Rexroth IndraWorks Edition 02 13VRS IndraMotion Service Tool

Reference Book

Electric Drivesand Controls Pneumatics Service

Linear Motion and Assembly TechnologiesHydraulics

Rexroth IndraWorks13VRSIndraMotion Service Tool

R911337707Edition 02

Rexroth IndraWorks13VRSIndraMotion Service Tool

Reference Book

DOK-IWORKS-IMST****V13-RE02-EN-P

RS-81fcec3022b9e4230a6846a501de26d8-2-en-US-5

This documentation describes the IndraMotion Service Tool (IMST). TheIMST is a web-based diagnostic tool used to access a control system via anEthernet high-speed connection. The IMST allows OEMs, end users andservice engineers to access and remotely diagnose a system. The PC has touse at least Internet Explorer 8, Firefox 3.5 or a higher version.The following controls are supported:● IndraMotion MLC L25/L45/L65● IndraLogic XLC L25/L45/L65 VEP

Edition Release Date Notes

Edition 01 06.2012 First edition for 13VRSEdition 02 04.2013 Supplements

Copyright © Bosch Rexroth AG 2013This document, as well as the data, specifications and other information setforth in it, are the exclusive property of Bosch Rexroth AG. It may not be re‐produced or given to third parties without its consent.

Liability The specified data is intended for product description purposes only and shallnot be deemed to be a guaranteed characteristic unless expressly stipulatedin the contract. All rights are reserved with respect to the content of this docu‐mentation and the availability of the product.

Published by Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyPhone +49 9352 18 0Fax +49 9352 18 8400http://www.boschrexroth.com/electricsComponents & Software UwLi (KaWa/PiGe)

Note 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

Bosch Rexroth AG DOK-IWORKS-IMST****V13-RE02-EN-P Rexroth IndraWorks 13VRS IndraMotion Service Tool

http://www.boschrexroth.com/electrics

Table of ContentsPage

1 About this Documentation.............................................................................................. 51.1 Validity of the Documentation................................................................................................................. 51.2 Documentation Structure........................................................................................................................ 51.3 Required and Supplementing Documentations...................................................................................... 61.4 Information Representation.................................................................................................................. 111.4.1 Safety Instructions............................................................................................................................. 111.4.2 Symbols Used................................................................................................................................... 111.4.3 Terms and Abbreviations................................................................................................................... 12

2 Important Instructions on Use...................................................................................... 132.1 Intended Use ....................................................................................................................................... 132.1.1 Introduction........................................................................................................................................ 132.1.2 Areas of Use and Application............................................................................................................ 132.2 Unintended Use.................................................................................................................................... 14

3 Safety Instructions for Electric Drives and Controls..................................................... 153.1 Definitions of Terms.............................................................................................................................. 153.2 General Information.............................................................................................................................. 163.2.1 Using the Safety Instructions and Passing Them on to Others......................................................... 163.2.2 Requirements for Safe Use............................................................................................................... 163.2.3 Hazards by Improper Use.................................................................................................................. 173.3 Instructions with Regard to Specific Dangers....................................................................................... 183.3.1 Protection Against Contact With Electrical Parts and Housings........................................................ 183.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock ................................................ 193.3.3 Protection Against Dangerous Movements....................................................................................... 203.3.4 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting.............. 213.3.5 Protection Against Contact With Hot Parts........................................................................................ 223.3.6 Protection During Handling and Mounting......................................................................................... 223.3.7 Battery Safety.................................................................................................................................... 223.3.8 Protection Against Pressurized Systems........................................................................................... 233.4 Explanation of Signal Words and the Safety Alert Symbol................................................................... 23

4 IndraMotion Service Tool – Overview.......................................................................... 254.1 General Information.............................................................................................................................. 254.2 System Requirements.......................................................................................................................... 264.2.1 Hardware Overview........................................................................................................................... 264.2.2 Firmware............................................................................................................................................ 264.2.3 Software............................................................................................................................................ 274.2.4 Internet Explorer Security Settings.................................................................................................... 274.3 IMST Functionality................................................................................................................................ 274.3.1 Overview............................................................................................................................................ 274.3.2 Diagnostic Overview.......................................................................................................................... 284.3.3 Hardware Overview........................................................................................................................... 30

DOK-IWORKS-IMST****V13-RE02-EN-P Rexroth IndraWorks 13VRS IndraMotion Service Tool

Bosch Rexroth AG I/97

Table of Contents

3.4 Data Overview................................................................................................................................... 314.3.5 User Management Overview............................................................................................................. 324.3.6 IMST Toolbar Icons........................................................................................................................... 344.3.7 Right-Click and Tooltip Functionality................................................................................................. 354.3.8 Help for Diagnostics.......................................................................................................................... 37

5 First Steps.................................................................................................................... 395.1 Overview............................................................................................................................................... 395.2 Browser Settings................................................................................................................................... 395.2.1 Overview............................................................................................................................................ 395.2.2 Enabling Security Settings................................................................................................................. 395.2.3 Proxy Server Settings........................................................................................................................ 405.3 Initial Login............................................................................................................................................ 415.3.1 Overview............................................................................................................................................ 415.3.2 Setting Up User Accounts................................................................................................................. 42

6 Using the IndraMotion Service Tool............................................................................. 476.1 Overview............................................................................................................................................... 476.2 User Login............................................................................................................................................ 476.3 Standard IMST Toolbar Symbols.......................................................................................................... 486.3.1 Overview............................................................................................................................................ 486.3.2 Showing and Hiding the Navigation Frame....................................................................................... 486.3.3 Saving Diagnostic Log and Hardware Data....................................................................................... 486.3.4 File Transfer...................................................................................................................................... 506.3.5 Changing the Operation Mode.......................................................................................................... 526.3.6 Current PLC State............................................................................................................................. 526.3.7 Error and Warning Display Elements................................................................................................ 526.4 Diagnostics Folder................................................................................................................................ 536.4.1 Overview............................................................................................................................................ 536.4.2 Control Node..................................................................................................................................... 546.4.3 Oscilloscope Functionality................................................................................................................. 556.5 Hardware Overview Folder................................................................................................................... 666.5.1 Overview............................................................................................................................................ 666.5.2 Control Hardware.............................................................................................................................. 676.5.3 Drive Hardware.................................................................................................................................. 716.6 "Data" Folder........................................................................................................................................ 766.6.1 Overview on the "Data" Folder.......................................................................................................... 766.6.2 Archiving and Restoring Parameters................................................................................................. 766.6.3 Parameter Comparison..................................................................................................................... 776.6.4 Logic.................................................................................................................................................. 786.6.5 Parameters........................................................................................................................................ 806.6.6 Application-Specific........................................................................................................................... 816.7 User Documentation............................................................................................................................. 866.8 "User Management" Folder.................................................................................................................. 866.8.1 Overview............................................................................................................................................ 86


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8.2 Creating a User Account................................................................................................................... 886.8.3 Deleting a User Account.................................................................................................................... 896.8.4 Changing a User Account Password................................................................................................. 90

7 Service and Support.................................................................................................... 93

Index............................................................................................................................ 95


Bosch Rexroth AG III/97

Table of Contents


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1 About this Documentation1.1 Validity of the Documentation

Overview on target groups andproduct phases

In the following illustration, the framed activities, product phases and targetgroups refer to the present documentation.Example: In the product phase "Mounting (assembly/installation)", the "me‐chanic/electrician" can execute the activity "unpack, mount and install" usingthis documentation.

Presales Aftersales

Selection Mounting(assembly/installation) Engineering Commissioning Operation De-

commissioningProduct-phases

Targetgroups

Activities

Design engineer

Programmer

Technologist

Processspecialist

Select

Prepare

Design

Construct

Mechanic/electrician

Unpack

Mount

Install

Programmer

Commissioning engineer

Parameterize

Program

Configure

Simulate

Technologist

Process specialist

Optimize

Test

Machineoperator

Maintenancetechnician

Service

Operate

Maintain

Removefaults

Createthe NC program

Mechanic/electrician

Disposal company

Dismount

Dispose

Fig.1-1: Assigning this documentation to the target groups, product phasesand target group activities

Purpose This documentation describes the web-based diagnostic tool "IndraMotionService Tool" (IMST) used to access a control system via a high-speedEthernet connection.

1.2 Documentation StructureThe first part of the document provides important instructions on use andsafety (chapter 2 "Important Instructions on Use" on page 13 and chapter3 "Safety Instructions for Electric Drives and Controls" on page 15).The chapter 4 "IndraMotion Service Tool – Overview" on page 25 providesa brief summary.The overview is structured as follows:● System requirements and● FunctionalityThe chapter 5 "First Steps" on page 39 describes setting to be made onthe PC and notes on the initial login on the IMST.The chapter 6 "Using the IndraMotion Service Tool" on page 47 describesthe user interface as well as the operation of the IMST.The chapter 7 "Service and Support" on page 93 provides information onthe customer service helpdesk.


Bosch Rexroth AG 5/97

About this Documentation

1.3 Required and Supplementing DocumentationsDocumentation titles with type codes and parts numbers

IndraWorks MLC XLC/36/ Rexroth IndraWorks 13VRS Software Installation

DOK-IWORKS-SOFTINS*V13-CORS-EN-P, R911336880This documentation describes the IndraWorks installation.

X X

/5/ Rexroth IndraWorks 13VRS EngineeringDOK-IWORKS-ENGINEE*V13-APRS-EN-P, R911336870This documentation describes the application of IndraWorks in which the Rexroth Engineering toolsare integrated. It includes instructions on how to work with IndraWorks and how to operate the oscillo‐scope function.

X X

/20/ Rexroth IndraMotion MLC 13VRS Functional DescriptionDOK-MLC***-FUNC****V13-APRS-EN-P, R911336295This documentation describes wizards, context menus, dialogs, control commissioning, device config‐uration and functionalities of the IndraMotion MLC.

X

/20/ Rexroth IndraLogic XLC 13VRS Functional DescriptionDOK-XLC***-FUNC****V13-APRS-EN-P, R911336352This documentation describes wizards, context menus, dialogs, control commissioning, device config‐uration and functionalities of the IndraLogic XLC.

