversing to the reference point is still active and the referencepoint has not yet been reached, or the last traverse to the ref‐erence point was cancelled.

Travel command iAx_TrvCmd The signals Travel command, Neg. traversing direction, Axis running and Axisin position affect each other.Examples of their relationships are shown in the signal diagrams and explan‐ations of signals Manual+/- (chapter "Manual+ qAx_JogPlus Manual- qAx_Jog‐

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 75/206

Axis-Related Interface Signals

Page 88: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Minus " on page 64) and Feed inhibit (chapter "Feed inhibit qAx_DrvLock " onpage 73).The Neg. traversing direction signal is output in conjunction with the Travelcommand signal.1: The input for a traversing movement exists. It can be carried

out by manual input or via the NC part program.0: No command for the traversing movement is present.

Negative traversing direction iAx_TrvDirNeg This signal is effective only in conjunction with the signal Travel command. Inthe absence of a travel command signal, this signal is irrelevant.1: If “Negative traversing direction” and “Travel command” are

set, the respective axis is to execute a traversing movement inthe negative direction or the previous movement of this veryaxis was executed in the negative direction.

0: If “Negative traversing direction” is not set and “Travel com‐mand” is set, the respective axis is to execute a traversingmovement in the positive direction or the previous movementof this very axis was executed in the positive direction.

Axis running iAx_Run The signals Travel command, Neg. traversing direction, Axis running and Axisin position affect each other.Examples of their relationships are shown in the signal diagrams and explan‐ations of signals Manual+/- (chapter "Manual+ qAx_JogPlus Manual- qAx_Jog‐Minus " on page 64) and Feed inhibit (chapter "Feed inhibit qAx_DrvLock " onpage 73).If the traversing movement of an axis has been concluded on the NC side, notravel command is active any more, and the signals Axis in position or Axisrunning will be output.1: “Axis running” remains set for as long as the axis executes a

programmed or manually preset movement.This signal is not set in the case of drive controlled approachingof the reference point even if the axis is still in motion.

0: The axis performs no movement.

Axis in position iAx_InPos The signal is active when the control loop is closed and torque is applied on theaxis.1: The axis is located within the in-position window set in the pa‐

rameters and no travel command is active. The inpositionwindow is specified by SERCOS parameter S-0-0057.The “In-position rough” window is specified with SERCOS pa‐rameter S-0-0261, for Diax/EcoDrive and HNC100 with themachine parameter /NCO/InPosWin/[1]/InPosRough “In-posi‐tion window” (1015 00100).

0: The axis is not in the parameterized inposition window.

Axis on notch position iAx_NotchPos This signal indicates when the Hirth axis has reached a grid position.

Signal level

Signal level

Signal level

Signal level

76/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 89: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

The level of this signal is 0 as long as the reference point has not been ap‐proached. This signal is set to 1 as soon as the axis is within the selected in-position window.1: The Hirth axis is within the selected in-position window.0: Indicates that the Hirth axis has not yet approached a reference

point.

Axis reset iAx_Reset This signal indicates that the asynchronous axis accepted the control reset taskand that the asynchronous axis is ready to accept new inputs for motions.

Axis near end point iAx_DistCtrl This signal indicates that the axis is within a range before its end point definedvia machine parameter /SFU/AxDistCtrl/Dr[1]/EnablAxDistCtrl, /SFU/Ax‐DistCtrl/Dr[1]/DistEndPoint “Distance to end point” (1015 00010).1: Axis command position within the indicated distance.0: Axis command position outside of the indicated distance, not

configured, approaching reference point is active or handwheelis active.

Fixed stop reached iAx_FxStopReached This signal is output when the axis is positioned at a fixed stop.The signal is reset when the axis leaves the 'fixed stop' monitoring window(machine parameter /MPS/Dr[1]/MaxDevPoStop “Fixed stop monitoring win‐dow” (1003 00032)), or when fixed stop has been canceled with “FsRe‐set” (FSR).1: Axis has reached the fixed stop.0: Fixed stop left or cancelled.

Fixed stop active iAx_FxStopAct This signal is output when the traverse movement to the fixed stop is active.A movement to the fixed stop is triggered by the “FsProbe” (FSB, Measuring atfixed stop) or “FsMove” (FSM, Move to fixed stop) functions.1: Axis moves to fixed stop.0: No move to fixed stop active.

Bit 0 safety mode ... Bit 3 iAx_SafOpMode_00 ... 03 These signals are components of the safety technology for the IndraDrive ser‐ies.The NC reads the selected operating mode of the drive (P-0-3215) and passesthe information to the PLC via these outputs.

Safety function Safety mode

Bit 3

(iAx_

SafOpMode_00)

Bit 2

(iAx_

SafOpMode_00)

Bit 1

(iAx_

SafOpMode_00)

Bit 0

(iAx_

SafOpMode_00)

Normal mode NO 0 0 0 0

Safe starting lockout (ASP) 0 0 0 1

Safe stop (SH) / Safe modestop (SBH)

0 0 1 0

Signal level

Signal level

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 77/206

Axis-Related Interface Signals

Page 90: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Safety function Safety mode

Bit 3

(iAx_

SafOpMode_00)

Bit 2

(iAx_

SafOpMode_00)

Bit 1

(iAx_

SafOpMode_00)

Bit 0

(iAx_

SafOpMode_00)

Safe movement (SBB1) 0 0 1 1

Safe movement (SBB2) 0 1 0 0

Safe movement (SBB3) 0 1 0 1

Safe movement (SBB4) 0 1 1 0

Safety technology not active 1 1 1 0

Fig.7-11: Safety mode

Status safe position iAx_SafStatePos This signal is a component of the safety technology for the IndraDrive series.The drive uses this signal to report whether safe referencing has been carriedout; this is a requirement for safety function “Safe absolute position” .1: The drive is safely referenced.0: No safe referencing.

Status output controller iAx_SafCtrlOutputState This signal is a component of the safety technology for the IndraDrive series.The drive uses this signal to provide feedback about its safe status.1: Safe status of the drive.0: No safe status of the drive.

Position switch point 1 ... 8 iAx_PosSwitch1 ... 8 This signal serves to monitor the actual position of an axis. An axis may beassigned a maximum of 8 axis monitoring positions (electric limit switches).With machine parameter SFU\WayPoint\Point[x] (/SFU/WayPoint/Point[1]/DrIndWayPoint, /SFU/WayPoint/Point[1]/MonTypeWayPoint “Monitored ax‐is” (2010 00100), /SFU/WayPoint/Point[1]/PosWayPoint “Point position” (201000110), /SFU/WayPoint/Point[1]/IfSigWayPoint “Interface signal of thepoint” (2010 00120), /SFU/WayPoint/Point[1]/MonTypeWayPoint “Cyclic mon‐itoring of rotary axes” (2010 00130)), you can define a total of up to 64 axismonitoring positions for the whole system.By combining two signals, you can create “monitoring windows”.For further information, see the “Machine Parameters” manual.1: The actual axis position is greater than or equal to the moni‐

toring position.0: The actual axis position is less than the monitoring position.

Channel number bit 0 ... Bit 3 iAx_ChIndex_00 ... 03 This signal is used to output the binarily coded channel number of the corre‐sponding channel.“0” is output if the axis is not assigned to any channel (e.g. an asynchronousaxis).

Signal level

Signal level

Signal level

78/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 91: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Channel number

Bit 3

(iAx_

ChIndex_03)

Bit 2

(iAx_

ChIndex_02)

Bit 1

(iAx_

ChIndex_01)

Bit 0

(iAx_

ChIndex_00)

no channel 0 0 0 0

Channel 1 0 0 0 1

... ... ... ... ...

Channel 12 1 1 0 0

Fig.7-12: Channel number bit 0 ... Bit 3If axes are lent to another channel, they are output in the following manner:

Status Channel information

Channel is activated (for program selection or manualdata input) with one axis Number of this channel

Channel is deactivated (for program deselection orend of manual data input) with one axis Number of this channel

Channel releases axis with RemAxis; axis has notbeen released on its original channel Number of the original channel

Channel releases axis with RemAxis; axis has beenreleased on its original channel 0

Fig.7-13: Channel outputDefinitions:Lent axis: An axis is lent if a channel accesses an “axis of an inactive

channel” while the axis was not released on this channel with“RemAxis” (RAX).

Original chan‐nel:

When the NC starts up, all synchronous axes belong to anoriginal channel.

Axis Override 0% iAx_Override0 This signal for an asynchronous axis indicates that its axis override is set to 0%and that no Override 100% has been selected using the interface (qAx_Over‐ride100).1: 0% acts on the axis.0: A value not equal to 0% acts on the axis.

Axis Override 100% iAx_Override100 This signal for an asynchronous axis indicates that its axis override is set to100% and/or that Override 100% has been selected using the interface(qAx_Override100).1: A value of 100% acts on the axis.0: A value not equal to 100% acts on the axis.

SCS signal status 0 ...15 iAx_ScsState00 ... 15 In the signal status word (SERCOS parameter S-0-0144), the configured bitsignals from the cyclic telegram of the axis drive are transmitted to the NC.The status signals can be configured in parameter S-0-0026. For transmissionof the signals in cyclic telegram, parameter S-0-0144 must be taken over intothe configuration list of the drive telegram (S-0-0016).

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 79/206

Axis-Related Interface Signals

Page 92: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Example:

Configuration:

● S-0-0026 = (330, 331,0, 333, 0, 335, 336, 337, 0, 0, 0, 0, 0, 0, 0, 0):Configuration of the signal status word

● S-0-0016 = (40, 144):Configuration of the drive telegram

The following status messages are then allocated to the individual signals:● iAx_ScsState00: S-0-0330 message nact= ncom

● iAx_ScsState01: S-0-0331 message nact= 0

● iAx_ScsState02: -● iAx_ScsState03: S-0-0333 message Md≥Mdx

● iAx_ScsState04: -● iAx_ScsState05: S-0-0335 message ncom>nlimit

● iAx_ScsState06: S-0-0336 message In-Position● iAx_ScsState07: S-0-0337 message P≥Px

● iAx_ScsState08: -● iAx_ScsState09: -● iAx_ScsState10: -● iAx_ScsState11: -● iAx_ScsState12: -● iAx_ScsState13: -● iAx_ScsState14: -● iAx_ScsState15: -

For a detailed description of all status messages available, pleasesee the “SERCOS interface Specifications”.

Customer output 1 ... 8 iAx_Custom1 ... 8 Interface that can be configured on the NC side and can be assigned as re‐quired.(This option is currently not yet active.)

Index of master axis bit 0 ... Bit 4 iAx_MasterAxindex_00 ... 04 Each axis is given the axis index of its master axis in binary code; the followingapplies:● The index of the master axis must be less than 32.● If the axis is not coupled, the index of the master axis has a value of 0.● If the axis is the master itself, the index of the master axis is identical with

the axis index.

Standstill error iAx_TrqExceed This signal serves to monitor the standstill torque specified for an axis.

80/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 93: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

In the case of gantry axes, this signal refers to the sum total of thestandstill torque values (regardless of the sign) of all the axes of agroup of coupled axes. The signal is set only for the master axis.

1: The standstill torque specified for an axis has been exceeded.0: The standstill torque specified for an axis has not been excee‐

ded.

Coupling lag iAx_CoupleLag This signal serves to monitor the specified coupling lag for a group of coupledaxes.1: The maximum coupling lag specified for an axis has been ex‐

ceeded.0: The maximum coupling lag specified for an axis has not been

exceeded.

Gantry command value displacement active iAx_CmdOffsExst 1: A command value displacement exists for this slave.

Compensable gantry command value displacement exceeded iAx_CmdOffsExceed 1: The compensable command value displacement is exceeded

for this slave.

Error diagnostics class-1 iAx_DrvErrClass1 This signal is a direct map of the corresponding signal in the SERCOS drivestatus word of the axis in question (the drive switches off and is interlocked).The interlock can be canceled only by the command “Reset diagnosticsclass-1”, which is set automatically by the NC upon a control reset.The pending error can be evaluated manually using the SERCOS monitor orautomatically by having the PLC directly read the error.Parameter S-0 0011 comprises 2 bytes and has the following structure:

Bit 0: reserved

Bit 1: Amplifier switchoff temperature S-0-0203

Bit 2: Motor switchoff temperature S-0-0204

Bit 3: reserved

Bit 4: Control voltage fault

Bit 5: Feedback error (encoder, measuring system)

Bit 6: Error in electronic commutation system

Bit 7: Overcurrent

Bit 8: Overvoltage

Bit 9: Undervoltage fault

Bit 10: Phase fault in power supply

Bit 11: Excessive controller deviation S-0-0159

Bit 12: Communication Error

Bit 13: Position limit value exceeded S-0-0049

Signal level

Signal level

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 81/206

Axis-Related Interface Signals

Page 94: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit 14: reserved

Bit 15: Manufacturer specific error S-0-0129

Fig.7-14: Structure of parameter S-0-0011

Change of diagnostics class-2 iAx_DrvChangeClass2 This signal is a direct map of the corresponding signal in the SERCOS drivestatus word of the axis in question (switch off prewarning). The bit is set whendiagnostic class 2 is modified and is reset after reading the status via parameterS-0-0012. Reading can be carried out manually using the SERCOS monitor ordirectly by the PLC.Parameter S-0-0012 comprises 2 bytes and contains the following warnings:

Bit 0: reserved

Bit 1: Amplifier overtemperature warning S-0-0311

Bit 2: Motor overtemperature warning S-0-0312

Bit 3: reserved

Bit 4: reserved

Bit 5: reserved

Bit 6: reserved

Bit 7: reserved

Bit 8: reserved

Bit 9: reserved

Bit 10: reserved

Bit 11: reserved

Bit 12: reserved

Bit 13: reserved

Bit 14: reserved

Bit 15: Manufacturer specific warning S-0-0181

Fig.7-15: Warning parameter S-0-0012The effect of switch off prewarnings concerning the alteration bit can be sup‐pressed on the screen for diagnostics class 2 (S-0-0097).

Change of diagnostics class-3 iAx_DrvChangeClass3 This signal is a direct map of the corresponding signal in the SERCOS drivestatus word of the axis in question (operating status messages). The bit is setwhen diagnostic class 3 is modified and is reset after reading the status viaparameter S-0-0013. Reading can be carried out manually using the SERCOSmonitor or directly by the PLC.Parameter S-0-0013 comprises 2 bytes and contains the following messages:

Bit 0: nact= ncomm S-0-0330

Bit 1: nact = 0 S-0-0331

Bit 2: ¦nact¦<¦nx¦ S-0-0332

Bit 3: ¦Md¦≥¦Mdx¦ S-0-0333

Bit 4: ¦Md¦≥¦Mdlimit¦ S-0-0334

82/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 95: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit 5: ¦ncom¦>¦nlimit¦ S-0-0335

Bit 6: In-position S-0-0336

Bit 7: ¦P¦≥¦Px¦ S-0-0337

Bit 8: -

Bit 9: ¦nact¦≥min. spindle speed S-0-0339

Bit 10: ¦nact¦≥max. spindle speed S-0-0340

Bit 11: In-position rough S-0-0341

Bit 12: Target position reached S-0-0342

Bit 13: Interpolator halted S-0-0343

Bit 14: -

Bit 15: Manufacturer specific operating states S-0-0182

Fig.7-16: Messages parameter S-0-0013The effect of operating states concerning the alteration bit can be suppressedon the screen for diagnostics class 3 (S-0-0098).

Torque reduced iAx_TrqLim This signal indicates that the axis concerned is running at a reduced maximumtorque.1: Maximum torque of the axis is reduced.0: Maximum torque of the axis is not reduced.

Test mode iAx_DryRun This signal is set when the axis is in Test mode.In test mode, an axis is still interpolated internally; however, the calculatedcommand values are only shown on the display and not transmitted to the drive.The axis is held in the same position where it was when test mode was activa‐ted.Test mode can be activated using a softkey, automatically for drives that arenot connected (no SERCOS ring present) or using machine parameter 100100010 /MAIN/Dr[1]/EnablVirtMode “Virtual drive”.

Enabled for power activation iAx_DrvPower This signal is closely related to the signals Drive on, Drive ready and Drive undercontrol (see S -0-0135, bit 14/15).The functional relationship is set out in detail in the signal diagram for the Driveon signal (chapter "Drive on qAx_DrvOn " on page 73).1: Initialization of the SERCOS interface, the drive and the

NCcontrol are complete and no errors are present. This signalis a prerequisite for connecting the drive to power.

0: Power cannot be connected to the drive.

Drive ready iAx_DrvReady This signal is closely related to the signals Drive on, Enabled for power activa‐tion and Drive under control (see S -0-0135, bit 14/15).The functional relationship is set out in detail in the signal diagram for the Driveon signal (chapter "Drive on qAx_DrvOn " on page 73).

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 83/206

Axis-Related Interface Signals

Page 96: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

1: Power is connected to the affected drive. The signal remainsset until the drive is cut out.

0: The power is not connected to the drive.

Drive under control iAx_DrvAct This signal is closely related to the signals Drive on,Enabled for power activa‐tion and Drive ready (see S -0-0135, bit 14/15).The functional relationship is set out in detail in the signal diagram for the Driveon signal (chapter "Drive on qAx_DrvOn " on page 73).1: The control loop remains closed and torque is applied on the

drive. The axis can be moved unless it is locked by any otherfunction, e.g. Feed inhibit.

0: The control loop is open and no torque is applied on the drive.

Signal level

Signal level

84/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Axis-Related Interface Signals

Page 97: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

8 Spindle-Related Interface Signals8.1 Overview of Spindle-Related Interface Signals8.1.1 General

Spindle-related interface signals have an effect on those NC functions that arerelated to the control of a machining spindle.An interface is available for each projected spindle, i.e. for n spindles, the spin‐dle-related interface is also mapped n times on the corresponding marker.In the case of spindles assigned to a channel, the channel-related interface isalso of importance.The following description refers to the interface signals for one axis.

8.1.2 Overview of Output Signals (PLC -> NC) Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

0.0 qSp_CAxOn C axis on 1.0 qSp_TurnCW Spindle M3 manual

0.1 qSp_CAxOff C-axis Off 1.1 qSp_TurnCCW Spindle M4 manual

0.2 qSp_JogPlus Spindle jog M3 1.2 qSp_Stop Spindle M5 manual

0.3 qSp_JogMinus Spindle jog M4 1.3 qSp_Orientate Spindle M19 manual

0.4 - res. 1.4 - res.

0.5 - res. 1.5 - res.

0.6 - res. 1.6 - res.

0.7 qSp_Reset Spindle reset 1.7 - res.

2.0 qSp_SafOpModeSel Mode selection (BA) 3.0 qSp_Gear1Act Acknowledgement GTS 1

2.1 - res. 3.1 qSp_Gear2Act Acknowledgement GTS 2

2.2 qSp_SafAgreeButton Consent key 3.2 qSp_Gear3Act Acknowledgement GTS 3

2.3 qSp_SafSwitch1 S switch 1 (S1) 3.3 qSp_Gear4Act Acknowledgement GTS 4

2.4 - res. 3.4 - res.

2.5qSp_

SafCheckInputStateCheck input safety technology 3.5 - res.

2.6 qSp_SafSignalState Status S signals 3.6 - res.

2.7 - res. 3.7 qSp_GearIdleAct Idling acknowledgement

4.0 qSp_ManSpeed_00 Spindle speed jog bit 0 5.0 qSp_SpeedLimit Speed limit

4.1 qSp_ManSpeed_01 Spindle speed jog bit 1 5.1 - res.

4.2 qSp_ManSpeed_02 Spindle speed jog bit 2 5.2 - res.

4.3 - res. 5.3 - res.

4.4 - res. 5.4 - res.

4.5 - res. 5.5 - res.

4.6 - res. 5.6 - res.

4.7 - res. 5.7 qSp_Override100 Spindle override 100%

6.0 qSp_Override_00 Override bit 0 7.0 qSp_Override_08 Override bit 8

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 85/206

Spindle-Related Interface Signals

Page 98: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

6.1 qSp_Override_01 Override bit 1 7.1 qSp_Override_09 Override bit 9

6.2 qSp_Override_02 Override bit 2 7.2 qSp_Override_10 Override bit 10

6.3 qSp_Override_03 Override bit 3 7.3 qSp_Override_11 Override bit 11

6.4 qSp_Override_04 Override bit 4 7.4 qSp_Override_12 Override bit 12

6.5 qSp_Override_05 Override bit 5 7.5 qSp_Override_13 Override bit 13

6.6 qSp_Override_06 Override bit 6 7.6 qSp_Override_14 Override bit 14

6.7 qSp_Override_07 Override bit 7 7.7 qSp_Override_15 Override bit 15

8.0 qSp_Custom1 Customer input 1 9.0 - res.

8.1 qSp_Custom2 Customer input 2 9.1 - res.

8.2 qSp_Custom3 Customer input 3 9.2 - res.

8.3 qSp_Custom4 Customer input 4 9.3 - res.

8.4 qSp_Custom5 Customer input 5 9.4 - res.

8.5 qSp_Custom6 Customer input 6 9.5 - res.

8.6 qSp_Custom7 Customer input 7 9.6 - res.

8.7 qSp_Custom8 Customer input 8 9.7 - res.

10.0 - res. 11.0 - res.

10.1 - res. 11.1 - res.

10.2 - res. 11.2 - res.

10.3 - res. 11.3 - res.

10.4 - res. 11.4 - res.

10.5 - res. 11.5 - res.

10.6 - res. 11.6 qSp_DrvOn Drive on

10.7 - res. 11.7 qSp_DrvLock Spindle lock

Fig.8-1: Overview of output signals (PLC → NC)

8.1.3 Overview of Input Signals (PLC -> NC) Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

0.0 iSp_CAxAct C axis is active 1.0 iSp_ProgSpReach Speed reached

0.1 iSp_CAxSwitch C axis switching 1.1 iSp_SpLim Speed limited

0.2 iSp_TurnCmd Spindle command 1.2 iSp_Stop Spindle stopped

0.3 iSp_TurnDirM4 Direction of rotation M4 1.3 iSp_OrientateFinish Spindle orientatet

0.4 - res. 1.4 iSp_OrientateAct Spindle orientation active

0.5 iSp_InPos Spindle in position 1.5 - res.