X

/7/ Rexroth IndraWorks 13VRS CamBuilderDOK-IWORKS-CAMBUIL*V13-APRS-EN-P, R911336291This documentation describes the basic principles and operation of the CamBuilder, the cam editingtool.

X X

/37/ Rexroth IndraLogic XLC IndraMotion MLC 13VRS Automation InterfaceDOK-XLCMLC-AUT*INT*V13-APRS-EN-P, R911336356This documentation describes the script-based access to IndraWorks project data via the interface ofthe Automation Interface.

X X

/38/ Rexroth IndraWorks 12VRS FDT ContainerDOK-IWORKS-FDT*CON*V12-APRS-EN-P, R911334398This documentation describes the IndraWorks FDT Container functionality. It includes the activation ofthe functionality in the project and working with DTMs.

X X

/29/ Rexroth IndraLogic XLC IndraMotion MLC 13VRS Project ConversionDOK-XLCMLC-PROCONV*V13-APRS-EN-P, R911336366This documentation describes the project conversion of IndraLogic 04VRS and IndraMotionMLC04VRS on IndraWorks version 12 with IndraLogic 2G. Changes with regard to Motion and PLCare described in detail.

X X

/28/ Rexroth IndraMotion MLC 13VRS CommissioningDOK-MLC***-STARTUP*V13-CORS-EN-P, R911336308This documentation describes the steps to commission and service the IndraMotion MLC system. Itincludes checklists for frequent tasks and a detailed description of the steps.

X

Tab.1-2: XCL/MLC documentation overview


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Motion MLC XLC/23/ Rexroth IndraLogic XLC IndraMotion MLC 13VRS PLCopen Libraries

DOK-XLCMLC-FUNLIB**V13-LIRS-EN-P, R911336360This documentation describes the function blocks, functions and data types of the RIL_Common‐Types, ML_Base and ML_PLCopen libraries for the IndraLogic XLC/IndraMotion MLC. It also includesthe error reactions of function blocks.

X X

/27/ Rexroth IndraLogic XLC IndraMotion MLC 13VRS Generic Application TemplateDOK-XLCMLC-TF*GAT**V13-APRS-EN-P, R911336370This documentation provides a structured template to the IndraLogic PLC programmer. This templatecan be used to add and edit the PLC programming code. It includes the template, the template wizardand example applications.

X X

/31/ Rexroth IndraMotion MLC 13VRS RCL Programming InstructionDOK-MLC***-RCL*PRO*V13-APRS-EN-P, R911336297This documentation provides information on the RobotControl. The programming language RCL (Ro‐botControl Language) is focused. The program structure, variables, functions, motion statements andthe required system parameters are described.

X

/21/ Rexroth IndraLogic XLC IndraMotion MLC 13VRS ParametersDOK-XLCMLC-PARAM***V13-RERS-EN-P, R911336364This documentation describes the parameters of the XLC/MLC systems as well as the interaction be‐tween parameterization and programming. It includes the axis parameters, control parameters, kine‐matic parameters, touch probe parameters and programmable limit switch parameters.

X X

/10/ Rexroth IndraDrive Firmware for Drive Controllers MPH-, MPB-, MPD-, MPC-07DOK-INDRV*-MP*-07VRS**-FKRS-EN-P, R911328670This documentation describes all functional properties of the IndraDrive firmware in the variantsMPH-07, MPB-07, MPD-07 and MPC-07.

/11/ Rexroth IndraDrive MPx-17 FunctionsDOK-INDRV*-MP*-17VRS**-APRS-EN-P, R911331236This documentation describes all functional properties of the IndraDrive firmware in the variantsMPB-17, MPM-17, MPC-17 and MPE-17.


Field Buses MLC XLC/4/ Rexroth IndraWorks 13VRS Field Buses

DOK-IWORKS-FB******V13-APRS-EN-P, R911336872This documentation describes the supported field buses and their diagnostic function blocks.

X X

/4a/ Rexroth IndraWorks 13VRS Field Buses LibrariesDOK-IWORKS-FB*LIB**V13-LIRS-EN-P, R911337857This manual describes the field bus libraries: RIL_ProfibusDP_02, RIL_ProfibusDPSlave, RIL_Profine‐tIO, RIL_ProfinetIODevice, RIL_EtherNetIPAdapter, RIL_MappingList, RIL_SERCOSIII, RIL_Inline in‐cluding their diagnostics and error reactions of the function blocks.

X X

/63/ SERCOS System Manual for I/O DevicesDOK-CONTRL-ILS3*******-APRS-EN-P, R911333512This documentation describes the configuration, parameterization, commissioning and diagnostics ofI/O devices with a SERCOS interface.

X X





HMI MLC XLC/8/ Rexroth IndraWorks 13VRS HMI

DOK-IWORKS-HMI*****V13-APRS-EN-P, R911336874This documentation describes the functions, configuration and operation of the user interfacesIndraWorks HMI Engineering and IndraWorks HMI Operation.

X X

/6/ Rexroth IndraWorks 13VRS WinStudioDOK-IWORKS-WINSTUD*V13-APRS-EN-P, R911336882This documentation describes the installation of the software, working with WinStudio and the creationand operation of applications.

X X

/50/ Rexroth IndraLogic XLC IndraMotion MLC 13VRS HMI ConnectionDOK-XLCMLC-HMI*****V13-APRS-EN-P, R911336362This documentation describes the visualization systems supported by the IndraLogic XLC andIndraMotion MLC and their connection.

X X


PLC MLC XLC/3/ Rexroth IndraWorks 13VRS IndraLogic 2G Programming Instruction

DOK-IWORKS-IL2GPRO*V13-APRS-EN-P, R911336876This documentation describes the PLC programming tool IndraLogic 2G and its use. It includes thebasic use, first steps, visualization, menu items and editors.

X X

/33/ Rexroth IndraWorks 13VRS Basic Libraries IndraLogic 2GDOK-IL*2G*-BASLIB**V13-LIRS-EN-P, R911336285This documentation describes the system-comprehensive PLC libraries.

X X


Technology MLC XLC/30/ Rexroth IndraMotion MLC 13VRS Technology Libraries

DOK-MLC***-TF*LIB**V13-LIRS-EN-P, R911336324This documentation describes the function blocks, functions and data types of the "ML_TechInter‐face.library", "ML_TechMotion.library", "RMB_TechCam.library" and "ML_TechBase.library". It also in‐cludes libraries for the winder functionality, register controller functionality and CrossCutter functionali‐ty.

X

/60/ Rexroth IndraMotion MLC 13VRS RegisterControl (Library)DOK-MLC***-REGI*CO*V13-LIRS-EN-P, R911336306This documentation describes the inputs and outputs of the individual function blocks and providesnotes on their use.

X


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Technology MLC XLC/62/ Rexroth IndraMotion MLC 13VRS RegisterControl (Application Manual)

DOK-MLC***-REGI*CO*V13-APRS-EN-P, R911336304This documentation describes the application of the integrated register control for a rotogravure print‐ing machine. The components of the mark stream sensor, the HMI application and the error recoveryoptions are described. This instruction provides information on how to operate the register control, re‐act to errors and query diagnostics. This documentation is written for machine setters and machineoperators.

X

/49/ Rexroth IndraMotion MLC 13VRS Winder Function ApplicationDOK-MLC***-TF*WIND*V13-APRS-EN-P, R911336326This application-related system documentation describes the application of the winder technologyfunctions.

X


Hardware MLC XLC/1/ Rexroth IndraControl L45/L65/L85 Control

DOK-CONTRL-ICL45L65L85-PRRS-EN-P, R911332116This documentation describes the IndraControl L45/L65/L85 controls.

X X

/2/ Rexroth IndraControl L25DOK-CONTRL-IC*L25*****-PRRS-EN-P, R911328474This documentation describes the IndraControl L25 controls.

X X

/24/ Rexroth IndraControl Lxx 13VRS Function ModulesDOK-CONTRL-FM*LXX**V13-APRS-EN-P, R911336283This documentation describes all function modules of the Lxx controls including engineering and diag‐nostics.

X X

/12/ Rexroth IndraDrive Drive Controllers MPx-02 to MPx-07DOK-INDRV*-GEN-**VRS**-PARS-EN-P, R911297317This documentation describes all parameters implemented in the firmware for drive controllers of theIndraDrive family. It supports the parameterization of the drive controllers.

/13/ Rexroth IndraDrive MPx-02 to MPx-07 and HMVDOK-INDRV*-GEN-**VRS**-WARS-EN-P, R911297319This documentation describes all diagnostics implemented in the following firmwares:● Drive controller firmwares from MPx-02 to MPx-08 and● firmwares of the supply devices of the type "HMV".It supports the operating crew as well as the programmer at troubleshooting.

/35/ Rexroth IndraDrive Drive Controller Control Sections CSB01, CSH01, CDB01DOK-INDRV*-CSH********-PRRS-EN-P, R911295012This documentation is a project planning manual to select and use the control sections CSB01,CDB01 and CSH01 for drive controllers of the product families Rexroth IndraDrive M and RexrothIndraDrive C.





Diagnostics and service MLC XLC/26/ Rexroth IndraWorks 13VRS IndraMotion Service Tool

DOK-IWORKS-IMST****V13-RERS-EN-P, R911337707This documentation describes the IndraMotion Service Tool (IMST). It is a web-based diagnostic toolto access the control systems IndraMotion MLC L25, L45 or 65 as well as the MLP via an Ethernethigh-speed connection. The IMST allows OEMs, end users and service engineers to access and re‐motely diagnose a system. A PC with Internet Explorer version 6 or 7 is required.

X X

/22/ Rexroth IndraLogic XLC IndraMotion MLC 13VRS DiagnosticsDOK-XLCMLC-DIAG****V13-RERS-EN-P, R911336358This documentation includes all control parameters implemented in the control systems IndraLogicXLC and IndraMotion MLC.

X X


System Overview MLC XLC/48/ Rexroth IndraMotion for Printing 13VRS System Overview

DOK-IM*PR*-SYSTEM**V13-PRRS-EN-P, R911336289This documentation describes the product IndraMotion for Printing. It introduces the control systems,drive systems and I/O systems as well as the commissioning and programming.

X

/48/ Rexroth IndraMotion for Packaging 13VRS System OverviewDOK-IM*PA*-SYSTEM**V13-PRRS-EN-P, R911336287This documentation describes the product IndraMotion for Packaging. It introduces the control sys‐tems, drive systems and I/O systems as well as the commissioning and programming.

X

/9/ Rexroth IndraMotion MLC 13VRS System OverviewDOK-MLC***-SYSTEM**V13-PRRS-EN-P, R911336310This documentation provides an overview on the hardware/software components of the automationsystem IndraMotion MLC in the mentioned version. It helps assembling a system.

X

/9/ Rexroth IndraLogic XLC 13VRS System OverviewDOK-XLC***-SYSTEM**V13-PRRS-EN-P, R911336354This documentation provides an overview on hardware/software components of the automation sys‐tem IndraLogic XLC in the respective version. It helps assembling a system.

X


First Steps MLC XLC/25/ Rexroth IndraMotion MLC 13VRS, First Steps

DOK-MLC***-F*STEP**V13-CORS-EN-P, R911336293This documentation describes the first steps of the IndraMotion MLC and the RobotControl. It includesthe hardware and software prerequisites as well as the creation of a project.

X

/25/ Rexroth IndraLogic XLC 13VRS, First StepsDOK-XLC***-F*STEP**V13-CORS-EN-P, R911336350This documentation describes the first steps of the IndraLogic XLC. It includes the hardware and soft‐ware prerequisites as well as the creation of a project.

X



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1.4 Information Representation1.4.1 Safety Instructions

If there are the safety instructions in the documentation, they contain certainsignal words ("Danger", "Warning", "Caution", "Notice") and sometimes asafety alert symbol (according to ANSI Z535.6-2006).The signal word draws attention to the safety instruction and indicates therisk potential.The safety alert symbol (triangular safety reflector with three exclamationmarks), preceding the signal words "Danger", "Warning", "Caution" indicateshazards for persons.The safety instructions are represented as follows in this documentation:

DANGERIn case of non-compliance with this safety instruction, death or serious injurywill occur.

WARNINGIn case of non-compliance with this safety instruction, death or serious injurycan occur.

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

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

1.4.2 Symbols UsedNote Notes are represented as follows:

This is a note for the user.

Tip Tips are represented as follows:

This is a tip for the user.




1.4.3 Terms and AbbreviationsTerm Explanation

OEM Original Equipment Manufacturer

IndraMotion MLC Compact Motion Logic systems with Motion, Robot andLogic Control functionalities

IndraLogic XLC Compact PLC system with integrated Motion functionality

IndraWorks EngineeringFramework

Project planning and commissioning tool of Bosch Rexroth

IEC International Electrotechnical Commission

IndraDrive Drive control unit

sercos sercos (SErial Realtime COmmunication System) interfaceis a world-wide standardized interface for the communica‐tion between controls and drives

XML Extensible Markup Language (XML). It is a markup lan‐guage to represent hierarchical structured data as text da‐ta

HTML The Hypertext Markup Language (HTML), also oftencalled hypertext, is a text-based markup language to struc‐ture contents such as texts, images, hyperlinks in docu‐ments

Java Java is an object-oriented programming language and aregistered trademark of the company Sun Microsystems

Cookies A cookie is a short entry in an often small database or in aspecial file directory on a computer and is used to ex‐change information between computer programs or fortemporally restricted archiving of information

Proxy server A proxy is a communication interface in a network. Theproxy receives queries from one side to establish a con‐nection to the other side using its own address. In contrastto a simple address conversion (NAT), a proxy server, al‐so called dedicated proxy, can lead and influence commu‐nication instead of transmitting the packages

Host Computer providing services in a computer network

Tab.1-12: Names and abbreviations used


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2 Important Instructions on Use2.1 Intended Use 2.1.1 Introduction

Bosch Rexroth products are developed and manufactured according to thestate-of-the-art. The products are tested prior to delivery to ensure operatingsafety and reliability.

Personal injury and damage to property dueto incorrect use of products!

WARNING

The products have been developed for the use in an industrial environmentand may only be used as intended. If the products are not used as intended,situations occur that result in damage to property or personal injury due to in‐correct use of products.

Bosch Rexroth as manufacturer shall not assume any warranty, li‐ability or payment of damages in case of damage resulting from anon-intended use of the products; the user shall solely bear allrisks arising from unintended use of the products.

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

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

● Hardware products may not be altered and have to remain in their origi‐nal state; i.e., no structural changes are permitted.

● The decompilation of software products or the alteration of source codesis not permitted

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

in the relevant documentation

2.1.2 Areas of Use and ApplicationThe products IndraMotion MLC/IndraLogic XLC of Bosch Rexroth are inten‐ded for Motion/Logic applications.

The IndraMotion MLC/IndraLogic XLC must only be used togetherwith the accessories and attachment parts given in this documen‐tation. Components that are not expressly mentioned must nei‐ther be attached nor connected. The same applies for cables andlines.The operation must only be carried out with the component con‐figurations and combinations that were expressly mentioned andwith the software and firmware indicated and specified in the re‐spective functional description.

The IndraMotion MLC/IndraLogic XLC has been developed for Logic applica‐tions as well as for the use in single and multi-axes drive and control tasks.



Important Instructions on Use

To allow for application-specific requirements of the IndraMotion MLC/IndraLogic XLC, various device types with different performance and interfa‐ces are provided.Typical areas of application of the IndraMotion MLC/IndraLogic XLC are:● Handling and mounting systems● Packaging and food machines● Printing and paper-processing machines● Machine tools● Presses● Foundry and rolling technology● Conveying engineering● Building automation● Special purpose machines● Wood working machineryThe IndraMotion MLC/IndraLogic XLC may only be operated under themounting and installation conditions, position and ambient conditions (tem‐perature, degree of protection, moisture, EMC, etc.) specified in this docu‐mentation.

2.2 Unintended UseUsing IndraMotion MLC/IndraLogic XLC outside the specified applicationsareas or other operating conditions than the conditions described and speci‐fied in the documentation and the technical data is considered as "uninten‐ded" use.The IndraMotion MLC/IndraLogic XLC must not be used if:● the IndraMotion MLC/IndraLogic XLC is subjected to operating condi‐

tions that do not comply with the specified ambient conditions. Opera‐tion under water, under extreme temperature fluctuations or under ex‐treme maximum temperatures or in explosion-prone areas is prohibited.

● the intended applications have not expressly been released by BoschRexroth. Therefore, please read the information given in the generalsafety instructions!

● an unsecure internet connection is used for the machine or system. TheEthernet interface of the IndraMotion MLC/IndraLogic XLC is not se‐curely protected against unauthorized access. Thus, only use the con‐trol in secure networks (security). Otherwise, malfunctions or a controlfailure can be caused due to unauthorized accesses

The operation is prohibited according to the following standards and guide‐lines:● Lifts (Directive 95/16/EC)● ATEX (94/9/EC)● Burner control systems (EN 298)● Pressure equipment (EN 764-7:2002/AC)Furthermore, the use as safety-relevant part of controls according to DIN ENISO 13849 is considered as unintended use. The functional safety has to beensured by additional safety-relevant certified components.


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Important Instructions on Use

3 Safety Instructions for Electric Drives and Controls3.1 Definitions of Terms

Application Documentation Application documentation comprises the entire documentation used to in‐form the user of the product about the use and safety-relevant features forconfiguring, integrating, installing, mounting, commissioning, operating, main‐taining, repairing and decommissioning the product. The following terms arealso used for this kind of documentation: User Guide, Operation Manual,Commissioning Manual, Instruction Manual, Project Planning Manual, Appli‐cation Manual, etc.

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

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

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

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

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

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

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

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

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

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

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



Safety Instructions for Electric Drives and Controls

requires. To comply with these qualifications, it is necessary, among otherthings,1) to be trained, instructed or authorized to switch electric circuits and devi‐ces safely on and off, to ground them and to mark them2) to be trained or instructed to maintain and use adequate safety equipment3) to attend a course of instruction in first aid

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

3.2 General Information3.2.1 Using the Safety Instructions and Passing Them on to Others

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

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

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

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

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

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

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

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

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

documentation must be observed.● Applications for functional safety are only allowed if clearly and explicitly

specified in the application documentation "Integrated Safety Technolo‐


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gy". If this is not the case, they are excluded. Functional safety is a safe‐ty concept in which measures of risk reduction for personal safety de‐pend on electrical, electronic or programmable control systems.

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

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

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

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

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

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

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

National regulations which the user must take into account● European countries: In accordance with European EN standards● United States of America (USA):

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

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

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

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

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

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

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

age by unintended motor movements!● Health hazard for persons with heart pacemakers, metal implants and

hearing aids in proximity to electric drive systems!




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

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

3.3 Instructions with Regard to Specific Dangers3.3.1 Protection Against Contact With Electrical Parts and Housings

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

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

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

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

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

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

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

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

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

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

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

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


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

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

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

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

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

Cross section outer con‐ductor

Minimum cross section equipment grounding conductorLeakage current ≥ 3.5 mA

1 equipment groundingconductor

2 equipment groundingconductors

1,5 mm2 (AWG 16)

10 mm2 (AWG 8)

2 × 1,5 mm2 (AWG 16)

2,5 mm2 (AWG 14) 2 × 2,5 mm2 (AWG 14)

4 mm2 (AWG 12) 2 × 4 mm2 (AWG 12)

6 mm2 (AWG 10) 2 × 6 mm2 (AWG 10)

10 mm2 (AWG 8) -

16 mm2 (AWG 6)

16 mm2 (AWG 6)

-

25 mm2 (AWG 4) -

35 mm2 (AWG 2) -

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

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

... ... ...

Tab.3-1: Minimum Cross Section of the Equipment Grounding Connection

3.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock Protective extra-low voltage is used to allow connecting devices with basic in‐sulation to extra-low voltage circuits.On components of an electric drive and control system provided by BoschRexroth, all connections and terminals with voltages between 5 and 50 voltsare PELV ("Protective Extra-Low Voltage") systems. It is allowed to connectdevices equipped with basic insulation (such as programming devices, PCs,notebooks, display units) to these connections.