0.6 iSp_PosCtrl Position control active 1.6 - res.

0.7 iSp_Reset Spindle reset 1.7 - res.

2.0 iSp_SafOpMode_00 Bit 0 safety mode 3.0 iSp_Gear1Sel GTS 1 selection

2.1 iSp_SafOpMode_01 Bit 1 safety mode 3.1 iSp_Gear2Sel GTS 2 selection

2.2 iSp_SafOpMode_02 Bit 2 safety mode 3.2 iSp_Gear3Sel GTS 3 selection

86/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Spindle-Related Interface Signals

Page 99: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

2.3 iSp_SafOpMode_03 Safety mode bit 3 3.3 iSp_Gear4Sel GTS 4 selection

2.4 iSp_SafStatePos Safe position status 3.4 iSp_GearChange GTS change

2.5iSp_

SafCtrlOutputStateControl status output 3.5 iSp_IdleSpeed Idling speed reached

2.6 - res. 3.6 - res.

2.7 - res. 3.7 iSp_GearIdleSel Idle gear selection

4.0 - res. 5.0 - res.

4.1 - res. 5.1 - res.

4.2 - res. 5.2 - res.

4.3 - res. 5.3 - res.

4.4 - res. 5.4 - res.

4.5 - res. 5.5 - res.

4.6 - res. 5.6 iSp_Override0 Spindle override 0 %

4.7 - res. 5.7 iSp_Override100 Spindle override 100 %

6.0 iSp_ScsState00 SCS signal status 0 7.0 iSp_ScsState08 SCS signal status 8

6.1 iSp_ScsState01 SCS signal status 1 7.1 iSp_ScsState09 SCS signal status 9

6.2 iSp_ScsState02 SCS signal status 2 7.2 iSp_ScsState10 SCS signal status 10

6.3 iSp_ScsState03 SCS signal status 3 7.3 iSp_ScsState11 SCS signal status 11

6.4 iSp_ScsState04 SCS signal status 4 7.4 iSp_ScsState12 SCS signal status 12

6.5 iSp_ScsState05 SCS signal status 5 7.5 iSp_ScsState13 SCS signal status 13

6.6 iSp_ScsState06 SCS signal status 6 7.6 iSp_ScsState14 SCS signal status 14

6.7 iSp_ScsState07 SCS signal status 7 7.7 iSp_ScsState15 SCS signal status 15

8.0 iSp_Custom1 Customer output 1 9.0 iSp_CoupleIndex_00 No. of coupling bit 0

8.1 iSp_Custom2 Customer output 2 9.1 iSp_CoupleIndex_01 No. of coupling bit 1

8.2 iSp_Custom3 Customer output 3 9.2 iSp_CoupleIndex_02 No. of coupling bit 2

8.3 iSp_Custom4 Customer output 4 9.3 - res.

8.4 iSp_Custom5 Customer output 5 9.4 - res.

8.5 iSp_Custom6 Customer output 6 9.5 - res.

8.6 iSp_Custom7 Customer output 7 9.6 - res.

8.7 iSp_Custom8 Customer output 8 9.7 - res.

10.0 iSp_Master Spindle is Master 11.0 iSp_DrvErrClass1 Error diagn. class -1

10.1 iSp_CoupleErr Coupling Error 11.1 iSp_DrvChangeClass2 Class -2 diagnostics changed

10.2 iSp_Synchr1 Synchronous 1 11.2 iSp_DrvChangeClass3 Class -3 diagnostics changed

10.3 iSp_Synchr2 Synchronous 2 11.3 - res.

10.4 - res. 11.4 iSp_DryRun Test mode

10.5 - res. 11.5 iSp_DrvPower Enabled for power activation

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 87/206

Spindle-Related Interface Signals

Page 100: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

10.6 - res. 11.6 iSp_DrvReady Drive ready (BTB)

10.7 - res. 11.7 iSp_DrvAct Drive under control

Fig.8-2: Overview of input signals (NC -> PLC)

8.2 Signal Description8.2.1 Output Signals (PLC-> NC) General

Depending on their function, the IndraMotion MTX evaluates the signals aseither static signals with signal levels logic 0 and logic 1 or as edge triggeredsignals with signal edges 0 -> 1 or 1 -> 0.

C-Axis on qSp_CAxOn With this signal, the PLC can switch a spindle to C-axis operation.Application:In special cases (spindle/tool turret), it may be necessary to switch on C-axisoperation immediately after starting the control.0 -> 1: The running spindle is decelerated and switched to C-axis op‐

eration.The NC-internal switching process is affected by the settingsin the machine parameter /SP/SpFunc/Sp[1]/SpTurrAx/Meas‐SysSpTurrAx “C-axis: tool turret” (1040 00060).

C-Axis off qSp_CAxOff With this signal, the PLC can switch a spindle back to spindle operation.0 -> 1: The drive is switched back to spindle mode.

The NC-internal switching process is affected by the settingsin the machine parameter /SP/SpFunc/Sp[1]/SpTurrAx/Meas‐SysSpTurrAx “C-axis: tool turret” (1040 00060).

1 -> 0: No function.

Spindle jog M3 qSp_JogPlus Spindle jog M4 qSp_JogMinus These signals have an effect in NC mode Setup; their functions work togetherwith the coded signals Jog speed bit 0 ... bit 2.1: Speed specification using the coded Jog speed bit 0 ... bit 2

signals is required. Furthermore, the control loop must beclosed (Drive under control is set), spindle inhibit must be resetand a gear range must be activated. As long as the Spindle jogM3 or Spindle jog M4 signal is set, the spindle rotates at therespective speed in the selected direction of rotation.

0: The spindle is decelerated until it comes to a standstill; thecontrol loop remains closed.

Signal edge

Signal edge

Signal level

88/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Spindle-Related Interface Signals

Page 101: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Example:

In Setup mode, the spindle is to be traversed in the clockwise direction at apredefined speed.

Fig.8-3: Jogging spindleThe control loop is closed (Drive under control is set), Spindle inhibit is resetand gear range 1 (Gear range 1 acknowledgement) is activated.At the same time that the Spindle jog M3 signal is set, a spindle speed must beinput (Spindle speed jog bit 0 - Spindle speed jog bit 2). Speed jog is definedfor each spindle in the machine parameter /SP/SpFunc/Sp[1]/Jog/Speed/Jog‐Speed[1] “Jog spindle speed” (1040 00015).The spindle command is set by the NC control; the direction of rotation M4 isoutput in conjunction with the spindle command.The spindle accelerates to the preselected spindle speed because the spindleinhibit has already been reset.If the Spindle inhibit signal is still set when the spindle command is output, thedirection of rotation M4 will not be output until the spindle inhibit is reset.As soon as the Spindle jog signal is reset, the spindle decelerating cycle isinitiated. When the spindle has come to a standstill, the Spindle commandsignal is reset.

In normal operation, the spindle will generally be traversed in con‐trolled mode only, not in the position control circuit. This means thatit is possible that the spindle command has been reset while thespindle is still decelerating. In order to ensure that the spindle isstationary, the “Spindle stopped” signal must also be queried.

Spindle reset qSp_Reset Using this signal, the current movement input or an active command (e.g. spin‐dle orientation) can be canceled for the respective spindle. The spindle ac‐knowledges the receipt of the reset instruction by setting the Spindle resetsignal (iSp_Reset).0 -> 1: The signal spindle reset (iSp_Reset) is set.1 -> 0: No effect.

Signal edge

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 89/206

Spindle-Related Interface Signals

Page 102: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Spindle M3 manual qSp_TurnCW Spindle M4 manual qSp_TurnCCW Alternatively to the NC part program (programming M3, M4), these signals areused to determine the sense of rotation of the spindle:● Spindle M3 manual: Spindle clockwise rotation● Spindle M4 manual: Spindle anticlockwise rotation.In this regard, signal Spindle M5 manual also has significance (see the examplechapter "Spindle M5 manual qSp_Stop " on page 90).0 -> 1: Using this edge, a spindle speed and the corresponding sense

of rotation is input for the spindle drive. The spindle will start torotate if the control loop is closed ( Drive under control) and noSpindle inhibit signal is set.The spindle speed corresponds to the speed programmed last.

1 -> 0: No effect.

Spindle M5 manual qSp_Stop Alternatively to the NC part program (programming M5), this signal is used toactivate the spindle stop function.In this regard, signals Spindle M3 manual and Spindle M4 manual are alsosignificant.0 -> 1: The spindle stops with the parameterized deceleration. The

gear range and spindle speed that were active previously re‐main stored in the NC. The control loop remains closed andtorque is still applied on the spindle drive.

1 -> 0: No effect.Example:

The spindle is to be accelerated manually in the counterclockwise direction upto the speed that was programmed last.

Fig.8-4: Spindle M5 manualThe Drive under control signal indicates that the control loop is closed and tor‐que is applied on the spindle.When the Spindle M4 manual signal is set, the speed programmed last istransmitted to the spindle drive.As a result of this speed input, the NC sets the Spindle command and Directionof rotation M4 signals.When the Spindle command signal is output, the Spindle M4 manual signal canbe reset. The spindle does not rotate while Spindle inhibit is set.Only when the Spindle inhibit signal has been reset will the spindle start rotatingand the Spindle rotating signal be set. By setting the Spindle M5 manual signal,

Signal edge

Signal edge

90/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Spindle-Related Interface Signals

Page 103: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

the rotation of the spindle is stopped and the Spindle command and Directionof rotation M4 signals are reset by the NC.

Spindle M19 manual qSp_Orientate Alternatively to the NC part program (M19), this signal calls up the "Spindleorientation" function. For this purpose, the control loop must be closed and thedrive under control.In this regard, signals Spindle in position, Spindle orientation active and Spindleorientated have significance.

This function is not available for analog spindles (machine param‐eter /SP/SpFunc/Sp[1]/Base/SpType “Spindle type selec‐tion” (1040 00001)).

0 -> 1: Spindle orientation is initiated. Spindle orientation is alwaysperformed on the zero pulse of the measuring system. The di‐rection of rotation depends on SERCOS parameter S-0-0154.

1 -> 0: No effect.Example:

The spindle is to be oriented manually; the control loop is closed.

Fig.8-5: Spindle M19 manualThe control loop is closed (Drive under control is set) and Spindle inhibit is reset.When the signal Spindle orientation manual is set, the spindle receives thecommand to rotate; Spindle command is set.Depending on the direction of rotation, Direction of rotation M4 is set when thespindle is rotating counterclockwise (M4).When the Spindle command signal is output, the Spindle orientation manualsignal can be reset.When the spindle is rotating, Spindle orientation active is set.Once the spindle has been oriented in line with the marker position, signalsSpindle orientated and Spindle in positionare set and the Spindle commandsignal is reset.

Mode selection (BA) qSp_SafModeSel This signal is a component of the safety technology for the IndraDrive series.

Signal edge

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 91/206

Spindle-Related Interface Signals

Page 104: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

The operating mode selection of the PLC is transferred as channel 1 to the drivevia the SERCOS interface in real time.1: Normal mode NO0: Special mode SO

(special mode at standstill / with movement)

Consent key qSp_SafAgreeButton This signal is a component of the safety technology for the IndraDrive series.Switching to “Special mode with movement” via the PLC is transferred as chan‐nel 1 to the drive via the SERCOS interface in real time.1: Special mode with movement0: Special mode at standstill

S switch 1 (S1) qSp_SafSwitch1 These signals are components of the safety technology for the IndraDrive ser‐ies.Two different parameter sets can be stored in the drive for “Special mode withmovement”. The parameter set selected using the PLC is transferred as chan‐nel 1 to the drive via the SERCOS interface in real time.1: Parameter set 2 for safe movement active.0: Parameter set 1 for safe movement active.

Check input safety technology qSp_SafCheckInputState This signal is a component of the safety technology for the IndraDrive series.The safe status signal set using the PLC is transferred as channel 1 to the drivevia the SERCOS interface in real time.

Status S signals qSp_SafSignalState This signal is a component of the safety technology for the IndraDrive series.The control signals of the PLC (qAx_Saf...) that are transferred via channel 1to the drive must be adjusted periodically so that they can be checked. As aresult, the PLC sets the signals to “0” for one cycle. At the same time, the PLCsets the safety signal status from "valid" to "adjusted", thus informing the drivethat the control signals are invalid.Then the signals are reset.1: The control signals of the safety technology are being adjusted.0: The control signals of the safety technology are valid.

GTS 1 - 4 acknowledgement qSp_Gear1Act ... 4Act Idle gear acknowledgment qSp_GearI‐dleAct

The current gear range is reported using these signals. In the case of a gearrange inconsistency, “idling” mode is activated when the next spindle commandis output.At control startup, the acknowledged gear range is adopted in the NC.For analog spindles (/SP/SpFunc/Sp[1]/Base/SpType “Spindle type selec‐tion” (1040 00001)), gear range switching is not supported. In the case of analogspindles, GTS 1 must be acknowledged.

Spindle speed jog bit 0 ... Bit 2 qSp_ManSpeed_00 ... 02 These signals are effective exclusively in conjunction with the Spindle jog M3or Spindle jog M4 signals.

Signal level

Signal level

Signal level

Signal level

92/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Spindle-Related Interface Signals

Page 105: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Depending on the coding, the speed defined in machine parameter /SP/SpFunc/Sp[1]/Jog/Speed/JogSpeed[1] “Jog spindle speed” (1040 00015) isactivated. If the preselected spindle speed is not in the range of the current gearrange, it will be limited to the minimum or maximum spindle speed of the acti‐vated gear range.

Machine parameter Jog speed

Bit 2

(qSp_

ManSpeed_02)

Bit 1

(qSp_

ManSpeed_01)

Bit 0

(qSp_

ManSpeed_00)

.../JogSpeed[1] 0 0 0

.../JogSpeed[2] 0 0 1

.../JogSpeed[3] 0 1 0

.../JogSpeed[4] 0 1 1

.../JogSpeed[5] 1 0 0

.../JogSpeed[6] 1 0 1

.../JogSpeed[7] 1 1 0

.../JogSpeed[8] 1 1 1

Fig.8-6: Jog speed

Spindle override 100% qSp_Override100 This signal suppresses the spindle override. The spindle then turns at the pro‐grammed speed.0→1: The spindle override is suppressed.1→0: The spindle override is in effect.

Override bit 0 ... Bit 15 qSp_Override_00 ... 15 The current spindle speed can be influenced by using the Override function.The Override function affects the speeds programmed in the NC part programand on the speed in Set-up mode.This interface can be used to continuously specify 16 bits. The IndraMotionMTX interprets the value directly as an override value in 0.01%.

Customer input 1 ... 8 qSp_Custom1 ... 8 Interface that can be configured on the NC side and can be assigned as re‐quired.(This option is currently not yet active.)

Drive on qSp_DrvOn This signal switches on the torque in the drive when the drive is ready for op‐eration (iSp_DrvReady is set). The control circuit is closed.Resetting Drive on initiates a shutdown process. If the axis is still in motion atthis time, it is brought to a halt at the preset deceleration.When the axis has come to a standstill, the control loop is opened and the Driveunder control signal is reset. Torque is no longer applied on the drive.

The entire sequence does not apply to analog spindles.

Signal edge

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 93/206

Spindle-Related Interface Signals

Page 106: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.8-7: Drive onExample:

Functioning of the starting and shutdown cycles

When the machine is started or voltage is applied, the NC unit and the servoand spindle drives go through an initialization phase.While the initialization phase of the individual components is running, the digitalinterface for communication between the NC and the drives is established,among other things.This digital interface corresponds to the settings of the SERCOS interface.Initialization of the SERCOS interface is in system, automatic and consists of4 phases. Once the interface is initialized and cyclic operation is active, theEnabled for power activation signal is output.Power can be switched on for the affected drives. When the power has beenconnected, the Drive ready signal is output.The position control loop is closed by setting Drive on. The drive is under torqueand the Drive under control signal is issued.The shutdown cycle or disconnection from the system is initiated by the PLCsequential program resetting the Drive on signal.If the axis is still in motion at this time, it is brought to a halt at the preset de‐celeration.When the axis has come to a standstill, the position control loop is opened andthe Drive under control signal is reset. Torque is no longer applied on the drive.The power can be switched off in the next step.The Enabled for power activation signal remains set as long as the machinecomponents (NC and drives) remain initialized.

Spindle inhibit qSp_DrvLock This signal is effective in any mode when the control loop is closed and torqueis applied to the spindle.It prevents the execution of a programmed or manually entered spindle move‐ment. If Spindle inhibit is set, the idling speed is not carried out.The signals Spindle command, Direction of rotation M4 and Spindle in positionare not affected.1: The spindle cannot be turned. If a rotating movement is already

active, the spindle will be stopped at the parameterized decel‐eration.

0: Spindle rotation is not inhibited. If a spindle command is initi‐ated (via the NC part program or manually) and the appropriategear range is active, the spindle can start rotating immediately.If a rotating spindle was brought to a standstill with Spindle in‐hibit, this spindle will now start accelerating to the initial speed.

Signal level

94/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Spindle-Related Interface Signals

Page 107: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Example:

Spindle lock

The machine is switched on and the control loop has been closed. A rotarymotion, e.g. M3 S1000, has been programmed via the NC part program.

Fig.8-8: Spindle lockThe Drive under control signal informs the PLC sequential program that thecontrol loop is closed. When the NC block in which the rotary movement wasprogrammed is executed, the Spindle command signal is output.As long as Spindle inhibit is set, the rotary movement will not be carried out;signal Direction of rotation M4 is not set and signal Spindle stopped is set. Thedirection of rotation can be queried only if a spindle command has been set.When Spindle inhibit is reset, the programmed rotary movement is executed,the Direction of rotation M4 is set according to the movement and Spindle stop‐ped is reset.If Spindle inhibit is set again during the rotary movement, the rotary movementis stopped and Spindle stopped is set when the spindle has come to a standstill.When Spindle inhibit is reset, the spindle accelerates to the previously appliedspeed and Spindle stopped is reset.The Spindle command signal is reset when the spindle is stopped with theM5 spindle stop function (NC part program or interface signal).

Speed limitation SD qSp_SpeedLimit With this signal, the PLC activates the speed limitation entered in the systemdata /SysSpCmdData[n]/MinSpeedLimit and /SysSpCmdData[n]/MaxSpeedLi‐mit.0 -> 1: Applies the current content of system data and activates the

speed limitation.1 -> 0: The speed limitation is switched off.

8.2.2 Input Signal (NC -> PLC) C-axis active iSp_CAxAct

This signal indicates whether the respective spindle is in C-axis mode (positioninterface) or in spindle mode (speed interface). Spindles which can be switchedover to C-axis operation have additionally to the spindle interface a normal axisinterface for C-axis operation. The C-axis active signal indicates the relevantinterface.1: The spindle is in C-axis mode: the axis interface is valid, the

spindle interface is not served by the NC.0: The spindle is in spindle mode: the spindle interface is served

by the NC, the axis interface is not valid.

Signal edge

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 95/206

Spindle-Related Interface Signals

Page 108: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

C-axis switching iSp_CAxSwitch This signal indicates that the spindle is currently in the switching phase betweenSpindle and C-axis operation.The Spindle command signal is always output at the same time.1: The spindle is in the switching phase.0: The spindle is not in the switching phase.

Turn command iSp_TurnCmd The Spindle command, Direction of rotation M4, Spindle stopped and Spindlein position signals affect each other mutually.Examples of their relationships are shown in the signal diagrams and explan‐ations for the Spindle M3 manual, Spindle M4 manual, Spindle M5 manual (seechapter "Spindle M3 manual qSp_TurnCW Spindle M4 manual qSp_TurnCCW" on page 90) and Spindle inhibit (see chapter "Spindle inhibit qSp_DrvLock "on page 94) signals.The Direction of rotation M4 signal is output in conjunction with the Spindlecommand.1: The spindle is to carry out a rotary motion, which is input either

manually (e.g. Spindle M3 manual) or via the NC part pro‐gram (e.g. M3 S1500). A prerequisite is that the control loop isclosed, i.e. the Drive under control signal must have been set.

0: Spindle rotation was stopped by a programmed M5 spindlestop function or by a Spindle M5 manual signal (qSp_Stop).In addition, the Spindle command signal is not set if Spindleorientation, Positioning Gear range switching is active.

Direction of rotation M4 iSp_TurnDirM4 This signal is effective only in conjunction with the Spindle command signal, i.e.the Direction of rotation M4 and Spindle command signals must be linked byan AND element in the PLC sequential program.In the absence of a spindle command signal, the Direction of rotation M4 signalis irrelevant.No Direction of rotation M4 signal is output or its status remains unchanged forthe functions “Gear range switching”, “Idling speed” and “Spindle orientation”.1: When Direction of rotation M4 and Spindle command are set,

the spindle should carry out a rotary movement in the counter‐clockwise direction (M4).

0: When Direction of rotation M4 not set and Spindle commandis set, the spindle should carry out a rotary movement in theclockwise direction (M3).

Spindle in position iSp_InPos This signal is relevant only in conjunction with the Spindle orientation or Spindlepositioning functions.Requirement: The control loop is closed and torque is applied to the spindle

(signal Drive under control is set).1: The spindle has been orientated or positioned and is located

in the in-position window that is defined in the drive.0: The spindle has not been oriented and/or is not located in the

parameterized inposition window.

Position control active iSp_PosCtrl 1: The spindle is activated via the position interface.

Signal level

Signal level

Signal level

Signal level

Signal level

96/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Spindle-Related Interface Signals

Page 109: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

0: The spindle is activated via the speed interface.

Spindle reset iSp_Reset This signal indicates that the spindle has accepted the control reset task andthat the spindle is again ready to accept new inputs for motion.