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

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

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

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

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


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

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

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

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

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

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

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

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

Magnetic and electromagnetic fields generated by current-carrying conduc‐tors or permanent magnets of electric motors represent a serious danger topersons with heart pacemakers, metal implants and hearing aids.Health hazard for persons with heart pacemakers, metal implants and hear‐ing aids in proximity to electric components!● Persons with heart pacemakers and metal implants are not allowed to

enter the following areas:– Areas in which components of the electric drive and control sys‐

tems are mounted, commissioned and operated.– Areas in which parts of motors with permanent magnets are stored,

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

area, a doctor must be consulted prior to doing so. The noise immunityof implanted heart pacemakers differs so greatly that no general rulescan 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.




3.3.5 Protection Against Contact With Hot PartsHot surfaces of components of the electric drive and control system. Risk ofburns!● Do not touch hot surfaces of, for example, braking resistors, heat sinks,

supply units and drive controllers, motors, windings and laminatedcores!

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

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

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

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

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

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

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

falling!

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

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

explosion.● Do not throw batteries into open flames.● Do not dismantle batteries.


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● When replacing the battery/batteries, do not damage the electrical partsinstalled in the devices.

● Only use the battery types specified for the product.

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

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

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

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

falling!

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

3.4 Explanation of Signal Words and the Safety Alert SymbolThe Safety Instructions in the available application documentation containspecific signal words (DANGER, WARNING, CAUTION or NOTICE) and,where required, a safety alert symbol (in accordance withANSI Z535.6-2011).The signal word is meant to draw the reader's attention to the safety instruc‐tion and identifies the hazard severity.The safety alert symbol (a triangle with an exclamation point), which pre‐cedes the signal words DANGER, WARNING and CAUTION, is used to alertthe reader to personal injury hazards.

DANGERIn case of non-compliance with this safety instruction, death or serious injurywill occur.




WARNINGIn case of non-compliance with this safety instruction, death or serious injurycould occur.

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

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


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4 IndraMotion Service Tool – Overview4.1 General Information

The IndraMotion Service Tool (IMST) is a web-based diagnostic tool suppor‐ted by the following IndraMotion control systems over a high speed Ethernetconnection:● IndraMotion MLC L25/L45/L65● IndraLogic XLC L25/L45/L65/VEPThe IMST allows OEMs, end users and service engineers to access and re‐motely diagnose a system from any The PC has to use at least Internet Ex‐plorer version 8, Firefox 3.5 or a higher version.

No installation or setup is required with the IMST. All necessaryfiles and tools are embedded in the firmware of the control. TheIMST is supported in IndraMotion MLC and IndraLogic XLC13VRS control firmware.

The web server of the control is password protected and requires that theuser have access to the system network. The web server is accessed by en‐tering the IP address in the address bar of the browser. Once a connection tothe control is established, the IMST login page is loaded into the browser win‐dow.

Fig.4-1: IndraMotion Service Tool login pageUpon a successful login, the user is granted access to the IMST pages. Thedata that is displayed depends on the access rights of the user, hardwareand project configuration. The administrator of the system can create new ac‐counts and specify the data that can be viewed or modified by the currentuser.



IndraMotion Service Tool – Overview

The project in the control has to be configured and downloadedfirst using IndraWorks Engineering Suite 13VRS. The IMST canthen be used to access the web server of the control. Anychanges to the current project have to be downloaded to the con‐trol before the changes are displayed on the IMST.

Depending on the access rights of the user, the IMST provides an overviewof the control system, including drives communicating with the control as wellas any supported control and drive modules. The tool provides detailed dataof all hardware and firmware that is connected to the control, either directly orindirectly via a link ring configuration. A user with access rights can accessand modify control and drive parameters as well as create archives stored onthe Compact Flash card of the control.

Fig.4-2: IndraMotion Service Tool

4.2 System Requirements4.2.1 Hardware Overview

The following hardware components are required to access the IMST:

Hardware overview Description

Personal Computer A desktop or laptop with a high speedEthernet connection

Control system IndraMotion MLC L25/L45/L65IndraLogic XLC L25/L45/L65 VEP

Tab.4-3: Hardware specifications

A direct Ethernet connection between the PC and the control issupported using a cross-link Ethernet cable.

4.2.2 FirmwareThe following firmware components are required for the IndraMotion MLC/IndraLogic XLC hardware:● IndraMotion MLC


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– FWA-CML25*-MLC-xxVRS-D0– FWA-CML45*-MLC-xxVRS-D0– FWA-CML65*-MLC-xxVRS-D0

● IndraLogic XLC– FWA-CML25*-XLC-xxVRS-D0– FWA-CML45*-XLC-xxVRS-D0– FWA-CML65*-XLC-xxVRS-D0

xx = Version

4.2.3 SoftwareThe following software components are required to access the IMST:

Software Description

Operating system Microsoft Windows XP, Win7

Internet browser Internet Explorer version 8

Firefox 3.5 or a higher version note

Note: The IMST is supported by Internet Explorer and Firefox. The appear‐ance of data and functionality can not be guaranteed when using oth‐er Internet browsers

Tab.4-4: Required software

4.2.4 Internet Explorer Security SettingsThe following Internet Explorer security settings are necessary to ensure fullfunctionality of the IMST:● Security: Enable native XMLHTTP support (required for Internet Explor‐

er 8)● Active scripting (required for all supported browsers)● Allow cookies to be stored on your computer (required for all supported

browsers)See chapter 5.2 "Browser Settings" on page 39 for more information.

4.3 IMST Functionality4.3.1 Overview

The IMST is a diagnostic tool that allows to connect to a IndraMotion MLC orIndraLogic XLC control and diagnose and clear an error state of any suppor‐ted devices configured in the project. Hardware details for supported compo‐nents are also provided and include information such as type codes, serialnumbers and firmware versions.User with access rights to the control can execute additional functions. Func‐tions include archiving control and drive data, modifying control and drive pa‐rameters and changing the sercos phase for the system.The IMST provides access to control data via the following four main folderswithin the navigation tree structure:● Diagnostics● Hardware overview● Data● User Documentation *




● User Management

* - For more information, refer to chapter 6.7 "User Documentation" on page86.

The navigation folders that are visible to the user are dependenton the access levels created by the administrator. See chapter5.3.2 "Setting Up User Accounts" on page 42 for more informa‐tion.

4.3.2 Diagnostic OverviewThe Diagnostic folder is the initial folder that is displayed when a user logson. The folder expands to display the supported components that are config‐ured in the current IndraWorks project. Selecting any of the sub-folders dis‐plays the current status for the device along with additional information.

Reading and modification access depends on the access level ofthe user. The buttons that appear in the window can be used toclear errors and display additional information on the page.

Error/warning state In the event of an error or warning, the folder for the device where the condi‐tion occurred along with the Diagnostics folder changes into one of the follow‐ing states:

● Error state

● Warning stateSelecting the device folder with the error/warning displays the diagnostic in‐formation for the device in the main data window. In the main data window,the user can determine the cause, request help and clear the error/warning.

Clearing errors Many errors that occur in the system can be cleared simply by clicking on theClear Error button. However, some control errors must be reset at the controland may or may not require a reboot of the control. If a reboot is required, inorder to reinitialize the system, refresh the IMST by pressing the Go button inthe browser window. This will cause the tool to return to the login screen.


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Fig.4-5: Example: Diagnostic details for an IndraMotion MLC L65

Integrated safety technology The integrated Rexroth safety technology provides requirements on the con‐trol unit and drive side to implement functions of personal and machine pro‐tection with a minimum of planning and installation work required. The inte‐grated safety technology is initially configured using the IndraWorks engi‐neering environment. The IMST only displays an Integrated Safety Technolo‐gy icon when the drive is equipped with the S2 safety hardware. Whenselected, the symbol displays a diagnostic page showing the current state ofall configured safety related functionality.




Fig.4-6: Integrated safety technology

Oscilloscope function A basic oscilloscope function is supported. Using the oscilloscope function,the user can define and capture signals for the control and any drives in theproject. The oscilloscope function displays a "Save" toolbar icon that storesOscilloscope traces to the PC. These saved traces can be reviewed usingIndraWorks.

Fig.4-7: Oscilloscope function below "Diagnostics"

4.3.3 Hardware OverviewThe "Hardware overview" folder displays an overview of all supported compo‐nents that are currently connected to the control and configured in the proj‐ect. The user can obtain detailed information for the type of hardware, firm‐ware, modules, circuit boards and even temperature and operating hours forall hardware components in the project.


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The "Ethernet" folder displays the current network configuration for the con‐trol. An authorized user can modify the IP settings and communication pa‐rameters.

Additional module support In addition to hardware details, the control and drive folders can also displayany of the following modules:● IndraMotion MLC/IndraLogic XLC control:

– Programmable limit switch– sercos II cross communication (only IndraMotion MLC)

● IndraDrive:– Profibus field bus– CANopen field bus– DeviceNet field bus

Drive hardware support Each drive connected to the control can have the following options config‐ured directly from the IMST:● Programmable Limit Switch● Local I/O for X31 and X32● Motor commutation and referencing

Fig.4-8: "Hardware" folder

4.3.4 Data OverviewThe "Archive" selection below the "Data" folder is used to backup and restoreoperations for the control and all configured drives.

Control and drive parameters can only be saved to the localmemory of the device, e.g. memory card.

From the "Logic" folder, the user can modify PLC variables defined in thesymbol table of the IndraWorks PLC project. The "Parameter" folder containsa parameter editor that supports the control, IndraDrives (Real axes), Virtual




axes, Encoder axes, Link axes and Control axes. A custom list or table ofuser-defined parameters can be created under the "Custom" folder.See chapter 6.6.2 "Archiving and Restoring Parameters" on page 76 formore information.

Fig.4-9: "Data" folder

4.3.5 User Management OverviewThe "User Management" folder is used to create and manage user accountsfor the IMST. It requires access rights before it to be displayed in the naviga‐tion tree structure. Each user in the system can be granted "View" or "Modify"rights by selecting the relevant checkbox from each area of the IMST. Forareas that can only be displayed, the "Modify" checkbox is grayed out.

Although any user can be set up to get access to every area ofthe IMST, it is recommended that an administrator is appointedwho manages all accounts.