Speed reached iSp_ProgSpReach 1: The speed at the spindle corresponds to the programmed spin‐

dle speed and/or is within the speed tolerance range specifiedfor each spindle by the superimposition of the machine param‐eters /SP/SpFunc/Sp[1]/SpeedWin/AbsWin “'Speed reached'window in rpm” (1040 00020) and /SP/SpFunc/Sp[1]/Speed‐Win/PercWin “'Speed reached' window in % (1040 00021)”.If the speed is limited by programmed speed limits or gearrange speed limits, this signal is output when the set limit isreached. In addition, the position of the override switch is takeninto account.

0: The spindle speed is not within the speed tolerance range.

Speed limited iSp_SpLim This signal indicates that the programmed spindle speed is limited either by theactive gear range or by the programmed spindle speed limit (SMin, SMax).1: The programmed spindle speed is limited.0: The programmed spindle speed is not limited.

Spindle has stopped iSp_Stop This signal relates to the speed of the spindle.1: M5 has been executed (using the NC part program or inter‐

face), speed 0 (S0) has been set via the NC part program orthe Spindle inhibit or Override 0 signals have been set.

0: The spindle is rotating.

This signal is not generated for analog spindles!

Spindle orientated iSp_OrientateFinish Signals Spindle orientation active and Spindle in position have significancetogether with this signal. The functional relationship is set out in detail in thesignal diagram on chapter "Spindle M19 manual qSp_Orientate " on page 91 .1: The Spindle orientation function has been completed and the

spindle is in the oriented stop position.0: The spindle orientation function has been completed but the

spindle is no longer in its previous “oriented stop” position.

Orientate spindle active iSp_OrientateAct This signal is effective only in conjunction with the Spindle orientation function.The functional relationship is set out in detail in the signal diagram (see chapter8.2.1 "Output Signals (PLC-> NC) " on page 88).1: The Spindle orientation function has been activated using the

NC part program (e.g. by programming M19) or using theqSp_Orientate signal.

0: Spindle orientation is not activated.

Signal level

Signal level

Signal level

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 97/206

Spindle-Related Interface Signals

Page 110: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit 0 safety mode ... Bit 3 iSp_SafOpMode_00 ... 03 These signals are components of the safety technology for the IndraDrive ser‐ies.The control reads the selected mode of the drive (P-0-3215) and transfers it tothe PLC using these outputs.

Safety function Safety mode

Bit 3

(iAx_

SafOpMode_00)

Bit 2

(iAx_

SafOpMode_00)

Bit 1

(iAx_

SafOpMode_00)

Bit 0

(iAx_

SafOpMode_00)

Normal mode NO 0 0 0 0

Safe starting lockout (ASP) 0 0 0 1

Safe stop (SH) /

Safe mode stop (SBH)

0 0 1 0

Safe movement (SBB1) 0 0 1 1

Safe movement (SBB2) 0 1 0 0

Safe movement (SBB3) 0 1 0 1

Safe movement (SBB4) 0 1 1 0

Safety technology not active 1 1 1 1

Fig.8-9: Safety mode

Status safe position iSp_SafStatePos This signal is a component of the safety technology for the IndraDrive series.A prerequisite for the “Safe absolute position” safety function is that the driveuses this signal to report whether safe referencing has been carried out.1: The drive is safely referenced.0: No safe referencing.

Status output controller iSp_SafCtrlOutputState This signal is a component of the safety technology for the IndraDrive series.The drive uses this signal to provide feedback about its safe status.1: Safe status of the drive.0: No safe status of the drive.

Selection for GTS 1 ... 4 iSp_Gear1Sel ... 4Sel Depending on the gear range selection (manual or via the NC part program),the preselected gear range is output.The gear range can be selected directly by programming M41 - M44 (gear range1 - gear range 4) via the NC part program. The gear range is derived from theprogrammed speed S .... in conjunction with automatic gear range recognitionM40.If the speed ranges in the individual gear ranges overlap, the gear range withthe higher spindle drive speed is output.In the context of gear range switching, the Idling speed reached signal is ofimportance.Behavior afterpower-up:

After the power up or start up of the control, the gear rangewhich is reported as an acknowledgement by the PLC programvia the relevant inputs is output. If no gear range is acknowl‐

Signal level

Signal level

98/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Spindle-Related Interface Signals

Page 111: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

edged, no gear range will be output either. In this case, no gearrange is output until a gear range is selected manually or viathe NC part program.If automatic gear range recognition M40 is active upon powerup, the gear range is output only after a speed S... has beenprogrammed in conjunction with a direction of rotation M3 orM4.

0 -> 1: The change of gear is to be performed with this edge. In orderto minimize the mechanical impact of the gear change, theSpindle idling function (if available in the spindle drive) is acti‐vated in the spindle drive via the SERCOS interface. As soonas the idling speed has been reached, the NC sets the Idlingspeed reached signal so that the mechanical switching proce‐dure can be carried out. After the switching operation is com‐plete, the current gear range must be fed back to the respectiveinterface Acknowledgment GTS 1 ... Acknowledgment GTS4. Activation of the respective parameter block via theSERCOS interface concludes the gear switching operation.

GTS change iSp_GearChange This signal is effective only in conjunction with the gear switchover function,triggered by M functions M40, 41, 42.1: A change of gear range is executed.0: The change of gear range has been completed.

Idling speed reached iSp_IdleSpeed This signal is effective in conjunction with the gear switchover function and thefeedback signal of the current gear range.The Spindle override setting is not taken into account when the idling speed isoutput.1: The spindle speed corresponds to the idling speed. This signal

is normally used to switch gear ranges.0: The idling speed has not yet been reached.

Idle gear selection iSp_GearIdleSel Depending on the gear range selection (manual or via the NC part program),the preselected gear range or idling setting is output.Idling can be selected directly by programming the M48 function in the NC partprogram. Neither a M3 or M4 direction of rotation, Spindle orientation M19 nora spindle speed S... may be programmed in conjunction with M48.In this context, the Idling speed reached signal is also of importance.0 → 1: This signal edge is used to switch the gear to the idle

position . In order to minimize the mechanical impact of thegear change, the Spindle idling function (if available in thespindle drive) is activated in the spindle drive via the SERCOSinterface.As soon as the idling speed (possibly accompanied by spindlegear meshing) is reached, the NC sets the Idling speedreached signal and the mechanical switching operation can becarried out.After the switching operation is complete, the idling position ofthe gear must be fed back to the Idle gear acknowledgementinterface; gear switching is thus complete.

Signal edge

Signal level

Signal level

Signal edge

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 99/206

Spindle-Related Interface Signals

Page 112: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

1 → 0: The gear switching operation in the idling position is deselec‐ted.

Spindle override 0% iSp_Override0 This signal indicates that the override of the spindle is set to 0% and that noOverride 100% has been selected using the interface (qSp_Override100).1: 0% acts on the spindle.0: A value not equal to 0% acts on the spindle.

Spindle override 100% iSp_Override100 This signal indicates that the override of the spindle is set to 100% and/or thatOverride 100% has been selected using the interface (qSp_Override100).1: A value of 100% acts on the spindle.0: A value not equal to 100% acts on the spindle.

SCS signal status 0 ...15 iSp_ScsState00 ... 15 In the signal status word (SERCOS parameter S-0-0144), the configured bitsignals from the cyclic telegram of the spindle drive are transmitted to the NC.The status signals can be configured in parameter S-0-0026. For transmissionof the signals in cyclic telegram, parameter S-0-0144 must be taken over intothe configuration list of the drive telegram (S-0-0016).Example:

Configuration:

● S-0-0026 = (330, 331,0, 333, 0, 335, 336, 337, 0, 0, 0, 0, 0, 0, 0, 0):Configuration of the signal status word

● S-0-0016 = (40, 144):Configuration of the drive telegram

The following status messages are then allocated to the individual signals:iSp_ScsState00: S-0-0330 message nact= ncom

iSp_ScsState01: S-0-0331 message nact= 0

iSp_ScsState02: -iSp_ScsState03: S-0-0333 message Md ≥ Mdx, as “symbol_D”

iSp_ScsState04: -iSp_ScsState05: S-0-0335 message ncom>nlimit

iSp_ScsState06: S-0-0336 message In-PositioniSp_ScsState07: S-0-0337 message P ≥ Px, as “symbol_D”

NC-A 7.0: -NC-A 7.1: -NC-A 7.2: -NC-A 7.3: -NC-A 7.4: -NC-A 7.5: -NC-A 7.6: -NC-A 7.7: -

Signal level

Signal level

100/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Spindle-Related Interface Signals

Page 113: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

For a detailed description of all status messages available, pleasesee the SERCOS interface Specifications.

Customer output 1 ... 8 iSP_Custom1 ... 8 Interface that can be configured on the NC side and can be assigned as re‐quired.(This option is currently not yet active.)

No. of coupling bits 0 ... Bit 2 iSp_CoupleIndex_00 ... 02 When spindle coupling is active, the number of the coupling is output for eachmember of a group of coupled spindles using this signal.

Spindle is master iSp_Master This signal indicates the master of a group of coupled spindles.1: The spindle is the master spindle.0: The spindle is a slave spindle.

Coupling error iSp_CoupleErr When spindle coupling is active (see iSp_CoupleIndex_00 - 02), this signalsupplies information about the current status of the group of coupled spindlesfor master spindles (iSp_Master is set).1: The group of coupled spindles is in a fault status. This error can

be cleared by a “master spindle control reset” or by an “overallcontrol reset”.

0: The status of the group of coupled spindles is normal.

Synchronous 1 iSp_Synchr1 When spindle coupling is active (see iSp_CoupleIndex_00 - 02), this signalsupplies the following information about the angular offset for slave spindles(iSp_Master is not set).1: The synchronous mode window is being complied with and a

programmed angular offset has been executed.0: The synchronous mode window is not being complied with or

a programmed angular offset is just being executed.

Synchronous 2 iSp_Synchr2 When spindle coupling is active (see iSp_CoupleIndex_00 - 02), this signalsupplies the following information about the error window for slave spindles(iSp_Master is not set).1: The synchronous mode error window is being complied with.0: The synchronous mode error window is not being complied

with.

Error diagnostics class-1 iSp_DrvErrClass1 This signal reports a fault of diagnostics class-1 (drive cutoff with interlock) andis a direct map of the corresponding signal in the SERCOS drive status wordof the drive in question. The interlock can be canceled only by the command“Reset diagnostics class1”, which is set automatically by the NC upon a controlreset.The pending error can be evaluated manually using the NC operator interfaceor automatically by having the PLC directly read S-0 0011.Parameter S-0 0011 comprises 2 bytes and has the following structure:

Signal level

Signal level

Signal level

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 101/206

Spindle-Related Interface Signals

Page 114: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit 0: -

Bit 1: Amplifier switchoff temperature S-0-0203

Bit 2: Motor switchoff temperature S-0-0204

Bit 3: -

Bit 4: Control voltage fault

Bit 5: Feedback error (encoder, measuring system)

Bit 6: Error in electronic commutation system

Bit 7: Overcurrent

Bit 8: Overvoltage

Bit 9: Undervoltage fault

Bit 10: Phase fault in power supply

Bit 11: Excessive controller deviation S-0-0159

Bit 12: Communication Error

Bit 13: Position limit value exceeded S-0-0049

Bit 14: -

Bit 15: Manufacturer specific error S-0-0129

Fig.8-10: Structure of parameter S-0-0011

For analog spindles (/SP/SpFunc/Sp[1]/Base/SpType “Spindle typeselection” (1040 00001)), this signal is not generated.

1: A diagnostics class -1 error has occurred.0: There is no diagnostics class -1 error.

Refer to the SERCOS interface Specifications for more informationon diagnostics class 1 errors.

Change of diagnostics class-2 iSp_DrvChangeClass2 This signal reports a change of diagnostics class 2 (switchoff prewarning) andis a direct map of the corresponding signal in the SERCOS drive-status wordof the drive in question.The bit is set when diagnostic class -2 is modified and is reset after reading thestatus via parameter S-0-0012. Reading can occur manually using the NC op‐erator interface or automatically by having the PLC directly read S-0-0012.Parameter S-0-0012 comprises 2 bytes and contains the following warnings.

Bit 0: -

Bit 1: Amplifier overtemperature warning S-0-0311

Bit 2: Motor overtemperature warning S-0-0312

Bit 3

to 14:-

Bit 15: Manufacturer specific warning S-0-0181

Fig.8-11: Warnings parameter S-0-0012The effect of switchoff warnings concerning the alteration bit can be suppressedon the screen for diagnostics class 2 (S-0-0097).

Signal level

102/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Spindle-Related Interface Signals

Page 115: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

For analog spindles (/SP/SpFunc/Sp[1]/Base/SpType “Spindle typeselection” (1040 00001)), this signal is not generated.

Change of diagnostics class-3 iSp_DrvChangeClass3 This signal reports a change of diagnostics class -3 (operating status messag‐es) and is a direct map of the corresponding signal in the SERCOS drive-statusword of the drive in question. The bit is set when diagnostic class -3 is modifiedand is reset after reading the status via parameter S-0-0013. Reading can occurmanually using the NC operator interface or automatically by having the PLCdirectly read S-0-0013.Parameter S-0-0013 comprises 2 bytes and contains the following messages:

Bit 0: nact= ncomm S-0-0330

Bit 1: nact = 0 S-0-0331

Bit 2: ¦nact¦<¦nx¦ S-0-0332

Bit 3: ¦Md¦≥¦Mdx¦ S-0-0333

Bit 4: ¦Md¦≥¦Mdlimit¦ S-0-0334

Bit 5: ¦ncom¦>¦nlimit¦ S-0-0335

Bit 6: In-position S-0-0336

Bit 7: ¦P¦≥¦Px¦ S-0-0337

Bit 8: -

Bit 9: nact ≥min. spindle speed S-0-0339

Bit 10: ¦nact¦≥max. spindle speed S-0-0340

Bit 11: In-position rough S-0-0341

Bit 12: Target position reached S-0-0342

Bit 13: Interpolator halted S-0-0343

Bit 14: -

Bit 15: Manufacturer specific operating states S-0-0182

Fig.8-12: Messages of parameter S-0-0013The effect of operating states concerning the alteration bit can be suppressedon the screen for diagnostics class 3 (S-0-0098).

For analog spindles (/SP/SpFunc/Sp[1]/Base/SpType “Spindle typeselection” (1040 00001)), this signal is not generated.

Test mode iSp_DryRun This signal indicates whether a spindle has been switched to test mode. In testmode, a spindle is still interpolated internally; however, the calculated commandvalues are only shown on the display and not transmitted to the drive.Test mode can be activated using a softkey, automatically for drives that arenot connected (no SERCOS ring present) or using machine parameter 100100010 /MAIN/Dr[1]/EnablVirtMode “Virtual drive”.

Enabled for power activation iSp_DrvPower This signal is closely related to the signals Start inhibitor, Drive on, Driveready and Drive under control.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 103/206

Spindle-Related Interface Signals

Page 116: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

The functional relationship is set out in detail in the signal diagram for the Driveinhibit signal (chapter "Drive on qSp_DrvOn " on page 93).1: Initialization of the SERCOS interface, the spindle drive and

the NC control are complete and no errors are present. Thissignal is a prerequisite for connecting the drive to power.

0: Power cannot be connected to the drive.

For analog spindles (/SP/SpFunc/Sp[1]/Base/SpType “Spindle typeselection” (1040 00001)), this signal is not generated.

Drive ready iSp_DrvReady This signal is closely related to the signals Start inhibitor, Drive on, Enabled forpower activation and Drive under control.The functional relationship is set out in detail in the signal diagram for the Driveinhibit signal (chapter "Drive on qSp_DrvOn " on page 93).1: Power is connected to the affected drive. The signal remains

set until the drive is cut out.0: The power is not connected to the drive.

For analog spindles (/SP/SpFunc/Sp[1]/Base/SpType “Spindle typeselection” (1040 00001)), this signal is not generated.

Drive under control iSp_DrvAct This signal is closely related to the signals Start inhibitor, Drive on, Enabled forpower activation and Drive ready.The functional relationship is set out in detail in the signal diagram for the Driveinhibit signal (chapter "Drive on qSp_DrvOn " on page 93).

For analog spindles (/SP/SpFunc/Sp[1]/Base/SpType “Spindle typeselection” (1040 00001)), this signal is not generated.

1: The control loop remains closed and torque is applied on thedrive. The spindle can be rotated unless it is locked by anyother function, e.g. Spindle inhibit.

0: The control loop is open and no torque is applied on the drive.

When changing from logic 1 to logic 0, spindle stop (M5) is triggeredwithin the NC.

Signal level

Signal level

Signal level

104/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Spindle-Related Interface Signals

Page 117: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

9 Auxiliary Functions9.1 General

Auxiliary functions are programmed in the NC part program.All bit-coded auxiliary functions programmed in an NC block are mapped inparallel to markers.Output of non-bit-coded auxiliary functions can be preset using machine pa‐rameter /AUXF/OutBehav/OutBehavMode “Output mode of the auxiliary func‐tions” 301000015:0: Only bit-coded auxiliary functions are output in parallel.1: All auxiliary functions of an NC block are output in parallel.Parallel data transfer helps avoid machine downtimes.The following conventions apply to auxiliary functions:● Every channel has several auxiliary functions. The names (auxiliary func‐

tion types) of auxiliary functions (M, S, T, ...) are specified in machineparameter /AUXF/ClassDef/Class[1]/AuxFuncName “Names of auxiliaryfunctions” (3010 00030).

● An auxiliary function can be mapped as a– bit-coded auxiliary function– 32-bit BCD-coded auxiliary function– 64-bit BCD-coded auxiliary function– INTEGER-coded auxiliary function (32 bits)– FLOAT-coded auxiliary function (32 bits)– DOUBLE-coded auxiliary function (64 bits)on an operand range (machine parameter /AUXF/ClassDef/Class[1]/Ena‐blAuxFunc, /AUXF/ClassDef/Class[1]/AuxFuncChDep, /AUXF/ClassDef/Class[1]/Bit, /AUXF/ClassDef/Class[1]/Bcd32, /AUXF/ClassDef/Class[1]/Int, /AUXF/ClassDef/Class[1]/Float, /AUXF/ClassDef/Class[1]/Double“Classes of auxiliary functions” (3010 00040)). These auxiliary functionscan be defined both channel-dependently and channel-independently.

● For each channel, several auxiliary function types can be declared as bit-coded auxiliary functions (machine parameter /AUXF/ClassDef/Class[1]/AuxFuncName “Names of auxiliary functions” (3010 00030)), e.g. theauxiliary function with the designation M and the auxiliary function with thedesignation H.

● The start addresses of bit-coded auxiliary functions are set individually foreach channel in machine parameter /AUXF/PlcIf/ChDep/ChIf[1]/AddrCh‐DepBit “Addresses of the channel-specific bit-coded auxiliary func‐tions” (2060 00009).

● The auxiliary functions are output asynchronously in respect of the pro‐cessing of the IEC tasks. This means that also within PLC processing, theCNC can transfer an auxiliary function to the PLC in the marker area.

● For this reason, auxiliary functions of type Double must always be definedso that they require acknowledgement to ensure the consistency of theauxiliary function value.

● Only the change signal (bit 0) may be reset to acknowledge non-bit-codedauxiliary functions.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 105/206

Auxiliary Functions

Page 118: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

9.2 Bit-Coded Auxiliary Functions Auxiliary functions are most often required in the PLC sequential program inthe form of individual signals. In this way, for example, the coolant is switchedon/off, a clamp is opened/closed or a cylinder is extended/retracted.Auxiliary functions are programmed in the NC part program in order to triggerthese functions. The decoded auxiliary functions are mapped on an operandrange (e.g. markers). The absolute size of this range is dependent on the num‐ber of auxiliary functions which are to be decoded as well as on the number ofchannels (machine parameter /MAIN/NofCh “Number of channels” (904000001)).The start address of the operand range is defined for each channel in machineparameter /AUXF/PlcIf/ChDep/ChIf[1]/AddrChDepBit “Addresses of the chan‐nel-specific bit-coded auxiliary functions” (2060 00009).Example:

Bit-coded auxiliary functions

3 channels are defined in the NC. For each channel, 128 (machineparameter /AUXF/NofAuxFunc/ChDep/ChDepBit “Number of auxiliary func‐tions [2]” (3010 00010)) decoded auxiliary functions of type M are declared(machine parameter /AUXF/ClassDef/Class[1]/AuxFuncName “Names of aux‐iliary functions” (3010 00030)); the operand range is to be at maker M200.0 forchannel 0 (machine parameter /AUXF/PlcIf/ChDep/ChIf[1]/AddrChDepBit “Ad‐dresses of the channel-specific bit-coded auxiliary functions [1]” (2060 00009)).The auxiliary functions of the remaining channels follow one another (machineparameter /AUXF/PlcIf/ChDep/ChIf[2]/AddrChDepBit “Addresses of the chan‐nel-specific bit-coded auxiliary functions [2]” (2060 00009) -> M240, Machineparameter /AUXF/PlcIf/ChDep/ChIf[3]/AddrChDepBit “Addresses of the chan‐nel-specific bit-coded auxiliary functions [3]” (2060 00009) -> M280).Owing to these parameters, the marker field has the following structure:

Channel M function Marker field

0 M31 - M0 M203.7 ... M200.0

M128... M96 M215.7 ... M212.0

1 M31 - M0 M243.7 ... M240.0

M128... M96 M255.7 ... M252.0

2 M31 - M0 M283.7 ... M280.0

M128... M96 M295.7 ... M292.0

Fig.9-1: Structure of the marker fieldIn this example, a 16-byte marker field is defined for every channel. In thesemarker fields, every bit-coded auxiliary function occupies one marker.

Bit-coded auxiliary functions may require acknowledgment or not require ac‐knowledgment, as defined in machine parameter /AUXF/BitAckn/Byte000_015/Byte000 ... /AUXF/BitAckn/Byte176_191/Byte191 “Acknowlegement require‐ment of bit-coded auxiliary functions” (3010 00020).Acknowledgement is made by the PLC user program resetting the respectivebit-coded auxiliary function.As long as an auxiliary function which requires acknowledgement is not resetby the PLC user program, the following NC block will not be executed.

106/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Auxiliary Functions

Page 119: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Auxiliary functions which do not require acknowledgement must likewise bereset by the PLC user program in order to recognize the changed signal levelfrom logic 0 to logic 1 when the auxiliary function is output again.Bit coded auxiliary functions are first and foremost channel related, i.e. the as‐signed bit is set on the channel concerned. With M10, for example, the 11th bitof the channel on which the auxiliary function was output is set.Depending on the application, operation of the PLC user program can be sim‐plified by assigning a global effect to some bit coded auxiliary functions.For this purpose, a specific auxiliary function of a random channel is assignedto the global auxiliary function in the marker field.

9.3 Non-Bit-Coded Channel-Independent Auxiliary Functions Apart from the bit-coded format (e.g. type M), auxiliary functions can also beoutput in BCD code with 32 or 64 bits or as a binary value in INTEGER (32 bit),FLOAT (32 bit) and DOUBLE (64 bit) formats (such as auxiliary functions oftype S).Non-bit-coded, channel independent auxiliary functions are not assigned to anyspecific channel and therefore have the same effect on every channel.An operand area is defined for every non bit-coded type of auxiliary function.Every operand area has either 8 bytes (32-bit BCD, INTEGER and FLOAT val‐ue) or 12 bytes (64-bit BCD and DOUBLE value).The address position of these areas is defined in machine parameter /AUXF/PlcIf/ChIndep/AddrChIndepBcd32 “Operand address (general)” (2060 00003)and/or /AUXF/PlcIf/ChIndep/AddrChIndepInt, /AUXF/PlcIf/ChIndep/AddrChIn‐depFloat, /AUXF/PlcIf/ChIndep/AddrChIndepDouble “Operand addresses: IN‐TEGER, FLOAT, DOUBLE” (2060 00020) as an offset in the marker area.Example:

Non-bit-coded channel-independent auxiliary functions

The “S” auxiliary function has been declared to be a 32 bit-coded auxiliaryfunction.The start address of the marker field of the “S” auxiliary function is to begin atthe M20 marker byte.

Fig.9-2: Start address for the marker fieldThe control code in marker byte M20 has the following meaning:

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 107/206

Auxiliary Functions

Page 120: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.9-3: Control code marker byte M20The example above shows that when a BCD-coded auxiliary function is outputto the marker field with bytes M24 through M27, the BCD value is relayed andthe M20.0 change signal is set. The PLC user program must acknowledge theoutput of the auxiliary function by resetting the change signal on marker M20.0.If the auxiliary function has been programmed with a negative sign in the partprogram, the M20.1 marker will also be set.

All BCD-coded auxiliary functions have the same structure as shown in theexample above. For 64 bit auxiliary functions, the total length of the corre‐sponding marker fields is 12 bytes instead of 8 bytes.

9.4 Non-Bit-Coded Channel-Dependent Auxiliary FunctionsIn addition to the non bit-coded, channel independent auxiliary functions, theseauxiliary functions can also be defined as being channel dependent; in thiscase, a marker area with the corresponding auxiliary function is assigned toevery channel.The address position of these areas is defined separately for every channel asan offset in the marker area in the machine parameters (-1: auxiliary functionarea is not used):● /AUXF/PlcIf/ChDep/ChIf[1]/AddrChDepBcd32 “Addresses of the chanel-

specific 32 Bit BCD-coded auxiliary functions” (2060 00010)● “Addresses of channel-specific 64 bit BCD-coded auxiliary func‐

tions” (2060 00011)● /AUXF/PlcIf/ChDep/ChIf[1]/AddrChDepInt “Addresses of the channel-

specific INTEGER-coded auxiliary functions” (2060 00012)● /AUXF/PlcIf/ChDep/ChIf[1]/AddrChDepFloat “Addresses of the channel-

specific FLOAT-coded auxiliary functions” (2060 00013)● /AUXF/PlcIf/ChDep/ChIf[1]/AddrChDepDouble “Addresses of the chan‐

nel-specific DOUBLE-coded auxiliary functions” (2060 00014)Example:

Non-bit-coded channel-dependent auxiliary functions

The “T” auxiliary function has been declared to be a channel dependent INTE‐GER coded auxiliary function.The start address of the marker field of the “T” auxiliary function is to begin:● at marker field M112 in channel 0

108/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Auxiliary Functions

Page 121: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

● at marker field M120 in channel 1● at marker field M128 in channel 2

Fig.9-4: Channel-dependent INTEGER auxiliary function of channel 0

Fig.9-5: Channel-dependent INTEGER auxiliary function of channel 1

Fig.9-6: Channel-dependent INTEGER auxiliary function of channel 2The control code in marker byte M20 has the following meaning:

Fig.9-7: Control code marker byte M20

The example above shows that when an INTEGER coded auxiliary function“T” is output in channel 1 to the marker field with bytes M124 through M127,the binary value is relayed and the M120.0 change signal is also set. The PLCuser program must acknowledge the output of the auxiliary function by resettingthe change signal on marker M120.0.All non-bit-coded auxiliary functions have the same structure as shown in theexample above. For 64-bit auxiliary functions, the total length of the corre‐sponding marker fields is 12 bytes instead of 8 bytes.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 109/206

Auxiliary Functions

Page 122: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Page 123: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

10 Access to Digital I/Os Access to digital I/Os from the PLC user program is adapted in the machineparameters of group 4075. This adaptation involves setting the I/O signal as‐signments in the PLC and the application of PLC addresses.An extension card with digital I/Os is available for the IndraMotion MTX. Fur‐thermore, decentral I/Os are possible using PROFIBUS-DP.The IndraMotion MTX has a PROFIBUS-DP interface which can be used as aDP master interface .This interface is designed for the connection of decentralized PROFIBUS-DPperipherals.The I/O configuration of the PROFIBUS-DP is effected via the IndraLogic userinterface. The DPConfi diagnostic tool can be used to analyze errors.

An error reported by the DP master in the DP master status doesnot force a STOP of the PLC. If error handling is required, this mustbe programmed in the PLC user program.

PROFIBUS-DP interface

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 111/206

Access to Digital I/Os

Page 124: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Page 125: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

11 Program Modules11.1 General Structure of Program Modules

The integrated program modules can be called up cyclically and with parame‐ters set by the PLC sequential program.If a module is called several times before the data from the previous call arereceived, ensure that another instance of the module is used.An error code is output if an error occurs in the execution of a function whichprevents the proper execution of the respective function. Errors can occur forexample by reason of faulty parameterizing, e. g. an impermissible channelnumber. Also, system errors may occur, which will also be displayed with therespective error code.The error code has a length of 2 bytes:The type of error or status is represented in the error code in the form of a signednumber.There are two categories of errors and states:1. General errors and states.

These are errors and states caused by calling a function withincorrect parameter settings or an internal NC error.

2. Function-specific errors and states.These are errors and states that are reported as an acknowl‐edgement upon the execution of a function.

Because some of the error messages are function-specific, they areexplained in the description of the respective function.Error codes are defined by Rexroth and are updated as required inthe context of new releases.

The programming example for the first program module is shown in the PLCprogramming languages KOP, FUP, AWL and ST. All other programming ex‐amples are shown only in KOP.

11.2 Reading Actual Axis Values (MT_ScsPos) 11.2.1 Function

This program module supplies the actual values of all axes at the time of therequest.The actual axis value feedback is scaled to 0.1 μm and represented as an in‐teger with 4 bytes.As regards cyclic calls of this module, please note that the number of callsshould be limited to what is necessary to reduce strain on the system capacity.This can be achieved by, for example, timer programming, time-controlledmodules or by calling the module only every nth cycle.The module may be called once or repeatedly in a PLC-cycle; calls may beunconditional or conditional.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 113/206

Program Modules

Page 126: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-1: Module MT_ScsPosThe module is called with the following parameters:Start: Flag for a new requestChan: desired channel numberDestAddr: address for the data (ADR(<Variable>))Size: Max. size of the memory for the data (in bytes).

(SIZEOF(<Variable>)The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.NofElem: Number of returned elements

This module provides actual data feedback of every axis, regard‐less of the channel number transferred.

The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned, the function is completed and Active is reset.

11.2.2 Configuration Example3 axes are defined in channel 1. The actual axis values are to be queried withthe positive edge of PLC input %IX40.2.The task is triggered with the increasing edge at input %IX40.2.Given these requirements, the MT_ScsPos program module call may be struc‐tured as follows:

Module parameters

114/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 127: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Example:

as ladder diagram (KOP)

Fig.11-2: Ladder diagram (KOP)

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 115/206

Program Modules

Page 128: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Example:

as function plan (FUP)

Fig.11-3: Function plan (FUP)

Example:

as instruction list (AWL)(* Increasing edge --> startGetAxPos *)LD %IX40.2STR_TRIG_Inst.CLKCALR_TRIG_Inst

116/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 129: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

(* Call of the function module for reading the axis posi-tion *)LDR_TRIG_Inst.QST startGetAxPosLD startGetAxPosST GetAxesPos.StartLD AxesPosADRST GetAxesPos.DestAddrLD AxesPosSIZEOFST GetAxesPos.SizeCAL GetAxesPos(Chan=Channel)(* Set marker indicating that the function has been star-ted *)LD GetAxesPos.ActiveST activeGetAxPos(* Return as long as the function is active *)RETC(* Return if the function has not been started *)LD activeGetAxPosRETCNR activeGetAxPos(* Reset marker *)(* Error handling in case of error*)LD GetAxesPos.ErrorJMPC error(* Positions read with no errors *)(* Transfer of 1st axis position *)LD AxesPos[0]ST AxPos_X(* Transfer of 3rd position *)LD AxesPos[3]ST AxPos_ZRETError:(* Error handling *)RET

Example:

as structured text (ST)(* Increasing edge --> startGetAxPos *)R_TRIG_Inst(CLK := %IX40.2);StartGetAxPos:=R_TRIG_Inst.Q;(* Call GetAxesPos *)

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 117/206

Program Modules

Page 130: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

GetAxesPos(Start:=startGetAxPos,Chan:=Channel,DestAddr:=ADR(AxesPos), Size:=SIZEOF(AxesPos));(* Set marker indicating that the function has been star-ted *)activeGetAxPos:=GetAxesPos.Active;(* Return as long as the function is still active *)IF ( GetAxesPos.Active )THENRETURN ;END_IF(* Return if the function has not been started *)IF ( activeGetAxPos =NOT xxx ) THENRETURN ;END_IF(* Reset marker *)ActiveGetAxPos := FALSE;IF ( GetAxesPos.Error) THEN(* Error handling *)RETURN ;ELSE(* Axis positions read with no errors *)(* Transfer of 1st axis position *)AxPos_X := AxesPos[0];(* Transfer of 3rd position *)AxPos_Z := AxesPos[2];END_IF

11.2.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.

11.3 Program Selection/Deselection (MT_ProgSel) 11.3.1 Function

This module facilitates the selection and deselection of an NC-part program viathe PLC sequential program.Mode 3 (Program change) allows another program to be selected without re‐setting the modal functions. For example, another program can be selectedwhile the spindle is still running if “M5” in the init string is deleted. This applies

118/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 131: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

on the condition that the program selected previously has been fully executedor has not been started yet.The External program selection/deselection module can be called uncondition‐ally or conditionally. If several channels are activated, the module can also becalled several times per PLC cycle.

Fig.11-4: Program selection / deselection moduleThe module is called with the following parameters:Start: Flag for a new requestChan: Desired channel number.Mode: 1 to select the program

2 to select the program while automatically deselecting the oldprogram,3 to change the program4 to deselect the program

Program‐Name:

Program name (incl. path)

If an empty string is transferred in parameter ProgramName, the program num‐ber (with a preceding “P”) is used as the program name. The MT_ProgSelmodule converts the program number into ASCII characters because the partprograms in Rexroth IndraMotion MTX are stored according to character, notnumerically.If a program to be selected is specified by the program name (ASCII string),ensure that the program name is limited to 30 characters (including the NULASCII character for termination).In the case of programs that must be linked (programs or subroutines that con‐tain CPL instructions), only 28 characters are permitted because 2 additionalcharacters are required for the extension in the link table.If the search path for selecting a program is to be different from the NC-internalsearch path defined in the machine parameters, the respective directory con‐taining the program can be transferred together with the program name. How‐ever, the total length of 127 characters must not be exceeded. For example, toensure that the “test.cplgenerell” program is always selected from the user FE‐PROM, the program name to be transferred must be “ /usrfep/test.cpl”.ProgramNum‐ber:

program number

StartBlock: Start block (empty string: no start block)EndBlock: End block (empty string: no end block)The feedback parameters are:Active: Flag that displays if the function is still active.

Module parameters

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 119/206

Program Modules

Page 132: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Error: Error detection: FALSE means that the function has been pro‐cessed without errors.

ErrorNo: Error code: valid only if Error = TRUEAn NC part program can be selected only if Automatic mode is active.The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the programhas been selected/deselected, the function is completed and Active is reset.Parameter Mode specifies whether a program is selected or a program that wasalready active is to be deselected.To deselect a program, only the channel number need to be entered. Thechannel number is always entered as an integer.If an empty string is transferred in parameter ProgramName , the programnumber (with a preceding “P”) is used as the program name. The MT_ProgSelmodule converts the program number into ASCII characters because the partprograms in the IndraMotion MTX are stored according to character, not nu‐merically.If a program to be selected is specified by the program name (ASCII string),ensure that the program name is limited to 29 characters, with a trailing NULASCII character for termination. If the search path for selecting a program is tobe different from the NC-internal search path defined in the machine parame‐ters, the respective directory containing the program can be transferred togeth‐er with the program name. However, the total length of 30 characters must notbe exceeded. For example, to ensure that the “test.cplgenerell” program is al‐ways selected from the user FEPROM, “/usrfep/test.cpl” must be transferredas program name.If the part program is to be started at a certain block, a start block can be definedin addition to the program name. The start block can be an NC block accordingto DIN 66025 (always begins with “N”) or a CPL block (no “N” in front of theblock number). Therefore, the start block is defined as a character string. Thestart block length is limited to 9 ASCII characters, with a trailing NUL ASCIIcharacter for termination.If the part program does not complete machining (M30) but is to terminate be‐fore the end, an end block can be defined. The same rules as for defining startblocks apply to defining end blocks.If a program is still active when another program is to be selected, it suffices toselect the program with Mode 2 or 3. Accordingly, the program is deselectedautomatically provided the NC is in Ready or Stopped status.

11.3.2 Configuration ExampleThe NC part program with the program name “Labor.npg” is to be activated inchannel 1.The task is triggered with the increasing edge at input %IX40.3.Module MT_ProgSel could be called as follows:

120/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 133: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-5: Calling module MT_ProgSel

11.3.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 121/206

Program Modules

Page 134: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:1: Illegal number of channels.Errors or states occurring upon program selection:2: Channel is busy.3 : Control reset is currently being executed on the channel.4: The program name is too long.5: Axes have not been referenced.6: Program cannot be opened.7: Error during program selection.8: Either the wrong operation mode or none at all has been se‐

lected.25: Syntax error in the selected program.Errors or states occurring upon program deselection:1 : Illegal number of channels.3 : Control reset is currently being executed on the channel.10 : No program is selected.11 : Program is running and feed hold is not present.

11.4 NC Block Input (MT_NcBlk) 11.4.1 Function

This program module facilitates the input of an NC block via the PLC sequentialprogram. The NC channel must be in MDI or Automatic mode in this case. NCblock input can be made even while the program is running provided no axisaddresses are input that would have an impact on the running machining proc‐ess. In this way, for example, command values for auxiliary axes or auxiliaryfunctions can be transferred to the NC.If an NC block is input that would have an impact on the running machiningprocess, such as inputting a feed or programming a synchronous axis, a syntaxerror occurs.The input block must be completely processed before another block can beinput in the same channel.This module can be called unconditionally or conditionally.

Fig.11-6: Module MT_NcBlkThe module is called with the following parameters:Start: Flag for a new request.Chan: Desired channel number.NcBlock: NC block to be executed.The feedback parameters are:

Module parameters

122/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 135: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUEThe function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out, i.e. the input block hasbecome active. However, the movement must not yet be complete.If an asynchronous movement is input whose end point has not been reachedyet, this ensures that the axis travel command is already set at the time thefunction is completed.When the function is terminated, the status Active is reset.The NC executes the NC block immediately after receipt, without an additionalNC start signal.

11.4.2 Configuration ExampleNC block “G91 X10 Y5 Z1 F10000” is to be transferred in channel 1.Module MT_NcBlk could be called as follows:

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 123/206

Program Modules

Page 136: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-7: Calling module MT_NcBlk

124/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 137: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-8: Calling module MT_NcBlk

11.4.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:1: Illegal number of channels.2: Channel is busy.3: The channel is just being (control) reset.4: NC block is too long.5: Axes have not been referenced.7: NC block selection was cancelled via control reset.8: Either the wrong operation mode or none at all has been se‐

lected.25: A runtime error was detected in the NC input, e.g. a syntax

error.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 125/206

Program Modules

Page 138: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

11.5 Extended NC Block Input (MT_NcBlkExt) 11.5.1 Function

The program module Extended NC block selection facilitates the input of an NCblock via the PLC sequential program. Via input parameter Options, the pro‐cessing of default to NC side can be influenced. The NC channel must be inMDI or Automatic mode in this case. NC block input can be made even whilethe program is running provided no axis addresses are input that would havean impact on the running machining process. In this way, for example, com‐mand values for auxiliary axes or auxiliary functions can be transferred to theNC.If an NC block is input that would have an impact on the running machiningprocess, such as inputting a feed or programming a synchronous axis, a syntaxerror occurs.The input block must be completely processed before another block can beinput in the same channel.This module can be called unconditionally or conditionally.

Fig.11-9: Calling module MT_NcBlkExtThe module is called with the following parameters:Start: Flag that executes a new request.Chan: Desired channel number.Options: Options is from type “MT_NcBlk_Options_t” and can apply the

following values to control the block selection:NO_AUTO_STARTNo automatic start after activating the NC block. ProcessingNC block must be started via signal qCh_NcStart per PLC.NO_CHAN_CHANGEIf the transferred channel is occupied, the task is not detouredautomatically into the AutoStart channel.PROCESS_DELETEIf meanwhile the block selection is processed in the channel, aprogram is active (ready) or feed stop is active, this is dese‐lected and the predefined NC block will be active.

NcBlock: NC block to be executed.The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUEThe function starts when the Start bit is set and Active is not set. If Bit Start isnot reset using the PLC sequential program, it is reset when the function hasbeen carried out.

Module parameters

126/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 139: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Active is set until the function has been carried out, i.e. the input block hasbecome active. However, the movement must not yet be complete.If an asynchronous movement is input whose end point has not been reachedyet, this ensures that the axis travel command is already set at the time thefunction is completed. On the end of the traversing movement, “iAx_InPos” canbe requested via interface signal.When the function is terminated, the status Active is reset.If option bit NO_AUTO_START is not set, the NC executed the NC block im‐mediately after receipt without additional NC start signal.

11.5.2 Configuration ExampleNC block “G91 X10 Y5 Z1 F10000” should be transferred in channel 1and nodetour should occur in the auto start channel.Module MT_NcBlkExt could be called as follows:

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 127/206

Program Modules

Page 140: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-10: Calling module MT_NcBlkExt

11.5.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:1: Illegal number of channels.

128/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 141: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

2: Channel is busy.3: The channel is just being (control) reset.4: NC block is too long.5: Axes have not been referenced.7: NC block selection was cancelled via control reset.8: Either the wrong operation mode or none at all has been se‐

lected.25: A runtime error was detected in the NC input, e.g. a syntax

error.

11.6 Temperature Compensation (MT_TempComp) 11.6.1 Function

This program module allows the user to set a compensation value via the PLCsequential program to offset temperature impacts. The PLC program transfersthe temperature compensation value for a certain number of axes, with tem‐perature compensation values becoming active immediately upon transfer. Theeffect of the compensation value does not depend on the position.To prevent servo errors, the differences of the compensation values must notexceed the jumping ability of the axes.This module can be called unconditionally or conditionally.

Fig.11-11: Calling of module MT_TempCompThe module is called with the following parameters:Start: Flag for a new request.AxisNo: Physical axis index from which values can be adopted.NmbOfVal‐ues:

Number of compensation values.

DataAddr: Address of data (field for LREAL values).The feedback parameters are:Active: Flag that displays if the function is still activeError: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the NC hasacknowledged the function, the function is completed and Active is reset.The physical axis index must be entered in AxisNo , and the number of com‐pensation values must be entered in NmbOfValues . On the NC side, the

Module parameters

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 129/206

Program Modules

Page 142: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

transferred temperature compensation values are calculated as of the axis withthe transferred "axis index". The axis index starts at 1 for the 1st axis.The temperature compensation is immediately accepted by the NC.

11.6.2 Configuration ExampleTo compensate the temperature impact, a compensation value of 123 μm is tobe input for the 4th axis and a compensation value of 234 μm is to be input forthe 5th axis.The task is triggered with the increasing edge at input %IX41.3.Module MT_TempComp could be called as follows:

Fig.11-12: Calling module MT_TempComp

130/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 143: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-13: Calling module MT_TempComp

11.6.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:16: Too many compensation values (displayed with the axis num‐

ber, if applicable).24: Invalid axis number33: The last compensation value has not yet been accepted by the

interpolator.

11.7 Reading Machine Parameter (MT_CfgData) 11.7.1 Function

This program module supplies the values of a machine parameter block.The variables for the values must be defined sufficiently large for all individualparameters of the block to be stored there.This module does not convert value formats, so that real values are returnedas real numbers.The module may be called once or repeatedly in a PLC-cycle; calls may beunconditional or conditional.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 131/206

Program Modules

Page 144: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-14: Calling module MT_CfgDataThe module is called with the following parameters:Start: Flag for a new request.Chan: Desired channel number for channel-specific machine param‐

eters.BlkNo: Number of machine parameter block.DestAddr: Address for the data.Size: Max. size of the memory for the data (in bytes).The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.NofElem: Number of returned elements.The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned, the function is completed and Active is reset.While reading a channel-specific block, the values that refer to the channeltransferred in Chan are read. If the value transferred in Chan is -1, the controlreset of the block is returned.For channel-independent parameters, the value in Chan is ignored.