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Fig.4-10: "User Management" folderThe IMST provides the following four default user accounts:● administrator● service● user● guestThe default permissions for each user can be viewed by the administrator byclicking on the relevant user account folder and viewing the selections. Exist‐ing accounts can be modified and/or deleted by the administrator as well asthe creation of new accounts.




4.3.6 IMST Toolbar IconsThe header section of the IMST displays the Bosch Rexroth logo to the rightand standard IMST toolbar icons to the left.

Fig.4-11: IMST header section

Standard Icons Description

Tree icon

Used to hide or display the navigation tree struc‐ture. Hiding the tree structure increases the over‐all page width for other functions such as the Os‐cilloscope

"Motion Mode" icon Indicates the current operation mode for the sys‐tem. The operation mode can be switched by au‐thorized users. The system may display any of thefollowing operation modes:P0 - No communicationP1 - Initializing sercos communicationP2 - Parameterization modeP3 - Transition modeBB - Operation mode

PLC run icon

PLC stop icon

PLC initialized

Displays the current PLC state

Error state icon

Warning state icon

Displays the current error/warning state of thecontrol and all connected devices. During an errorstate, pressing the icon will display the source ofthe error

Tab.4-12: "Header" iconsThe center area of the header section can display different icons based onwhether the "Oscilloscope", "Archive", "Custom" or "User Management" fold‐er is selected in the navigation tree structure.

Tree Structure Selection Icons Displayed Function

Oscilloscope Save Oscilloscope Data

Archive View Log

Parameter Comparison

File Transfer


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Tree Structure Selection Icons Displayed Function

Logic Find

Parameters Help

Parameter Search

List of Valid Operating Da‐ta

Custom Modify Current Page

Delete Current Page

Add New Data Group

User documentation File Transfer

User Management Add User

Delete User

Change Password

Save

Delete Current Page

Tab.4-13: Header section center icons

4.3.7 Right-Click and Tooltip FunctionalityThe IMST supports standard Windows right-click and tooltip functionality fromwithin the different areas of the browser window.

Right-clicking Right-clicking over the "Oscilloscope", "Archive", "Custom" or "User Manage‐ment" tree selections will display shortcuts that match the functionality of thetoolbar icons as illustrated in the following figure:




Fig.4-14: Right-clicking on the tree structure foldersTooltip descriptions The IMST supports tooltip descriptions for all toolbar icons as well as for any

field and button that is displayed in the main display window. The tooltip fortoolbar icons displays a description for the function while the tooltip for a fieldor button displays the control or drive parameter from where the informationis being retrieved. Example:

Fig.4-15: Tooltip description


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4.3.8 Help for DiagnosticsThe IMST provides help icons, <F1> key functionality and right-click menuoptions for retrieving diagnostic and parameter help files previously installedon the PC. Help files are displayed in a pop-up window in HTML format.

The current control and drive firmware help systems have to beinstalled on the compact flash card of the control in order for theIMST to launch any help related information.

The following IMST areas support help functions:● Diagnostics for control and drives:

– System diagnostic messages ("Help" icon)– Diagnostic log entries (<F1> key)

● Parameters for control and drives:– Currently selected parameter ("Help" icon and <F1> key)

● Custom List or Table– Currently selected parameter (<F1> key and right-click menu)





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5 First Steps5.1 Overview

This chapter describes the internet settings and first steps to access theIndraMotion Service Tool.

5.2 Browser Settings5.2.1 Overview

Before the IMST web server can be accessed using Internet Explorer version8 or Firefox 3.5 or later, ensure that the following browser security settingsare enabled:

Security setting Browser version Use of functionality

Enable native XMLHTTP sup‐port under the Security tab

Internet Explorer 8 IMST requirement

Active scripting All scripting sup‐ported

IMST requirement

Allow cookies to be stored onthe computer

All cookies suppor‐ted

Optional for saving login infor‐mation and oscilloscope colorselection

Tab.5-1: Browser security settings

5.2.2 Enabling Security SettingsThe following security settings have to be selected:

The steps described below apply to the Internet Explorer. Refer tothe online help for Firefox settings.

1. Launching the browser2. Select the following in the menu: Tools ▶ Internet Options…. Subse‐

quently, select the "Security" tab.3. Select the "Internet Zone" symbol or "Local Internet", depending on the

control that will be accessed.4. Press the Custom Level button and enable the following settings:

● Under ActiveX controls and plug-ins, enable the following:– Run ActiveX controls and plug-ins– Script ActiveX controls marked safe for scripting

● For Internet Explorer only: Enable the following setting under theAdvanced tab:– Enable native XMLHTTP support under "Security"

● Under Scripting, enable the following settings.– Active scripting

● Under Cookies, enable the following setting:– Allow cookies to be stored on the computer

The following figure describes the security settings for Internet Explorer 8:



First Steps

Fig.5-2: Internet Explorer 8 security settings

5.2.3 Proxy Server SettingsWhen accessing the IMST web server of the control via a proxy server, thefollowing two options can help improve performance:

1. Option – Disabling proxy Disabling the proxy server can improve communication to the web server ofthe control.

2. Option – Host name mapping 1. Select: Start ▶ My Computer and open the following file with the text edi‐tor:C://WINNT/System32/drivers/etc/hosts (Windows XP)

2. Edit the file and map the IP address of the control to a user-defined hostname (e.g., 10.107.4.55 My_MLCL65).


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First Steps

Fig.5-3: "Hosts" mapping file3. Save and close the file.4. Launch Internet Explorer and use the host name in the address bar.

5.3 Initial Login5.3.1 Overview

Once all Internet Explorer settings have been set, log on to the IMST webserver by entering the IP address of the control in the address bar. The firsttime the browser accesses the control, the user name is "guest" by default.



First Steps

Fig.5-4: Initial "guest" login page

5.3.2 Setting Up User AccountsLogging in as System Administrator

User accounts can only be set up when logged on as the administrator. Enterthe following username and password to gain administrative access to theIMST:● User name: administrator● Password: rexrothSelect the desired language and click the Submit button.

Currently, only English and German are supported.

Changing administrator password It is highly recommended to change the default administrator password to en‐sure the security of all user accounts. Proceed as follows to change the ad‐ministrator password:1. Expand the "User Management" folder, click on "administrator" with the

right mouse button and select Change Password in the context menu.


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First Steps

Fig.5-5: Changing the administrator password2. Enter the old password "rexroth" and select a new password and con‐

firm it.

Fig.5-6: Changing the password



First Steps

User Management:Click on the User Management folder to view the current administrator set‐tings. By default, the administrator has "View" and "Modify" access to all theareas of the IMST. The following user accounts are the default accounts pro‐vided by the IMST:● administrator● service● user● guest

Fig.5-7: Selecting the "User Management" folder

Configuring user accounts Modify the existing user accounts or create new ones and specify the viewingand modification rights for each area of the IMST. User accounts are modi‐fied by selecting the relevant user name and then selecting the appropriate"View" and "Modify" checkboxes.

When logged on as administrator, the user can choose to keepthe default user accounts ("service", "user" and "guest") or deletethe user account and create new accounts by right-clicking on the"administrator" tree selection.

The selections available when right-clicking on a user name alsoappear above the main window as toolbar symbols. Hover themouse cursor or a symbol to view its tooltip description.


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First Steps

Fig.5-8: User managementUser management symbols The following User Management symbols appear in the center section of the

header frame:

Symbol Function

Add User

Delete User NOTE

Change Password



First Steps

Symbol Function

Save

Delete Current Page

Note The "Delete User" symbol is only visible when the current user is notselected in the tree structure

Tab.5-9: User management symbols

Once all user accounts are configured, the IMST is now ready to be used.

Logging off the IMST The current user can log off the IMST by closing Internet Explorer or bypressing the Go button.Pressing the Go button logs of the current user and the browser returns tothe IMST login page.

Security warning for administrator loginUsing the "Save Login Information" checkbox in the Login pageretains the user name and password in a cookie. Closing InternetExplorer or shutting down the PC will not remove this state. Thenext user that establishes a connection to the control with thesame PC can just click on the Submit button and log in with therights of the last user.


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First Steps

6 Using the IndraMotion Service Tool6.1 Overview

This section describes the IMST functionality and all executable functions indetail.

6.2 User LoginUser login accounts are created in the User Management folder. The IMSTprovides the following four default user accounts:

User name Password

administrator rexroth

service service

user user

guest No password required

Tab.6-1: Default user accounts

To create new user accounts, refer to chapter 6.8.2 "Creating aUser Account" on page 88 for details.

Enter the IP address assigned to the control in the Internet Explorer addressfield and press <Enter>. Enter a valid user name and password in the loginpage to access the IMST.

Fig.6-2: IndraMotion Service Tool login page



Using the IndraMotion Service Tool

6.3 Standard IMST Toolbar Symbols6.3.1 Overview

The IMST header section contains four basic toolbar symbols. The basicfunctionality of these symbols are described in the following section.Refer to chapter 4.3.6 "IMST Toolbar Icons" on page 34 for additional de‐scriptions.

6.3.2 Showing and Hiding the Navigation FrameTree symbol

The navigation frame structure can be hidden or shown by switching the "treesymbol". Hiding the tree structure increases the width of the main displaywindow and provides more useable area for functions such as the oscillo‐scope.

Fig.6-3: Hiding tree structure to increase window width

6.3.3 Saving Diagnostic Log and Hardware Data"Save" symbol

The "Save" symbol of the IMST allows storing the current diagnostic log forthe control or drives from within specific diagnostic folders. The "Save" sym‐bol is also displayed under the "Hardware overview" folder and is used tosave hardware data. The files can be saved in HTML or XML format.HTML files show the data on one side of the web browser. The data cannotbe modified. XML files can be imported into a spreadsheet program such asMicrosoft Excel for further formatting.


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Proceed as follows to save an HTML or XML file:Click on the "Save" symbol to open the "Save System Configuration" window.

Fig.6-4: Saving system configuration1. Select the "device(s)" whose data is to be saved.

The file size is determined by the number of devices selected.Enabling the "Select All" checkbox selects all the devices listed.The selection of a device is only supported for diagnostic logs.

2. Select the file format (HTML or XML) from the "Save Format" drop-downlist.

3. Click OK.

The following figure shows the difference between HTML and XML files.