11.7.2 Configuration ExampleThe values of the machine parameter /SP/SpFunc/Sp[1]/Gear/GearStep[1]/MaxSpAcc “Maximum spindle acceleration” (1040 00031) are to be queried withthe positive edge of the PLC input signal %IX40.7.The task is triggered with the increasing edge at input %IX40.7.Given these requirements, the MT_CfgData program module call may be struc‐tured as follows:

Module parameters

132/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 145: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-15: Calling program module MT_CfgData

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 133/206

Program Modules

Page 146: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-16: Calling program module MT_CfgData

11.7.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:100: Invalid machine parameter number.

11.8 Hand Wheel Data (MT_Handw) 11.8.1 Function

For handwheels in relation with PROFIBUS-DP, this program module transfersthe current handwheel value and handwheel number to the NC. Since the dataare transmitted via PROFIBUS-DP, the data from the input area must be trans‐ferred to the NC with the aid of this program module.Before the data are transferred, a handwheel must be selected using the in‐creasing edge on the corresponding axis interface (handwheel selection bit 0,1).The module may be called once or repeatedly in a PLC-cycle; calls may beunconditional or conditional.

Fig.11-17: Calling module MT_HandwThe module is called with the following parameters:Start: Flag for a new request.HandwNo: Number of handwheel.

Module parameters

134/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 147: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

HandwVal: Counter count of the handwheel.The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen transferred, the function is completed and Active is reset.

11.8.2 Configuration ExampleThe increments for the handwheel are available starting at input 80; they are tobe transferred to the NC as long as input %IX40.7 is TRUE.Module MT_Handw could be called as follows:

Fig.11-18: Example - Calling MT_Handw

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 135/206

Program Modules

Page 148: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

11.8.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:1: Invalid handwheel number.

11.9 SERCOS Parameters (MT_ScsData) 11.9.1 Function

This program module permits a parameter value to be read and input within thedrives. The format of values to be read or input is a 4byte unsigned number(UDINT), as saved in the drives. Any conversion into another format must bedone in the user program.When a value is read, the function also supplies the attribute that describes theparameter. When a value is input to the drives, the attribute must be included.During reading from the cyclic telegram (mode 4 and 5), the module suppliesthe values of the ident number from all applied drives in form of an Array ofUDINT, whereas the value 16#8000000 is supplied for drives in which the identnumber is not contained in cyclic telegram.This module can be called unconditionally or conditionally.

Fig.11-19: Calling module MT_ScsData

Repeated module calls with data requests/inputs directly using theservice channel (non-cyclical data) may strain the capacity of theservice channel! Therefore, an interval between two module callsof approx. 500 ms is recommended!

The module is called with the following parameters:Start: Flag for a new request.Mode: 1 read attribute and content of the parameter.

2 input a new value for the parameter.

Module parameters

136/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 149: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

3. read the attribute.4 read the content of the parameter from the cyclic telegram.The values are supplied at a minimum temporal spacing of 100ms. The values for all axes are supplied.5 read the content of the parameter from the cyclic telegramwith no temporal delay.The values for all axes are supplied.

AxisNo: Physical axis number; relevant only for modes 1, 2 and 3.The axis index starts at 1 for the 1st axis.

StandardPar‐am:

“S” = standard parameter “P” =product-specific parameter.

SERCOS_Param:

Parameter number

DataAddr: Address of the data. The format of data depends on mode,which is transferred during request:● During Reading/setting single values (mode1, 2 and 3)

data of type MT_ScsData_t will be returned:TypeMT_ScsData_tStructscsAtrr: UDINT; (*attribute of parameter*)scsVal: UDINT; (*Value of parameter*)End_StructEnd_type

● During reading data from the cyclic telegram (mode 4 and5) the values of all axes will be returned as Array ofUDINT.The value 16#80000000 is returned for drives which arenot defined in cyclic telegram for the transferred identnumber.

Size: Size of the memory for the data in bytes.The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned/input, the function is completed and Active is reset.

11.9.2 Configuration ExampleThe current value of SERCOS parameter S-0-0108, Feedrate override of phys‐ical axis 1 is to be set to 50%.The task is triggered with the increasing edge at input %IX45.0.Module MT_ScsData could be called as follows:

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 137/206

Program Modules

Page 150: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-20: Calling module MT_ScsData

138/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 151: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-21: Calling module MT_ScsData

11.9.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:3: NCS channel currently busy.6: Parameter number unknown or invalid.9: Access conflict on service channel.14: Handshake timeout15: Busy - timeout

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 139/206

Program Modules

Page 152: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

22: Transmitted datum too short.23: Transmitted datum too long.24: Element cannot be changed.25: Element cannot be changed at the moment (incorrect start-up

phase).26: Date smaller than minimum value.27: Date larger than maximum value.28: Operation datum invalid (e.g. bit combination).29: SERCOS ring currently not available (startup).30: Incorrect attribute received31: Invalid or non-SERCOS (dummy) system axis.33: Data length exceeds size of service container.40: Max. number of simultaneously active commands exceeded.41: Command change bit timeout.50: Conversion error (conversion to SERCOS representation or

vice versa).500: System axis not available as drive.501: Configuration error (system axis No. and axis No. in ring are

inconsistent).

11.10 Editing Tool Lists (MT_P_DbRecList) 11.10.1 Function

Only in connection with “old” tool database tables that are not XML-based.Module “MT_DbRecList” must be used for XML-based tables.

This program module makes it possible to request or delete a list of tool datarecords.● Searching for tool data records

To search for tool data records, up to 7 search criteria, each linked by logicAND operators, may be used. If fewer than 7 search criteria are used, 0must be entered in “Field”.

● Deleting tool data records A list of data records to be deleted can be input. This module will thendelete each of these data records by overwriting their contents with “0”,with the exception of the sector and location numbers. The tool list thatwas requested using certain search criteria can also be used for deleting.The number of data records to be deleted is entered in NofElem.

The module may be called once or repeatedly in a PLC-cycle; calls may beunconditional or conditional.

140/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 153: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-22: Calling module MT_P_DbRecListThe module is called with the following parameters:Start: Flag for a new request.Mode: 1 searches tool data records from start of table.

2 search for tool data records starting at StartSector/Start‐Place.3 deletes the content of the tool data records acc. to the list.

TabNo: Table numberStartSector: Sector number from which data records can be sought.

(only for Mode 2)StartPlace: Place number from which data records can be sought.

(only for Mode 2)Conditions: Up to 7 search conditions in the form of a field with the following

structure:Type MT_P_DbRecListCond_tStructField: INT; (* Reference element for the search:0 - search condition is not taken into account1 - Sector2 - Query_int13 - Query_int24 - Query_int35 - Query_int46 - Query_string7 - Query_bitfield *)Value: INT; (* Reference element for the search at Field = 1 -5 *)End_structEnd_type

CondString: Reference string for the search forField = 6 Query_string

Module parameters

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 141/206

Program Modules

Page 154: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

CondMask: Bit mask only for Field = 7 Query_bitfieldDestAddr: Address of the data in the form of a field with the following

structure:Type MT_P_DbRecListEntryStructSector: INT;Place: INT;End_structEnd_type

Size: Size of the memory for the data in bytes.The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.NofElem: Number of returned elementsThe function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned, the function is completed and Active is reset.Search term:The following values may be entered for selecting a search term:

0 Ignore search term

1 Sector

2 Tool number (query_int 1)

3 Duplo number (query_int 2)

4 (query_int 3)

5 (query_int 4)

6 Tool name (query_string)

7 Tool identification (bitfield)

Fig.11-23: Selection of search term

11.10.2 Configuration ExampleA search is to be conducted in the list of all tools with tool number 123 locatedin the magazine (sector 2) and whose tool life has expired.The task is triggered with the increasing edge at input %IX40.0.Module MT_P_DbRecList could be called as follows:

142/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 155: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-24: Calling module MT_P_DbRecList

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 143/206

Program Modules

Page 156: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-25: Calling module MT_P_DbRecList

11.10.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:68: Tool table is empty.1002: Invalid table number.

144/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 157: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

11.11 Editing Data Records (MT_P_DbData) 11.11.1 Function

Only in connection with “old” tool database tables that are not XML-based.Module “MT_DbData” must be used for XML-based tables.

This program module offers various functions for reading and changing tooldata .The module may be called once or repeatedly in a PLC-cycle; calls may beunconditional or conditional.

Fig.11-26: Calling module MT_DbDataThe module is called with the following parameters:Start: Flag for a new requestMode: 1 read tool data

2 read tool data with access lock for other processes3 write tool data4 enable tool data record5 exchange tool data record6 copy tool data record7 delete tool data record8 read in an ASCII file of the tool data9 generate an ASCII file of the tool data

TabNoSrc: Table number (source)SectorSrc: Sector number (source)PlaceSrc: Place number (source)TabNoDest: Table number (destination) [relevant only for modes 5 and 6]SectorDest: Sector number (destination) [relevant only for modes 5 and 6]PlaceDest: Place number (destination) [relevant only for modes 5 and 6]TabName: Table name [relevant only for modes 8 and 9]DestAddr: Address of the data.

Module parameters

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 145/206

Program Modules

Page 158: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

The data are returned as type MT_P_DbData:Type MT_P_DbDataStructSector: INTPlace: INTQuery_int_1: INTQuery_int_2: INTQuery_int_3: INTQuery_int_4: INTQuery_bitfield: INTQuery_int: ARRAY[1...40]OFINTQuery_string: STRING(31)End_structEnd_type

Size: Size of the memory for the data in bytes.The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned, the function is completed and Active is reset.

11.11.2 Configuration ExampleThe data of the tool in location 5 of sector 2 of table 1 is to be read while anyfurther access to these data is to be inhibited.The task is triggered with the increasing edge at input %IX41.0.Module MT_P_DbData could be called as follows:

146/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 159: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-27: Calling module MT_P_DbData

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 147/206

Program Modules

Page 160: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-28: Calling module MT_P_DbData

11.11.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:68: Tool table is empty.72: Data record not found.108: The data record locked last has not yet been released.115: The data record was not inhibited before it was saved to the

database or reenabled.

148/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 161: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

1002: Invalid table number.

11.12 Edit Data Record Lists (MT_DbRecList) 11.12.1 Function

This program module makes it possible to search for data records within a da‐tabase table or to delete data records according to a list.● Searching for data records

To search for data records, up to 12 search criteria, each linked by logicAND operators, may be used. The search conditions that are to be takeninto account are selected using parameter CondMask .

● Deleting data recordsA list of data records to be deleted can be input. This module will thendelete each of these data records by overwriting their contents with “0”,with the exception of the sector and location numbers. The list that wasrequested using certain search criteria can also be used for deleting. Thenumber of data records to be deleted is entered in NofElem .

If an error occurs, the index of the field element in which the error occurred isreturned in NofElem.The module may be called once or repeatedly in a PLC-cycle; calls may beunconditional or conditional.

Fig.11-29: Calling module MT_P_DbRecListThe module is called with the following parameters:Start: Flag for a new request.Mode: 1 search data records from start of table.

2 search for data records starting at K1, K2.3 delete the content of the data records acc. to the list.

ElemPath: Identification of data incl. path information (e.g. “/DBT1”).Conditions: Search conditions of type MT_DbRecListCond_t:

Type MT_DbRecList Cond_tStructK1: INT; Key1K2: INT; Key2SKQ: INT; String

Module parameters

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 149/206

Program Modules

Page 162: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

IKQ1: DINT; Integer value 1 (key value)IKQ2: DINT; Integer value 2 (key value)IKQ3: DINT; Integer value 3 (key value)IQ1: DINT; Integer value 1 (no key value)IQ2: DINT; Integer value 2 (no key value)IQ3: DINT; Integer value 3 (no key value)BQ1: DWORD; bitfield 1BQ1_Mask: DWORD; Mask for bit field 1BQ2: DWORD; bitfield 2BQ2_Mask: DWORD; Mask for bit field 2BQ3: DWORD; bitfield 3BQ3_Mask: DWORD; Mask for bit field 3End_structEnd_type

CondMask: Mask for selecting the conditions that are to be used in thesearch:16#00000001: K116#00000002: K216#00000004: SKQ16#00000008: IKQ116#00000010: IKQ216#00000020: IKQ316#00000040: IQ116#00000080: IQ216#00000100: IQ316#00000200: BQ116#00000400: BQ216#00000800: BQ3

DestAddr: Address of the data in the form of a field with the followingstructure:Type MT_DBT1HdStructK1: INTK2: INTSKQ: STRING(31)IKQ1: DINTIKQ2: DINTIKQ3: DINTIQ1: DINTIQ2: DINTIQ3: DINTBQ1: DWORDBQ2: DWORD

150/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 163: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

BQ3: DWORDEnd_structEnd_type

Size: Size of the memory for the data in bytes.StartK1: In the case of a search with Mode 2 (search starting at K1, K2),

the value for K1, where the search is to be started, is enteredhere.

StartK2: In the case of a search with Mode 2 (search starting at K1, K2),the value for K2, where the search is to be started, is enteredhere.

If not all the found elements can be returned for a search becausenot enough memory was provided (AllRecsFound = FALSE), thevalues with which the search can then be continued are returned inStartK1 and StartK2.

NofElem: Only for deleting:Number of elements to be deleted.

The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.NofElem: Only for searching:

Number of returned elements.AllRecs‐Found:

TRUE: All data records that correspond to the search condi‐tions are returned.FALSE: More data records exist; due to insufficient memory,these can not be returned.

StartK1 /StartK2:

If not all the found elements can be returned for a search be‐cause not enough memory was provided(AllRecsFound=FALSE), the values with which the search canthen be continued are returned in StartK1 and StartK2.

NofElem: Search: number of returned elements.Delete: Only in case of an error: Index of the data record withinthe list where the error occurred. When deleting data records,the list is processed starting at the end. Therefore, all the datarecords between the start and the faulty field element are notdeleted if an error occurs.

The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned, the function is completed and Active is reset.

11.12.2 Configuration ExampleA search is to be carried out in the list of all tools within tool table DBT1 withduplo number 123 that are located in the magazine (K1=2).The task is triggered with the increasing edge at input %IX40.0.Module MT_DbRecList could be called as follows:

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 151/206

Program Modules

Page 164: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-30: Calling module MT_P_DbRecList

152/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 165: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-31: Calling module MT_P_DbRecList

11.12.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:499: Error when interpreting the XML file.510: Syntax error in ElemPath (incorrect name).

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 153/206

Program Modules

Page 166: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

512: Syntax error in ElemPath (incorrect element position).516: The element specified in ElemPath is not declared in schema.518: Element not declared in scheme.519: Transferred data size does not agree with the element size.520: Transferred type ID is not suitable for the element (ElemPath).521: Unknown type ID1001: Error when interpreting the XML file.1002: Database server not ready.1003: The entered name is too long.1007: Transferred data range is too small.1008: Buffer for the path is too small (events).1102: Invalid root element in ElemPath.1104: Data record is already locked.1109: Data record is too large.1112: Invalid search conditions1204: No data records with this key were found.1205: Database is empty.1206: Last locked data record is not released.1208: No locked data record exists.

11.13 Editing Data Records (MT_DbData) 11.13.1 Function

This program module offers various functions for reading and changing datarecords (e.g. tool data).Both entire data records and partial data records can be processed. The se‐lection is made using input variable ElemPath (e.g. /DBT1). The data aresupplied in the format in which they were defined on the NC side by the schemefiles. The corresponding structures within the PLC program must be defined inorder to be able to access the files correctly. The corresponding types for thedefault configuration are available in the MTX library (see below).When writing database data, the ID of the type for which the variable is definedon the NC side must be defined in TypeId . This is returned when variables ofthis type are read. In the case of multiple write accesses, this ID must be speci‐fied only once before the first access attempt; it can then be transferred duringeach successive access attempt.The module may be called once or repeatedly in a PLC-cycle; calls may beunconditional or conditional.

154/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 167: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-32: Calling module MT_DbDataThe module is called with the following parameters:Start: Flag for a new request.Mode: DbData_Read (value 1)Read data record.

DbData_ReadLock (value 2)Read data record with access lockfor other processes.DbData_Write (value 3) Write data record.DbData_Unlock (value 4) Enabled locked data record.DbData_Move (value 5) Move data record.DbData_Copy (value 6) Copy data record.DbData_Delete (value 7) Delete content of data record.DbData_WriteWithoutLock (value 11) Write data record with‐out locking it before.DbData_Interchange (Value 12) Interchange data record.In the function codes “DbData_WriteWithoutLock” and“DbData_Write” the following options can be transferred addi‐tionally by setting single bits via the input parameter “Mode”.This additional bits will be added via OR linkage.● Level of checking the transmission data in server (if no bit

is set, the minimal checking is executed in which onlyvariables of type float, double and string are checked re‐garding valid format):Mode = ModeORDbData_DisableBasicCheckNo check.Mode = ModeORDbData_EnableFullCheckComplete data checking.

● Adding only parts of data record:Mode = ModeORDbData_WrOnlyToolspecDataonly the tool-specific parts of data record will be adopted.Mode = ModeORDbData_WrOnlyToolspecDataonly the location-specific parts of data record will be adop‐ted.

ElemPath: Identification of data incl. path information (e.g. “/DBT1”).

Module parameters

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 155/206

Program Modules

Page 168: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

K1Src: Key 1 (source)K2Src: Key 2 (source)K1Dest: Key 1 (destination) [relevant only for modes 5, 6 and 12]K2Dest: Key 2 (destination) [relevant only for modes 5, 6 and 12]DataAddr: Address of the data.

In the case of access to data records of the default configura‐tion of the tool table, a data record has the following structure:

Type MT_DBT1Rec_tStructHd: MT_DBT1Hd_tUd: MT_DBT1Ud_tEnd_structEnd_type

Type MT_DBT1Ud_tStructTl: MT_Tl_tEd: ARRAY[1...2]OFMT_Ed_tEnd_structEnd_type

TypeMT_Tl_tStructDescr: STRING(31)LifeU: STRING(3)RemTlLife: REALEnd_structEnd_type

TypeMT_Ed_tStructGeo: MT_Geo_tWear: MT_Wear_tLife: MT_EdLife_tEnd_structEnd_type

TypeMT_Geo_tStructL1: LREALL2: LREALL3: LREALRad: LREALOri: DINTEnd_structEnd_type

156/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 169: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

TypeMT_Wear_tStructL1: LREALL2: LREALL3: LREALRad: LREALEnd_structEnd_type

TypeMT_EdLife_tStructMonOn: BoolRemLife: REALWarnLim: REALMaxLife: REALEnd_structEnd_typeSize: Read:

Size of the memory for the data in bytes.Write:Size of the data to be written (in bytes). The transferred sizemust match the size of the data record to be written.

TypeId: Write:TypeId of the data record(returned when reading a data record.)If the type of variable to be written is a basic type, the TypeIdcan also be preset as a constant by MT_basicTypeId. Other‐wise, the TypeId that was returned when reading a variable ofthis type must be entered.

The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUESize: Read:

Size of the read tool data (in bytes) or, in case of an error, therequired memory size.Write:Size of the written tool data (in bytes) or, in case of an error,the correct size of the data record.

TypeId: Read:TypeId of the data record.

The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned, the function is completed and Active is reset.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 157/206

Program Modules

Page 170: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

11.13.2 Configuration ExampleThe data of the tool in location 5 (Key2) of sector 2 (Key1) of tool databaseDBT1 are to be read while any further access to this data is to be inhibited.The task is triggered with the increasing edge at input %IX41.0.Module MT_DbData could be called as follows:

Fig.11-33: Calling module MT_DbData

158/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 171: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-34: Calling module MT_DbData

11.13.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:499: Error when interpreting the XML file.506: There are more elements than permitted according to maxOc‐

curs.507: The content of the element does not agree with the basic data

type according to the scheme.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 159/206

Program Modules

Page 172: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

508: The content of the element does not agree with the facet ac‐cording to the scheme.

510: Syntax error in ElemPath (incorrect name)512: Syntax error in ElemPath (incorrect element position).516: The element specified in ElemPath is not declared in schema.518: Element not declared in scheme.519: Transferred data size does not agree with the element size.520: Transferred type ID is not suitable for the element (ElemPath).521: Unknown type ID.1001: Error when interpreting the XML file.1002: Database server not ready.1003: The entered name is too long.1007: Transferred data range is too small.1008: Buffer for the path is too small (events).1102: Invalid root element in ElemPath.1104: Data record is already locked.1109: Data record is too large.1112: Invalid search conditions.1204: No data records with this key were found.1205: Database is empty.1206: Last locked data record is not released.1208: No locked data record exists.

11.14 Save Database Table (MT_DbSave) 11.14.1 Function

This program module can be used to partially or totally save a database tablein a file. The following options exist:● the file is first deleted and then the data records are saved (Mode =1) or● the data records are appended to the end of the file (Mode = 2).Parameter SelMask can be input in connection with K1Sel and K2Sel to saveonly certain data records.

Fig.11-35: Save database tableThe module is called with the following parameters:Start: Flag for a new request.

Module parameters

160/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 173: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Mode: 1 save database table in an XML file after previously deletingthe file contents.2 save database table in an XML file by appending it to the filecontents.

ElemPath: Identification of data incl. path information (e.g. “/DBT1”)SelMask: Information for saving selected data records:

16#00: No selected data record; K1Sel and K2Sel are not con‐sidered.16#01: Save all data records where K1 corresponds to the in‐put K1Sel.16#02: Save all data records where K1 and K2 correspond tothe input K1Sel and K2Sel.

K1Src: Select the data records using Key1.K2Sel: Select the data records using Key2.Filename: Name of the storage file.The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned, the function is completed and Active is reset.