Fig.6-5: File types when saving the system configuration

6.3.4 File Transfer

The "File Transfer" symbol is displayed in the "Data" and "User Docu‐mentation" windows and allows the transfer of files to and from the memoryof the control (compact flash). All files to be transferred are stored in an un‐compressed .zip file.


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Fig.6-6: Data: File TransferThe following operations can be performed from the "Archive" folder:● Transfer files to the control

When transferring files to the control, check the archive details to bedownloaded

● Transfer files from the controlWhen transferring files from the control, the content of the archived .zipfile is analyzed. The archive details are checked dynamically based onthe content of the .zip file

The following file types can be selected for the transfer:

System files Description

IMST Configuration Transfer user permissions and custom lists and tables

Boot Project PLC boot project file created in IndraLogic. Refer to theIndraLogic help system for details.All PLC files with extensions● .APP● .CRC● .CFG

System Error log ExcLog.dat

Parameters Allows the transfer of control and drive parameters previouslyarchived in the control using the archive function (refer tochapter 6.6.2 "Archiving and Restoring Parameters" on page76 for details)

Tab.6-7: File Explorer - File transfer action for archivingIn the "User Documentation" window, the file transfer functionality is limited totransfer files to the control.




Fig.6-8: File transfer in the "User Documentation" window

6.3.5 Changing the Operation Mode"Motion Mode" symbol The current operation mode of the system is displayed and can be changed

clicking on the "Motion Mode" symbol. Only users with modification rights forOperation Mode button in header data under the "User Management" foldercan perform this operation. Otherwise, the symbol is read-only, but displaysthe current system operation mode.The following table shows the different operation modes that can be dis‐played:

Motion mode symbol Description

Motion mode symbol Indicates the current operation mode for the system. The operation mode can beswitched by authorized users. The system may display any of the following operationmodes:P0 - No communicationP1 - Initializing sercos communicationP2 - Parameterization modeP3 - Transition modeBB - Operation mode

Tab.6-9: "Header" symbolsClick on the symbol and a switch is displayed to acknowledge the messagedepending on the current operation mode.

6.3.6 Current PLC State"PLC state" symbol

PLC running PLC stopped PLC initializedThe symbol "PLC state" shows the current state of the PLC program. Thesymbol changes dynamically to match the current state of the PLC: "PLC run‐ning", "PLC stopped" or "PLC initialized". The symbol "PLC state" is read-on‐ly and cannot be modified.

6.3.7 Error and Warning Display Elements

Error Warning


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The "Error/Warning" symbol displays the current diagnostic state of the con‐trol, drives and supported modules. During an error or warning state, eitheran error or a warning symbol is displayed. The device that issued the error/warning indicates a symbol in the tree structure.

Fig.6-10: Error stateClicking on the "Error/Warning" symbol highlights the affected device in thetree structure and opens its relevant page. The error or warning is indicatedin the diagnostic or status field. The error or warning is cleared by correctingthe condition that caused the error and then clicking on the Clear Error but‐ton.

Fig.6-11: Clearing an error or warning condition

6.4 Diagnostics Folder6.4.1 Overview

The components in the Diagnostics folder depend on whether they have orig‐inally been configured as part of the IndraWorks project. The project has tobe downloaded to the control before the components become visible in theIMST. The following components are supported:● IndraMotion MLC L25/L45/L65

IndraLogic XLC L25/L45/L65 VEP● Real axes● Virtual axis● Encoder axes● Link Axes● Controller AxesAll relevant component parameters are read by the IMST and the respectivediagnostic and status data is displayed on the node. Most of the data dis‐




played in the "Diagnostics" folder is write-protected. . The buttons to clear er‐rors are an exception.

6.4.2 Control NodeControls configured in IndraWorks are displayed in the first node of the "Diag‐nostics" folder. Selecting the control node (e.g. IndraMotion_MLC65), dis‐plays the current status for the respective control. Below the control node, theIMST displays the following nodes:● Logic● Motion

"Logic" node The "Logic" node displays the current PLC project. The PLC can be started,stopped or reset.The reset can be executed with different modes:● Reset (warm)● Reset (cold)● Reset (origin)Three options are displayed in the pop-up when clicking on Reset:

Fig.6-12: Diagnostics: Logic"Motion" node The "Motion" node displays cycle time settings, sensitivity of Motion calcula‐

tion and Motion time values.

Fig.6-13: Diagnostics: MotionNode "Control link" The "control link" node becomes visible when the current project is config‐

ured in the control for cross communication between master and slave of thecontrol. In this view, the current status of the link axes defined in the


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IndraWorks project for a master control is displayed. Status information is on‐ly transmitted if the system is in sercos phase 4 (bb, Ab, AH).The green LED displays indicate that the cross communication function prop‐erly. The LEDs turn red when an error is detected in each relevant area.LEDS for transmission, redundancy, and ring errors remain off until an erroris detected. Once the error is recovered, the state of the "Control Link" re‐turns to normal.Tooltip information containing parameters monitored by this window can beviewed by placing the cursor over the relevant field.

Fig.6-14: "Control Link" cross communication status

The "Control Link" window in the "Diagnostics" folder is only sup‐ported when a CrossComm sercos II (CFL01.1-Q2) module (onlyIndraMotion MLC) is connected to the master control and config‐ured in the IndraWorks project. This window is not supported forthe slave control.

6.4.3 Oscilloscope FunctionalityOverview

The oscilloscope in the IMST can record user-defined drive or control signalsand display the signals in a scaled grid. These signals are configured usingthe options available to the right of and below the grid.

The current user has to have viewing and modification rights touse the oscilloscope.

The oscilloscope applet window contains the following areas:● Main graphical display area with x-y grid● Signal details on detected recordings just below the x-y grid● Tabs to configure the measurement and for signal triggers● Tabs for scaling and color selection● Active measurement to configure signals




Fig.6-15: Initial situation for the oscilloscope function

Increase the display range of the oscilloscope by hiding the navi‐

gation tree structure. Click on the "frame symbol" to hidethe navigation tree structure. Click on the "frame symbol" again todisplay the navigation tree structure.

Graphical Display AreaThe signal display area contains a x-y grid with the following properties:● The x-scale (horizontal) and the y-scale (vertical) are calculated dynami‐

cally based on the minimum and maximum values of the signals and thetime period intended for measurement

● The y-measurement is displayed from minimum to maximum signal val‐ue. Resizing the Explorer window dynamically scales the detected re‐cordings and increments the x-y units

● Signal scaling can be increased or decreased using the scaling options● Signal units are displayed in the upper left and lower right of the display

area


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Fig.6-16: Graphical display area for the oscilloscope function

Active MeasurementThe "Active Measurement" tab is used to configure the source device and thesignals to be detected. The tab can contain up to four buttons depending onthe trigger type selected in "Configure Measurement/Trigger".

A. Used to select the source and signals to be detectedB. Displays the current recordings stored in the devices parametersC. Only visible if the trigger type is set to "Trigger Manually"D. Starts the oscilloscope and detects recordings based on signal set‐

tings and trigger typeFig.6-17: Active MeasurementProceed as follows to select a source device and signals to be detected:

1. From the "Active Measurement" tab, select the Signal button to open the"Configure Signal" window shown in fig. 6-15 "Signal configuration" onpage 58.

2. Select a "device" (control or drive) from the drop-down list (1.).For controls, also select the parameter type C (control) or A (axis) froma second drop-down list (2.).

3. Signals are selected by highlighting a parameter in the left window andclicking on the right-directional arrows (3.). To remove signals from thelist, highlight the respective parameter in the right window and click onthe left-directional arrows.




Signals can also be selected or removed in both windows by double-clicking on the parameter.

A. The drives support four channels and the IndraMotion MLC/IndraLogic XLC control supports 16 channels

B. It indicates the number of channels that can be added. A maxi‐mum of 16 channels are supported by the MLC/IndraLogic XLCcontrol; however, only 9 graphs can be displayed in the web os‐cilloscope.

Fig.6-18: Signal configuration4. Click OK (4.) to complete the selection of signals.5. Then, select the trigger type and configure the measurement settings.

See chapter "Configuring Measurement and Signal Trigger" on page58 for more information.

6. Once all settings are configured, click on Start to begin the detection.For manual trigger types, select the Trigger Manually button after theStart button.

Configuring Measurement and Signal TriggerConfiguring measurementThe "Confg Measurement" tab is used to configure the number of measure‐ments to be taken and the recording period in ms. The actual recording peri‐od is write-protected and is calculated by multiplying the "Number of Sam‐ples" with the "Time Period".


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Fig.6-19: Configuring measurement

Signal Trigger/Manual TriggerThe "Signal Trigger" tab is used to configure the settings for a "signal trigger"or a "manual trigger". The Configure button is used to select the trigger type,pretrigger and source parameter to be analyzed.

A. Tab changes to "Signal Trigger" when the trigger type is set by press‐ing the Configure.

B. Tab changes to "Manual Trigger" when the trigger type is set bypressing the Configure.

Fig.6-20: Signal and manual trigger configurationClick on the Configure button proceed as follows to configure a trigger:

1. Select either the Manual Trigger or the Signal Trigger radio button.A signal trigger requires additional configuration starting at step 3.

2. Enter a value in percent for the "Pre Trigger" and "Post Trigger" fields.3. Click on the Select button and select the parameter to be used as trig‐

ger.4. Select the "Trigger Edge" to be used for the selected parameter.5. Enter a value in the "Trigger Value" field that is used to start the Oscillo‐

scope.The fields in the "Trigger Value" section change based on the selectedparameter in step 3.




Fig.6-21: Configuring trigger6. Click OK to complete the trigger configuration.

Numerical parameters The selection of a numerical parameter (float or integer) displays the currentvalue, units and trigger value. The trigger value is defined in the "TriggerThreshold" field.

Binary or hexadecimalparameters Selecting a binary or hexadecimal parameter allows the setting of a binarytrigger by defining a trigger mask. Selecting the "Bit Trigger" checkbox allowsto define the transition of a single bit. The value is determined by selectingthe relevant checkboxes or radio buttons.

Fig.6-22: Configuring a binary parameter trigger

Detecting Recording with the OscilloscopeOnce all relevant signals and triggers are configured, the signals are readyfor detection. Proceed as follows to detect the recordings from the selectionsignals.


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1. Click on Start in the "Active Measurement" tab.If the signal trigger is set to "Manual Trigger", click on the Trigger Man‐ually button to detect and display the recordings.A signal trigger detects the recordings when the conditions configured inthe "Signal Trigger" tab are met.

2. Once all recordings are detected and displayed, the recordings can nowbe edited using the tools available on the "Curve Display" and "Color"tabs and the measured signals specified just below the recordings.

Editing Oscilloscope SignalsOverviewOnce all oscilloscope recordings are detected and displayed, the recordingscan be edited as follows:● Display and hide recordings● Scale and shift the recordings to the x-axis● Zoom in the x-axis using an incremental zoom function or selecting a

specific area using the cursor function● Display the recordings using the following options:

– Interpolated measuring points– Real measuring curve– Single measuring points

● Change color of each recording

Measured Signals (Displaying Recordings)Detected signal recordings are shown or hidden by enabling or disabling thecheckbox on the left next to each signal. The currently selected signal is high‐lighted in the table and displayed in the foreground. The measuring units onthe y-axis is adjusted to the selected recording. The x-axis always measurestime in ms.

Fig.6-23: Displaying measured signalsNumber of supported channels The number of signals that can be measured at a time depends on the selec‐

ted device. IndraMotion MLC and IndraLogic XLC always support 16 chan‐nels. IndraDrive drives support four channels. The maximum number of dis‐playable curves are limited to 9 in the IndraMotion Service Tool in the oscillo‐scope.

Recording Color Each recording along with its measuring unit is assigned to a matching colorthat can be modified by selecting the "Color" tab on the right next to thegraphical display area. Ensure that each recording has a unique color as‐signed.

Additional columns when using theoscilloscope cursor function

The measured signal table displays additional columns when using the cursorfunction of the oscilloscope available in the "Scaling" tab. If this cursor func‐tion is used, the "Y Cursor Diff" and "X Cursor Diff" columns appear in the ta‐ble.




Fig.6-24: Additional columns when using the cursor function

Y-ScalingThe oscilloscope recordings are scaled sing the options available on the"Scaling" tab. Only the currently selected recording in the "Signal" table isscaled.

Fig.6-25: Scaling on the y-axisClicking the minus button ( - ) decreases the increment of the y-axis causingthe current signal to extend in y-direction.Clicking the plus button ( + ) decreases the increment of the y-axis causingthe current signal to reduce in y-direction.Clicking the up arrows (↑) shifts the active signal up by 10 %.Clicking the down arrow (↓) shifts the active signal down by 10 %.The last two buttons with a curve image are used to change the amplitude ofall signals as follows:● The first amplitude button from the left changes the amplitude of all sig‐

nals to use the full range of the display (i.e. the signals are stretchedalong the y-axis)

● The second amplitude button changes the amplitude of all the signalsbased on the largest signal (i.e. the signals are compressed along the y-axis)

Curve DisplayThere are three options to display recordings using the curve display buttons:

● Interpolated measuring points

● Real measuring curves

● Single measuring points

Interpolated measuring points Clicking on the I button displays the current recordings using interpolatedmeasuring points.


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Fig.6-26: Displaying interpolated measuring points

Real measuring curves Clicking on the R button displays the current recordings real measuringcurves.

Fig.6-27: Displaying real measuring curves

Single measuring points Clicking on the S button displays the current recordings using single measur‐ing points.




Fig.6-28: displaying single measuring points

ZoomThe zoom is used to zoom in and zoom out and is used simultaneously for allrecordings in the display. It is directly activated in the display range. Positionthe cursor to the desired position on the display. A zoom window is openedwhen keeping the left mouse button pressed and moving the mouse. Thezoom window contains the segment that is a full-screen display when releas‐ing the left mouse button.

Fig.6-29: Zoom functionZoom out Reset (zoom out) the view using the context menu in the display range (right

mouse button). The recordings are reset to their original size.


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Fig.6-30: Reset zoom

Showing cursor

Via the context menu (right mouse button) on the display range, two cursorscan be positioned. The cursors are used to select a certain curve section.When selecting a cursor via the context menu, it is positioned at the currentcursor position. The position of the already set cursor can be changed by po‐sitioning the cursor again via the context menu.

Fig.6-31: Using the cursors

ColorThe "Color" tab is used to select or change the color for the display back‐ground, grid and the individual recordings. The number of available signalcolors depends on the selected source.● IndraDrives support four colors● IndraMotion MLC and IndraLogic XLC always support 9 colors




The number displayed in each color rectangle corresponds to a recordingstarting at 1 for the first recording in the list as shown in the following figure:

Fig.6-32: Color selection

Changing a signal color The color of the background, grid or recording is changed by selecting therelevant color button and selecting a new color from the "Select Color" win‐dow.

Fig.6-33: Changing a color

6.5 Hardware Overview Folder6.5.1 Overview

The Hardware folder displays a read-only overview of all supported compo‐nents currently connected to the control and configured in the IndraWorksproject.


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Fig.6-34: Main hardware component page

The main hardware component page displays one control and thetotal number of drives connected and supported.

6.5.2 Control HardwareOverview

The name that is displayed for the control folder (e.g. IndraMotion_MLC65) isthe device name assigned to the control in the IndraWorks project. All dataon this page is read-only. Detailed information can be obtained on hardware,firmware, modules, circuit boards and even temperature and operating hoursfor all hardware components in the project including the serial numbers.

Fig.6-35: Overview on the control hardware

EthernetThe "Ethernet" folder displays the current network configuration of the con‐trol. Authorized users can modify the network configuration settings for thecontrol. The MAC address for the control is read-only. When selecting any ofthe fields, the respective content of the field becomes bold. The bold fond in‐




dicates that the field can be edited. Modified data is saved by pressing <En‐ter>.Ethernet data has to be entered using standard decimal/dot notation.Ethernet data that is modified and not saved is displayed as blue bolded textwhen the focus is changed to a different field.

The assignment of Ethernet settings and Internet security againstunwanted access is the sole responsibility of the InformationTechnology department of the customer.

Fig.6-36: Ethernet overview

sercos ConfigurationThe folder sercos configuration shows the current sercos ring configuration ofthe project and the control. It is used to adjust the sercos ID of the devices inthe ring to the devices in the current project (e.g. for a hardware exchange).The connected drives are listed in topological order.

Fig.6-37: sercos configuration in navigation treeIf the user is authorized, the sercos ID (column S) of the right table can bechanged individually. If the user has the required rights, the column has a


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white background, signalizing that the fields can be edited. All other data isnot valid. When selecting any of the fields, the respective content of the fieldbecomes bold. Modified data is saved by pressing <Enter>. The valid rangefor the sercos ID is 1 - 99. If the input field is exited after the sercos ID hasbeen changed or if the <ESC> key is pressed, the value of the field is reset tothe original value.The button Scan Ring is only enabled for user with write permission. It isused to read the control configuration (right table) again. If the sercos ID of adevice scanned in the ring does not match the project configuration, the ID ishighlighted (light red background color).

Fig.6-38: sercos configuration overview

sercosThe "sercos " folder is displayed in the tree structure when a sercos II(CFL01.1-Q2) module is attached to the IndraMotion MLC control. Thesercos II module allows sercos II drives to be connected to the system. Thispage allows to configure all the necessary cross communication settings.

Fig.6-39: sercos II communication

Control Link (Cross Communication)The "Control Link" folder is displayed when a CrossComm sercos II(CFL01.1-Q2) module is attached to the control and the control is part of acontrol link. The window is supported for both the master and the slave con‐trols. A cross communication module is a sercos II (OWL) device that allows




sercos II drives to be connected to the system. This page allows to configureall the necessary cross communication settings.

Fig.6-40: Control Link - cross communication

Programmable limit switchThe "PLS Module" folder is displayed in the navigation tree structure when aProgrammable Limit Switch module is attached to the IndraMotion MLC/IndraLogic XLC control. The PLS module provides 16 outputs that can beconfigured to output a signal based on a specified axis position.

Fig.6-41: PLS moduleEach PLS output is configured by clicking on the relevant output line and con‐figuring the output in the PLS configuration pop-up window.


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Fig.6-42: Configuring the programmable limit switch of the control

6.5.3 Drive HardwareOverview

The name that is displayed for the "Drive1" folder (e.g. Drive1) is the devicename assigned to the drive in the IndraWorks project. All data on this page isread-only. Detailed information can be obtained on hardware, firmware, mod‐ules, circuit boards and even temperature and operating hours for all hard‐ware components in the project including the serial numbers.

Fig.6-43: Overview on drive hardware

PLSThe "PLS" folder is used to configure the programmable limit switches of thedrive. A maximum of eight switches can be configured using the followingsettings:● Reference signal - User-defined drive signal whose position is used to

trigger the programmable limit switches




● Switch-on threshold - Signal position that sets the PLS output to High● Switch-off threshold - Signal position that sets the PLS output to Low● Lead Time - Period in ms the switches are enabled prior to switch on/off

position

Fig.6-44: Configuring the PLS of the drive

Local I/OThe "Local I/O" folder displays the current local I/O configuration of the drivein the IndraWorks project for the following I/O types:● I/O X31/X32● MD X10 (digital I/O)● Analog input X32/4 + X32/5● Analog output X32/1 + X32/2The drive I/O configuration can be edited in sercos phase 2 (parameterizationmode). Refer to the IndraWorks help system for details on all the availableoptions for the I/O configuration of the drive.

Modification rights can be assigned by the administrator in the"User Management" folder of the IMST. See chapter 6.8 ""UserManagement" Folder" on page 86 for more information.


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Fig.6-45: Configuring local I/Os of the drive

"Motor" Diagnostic DataVia the "Diagnostic data: Motor" selection below the "Motor" folder displaysthe diagnostic data of the motor.

Fig.6-46: Diagnostic data of the motor

Motor CommutationThe "Motor Commutation" selection below the "Motor" folder is used to dis‐play the set commutation method.




Fig.6-47: Commutation settings

Brake CheckThe "Brake check" selection below the "Motor" folder is used to set test formotor braking and execute them.The following window is opened if the motor is equipped and configured witha brake.