11.14.2 Configuration ExampleAll data records of database table “\DBT1” are to be saved to file “tooltab.dbf”;the file content is to be deleted beforehand (Mode=1).The task is triggered with the increasing edge at input %IX41.0.Module MT_DbSave could be called as follows:

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 161/206

Program Modules

Page 174: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-36: Calling module MT_DbSave

Fig.11-37: Calling module MT_DbSave

162/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 175: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

11.14.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1 General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:499: Error when interpreting the XML file.510: Syntax error in ElemPath (incorrect name).512: Syntax error in ElemPath (incorrect element position).516: The element specified in ElemPath is not declared in schema.518: Element not declared in scheme.519: Transferred data size does not agree with the element size.520: Transferred type ID is not suitable for the element (ElemPath).521: Unknown type ID.1001: Error when interpreting the XML file.1002: Database server not ready.1003: The entered name is too long.1007: Transferred data range is too small.1008: Buffer for the path is too small (events).1102: Invalid root element in ElemPath.1104: Data record is already locked.1109: Data record is too large.1112: Invalid search conditions.1204: No data records with this key were found.1205: Database is empty.1206: Last locked data record is not released.1208: No locked data record exists.

11.15 Load Database Table (MT_DbLoad) 11.15.1 Function

This program module can be used to partially or totally load a database tablefrom an XML file.Parameter SelMask can be input in connection with K1Sel and K2Sel to loadonly certain data records.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 163/206

Program Modules

Page 176: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-38: Load database table(MT_DbLoad)The module is called with the following parameters:Start: Flag for a new request.ElemPath: Identification of data incl. path information (e.g. “/DBT1”).SelMask: Information for loading selected data records:

16#00: No data records selected; K1Sel and K2Sel are notused.16#01: Load all data records where K1 corresponds to the inputK1Sel.16#02: Load all data records where K1 and K2 correspond tothe input K1Sel and K2Sel.

K1Src: Select the data records using Key1.K2Sel: Select the data records using Key2.Filename: Name of the file to be loaded.The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUEThe function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned, the function is completed and Active is reset.

11.15.2 Configuration ExampleAll data records of database table “\DBT1” are to be loaded from file“tooltab.dbf”.The task is triggered with the increasing edge at input %IX41.0.Module MT_DbLoad could be called as follows:

Module parameters

164/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 177: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-39: Calling module MT_DbLoad

Fig.11-40: Calling module MT_DbLoad

11.15.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 165/206

Program Modules

Page 178: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:499: Error when interpreting the XML file.510: Syntax error in ElemPath (incorrect name).512: Syntax error in ElemPath (incorrect element position).516: The element specified in ElemPath is not declared in schema.518: Element not declared in scheme.519: Transferred data size does not agree with the element size.520: Transferred type ID is not suitable for the element (ElemPath).521: Unknown type ID.1001: Error when interpreting the XML file.1002: Database server not ready.1003: The entered name is too long.1007: Transferred data range is too small.1008: Buffer for the path is too small (events).1102: Invalid root element in ElemPath.1104: Data record is already locked.1109: Data record is too large.1112: Invalid search conditions.1204: No data records with this key were found.1205: Database is empty.1206: Last locked data record is not released.1208: No locked data record exists.

11.16 Tool Correction (MT_TCorr) 11.16.1 Function

This program module allows to set correction values. A maximum of 16 cor‐rections can be transferred with one call.The external tool corrections are activated using G function “G47 ED x” (x = 1- 16) and deactivated using G48.

The correction values become active only in the next program blockto be prepared.

If the correction values are to become active immediately after their input, NCblock preparation must be suspended (e.g., by WAIT or Block transfer inhibit)or the NC blocks that have already been prepared must be prepared again (byCancel distance to go).This module can be called unconditionally or conditionally.

166/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 179: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-41: Tool correction(MT_TCorr)The module is called with the following parameters:Start: Flag for a new request.Chan: Number of the channel in which the correction values apply.CorrType: 1 correction with 1 radius and 3 length correction values each,

and the edge position.2 correction with 1 radius and 3 length correction values, theedge position and angles phi, theta and psi.

CorrIndex: Selection of correction: permitted values: 1 - 16.CorrNmb: Number of corrections.DataAddr: Address of the data.

Depending on the correction type, the correction values aretransferred as a field in the following format:CorrType 1:Type MT_Geo_tStructLen1: LREALLen2: LREALLen3: LREALRad: LREALOri: DINTEnd_structEnd_type

CorrType 2:Type MT_GeoExtended_tStructLen1: LREALLen2: LREALLen3: LREALRad: LREALOri: DINTPhi: LREALThe: LREALPsi: LREALEnd_struct

Module parameters

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 167/206

Program Modules

Page 180: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

End_typeThe feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.The function starts when Start is set and Active is not set. The correction valuesare transferred to the NC immediately.If Start is not reset using the PLC sequential program, it is reset when the func‐tion has been carried out.Active is set until the NC has acknowledged the correction input.

11.16.2 Configuration ExampleA radius correction of 3.1234 mm and a length correction of 124 mm is to beinput as the 2nd correction (G47 ED 2) in channel 1 for a milling tool (correctiontype 2).The task is triggered with the increasing edge at input %IX42.0.Module MT_TCorr could be called as follows:

168/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 181: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-42: Calling module MT_TCorr

Fig.11-43: Calling module MT_TCorr

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 169/206

Program Modules

Page 182: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

11.16.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:1: Illegal number of channels.19: Invalid correction index.20: Max. number of corrections exceeded (may be displayed with

the correction index).21: Invalid type of correction.22: Invalid tool edge position.

11.17 Read/Write Permanent CPL Variables (MT_CplData) 11.17.1 Function

This program module supplies the valid value at the time of query of a perma‐nent CPL variable, or can write this CPL variable.This module can be called unconditionally or conditionally.The module does not perform any type conversion. Source and target data typemust be identical.For accessing CPL variables with type conversion, module MT_CplDataConvis available.

Fig.11-44: Calling module MT_CplDataThe module is called with the following parameters:Start: Flag for a new request.

Module parameters

170/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 183: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Chan: Desired channel number.Mode: 0 read a CPL value.

1 write a CPL value.VarName: Name of CPL variable.VarType: Type definition of CPL variable:

0 int1 float2 double3 boolean4 char

DestAddr: Address of the data.Size: Size of the memory for the data in bytes.Index1: Field index 1 (only for fields).Index2: Field index 2 (only for two-dimensional fields).NofElem: Write: Number of the predefined values.The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.NofElem: Read: Number of the read values.The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned, the function is completed and Active is reset.

11.17.2 Configuration ExampleCPL variable “@Tool location” of type Integer is to be read out in channel 1.The task is triggered with the increasing edge at input %IX42.5.Module MT_CplData could be called as follows:

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 171/206

Program Modules

Page 184: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-45: Calling MT_CplData

Fig.11-46: Calling MT_CplData Graphic

11.17.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.

172/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 185: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Function-specific errors and statesas acknowledgement after executing the function:1: variable not found.2: Different variable type.3: Field index faulty.4: Variable type does not exist.

11.18 Read/Write Permanent CPL Variables with Type Conversion(MT_CplDataConv)

11.18.1 FunctionThis program module supplies the value of a permanent CPL variable that isvalid at the time of the query or can describe this CPL variable. CPL and PLCvariable may be of different data types.The module performs a conversion between different data types. Any loss ofinformation or value range overflow is not indicated.This module can be called unconditionally or conditionally.

Fig.11-47: Calling module MT_CplDataConvThe module is called with the following parameters:Start: Flag for a new request.Chan: Desired channel number.Mode: 0 read a CPL value.

1 write a CPL value.VarName: Name of CPL variable.IECType: Type definition of PLC variable:

IEC_DINT (0) DINTIEC_REAL (1) REALIEC_LREAL (2) LREALIEC_BOOL (3) BOOLIEC_SINT (4) SINTIEC_INT (5) INTIEC_UDINT (6) UDINTIEC_DWORD (7) DWORDIEC_USINT (8) USINT

Module parameters

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 173/206

Program Modules

Page 186: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

IEC_BYTE (9) BYTEIEC_STRING (10) STRINGIEC_UINT (11) UINTIEC_WORD (12) WORD

CPLType: Type definition of CPL variable:CPL_INT (0) intCPL_REAL (1) floatCPL_LREAL (2) doubleCPL_BOOL (3) booleanCPL_CHAR (4) char

DestAddr: Address of the data.Size: Size of the memory for the data in bytes.Index1: Field index 1 (only for fields).Index2: Field index 2 (only for two-dimensional fields).NofElem: Write: Number of the predefined values.The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.NofElem: Read: Number of the read values.The function starts when Start is set and Active is not set. If Start is not resetusing the PLC sequential program, it is reset when the function has been carriedout.Active is set until the function has been carried out. As soon as the data havebeen returned, the function is completed and Active is reset.

11.18.2 Configuration ExampleCPL variable “@Feed_X” of type Integer is to be read out in channel 1. On thePLC side, the value is required in real format.The task is triggered with the increasing edge at input %IX42.5.Module MT_CplDataConv could be called as follows:

174/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 187: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-48: Calling MT_CplDataConv

11.18.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set. Furthermore, the type of error or statusis represented in the ErrorNo in the form of a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.-3: Data overflow: Only those data that fit into the available mem‐

ory are returned.-1: General parameter errors.Function-specific errors and statesas acknowledgement after executing the function:1: variable not found.2: Different variable type.3: Field index faulty.4: Variable type does not exist.

11.19 Read system data (MT_SD_RD) 11.19.1 Function

The Read system data module permits any system data to be read. Both entirevariables and partial variables can be read. The selection is made using inputvariable XPath (e.g. /VAR_1). The data are supplied in the format in which they

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 175/206

Program Modules

Page 188: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

were defined on the NC side by the scheme files. The corresponding structureswithin the PLC program must be defined in order to be able to access the filescorrectly.Restrictions:● No complete arrays can be read on the lowermost level (e.g. /ArrayOfInts).

On the other hand, complete arrays that are subelements of a systemvariable can be read (e.g. /ArrayOfInts).

● The size of the requested data is limited to 4 kB.Several instances of the module can be called within one PLC cycle.

Fig.11-49: Calling module MT_SD_RDThe module is called with the following parameters:Start: Flag for a new request.

A new request is executed when Start =TRUE and Active =FALSE.

XPath: Identification of system data incl. path information (e.g. “/Var_1”).

DataAddr: Address of the data.The data must be supplied in the format in which they weredefined on the NC side by the scheme files.

Size: Max. size of the data range for the requested data in bytes(SIZEOF( <variable>)).

The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.Size: Size of the requested system data (in bytes).TypeId: Type ID of the system datum. This ID must be defined when

writing system data.The function starts when the Start bit is set and Active is not set. If Bit Start isnot reset using the PLC sequential program, it is reset when the function hasbeen carried out.Active is set for the status until the function has been carried out. As soon asthe data have been returned, the function is completed and Active is reset.

11.19.2 Configuration ExampleThe data of system datum “/Var_1” are to be read.The task is started with the increasing edge at input I43.0.Module MT_SD_Rd could be called as follows:

Module parameters

176/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 189: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-50: Calling module MT_SD_Rd

11.19.3 Status MessagesGeneral errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.Function-specific errors and statesas acknowledgement after executing the function:1: Error within XML-Lib.502: Internal error of the XML server.507: The content of the element does not agree with the basic data

type according to the scheme.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 177/206

Program Modules

Page 190: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

508: The content of the element does not agree with the facet ac‐cording to the scheme.

509: Internal error during validating.510: Syntax error in the path string.511: Segment path is not located within root path (internal).512: Element position not permitted according to schema (path).513: An element specified via path cannot be generated.514: The element specified using Path cannot be deleted.515: The element specified via Path does not exist in the XML files.516: The element specified via Path is not declared in the schema.517: The last element in path is not identical with the first element

in data.518: The element of the XML file or XML string is not declared in the

schema.519: The data size does not fit the specified element.520: The data type does not fit the specified element.521: Too much binary files were requested.522: Unknown data type.523: Invalid data size.524: Unknown root element.4001: Internal error of the XML server.4004: Data buffer too small.4101: Invalid mode (internal).4102: Invalid Xpath.

11.20 Write System Data (MT_SD_WR) 11.20.1 Function

This program module allows system data to be written.Both entire variables and partial variables can be written. The selection is madeusing input variable XPath (e.g. /VAR_1). The data must be transferred in theformat in which they were defined on the NC side by the scheme files; the sizein Size must also match the type size.The ID of the type for which the variable is defined on the NC side must bedefined in TypeId. This is returned when variables of this type are read. In thecase of multiple write accesses, this ID must be specified only once before thefirst access attempt; it can then be transferred during each successive accessattempt.Restrictions:● No complete arrays can be written on the lowermost level (e.g. /ArrayO‐

fInts). On the other hand, complete arrays that are subelements of asystem variable can be written (e.g. /ArrayOfInts).

● The size of the requested data is limited to 4 kB.Several instances of the module can be called within one PLC cycle.

178/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 191: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-51: Calling module MT_SD_WRThe module is called with the following parameters:Start: Flag that executes a new request.

A new request is executed when Start =TRUE and Active =FALSE.

XPath: Identification of requested system data incl. path information(e.g. “/Var_1”).

TypeId: Type ID of the system datum.DataAddr: Address of the data (ADR(<Variable>)).

The data must be supplied in the format in which they weredefined on the NC side by the scheme files.

Size: Size of the transferred data (in bytes). In this case, the sizemust exactly match the size of the system datum.

The feedback parameters are:Active: Flag that displays if the function is still active.Error: Error detection: FALSE means that the function has been pro‐

cessed without errors.ErrorNo: Error code: valid only if Error = TRUE.The function starts when the Start bit is set and Active is not set. If Bit Start isnot reset using the PLC sequential program, it is reset when the function hasbeen carried out.Active is set for the status until the function has been carried out. As soon asthe data have been returned, the function is completed and Active is reset.

11.20.2 Configuration ExampleVariable “/Var_1.Int_2” is to be written with a value of 1234.The task is started with the increasing edge at input I43.4.Module MT_SD_Wr could be called as follows:

Module parameters

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 179/206

Program Modules

Page 192: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.11-52: Calling module MT_SD_Wr

11.20.3 Status MessagesIf an error or status occurs which prevents proper execution of the function aftercalling this function, error bit Error is set.Furthermore, the type of error or status is represented in the ErrorNo in the formof a number:General errors and stateswhen calling the function with incorrect parameters or with an internal NC error:-6: No equipment for transmitting the task is currently available.Function-specific errors and statesas acknowledgement after executing the function:1: Error within XML-Lib.502: Internal error of the XML server.507: The content of the element does not agree with the basic data

type according to the scheme.

180/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Program Modules

Page 193: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

508: The content of the element does not agree with the facet ac‐cording to the scheme.

509: Internal error during validating.510: Syntax error in the path string.511: Segment path is not located within root path (internal).512: Element position not permitted according to schema (path).513: An element specified via path cannot be generated.514: The element specified using Path cannot be deleted.515: The element specified via Path does not exist in the XML files.516: The element specified via Path is not declared in the schema.517: The last element in path is not identical with the first element

in data.518: The element of the XML file or XML string is not declared in the

schema.519: The data size does not fit the specified element.520: The data type does not fit the specified element.521: Too much binary files were requested.522: Unknown data type.523: Invalid data size.524: Unknown root element.4001: Internal error of the XML server.4004: Data buffer too small.4101: Invalid mode (internal).4102: Invalid Xpath.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 181/206

Program Modules

Page 194: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Page 195: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

12 Configuration of PLC-Specific Data in IndraWorks12.1 Configuration of Machine Status Display (MSD)12.1.1 General

The machine status display enables the diagnosis of machine errors, warningsand notes and supports the fast removing of faults in the operating procedureon the machine.The MSD diagnoses will be displayed in the MTX-HMI in diagnosis header andin OP9 “Diagnosis”. MSD diagnoses can be recorded in the logbook.The corresponding messages will be defined in plaintext in the MSD file“mzatexte.xxx” and activated by setting the corresponding signal on MSD bitinterface in PLC program.

12.1.2 Parameterization of Machine Status Display (MSD)The exchange of MSD signals is cyclically executed between PLC and NC.Select parameter “MachStatDiagCycTime” for the time interval. It should e.g.be set to 300 ms to keep communication load of the system low.

Fig.12-1: MSD cycle time

The cycle time “0” switches off the MSD diagnosis.

12.1.3 Configuration of the MSD Bit InterfaceAccording to the number of machine errors, warnings and notes, the bit inter‐face data types● “qMSD” with up to 2048 or● “qMSD_Ext” with up to 8192different signals can be used.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 183/206

Configuration of PLC-Specific Data in IndraWorks

Page 196: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.12-2: Inserting MSD interface signalsThe following settings can be made in the MSD properties dialog (see fig. be‐low):● The identifier for the MSD bit interface can freely be selected. Therefore

the identifier of MSD node below the “CyclicProcessData” node must beclicked via the right mouse button. Now the “Rename” command can beselected in the context menu. We recommend to assume the proposedidentifier “qMSD” or “qMSD_Ext”.

● The memory address of the selected data type in bit interface begins andcan freely be selected as long as this does not overlap with other ad‐dresses in bit interface.

184/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Configuration of PLC-Specific Data in IndraWorks

Page 197: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Fig.12-3: MSD properties dialog

12.1.4 Structure of MSD fileThe MSD file must be stored in the control's root directory “/” or the user FE‐PROM “/usrfep” under the name “mzatexte.xxx” . The file name extension“xxx” stands for the used language e.g. 049 for German.The MSD text is divided into main, auxiliary and remedy text. The separation iseffected with a double character “##”. Long texts can be continued via character“_” on the line end in the next line.Example:

MSD text

mzatexte.049...(E123, EMERGENCY STOP button on the station is pressed! ## _The EMERGENCY STOP button on the station is still pressed! ## _Not until this EMERGENCY STOP condition is removed, the power _ can beswitched on!)(M124, coolant missing! ## The coolant level has fallen under the minimumlevel _! ##Please fill up coolant if necessary.)...

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 185/206

Configuration of PLC-Specific Data in IndraWorks

Page 198: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

The syntax of MZA definition in file “mzatexte.xxx” is displayed as follows:(<Diagnosis class><Msd number>,<Main text>##<Auxiliary text>##<Remedytext> )<Diagnosisclass>

- E for machine error- W for machine warning- M for machine note

<MSD num‐ber>

Bit in the structure qMSD [1..2048] or qMSD_Ext [1..8192] andsimultaneous message number in the diagnosis.

<Main text> Mostly single-line message text which is also shown in the sta‐tus line.

<Auxiliarytext>

Auxiliary text for detailed description of diagnosis.

<Remedytext>

Description for elimination of the occurred failure.

The texts which can not be displayed in the ASCII character set, can be enteredin the UTF8 character coding. A MZA file in UTF8 format must have the hexa‐decimal 3 byte file identification “EFBBBF” on block beginning. The texts willbe transmitted with a maximum length of up to 1000 characters. During utiliza‐tion of UTF8 format, the text length reduces by up to 2/3 of the displayablecharacters corresponding to the coding effort.

12.1.5 Activating the MessagesThe MSD messages will be activated in the PLC by setting the requested bitsignals.Example:

Structured text

qMSD_Ext.MZA_0004:=TRUE;

Resetting the MSD messages must also be programmed in the PLC.Example:

Structured text

qMSD_Ext.MZA_0004:=FALSE;

12.1.6 Additional InformationThe control-internal error database can not absorb unlimited errors.Messages from the MSD area can absorb● maximum 16 errors● maximum 16 warnings and● maximum 16 notes.If more messages occur (i.e. for example more than 16 machine errors), onlythe high-prior errors will be saved in the internal error database. The priority isspecified by the message number. Small numbers mean high priority.When messages are deleted, lower-priority ones may “follow on”. On whichpoint of time the corresponding message occurs, is not known at the point oftime of “following on”, as the time stamp is not saved.“Follow on” messages will therefore get the time stamp 1.1.1970 00:00:00.000.“Following on” only occurs if

186/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Configuration of PLC-Specific Data in IndraWorks

Page 199: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

● more than 16 machine fields occur simultaneously,● more than 16 machine warnings occur simultaneously● or more than 16 machine notes occur simultaneously.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 187/206

Configuration of PLC-Specific Data in IndraWorks

Page 200: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Page 201: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

13 Overview of Interface Signals13.1 Global Output Signals (PLC -> NC)Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

0.0 qGen_Reset System control reset 1.0 qGen_StrokeInhibit Stroke inhibit

0.1 qGen_EditInhibit Edit inhibit 1.1 qGen_StrokeReserv Stroke reservation

0.2 qGen_DelErrInfo Clear error info 1.2 qGen_StrokeRel Stroke on

0.3 - res. 1.3 - res.

0.4 - res. 1.4 - res.

0.5 - res. 1.5 - res.

0.6 - res. 1.6 - res.

0.7 - res. 1.7 - res.

2.0 - res. 3.0 - res.

2.1 - res. 3.1 - res.

2.2 - res. 3.2 - res.

2.3 - res. 3.3 - res.

2.4 - res. 3.4 - res.

2.5 - res. 3.5 - res.

2.6 - res. 3.6 - res.

2.7 - res. 3.7 - res.

Fig.13-1: Overview of output signals (PLC -> NC)

13.2 Global Input Signals (NC -> PLC)Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

0.0 - res. 1.0 iGen_StrokeIntend Stroke intended

0.1 iGen_HardwareState Hardware warning 1.1 iGen_NoStroke Stroke is not running

0.2 - res. 1.2 - res.

0.3 - res. 1.3 - res.

0.4 - res. 1.4 - res.

0.5 - res. 1.5 - res.

0.6 - res. 1.6 - res.

0.7 - res. 1.7 - res.

2.0 - res. 3.0 - res.

2.1 - res. 3.1 - res.

2.2 - res. 3.2 - res.

2.3 - res. 3.3 - res.

2.4 - res. 3.4 - res.

2.5 - res. 3.5 - res.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 189/206

Overview of Interface Signals

Page 202: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

2.6 - res. 3.6 - res.

2.7 - res. 3.7 - res.

Fig.13-2: Overview of input signals (NC -> PLC)

13.3 Channel-Related Output Signals (PLC -> NC)Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

0.0 qCh_OpModeSel_00 Sel. Operating mode for bit 0 1.0 qCh_OpModePlc PLC operating mode

0.1 qCh_OpModeSel_01 Sel. Operating mode for bit 1 1.1 qCh_Restart Automatic restart

0.2 qCh_OpModeSel_02 Sel. Operating mode for bit 2 1.2 qCh_NCStart Cycle start

0.3 qCh_OpModeSel_03 Sel. Operating mode for bit 3 1.3 qCh_TransferLock Read lock

0.4 - res. 1.4 qCh_FeedHold Feed stop

0.5 - res. 1.5 qCh_FeedStop Feed inhibit

0.6 - res. 1.6 - res.

0.7 - res. 1.7 qCh_ReSelOff Autom. reselection off

2.0 qCh_CtrlReset Control reset 3.0 qCh_ASub1 Asynchr. Unterpr. 1

2.1 - res. 3.1 qCh_ASub2 Asynchr. Unterpr. 2

2.2 qCh_CancDist Cancel distance to go 3.2 qCh_ASub3 Asynchr. Unterpr. 3

2.3 qCh_NextBlk Switching to next block 3.3 qCh_ASub4 Asynchr. Unterpr. 4

2.4 - res. 3.4 qCh_ASub5 Asynchr. Unterpr. 5

2.5 - res. 3.5 qCh_ASub6 Asynchr. Unterpr. 6

2.6 qCh_RetCont Return to path 3.6 qCh_ASub7 Asynchr. Unterpr. 7

2.7 qCh_Retract Rapid retraction 3.7 qCh_ASub8 Asynchr. Unterpr. 8

4.0 qCh_JogPlusWcs WCS manual + 5.0 qCh_BlkSlash Block slash

4.1 qCh_JogMinusWcs WCS manual - 5.1 qCh_OptStop Optional stop

4.2 - res. 5.2 qCh_OptJump Conditional jump

4.3 - res. 5.3 - res.

4.4 qCh_HandwSelWcs_00 Select handwheel Bit0 5.4 qCh_RedRap Limit rapid travel

4.5 qCh_HandwSelWcs_01 Select handwheel Bit1 5.5 - res.

4.6 qCh_HandwDirWcs Handwheel direction 5.6 - res.

4.7 qCh_HandwPosMode Position handwheel 5.7 qCh_Override100 Override100%

6.0 qCh_Override_00 Override bit 0 7.0 qCh_Override_08 Override bit 8

6.1 qCh_Override_01 Override bit 1 7.1 qCh_Override_09 Override bit 9

6.2 qCh_Override_02 Override bit 2 7.2 qCh_Override_10 Override bit 10

6.3 qCh_Override_03 Override bit 3 7.3 qCh_Override_11 Override bit 11

6.4 qCh_Override_04 Override bit 4 7.4 qCh_Override_12 Override bit 12

6.5 qCh_Override_05 Override bit 5 7.5 qCh_Override_13 Override bit 13

6.6 qCh_Override_06 Override bit 6 7.6 qCh_Override_14 Override bit 14

6.7 qCh_Override_07 Override bit 7 7.7 qCh_Override_15 Override bit 15

190/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Overview of Interface Signals

Page 203: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

8.0 qCh_Custom1 Customer input 1 9.0 qCh_OnlCorrWcs Online correction release

8.1 qCh_Custom2 Customer input 2 9.1 qCh_OnlCorrWcsDir Online correction direction

8.2 qCh_Custom3 Customer input 3 9.2 - res.

8.3 qCh_Custom4 Customer input 4 9.3 - res.

8.4 qCh_Custom5 Customer input 5 9.4 - res.

8.5 qCh_Custom6 Customer input 6 9.5 - res.

8.6 qCh_Custom7 Customer input 7 9.6 qCh_CoordCoupleOff Decoupling

8.7 qCh_Custom8 Customer input 8 9.7 qCh_TangTRotRel TTL release

10.0 - res. 11.0 - res.

10.1 - res. 11.1 - res.

10.2 - res. 11.2 - res.

10.3 - res. 11.3 - res.

10.4 - res. 11.4 - res.

10.5 - res. 11.5 - res.

10.6 - res. 11.6 - res.

10.7 - res. 11.7 - res.

12.0 - res. 13.0 qCH_TestFeed Test feed

12.1 - res. 13.1 qCH_TestRap Test rapid traverse

12.2 - res. 13.2 - res.

12.3 - res. 13.3 - res.

12.4 - res. 13.4 - res.

12.5 - res. 13.5 - res.

12.6 - res. 13.6 - res.

12.7 - res. 13.7 - res.

Fig.13-3: Overview of output signals (PLC -> NC)

13.4 Channel-Related Input Signals (NC -> PLC)Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

0.0 iCh_OpMode_00 Sel. Operating mode for bit 0 1.0 iCh_DryRun Test mode

0.1 iCh_OpMode_01 Sel. Operating mode for bit 1 1.1 iCh_NCReady NC ready

0.2 iCh_OpMode_02 Sel. Operating mode for bit 2 1.2 iCh_ProgRun Program is running

0.3 iCh_OpMode_03 Sel. Operating mode for bit 3 1.3 iCh_TransferLockAct Block transfer inhibit active

0.4 res. 1.4 iCh_FeedHoldAct Feed hold active

0.5 res. 1.5 - res.

0.6 res. 1.6 iCh_ProgStopM0 Program stop M0

0.7 res. 1.7 iCh_ProgStopM30 Program stop M30

2.0 iCh_Reset Channel reset 3.0 iCh_ASub1 Asynchr. Unterpr. 1

2.1 - res. 3.1 iCh_ASub2 Asynchr. Unterpr. 2

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 191/206

Overview of Interface Signals

Page 204: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

2.2 - res. 3.2 iCh_ASub3 Asynchr. Unterpr. 3

2.3 - res. 3.3 iCh_ASub4 Asynchr. Unterpr. 4

2.4 iCh_RemoveFinish Remove finished 3.4 iCh_ASub5 Asynchr. Unterpr. 5

2.5 iCh_ReadyReEnter Ready for re-entry 3.5 iCh_ASub6 Asynchr. Unterpr. 6

2.6 iCh_ReEnterAct Reenter active 3.6 iCh_ASub7 Asynchr. Unterpr. 7

2.7 - res. 3.7 iCh_ASub8 Asynchr. Unterpr. 8

4.0 iCh_State_00 Channel status bit 0 5.0 iCh_BlkSlash Activate block slash

4.1 iCh_State_01 Channel status bit 1 5.1 iCh_OptStop Optional stop activated

4.2 iCh_State_02 Channel status bit 2 5.2 - res.

4.3 iCh_State_03 Channel status bit 3 5.3 iCh_SRunAct NC program restart active

4.4 iCh_State_04 Channel status bit 4 5.4 iCh_SRunReEnter Reenter active

4.5 - res. 5.5 iCh_SRunRepos Repositioning active

4.6 - res. 5.6 iCh_Override0 Override 0%

4.7 - res. 5.7 iCh_Override100 Override 100%

6.0 iCh_Cpl01 CPL customer output 1 7.0 iCh_Cpl09 CPL customer output 9

6.1 iCh_Cpl02 CPL customer output 2 7.1 iCh_Cpl10 CPL customer output 10

6.2 iCh_Cpl03 CPL customer output 3 7.2 iCh_Cpl11 CPL customer output 11

6.3 iCh_Cpl04 CPL customer output 4 7.3 iCh_Cpl12 CPL customer output 12

6.4 iCh_Cpl05 CPL customer output 5 7.4 iCh_Cpl13 CPL customer output 13

6.5 iCh_Cpl06 CPL customer output 6 7.5 iCh_Cpl14 CPL customer output 14

6.6 iCh_Cpl07 CPL customer output 7 7.6 iCh_Cpl15 CPL customer output 15

6.7 iCh_Cpl08 CPL customer output 8 7.7 iCh_Cpl16 CPL customer output 16

8.0 iCh_Custom1 Customer output 1 9.0 iCh_G0Act Rapid traverse active

8.1 iCh_Custom2 Customer output 2 9.1 iCh_InPosAct Inpos range 2 active

8.2 iCh_Custom3 Customer output 3 9.2 iCh_G41G141Act G41/G141 active

8.3 iCh_Custom4 Customer output 4 9.3 iCh_G42G142Act G42/G142 active

8.4 iCh_Custom5 Customer output 5 9.4 - res.

8.5 iCh_Custom6 Customer output 6 9.5 - res.

8.6 iCh_Custom7 Customer output 7 9.6 iCh_CoordCoupleAct Coord. Coupling active

8.7 iCh_Custom8 Customer output 8 9.7 iCh_TangTRotCmd Tool rotation (TangTool)

10.0 iCh_ActFunc01 G70 active 11.0 iCh_ActFunc09 Tool compensation active bit 0

10.1 iCh_ActFunc02 Feed 100% active 11.1 iCh_ActFunc10 Tool compensation active bit 1

10.2 iCh_ActFunc03 G95 active 11.2 iCh_ActFunc11 Tool compensation active bit 2

10.3 iCh_ActFunc04 Axis transformer 2 inactive 11.3 iCh_ActFunc12 Tool compensation active bit 3

10.4 iCh_ActFunc05 Program position active 11.4 iCh_ActFunc13 Tool compensation active bit 4

10.5 iCh_ActFunc06 Thread cycle active 11.5 iCh_ActFunc14 not assigned

10.6 iCh_ActFunc07 Tapping without compensating chuckactive 11.6 iCh_ActFunc15 not assigned

192/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Overview of Interface Signals

Page 205: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

10.7 iCh_ActFunc08 Thread cutting active 11.7 iCh_ActFunc16 not assigned

12.0 iCh_ActFunc17 not assigned 13.0 iCh_TestFeed Test feed active

12.1 iCh_ActFunc18 G96 active 13.1 iCh_TestRap Test of rapid traverse active

12.2 iCh_ActFunc19 not assigned 13.2 - res.

12.3 iCh_ActFunc20 not assigned 13.3 - res.

12.4 iCh_ActFunc21 not assigned 13.4 - res.

12.5 iCh_ActFunc22 not assigned 13.5 - res.

12.6 iCh_ActFunc23 not assigned 13.6 - res.

12.7 iCh_ActFunc24 not assigned 13.7 - res.

Fig.13-4: Overview of input signals (NC -> PLC)

13.5 Axis-Related of Output Signals (PLC -> NC)Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

0.0 qAx_OpModeSel_00 Axis mode bit 0 1.0 qAx_TrvLim_00 Limit switch range bit 0

0.1 qAx_OpModeSel_01 Axis mode bit 1 1.1 qAx_TrvLim_01 Limit switch range bit 1

0.2 qAx_JogPlus Manual + 1.2 qAx_SwLimOff Suppress limit switch

0.3 qAx_JogMinus Manual - 1.3 - res.

0.4 qAx_JogInch Schrittmaß in Inch 1.4 - res.

0.5 qAx_JogDia Incremental step diameter 1.5 - res.

0.6 qAx_NextNotch Next grid position 1.6 - res.

0.7 qAx_Reset Axis reset 1.7 qAx_FxStopRel Cancel fixed stop

2.0qAx_

SafOpModeSwitchMode selection (BA) 3.0 qAx_HandwSel_00 Handwheel selection bit 0

2.1 qAX_SafDrvLock Drive lock 3.1 qAx_HandwSel_01 Handwheel selection bit 1

2.2 qAx_SafEnablCtrl Consent key (ZT) 3.2 qAx_HandwDir Handwheel direction

2.3 qAx_SafSwitch1 S switch 1 (S1) 3.3 qAx_HandwPosMode Handwheel position

2.4 qAx_SafSwitch2 S switch 2 (S2) 3.4 - res.

2.5qAx_

SafCheckInputStateCheck input safety technology 3.5 - res.

2.6 qAx_SafTechState Status S signals 3.6 - res.

2.7 - res. 3.7 - res.

4.0 qAx_ManFeed_00 Manual feed for bit 0 5.0 - res.

4.1 qAx_ManFeed_01 Manual feed for bit 1 5.1 - res.

4.2 qAx_ManFeed_02 Manual feed for bit 2 5.2 - res.

4.3 qAx_ManFeed_03 Manual feed for bit 3 5.3 - res.

4.4 - res. 5.4 - res.

4.5 - res. 5.5 - res.

4.6 - res. 5.6 - res.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 193/206

Overview of Interface Signals

Page 206: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

4.7 - res. 5.7 qAx_Override100 Axis override 100 %

6.0 qAx_Override_00 Override bit 0 7.0 qAx_Override_08 Override bit 8

6.1 qAx_Override_01 Override bit 1 7.1 qAx_Override_09 Override bit 9

6.2 qAx_Override_02 Override bit 2 7.2 qAx_Override_10 Override bit 10

6.3 qAx_Override_03 Override bit 3 7.3 qAx_Override_11 Override bit 11

6.4 qAx_Override_04 Override bit 4 7.4 qAx_Override_12 Override bit 12

6.5 qAx_Override_05 Override bit 5 7.5 qAx_Override_13 Override bit 13

6.6 qAx_Override_06 Override bit 6 7.6 qAx_Override_14 Override bit 14

6.7 qAx_Override_07 Override bit 7 7.7 qAx_Override_15 Override bit 15

8.0 qAx_Custom1 Customer input 1 9.0 - res.

8.1 qAx_Custom2 Customer input 2 9.1 - res.

8.2 qAx_Custom3 Customer input 3 9.2 - res.

8.3 qAx_Custom4 Customer input 4 9.3 - res.

8.4 qAx_Custom5 Customer input 5 9.4 - res.

8.5 qAx_Custom6 Customer input 6 9.5 - res.

8.6 qAx_Custom7 Customer input 7 9.6 - res.

8.7 qAx_Custom8 Customer input 8 9.7 - res.

10.0 qAx_TrqErrOff Suppress standstill error 11.0 qAx_Discharge Axis discharged

10.1 qAx_LagErrOff Suppress coupling error 11.1 qAx_FrzIpoPos Hold command position

10.2 qAx_MasterPos Gantry on master position 11.2 - res.

10.3 qAx_TakeActOffs Take over actual value offset 11.3 qAx_TrqLim Torque reduction

10.4 - res. 11.4 - res.

10.5 - res. 11.5 - res.

10.6 - res. 11.6 qAx_DrvOn Drive on

10.7 - res. 11.7 qAx_DrvLock Feed lock

Fig.13-5: Overview of output signals (PLC -> NC)

13.6 Axis-Related Input Signals (NC -> PLC)Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

0.0 iAx_RefKnown Reference point known 1.0 iAx_DistCtrl Axis before end point

0.1 iAx_RefReached Reference point reached 1.1 - res.

0.2 iAx_TrvCmd Travel command 1.2 - res.

0.3 iAx_TrvDirNeg Negative traversing direction 1.3 - res.

0.4 iAx_Run Axis running 1.4 - res.

0.5 iAx_InPos Axis in position 1.5 - res.

0.6 iAx_NotchPos Axis on grid position 1.6 iAx_FxStopReached Fixed stop reached

0.7 iAx_Reset Axis is reset 1.7 iAx_FxStopAct Fixed stop active

2.0 iAx_SafOpMode_00 Bit 0 safety mode 3.0 iAx_PosSwitch1 Position switch point 1

194/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Overview of Interface Signals

Page 207: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

2.1 iAx_SafOpMode_01 Bit 1 safety mode 3.1 iAx_PosSwitch2 Position switch point 2

2.2 iAx_SafOpMode_02 Bit 2 safety mode 3.2 iAx_PosSwitch3 Position switch point 3

2.3 iAx_SafOpMode_03 Safety mode bit3 3.3 iAx_PosSwitch4 Position switch point 4

2.4 iAx_SafStatePos Status safe position 3.4 iAx_PosSwitch5 Position switch point 5

2.5iAx_

SafCtrlOutputStateStatus output controller 3.5 iAx_PosSwitch6 Position switch point 6

2.6 - res. 3.6 iAx_PosSwitch7 Position switch point 7

2.7 - res. 3.7 iAx_PosSwitch8 Position switch point 8

4.0 iAx_ChIndex_00 Channel number bit 0 5.0 - res.

4.1 iAx_ChIndex_01 Channel number bit 1 5.1 - res.

4.2 iAx_ChIndex_02 Channel number bit 2 5.2 - res.

4.3 iAx_ChIndex_03 Channel number bit 3 5.3 - res.

4.4 - res. 5.4 - res.

4.5 - res. 5.5 - res.

4.6 - res. 5.6 iAx_Override0 Axis override 0 %

4.7 - res. 5.7 iAx_Override100 Axis override 100 %

6.0 iAx_ScsState00 SCS signal status 0 7.0 iAx_ScsState08 SCS signal status 8

6.1 iAx_ScsState01 SCS signal status 1 7.1 iAx_ScsState09 SCS signal status 9

6.2 iAx_ScsState02 SCS signal status 2 7.2 iAx_ScsState10 SCS signal status 10

6.3 iAx_ScsState03 SCS signal status 3 7.3 iAx_ScsState11 SCS signal status 11

6.4 iAx_ScsState04 SCS signal status 4 7.4 iAx_ScsState12 SCS signal status 12

6.5 iAx_ScsState05 SCS signal status 5 7.5 iAx_ScsState13 SCS signal status 13

6.6 iAx_ScsState06 SCS signal status 6 7.6 iAx_ScsState14 SCS signal status 14

6.7 iAx_ScsState07 SCS signal status 7 7.7 iAx_ScsState15 SCS signal status 15

8.0 iAx_Custom1 Customer output 1 9.0 iAx_MasterAxIndex_00 Index of master axis bit 0

8.1 iAx_Custom2 Customer output 2 9.1 iAx_MasterAxIndex_01 Index of master axis bit 1

8.2 iAx_Custom3 Customer output 3 9.2 iAx_MasterAxIndex_02 Index of master axis bit 2

8.3 iAx_Custom4 Customer output 4 9.3 iAx_MasterAxIndex_03 Index of master axis bit 3

8.4 iAx_Custom5 Customer output 5 9.4 iAx_MasterAxIndex_04 Index of master axis bit 4

8.5 iAx_Custom6 Customer output 6 9.5 - res.

8.6 iAx_Custom7 Customer output 7 9.6 - res.

8.7 iAx_Custom8 Customer output 8 9.7 - res.

10.0 iAx_TrqExceed Standstill error 11.0 iAx_DrvErrClass1 Error status class 1

10.1 iAx_CoupleLag Coupling lag 11.1 iAx_DrvChangeClass2 Modification status class 2

10.2 iAx_CmdOffsExst Gantry command value offset active 11.2 iAx_DrvChangeClass3 Modification status class 3

10.3 iAx_CmdOffsExceed Compensable gantry command val‐ue displacement exceeded 11.3 iAx_TrqLim Torque limited

10.4 - res. 11.4 iAx_DryRun Test mode

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 195/206

Overview of Interface Signals

Page 208: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

10.5 - res. 11.5 iAx_DrvPower Enabled for power activation

10.6 - res. 11.6 iAx_DrvReady Drive under control

10.7 - res. 11.7 iAx_DrvAct Drive under control

Fig.13-6: Overview of input signals (NC -> PLC)

13.7 Spindle-Related Output Signals (PLC -> NC)Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

0.0 qSp_CAxOn C axis on 1.0 qSp_TurnCW Spindle M3 manual

0.1 qSp_CAxOff C axis off 1.1 qSp_TurnCCW Spindle M4 manual

0.2 qSp_JogPlus Spindle jog M3 1.2 qSp_Stop Spindle M5 manual

0.3 qSp_JogMinus Spindle jog M4 1.3 qSp_Orientate Spindle M19 manual

0.4 - res. 1.4 - res.

0.5 - res. 1.5 - res.

0.6 - res. 1.6 - res.

0.7 qSp_Reset Spindle reset 1.7 - res.

2.0 qSp_SafOpModeSel Mode selection (BA) 3.0 qSp_Gear1Act Acknowledgement GTS 1

2.1 - res. 3.1 qSp_Gear2Act Acknowledgement GTS 2

2.2 qSp_SafAgreeButton Consent key (ZT) 3.2 qSp_Gear3Act Acknowledgement GTS 3

2.3 qSp_SafSwitch1 S switch 1 (S1) 3.3 qSp_Gear4Act Acknowledgement GTS 4

2.4 - res. 3.4 - res.

2.5qSp_

SafCheckInputStateCheck input safety technology 3.5 - res.

2.6 qSp_SafSignalState Status S signals 3.6 - res.

2.7 - res. 3.7 qSp_GearIdleAct Idle gear acknowledgement

4.0 qSp_ManSpeed_00 Spindle speed jog bit 0 5.0 - res.

4.1 qSp_ManSpeed_01 Spindle speed jog bit 1 5.1 - res.

4.2 qSp_ManSpeed_02 Spindle speed jog bit 2 5.2 - res.

4.3 - res. 5.3 - res.

4.4 - res. 5.4 - res.

4.5 - res. 5.5 - res.

4.6 - res. 5.6 - res.

4.7 - res. 5.7 qSp_Override100 Spindle override 100%

6.0 qSp_Override_00 Override bit 0 7.0 qSp_Override_08 Override bit 8

6.1 qSp_Override_01 Override bit 1 7.1 qSp_Override_09 Override bit 9

6.2 qSp_Override_02 Override bit 2 7.2 qSp_Override_10 Override bit 10

6.3 qSp_Override_03 Override bit 3 7.3 qSp_Override_11 Override bit 11

6.4 qSp_Override_04 Override bit 4 7.4 qSp_Override_12 Override bit 12

6.5 qSp_Override_05 Override bit 5 7.5 qSp_Override_13 Override bit 13

196/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Overview of Interface Signals

Page 209: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC output signal Bit Symbol. Addr. PLC output signal

6.6 qSp_Override_06 Override bit 6 7.6 qSp_Override_14 Override bit 14

6.7 qSp_Override_07 Override bit 7 7.7 qSp_Override_15 Override bit 15

8.0 qSp_Custom1 Customer input 1 9.0 - res.

8.1 qSp_Custom2 Customer input 2 9.1 - res.

8.2 qSp_Custom3 Customer input 3 9.2 - res.

8.3 qSp_Custom4 Customer input 4 9.3 - res.

8.4 qSp_Custom5 Customer input 5 9.4 - res.

8.5 qSp_Custom6 Customer input 6 9.5 - res.

8.6 qSp_Custom7 Customer input 7 9.6 - res.

8.7 qSp_Custom8 Customer input 8 9.7 - res.

10.0 - res. 11.0 - res.

10.1 - res. 11.1 - res.

10.2 - res. 11.2 - res.

10.3 - res. 11.3 - res.

10.4 - res. 11.4 - res.

10.5 - res. 11.5 - res.

10.6 - res. 11.6 qSp_DrvOn Drive on

10.7 - res. 11.7 qSp_DrvLock Spindle lock

Fig.13-7: Overview of output signals (PLC -> NC)

13.8 Spindle-Related Input Signals (NC -> PLC)Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

0.0 iSp_CAxAct C axis is active 1.0 iSp_ProgSpReach Speed reached

0.1 iSp_CAxSwitch C axis switching 1.1 iSp_SpLim Speed limited

0.2 iSp_TurnCmd Spindle command 1.2 iSp_Stop Spindle stopped

0.3 iSp_TurnDirM4 Direction of rotation M4 1.3 iSp_OrientateFinish Spindle orientatet

0.4 - res. 1.4 iSp_OrientateAct Spindle orientation active

0.5 iSp_InPos Spindle in position 1.5 - res.

0.6 iSp_PosCtrl Position control active 1.6 - res.

0.7 iSp_Reset Spindle reset 1.7 - res.

2.0 iSp_SafOpMode_00 Bit 0 safety mode 3.0 iSp_Gear1Sel GTS 1 selection

2.1 iSp_SafOpMode_01 Bit 1 safety mode 3.1 iSp_Gear2Sel GTS 2 selection

2.2 iSp_SafOpMode_02 Bit 2 safety mode 3.2 iSp_Gear3Sel GTS 3 selection

2.3 iSp_SafOpMode_03 Safety mode bit 3 3.3 iSp_Gear4Sel GTS 4 selection

2.4 iSp_SafStatePos Safe position status 3.4 iSp_GearChange GTS change

2.5iSp_

SafCtrlOutputStateControl status output 3.5 iSp_IdleSpeed Idling speed reached

2.6 - res. 3.6 - res.

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 197/206

Overview of Interface Signals

Page 210: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bit Symbol. Addr. PLC input signal Bit Symbol. Addr. PLC input signal

2.7 - res. 3.7 iSp_GearIdleSel Idle gear selection

4.0 - res. 5.0 - res.

4.1 - res. 5.1 - res.

4.2 - res. 5.2 - res.

4.3 - res. 5.3 - res.

4.4 - res. 5.4 - res.

4.5 - res. 5.5 - res.

4.6 - res. 5.6 iSp_Override0 Spindle override 0 %

4.7 - res. 5.7 iSp_Override100 Spindle override 100 %

6.0 iSp_ScsState00 SCS signal status 0 7.0 iSp_ScsState08 SCS signal status 8

6.1 iSp_ScsState01 SCS signal status 1 7.1 iSp_ScsState09 SCS signal status 9

6.2 iSp_ScsState02 SCS signal status 2 7.2 iSp_ScsState10 SCS signal status 10

6.3 iSp_ScsState03 SCS signal status 3 7.3 iSp_ScsState11 SCS signal status 11

6.4 iSp_ScsState04 SCS signal status 4 7.4 iSp_ScsState12 SCS signal status 12

6.5 iSp_ScsState05 SCS signal status 5 7.5 iSp_ScsState13 SCS signal status 13

6.6 iSp_ScsState06 SCS signal status 6 7.6 iSp_ScsState14 SCS signal status 14

6.7 iSp_ScsState07 SCS signal status 7 7.7 iSp_ScsState15 SCS signal status 15

8.0 iSp_Custom1 Customer output 1 9.0 iSp_CoupleIndex_00 No. of coupling bit 0

8.1 iSp_Custom2 Customer output 2 9.1 iSp_CoupleIndex_01 No. of coupling bit 1

8.2 iSp_Custom3 Customer output 3 9.2 iSp_CoupleIndex_02 No. of coupling bit 2

8.3 iSp_Custom4 Customer output 4 9.3 - res.

8.4 iSp_Custom5 Customer output 5 9.4 - res.

8.5 iSp_Custom6 Customer output 6 9.5 - res.

8.6 iSp_Custom7 Customer output 7 9.6 - res.

8.7 iSp_Custom8 Customer output 8 9.7 - res.

10.0 iSp_Master Spindle is Master 11.0 iSp_DrvErrClass1 Error diagn. class -1

10.1 iSp_CoupleErr Coupling Error 11.1 iSp_DrvChangeClass2 Class -2 diagnostics changed

10.2 iSp_Synchr1 Synchronous 1 11.2 iSp_DrvChangeClass3 Class -3 diagnostics changed

10.3 iSp_Synchr2 Synchronous 2 11.3 - res.

10.4 - res. 11.4 iSp_DryRun Test mode

10.5 - res. 11.5 iSp_DrvPower Enabled for power activation

10.6 - res. 11.6 iSp_DrvReady Drive ready (BTB)

10.7 - res. 11.7 iSp_DrvAct Drive under control

Fig.13-8: Overview of input signals (NC -> PLC)

198/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Overview of Interface Signals

Page 211: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

14 Service & Support14.1 Helpdesk

Our service helpdesk at our headquarters in Lohr, Germany, will assist you withall kinds of enquiries.Contact us:● By phone through the Service Call Entry Center,

Mo - Fr 7:00 am - 6:00 pm CET+49 (0) 9352 40 50 60

● By Fax+49 (0) 9352 40 49 41

● By email: [email protected]

14.2 Service HotlineOut of helpdesk hours please contact our German service department directly:+49 (0) 171 333 88 26or+49 (0) 172 660 04 06Hotline numbers for other countries can be found in the addresses of eachregion (see below).

14.3 InternetAdditional notes regarding service, maintenance and training, as well as thecurrent addresses of our sales and service offices can be found onhttp://www.boschrexroth.comOutwith Germany please contact our sales/service office in your area first.

14.4 Helpful InformationFor quick and efficient help please have the following information ready:● detailed description of the fault and the circumstances● information on the type plate of the affected products, especially type co‐

des and serial numbers● your phone / fax numbers and e-mail address so we can contact you in

case of questions

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 199/206

Service & Support

Page 212: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Page 213: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

IndexSymbols(MT_TempComp 129

AAccess to digital I/Os 111Activate block skip 53Activate MSD messages 186Active operating mode 48Appropriate use

Areas of application 5Introduction 5

Appropriate UseAreas of use 5

Asynchronous subroutine 1 ... 8 44, 52Automatic resection from 41Automatic restart 40Auxiliary functions 105Axis discharged 72Axis index 80Axis in position 76Axis interface 18Axis mode bit 0 and 1 64Axis near end point 77AxisNo 129Axis on notch position 76Axis override 0% 79Axis override 100% 70, 79Axis-related interface signals 61

Description PLC input signals 75Description PLC output signals 64PLC input signals - overview 86, 194PLC output signals - overview 193PLC Output signals - overview 61

Axis reset 67, 77Axis running 76Axis transformer 2 inactive 57

BBCE code 107Binary coded active channel status 53Bit 0 safety mode ... Bit 3 77, 98Bit-coded auxiliary functions 106Block skip 45

CCancel distance to go 42Cancel fixed stop 67C-axis active 95C-axis off 88C-axis on 88C-axis switching 96Chan 132Change of diagnostics class-2 82, 102Change of diagnostics class-3 82, 103Changing data records 154

Changing tool data 145Channel Interface 17Channel number bit 0 ... Bit 3 78Channel-related interface signals 35

PLC input signals 48PLC input signals - overview 37, 62, 191PLC output signals 39PLC output signals - overview 35, 190

Channel reset 51Channel status bit 0 ... 4 52Channel structure 35Check input safety technology 68, 92Communication structure 3Compensable gantry command value displacementexceeded 81Conditional jump 45CondMask 149Configuration in IndraWorks 183Configuration of machine status display 183Configuration of the local inputs 20Configuration of the PLC NC bit interface 17Consent key 68Consent key (ZT) 92Coordinate coupling 47Coordinate coupling active 56Coupling error 101coupling lag 81Coupling lag 81CPL customer output 1 ... 16 55CPL variable 170Customer input 1 - 8 46, 71, 93Customer output 1 ... 8 55, 80, 101

DDeleting data records 149Deleting tool data records 140Digital I/Os 111Digital inputs of the IO card 22Digital outputs of the IO card 22Direction of rotation M4 96DP master interface 111DP slaves 25Drive cutoff with interlock 101Drive lock 68Drive on 73, 93Drive ready 83, 104Drive under control 84, 104

EEdge-triggered signals 64Edit data record lists 149Editing data records 145, 154Editing tool lists 140Edit inhibit 30ElemPath 154

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 201/206

Index

Page 214: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Enabled for power activation 83, 103End block 120Error code 113Error diagnostics class-1 81, 101Extended NC block input 126

FFast retract 44Feed 100% active 56Feed hold 41Feed hold active 51Feed inhibit 73Feed stop 41Fixed stop active 77Fixed stop reached 77

GG41/141 active 56G42/142 active 56G70 active 56G95 active 57G96 active 58Gantry command value displacement active 81Gantry on master position 71Gear in idle position 99Gear range selection 98Gear switchover function 99General Interface 17Global Interface 17Global interface signals

PLC input signals 32PLC input signals - overview 189PLC Input signals - overview 29PLC output signals 30PLC output signals - overview 29, 189

GTS 1 - 4 acknowledgement 92GTS change 99

HHand wheel data 134Handwheel direction 45, 69Handwheel position 45, 69Handwheel selection bit 0 44Handwheel selection bit 0 and bit 1 69Handwheel selection bit 1 44Hardware warning 32Hold command position 72HS input 22HS output 22

IiAx_ChIndex_00 ... 03 78iAx_CmdOffsExceed 81iAx_CmdOffsExst 81iAx_CoupleLag 81iAx_Custom1 ... 8 80iAx_DistCtrl 77

iAx_DrvAct 84iAx_DrvChangeClass2 82iAx_DrvChangeClass3 82iAx_DrvErrClass1 81iAx_DrvPower 83iAx_DrvReady 83iAx_DryRun 83iAx_FxStopAct 77iAx_FxStopReached 77iAx_InPos 76iAx_MasterAxindex_00 ... 04 80iAx_NotchPos 76iAx_Override0 79iAx_Override100 79iAx_PosSwitch1 ... 8 78iAx_RefKnown 75iAx_RefReached 75iAx_Reset 77iAx_Run 76iAx_SafCtrlOutputState 78iAx_SafOpMode_00 ... 03 77iAx_SafStatePos 78iAx_ScsState00 ... 15 79iAx_TrqExceed 80iAx_TrqLim 83iAx_TrvCmd 75iAx_TrvDirNeg 76iCh_ActFunc01 56iCh_ActFunc02 56iCh_ActFunc03 57iCh_ActFunc04 57iCh_ActFunc05 57iCh_ActFunc06 57iCh_ActFunc07 57iCh_ActFunc08 57iCh_ActFunc09 ... 13 58iCh_ActFunc18 58iCh_ASub1 ... 8 52iCh_CoordCoupleAct 56iCh_Cpl01 ... 16 55iCh_Custom1 ... 8 55iCh_DryRun 49iCh_FeedHoldAct 51iCh_G0Act 55iCh_G41G141Act 56iCh_G42G142Act 56iCh_InPosAct 55iCh_NCReady 49iCh_OpMode_00 ... 03 48iCh_Override0 55iCh_Override100 55iCh_ProgRun 50iCh_ProgStopM0 51iCh_ProgStopM30 51iCh_ReadyReEnter 52iCh_ReEnterAct 52iCh_RemoveFinish 51iCh_Reset 51

202/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Index

Page 215: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

iCh_SRunAct 54iCh_SRunReEnter 55iCh_SRunRepos 55iCh_State_00 .. 04 52iCh_TangTRotCmd 56iCh_TransferLockAct 50Idle gear acknowledgment 92Idle gear selection 99Idling position of the gear 99Idling speed reached 99iGen_HardwareState 32iGen_NoStroke 33iGen_StrokeIntend 33Importing device master files 24Importing GSD files 24Inappropriate use, 6

Consequences, disclaimer of liability 5Inch increments 66Incremental step as diameter 66Incremental step in inch 66Incremental steps in diameter 66Index of master axis bit 0 ... Bit 4 80Inpos range 2 active 55Input of a parameter value 136Input signals (PLC -> NC ) 32iSp_CAxAct 95iSp_CAxSwitch 96iSp_CoupleErr 101iSp_CoupleIndex_00 ... 02 101iSP_Custom1 ... 8 101iSp_DrvAct 104iSp_DrvChangeClass2 102iSp_DrvChangeClass3 103iSp_DrvErrClass1 101iSp_DrvPower 103iSp_DrvReady 104iSp_DryRun 103iSp_Gear1Sel ... 4Sel 98iSp_GearChange 99iSp_GearIdleSel 99iSp_IdleSpeed 99iSp_InPos 96iSp_Master 101iSp_OrientateAct 97iSp_OrientateFinish 97iSp_Override0 100iSp_Override100 100iSp_PosCtrl 96iSp_ProgSpReach 97iSp_Reset 97iSp_SafCtrlOutputState 98iSp_SafOpMode_00 ... 03 98iSp_SafStatePos 98iSp_ScsState00 ... 15 100iSp_SpLim 97iSp_Stop 97iSp_Synchr1 101iSp_Synchr2 101

iSp_TurnCmd 96iSp_TurnDirM4 96

LLent axis 79Limit switch range 0 ... 1 67Load database table 163

MMachine status display 183Manual- 64Manual+ 64Manual feed for bit 0 ... Bit 3 69M keys 21Mode selection 68Mode selection (BA) 91MSD 183MSD bit interface 183MSD file 185MSD text 185MT_CfgData 131MT_CplData 170MT_CplDataConv 173MT_DbData 154MT_DbLoad 163MT_DbRecList 149MT_DbSave 160MT_Handw 134MT_NcBlk 122MT_NcBlkExt 126MT_P_DbData 145MT_P_DbRecList 140MT_ProgSel 118MT_ScsData 136MT_ScsPos 113MT_SD_RD 175MT_SD_WR 178MT_TCorr 166

NNC block input 122NC program restart active 54NC ready 49NC start 40Negative traversing direction 76Next notch position 67NmbOfValues 129No. of coupling bit 0 ... Bit 2 101NofElem 149Non-bit-coded channel-dependent auxiliary func‐tions 108Non-bit-coded channel-independent auxiliary func‐tions 107

OOnline correction direction 47Online correction enable 46

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 203/206

Index

Page 216: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Operating status messages 103Optional stop 45, 53Orientate spindle active 97Original channel 79Output signals (PLC -> NC ) 30Override 0% 55Override 100% 46, 55Override bit 0 ... Bit 15 46, 70, 93

PParameterization of machine status indication 183PLC input signals, 48

Axis-related interface signals 75Global interface signals 32

PLC input signals (NC -> PLC) 95PLC operating mode 40PLC output signals, 39, 88

Axis-related interface signals 64Global interface signals 30

Position control active 96Position switch point 1 - 8 78Profibus configuration 23, 25PROFIBUS-DP

I/O configuration 111PROFIBUS-DP interface 111Profibus master 23Program change 118Program end M30 51Program modules 113Program modules - General structure 113ProgramName 120Program position active 57Program running 50Program selection/deselection 118Program stop M0 51Punching HS logic 31

QqAx_Custom1 ... 8 71qAx_Discharge 72qAx_DrvLock 73qAx_DrvOn 73qAx_FrzIpoPos 72qAx_FxStopRel 67qAx_HandwDir 69qAx_HandwPosMode 69qAx_HandwSel_00 ... 01 69qAx_JogDia 66qAx_JogInch 66qAx_JogMinus 64qAx_JogPlus 64qAx_LagErrOff 71qAx_ManFeed_00 ... 03 69qAx_MasterPos 71qAx_NextNotch 67qAx_OpModeSel_00 ... 01 64qAx_Override_00 ... 15 70

qAx_Override100 70qAx_Reset 67qAx_SafCheckInputState 68qAx_SafDrvLock 68qAx_SafEnablCtrl 68qAx_SafOpModeSwitch 68qAx_SafSwitch1 68qAx_SafTechState 68qAx_SwLimOff 67qAx_TakeActOffs 72qAx_TrqErrOff 71qAx_TrqLim 72qAx_TrvLim_00 ... 01 67qCh_ASub1 ... 8 44qCh_BlkSlash 45, 53qCh_CancDist 42qCh_CoordCoupleOff 47qCh_CtrlReset 41qCh_Custom1 ... 8 46qCh_FeedHold 41qCh_FeedStop 41qCh_HandwDirWcs 45qCh_HandwPosMode 45qCh_HandwSelWcs_00 44qCh_HandwSelWcs_01 44qCh_JogMinusWcs 44qCh_JogPlusWcs 44qCh_NCStart 40qCh_NextBlk 43qCh_OnlCorrWcs 46qCh_OnlCorrWcsDir 47qCh_OpModePlc 40qCh_OpModeSel_00 ... 03 39qCh_OptJump 45qCh_OptStop 45, 53qCh_Override_00 ... 15 46qCh_Override100 46qCh_RedRap 46qCh_ReSelOff 41qCh_Restart 40qCh_RetCont 43qCh_Retract 44qCh_TangTRotRel 47qCh_TestFeed 47qCh_TestRap 48qCh_TransferLock 40qGen_DelErrInfo 32qGen_EditInhibit 30qGen_Reset 30qGen_StrokeInhibit 31qGen_StrokeRel 31qGen_StrokeReserv 31qSp_CAxOff 88qSp_CAxOn 88qSp_Custom1 ... 8 93qSp_DrvLock 94qSp_DrvOn 93qSp_Gear1Act ... 4Act 92

204/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Index

Page 217: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

qSp_GearIdleAct 92qSp_JogMinus 88qSp_JogPlus 88qSp_ManSpeed_00 ... 02 92qSp_Orientate 91qSp_Override_00 ... 15 93qSp_Override100 93qSp_Reset 89qSp_SafAgreeButton 92qSp_SafCheckInputState 92qSp_SafModeSel 91qSp_SafSignalState 92qSp_SafSwitch1 92qSp_Stop 90qSp_TurnCCW 90qSp_TurnCW 90

RRandom addressing 26Rapid traverse 55Rapid traverse G0 46Read/Write perm. CPL Variables (CPL variables)170Read/write permanent CPL variables with type con‐version 173Reading actual axis values 113Reading a parameter value 136Reading machine parameter 131Reading of data records 154Reading tool data 145Read system data 175Ready to re-enter contour 52Reduced rapid traverse 46Re-entry active 52, 55Reference point known 75Reference point was reached 75Remove finish 51Repositioning active 55Reset 41Return to contour 43

SSafe absolute position 78safety instructions for electric drives and controls 7Save database table 160SCS signal status 0 ...15 79, 100SD qSp_SpeedLimit 95Searching for data records 149Searching for tool data records 140Selection GTS 1 ... 4 98Selection of operating mode 39SelMask 160, 163SERCOS parameters 136Series of addresses without gaps 26SetPos offset 57Setting addresses in a DP slave 26Setting correction values 166

Speed limitation 95Speed limited 97Speed reached 97Spindle anticlockwise rotation 90Spindle clockwise rotation 90Spindle has stopped 97Spindle inhibit 94Spindle in position 96Spindle Interface 19Spindle is master 101Spindle jog M3 88Spindle jog M4 88Spindle M19 manual 91Spindle M3 manual 90Spindle M4 manual 90Spindle M5 manual 90Spindle orientated 97Spindle orientation 91Spindle override 0% 100Spindle override 100% 93, 100Spindle-related interface signals

Description PLC output signals 88Input signals (NC -> PLC) 95Output signals PLC -> NC 88PLC input signals - overview 197PLC output signals - overview 85, 196

Spindle reset 89, 97Spindle speed jog bit 0 ... Bit 2 92Spindle stop 90S switch 1 (S1) 68, 92Standstill error 80Start block 120Static signals 64Status output controller 78, 98Status safe position 78, 98Status S signals 68, 92Stroke inhibit 31Stroke intended 33Stroke is not running 33Stroke on 31Stroke reserve 31Suppress coupling error 71Suppress limit switches 67Suppress standstill error 71Switching to next block 43Switchoff prewarning 102Synchronous 1 101Synchronous 2 101System reset 30

TTake over actual value offset 72TangTool 56Tapping active 57Temperature compensation 129Terminate coupling 47Test feed 47

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG 205/206

Index

Page 218: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Test mode 49, 83, 103Test rapid traverse 48Thread cycle active 57ThreadSet 57Tool compensation active bit 0 ... Bit 4 58Tool correction 166Tool rotation (TangTool (TTL)) 56Torque reduced 83Torque reduction 72Transfer lock 40Transfer lock active 50Travel command 75TTL enable 47Turn command 96

TypeId 154

UUser level - Edit inhibit 30UTF8 character coding 186

WWCS manual - 44WCS manual + 44Write system data 178

XXPath 175, 178

206/206 Bosch Rexroth AG | Electric Drivesand Controls

Rexroth IndraMotion MTX | Project Planning Manual

Index

Page 219: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Notes

Project Planning Manual | Rexroth IndraMotion MTX Electric Drivesand Controls

| Bosch Rexroth AG

Page 220: Rexroth IndraMotion MTX · Rexroth IndraMotion MTX PLC Interface R911318598 Edition 02 Project Planning Manual Electric Drives ... 70 Override bit 0 ... Bit 15 qAx_Override_00 ...

Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyPhone +49 (0)93 52-40-50 60Fax +49 (0)93 52-40-49 [email protected]

Printed in GermanyDOK-MTX***-PLC*INT*V06-PR02-EN-PR911318598