Fig.6-48: Brake Check

Reference Motor EncoderThe "Reference Motor Encoder" selection below the "Motor" folder is used toclear the reference for the current motor encoder or the optional encoder con‐figured for the system. Refer to the Rexroth IndraWorks help system for de‐tails.


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The following window is opened if the motor is equipped and configured withan absolute value encoder.

Fig.6-49: Motor encoder reference - absoluteThe following window is opened if the motor is equipped and configured withan incremental encoder.

Fig.6-50: Motor encoder reference – incremental




6.6 "Data" Folder6.6.1 Overview on the "Data" Folder

The "Data" folder is for authorized users and provides the following functions:● Backup and restore control and/or drive parameters● View and modify PLC variables● Parameter editor support for control and drive parameters● Custom lists and tables for user-defined parameters

6.6.2 Archiving and Restoring ParametersThe "Archive/Restore" selection below the "Data" folder is used to archiveand restore operations for the control and all configured drives.The archive function displays the current status of an archive file if the file iscontained on the Compact Flash card of the control. If no archive is found,

the status column displays a white cross on black background ( ) .The following symbols are also supported in the device list table:

Status Description

This symbol indicates that the parameters of the device are not ar‐chived

This symbol indicates that parameter differences between archiveand device have been found

This symbol indicates that the parameters in archive and devicematch

This symbol indicates that the required information cannot be dis‐played

Tab.6-51: Archive status symbolsProcess The following table defines the procedures that can performed:

Process Supported device Description

Archive Control and drives Creates an archive of relevant parameters for thedevice(s) selected and stores the archive on theCompact Flash card of the control

Restore Control and drives Loads the relevant parameters from the archive tothe selected device(s)

Tab.6-52: Archiving proceduresDuring backup, a status bar is displayed above the archive window and thelower half of the main display window shows the progress. After the operationis completed, a white check mark on black background is displayed in thestatus column of the device.


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Fig.6-53: Data archiveDuring restoration, a status bar is displayed above the archive window andthe lower half of the main display window shows the progress. Only selecteddevices are restored.

Archive symbols Once an archive operation is complete, the current log is displayed in thelower half of the window. Every time an archiving is performed, the new log isattached to a log file. An HTML log file can be viewed by clicking on the"View log" symbol.

The "File transfer" symbol allows to transfer files to and from the control.See chapter 6.3.4 "File Transfer" on page 50 for more information.

6.6.3 Parameter ComparisonAn additional function supported in the "Archive" window is the ability to com‐

pare control and drive parameters. Selecting the "Parameter Compare" ( )symbol opens the "Parameter Compare" window. Only parameters of thesame type (e.g., C-parameters, S-parameters, ...) can be compared.The "source 1" drop-down selections allow to define the data source ("Ar‐chive file" or "File from PC"), device type (control or drive) and parametertype.The "source 2" drop-down selections are identical to "source 1" except thedata source. Data sources are: "Archived Data", "File from PC", "Actual Data"or "none".Once the parameter types have been selected, press the View Data button todisplay all parameters for each source. The list can be scrolled and any dif‐ferences between the two sources can be seen. Since the function is read-only, the parameters cannot be modified.




Fig.6-54: Parameter comparison

6.6.4 LogicThe "Logic" folder allows to monitor and/or modify PLC variables added tothe symbol configuration of the IndraWorks project and downloaded to thecontrol.Once a symbol configuration exists in the IndraWorks project, open the IMSTand select Data ▶ Logic. PLC variables are displayed by clicking on the

"Browse" button ( ) first.

To configure the PLC variables, Rexroth IndraWorks EngineeringSuite 13VRS is required.


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Fig.6-55: Variables from the IndraWorks symbol configurationSelecting variables and data types

from the symbol tableThe following example shows how to select variables and data type from thesymbol table.

1. Open the relevant project with the IndraWorks Engineering Suite.2. Select the respective variables and data types from the "Symbol Config‐

uration" list and transfer the project to the control.

Fig.6-56: Selecting from the symbol configuration list

Variables have to be used in the project to be displayed in theIMST.




6.6.5 ParametersThe "Parameter" folder contains a parameter editor used for viewing andmodifying control and drive parameters. All drive types currently in the projectare supported. Help for any control or drive parameter can be obtained by se‐lecting the respective parameter and clicking on the help symbol or pressing<F1>. The help is only available if the respective help system for the controlor drive was previously installed on the PC.Start with selecting a parameter type from the tree structure. After the param‐eter type has been selected, the parameter editor is displayed in the maindisplay window. Parameters can be displayed using any of the followingmethods:● Enter a parameter IDN● "Find" symbol● List of invalid operating data● Search with a description

Enter a parameter IDN To edit a known parameter, e.g. C-0-0001, enter only the parameter letterand number in the IDN field. Data can be entered using a partial entry, e.g.enter "C" followed by the number "1" for C-0-0001. The leading zeros are notrequired.

Find toolbar symbol

To select a parameter from a list, click on the "Find" symbol to download allparameters of the selected type. After the symbol has been selected, a list ofall parameters of the selected type, e.g., C-parameters are displayed in thelower half of the page. Using the drop-down list, "All Parameters", "Standard","List" and "Command" are provided.The search can be filtered by selecting a data type from the "All Data Types"drop-down list.

List of invalid operating data

Parameters containing invalid data can be found by clicking on the "List of in‐valid operating data" symbol. After the symbol has been selected, a list of allinvalid operating data of the selected type, e.g., C-parameters are displayedin the lower half of the page. Select the respective parameter and enter validdata.The following list parameters are searched for invalid parameters by selectedtype:● C-parameter: C-0-0111● S-parameter: S-0-0423● A-parameter: A-0-0011If no invalid parameters are found, a pop-up window indicating that the list isempty opens.

Search with a description A search field is provided to help finding a parameter with only a partial de‐scription being known. When the find function is used, the very bottom of thepage displays a list of all parameters containing the search word or phrase.


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Fig.6-57: Parameter editor to edit control and drive parametersS/P-parameters When a drive parameter is selected from the tree structure, enter the IDN

number or select the parameter type (A-, S- and P-) and click on the "Find"toolbar symbol. After the symbol has been selected, a list of the selected pa‐rameter type is displayed in the lower half of the page.

Fig.6-58: Selecting a drive parameter

6.6.6 Application-SpecificOverview

The "Custom" folder is used to create user-defined parameter groupings forvariables (defined under the "Variable" folder), control parameters and driveparameters.The "customized" grouping can be displayed as table or list.




Only users with modification rights to the "Custom" folder can cre‐ate custom groupings. Users can be granted "View" and/or "Modi‐fy" rights to each list or table group individually.

Custom groups can be created for the following data types:PLC variables When selecting a PLC Variable data type, only PLC variables defined in the

IndraWorks project for the symbol configuration are available for selection.See chapter 6.6.4 "Logic" on page 78 for more information.The PLC variable data type is not provided with additional drop-down selec‐tion lists.

C-parameters When selecting a C-parameter (control), a "Parameter Type" drop-down list isdisplayed at the very right of the screen. This drop-down list filters the num‐ber of parameters displayed. All parameters, list parameters or command pa‐rameters can be displayed.

M-parameters M-parameters are used to parameterize control touch probes. The controlsupports a maximum of 100 touch probes for the parameterization. When se‐lecting M-parameters (touch probe), a "Device List" and "Parameter Type"drop-down list appear on the very right. The device list is used to display theparameters for the selected touch probe. The list of available parameters canbe filtered via the "Parameter Type" drop-down list.

N-parameters N-parameters are used to parameterize programmable limit switches. Thecontrol supports a maximum of four modules. When selecting N-parameters(PLS), a "Device List" and "Parameter Type" drop-down list is displayed onthe right. The device list is used to display the parameters for the selectedprogrammable limit switch. The list of available parameters can be filtered viathe "Parameter Type" drop-down list.

O-parameters O-parameters are used to parameterize the oscilloscope of the control. Theoscilloscope can support up to 16 channels. When selecting O-parameters(oscilloscope), a "Device List" and "Parameter Type" drop-down list appearon the right. The device list is used to display the parameters for the selectedoscilloscope channel. The list of available parameters can be filtered via the"Parameter Type" drop-down list.

A-, S- and P-parameters A-, S- or P-parameters are all drive parameters. When selecting A-, S- or P-parameters (Drive), a "Device List" and "Parameter Type" drop-down list ap‐pear on the right. The device list displays the parameters for the selecteddrive. The list of available parameters can be filtered via the "ParameterType" drop-down list.

Creating a Custom Group List or TableProceed as follows to create a custom group list or table:

1. Right click on the "Custom folder" and select Add New Data Group or

click on the symbol:


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Fig.6-59: "Edit" page "Custom"2. From the "Edit" window, enter a name for the group.3. Select the format as either a "List" or a "Table".

A list is typically used for non-listed parameters. This format allows aquick overview on parameter attributes. Parameter data is displayedhorizontally.

Fig.6-60: Custom data listA table is typically used to display list parameters. This format allows forall elements of a list parameter to be displayed from top to down in acolumn.




Fig.6-61: Custom data table4. Select the data type to display parameters.5. Parameters are selected from the "Available Data" section by double

clicking on the respective parameter or highlighting the parameter andclicking on the directional arrows (>>, <<).Parameters can be ordered in the "Selected Data" section by means ofthe up (↑) and down (↓) arrows.

6. Once all parameter are selected, click on OK.The new list of table name is displayed below the "Custom" folder.

Modifying a Custom List or TableAn existing custom list or table can be modified by right clicking on the list ortable name in the tree structure or in the displayed list or table.

Fig.6-62: Modifying custom list data


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Custom data symbols The options that appear as pop-up windows when right clicking are alsoavailable in the header section just above the list or table. The options areavailable:

Symbol Function

Opens the custom data "Edit" window showing the current configu‐ration of the selected list or table

Deletes the currently selected list or table

Opens a new "Edit window" for creating a new list or table

Access help for the selected parameter. The help system has to beinstalled on the compact flash card of the control

Saves the content of the currently selected list or table as an HTMLtable

Tab.6-63: Custom data symbols

Editing a Parameter Value for Custom DataBy default, a list or table created by an authorized user is granted viewingrights but not modification rights under the "User Management" folder. In or‐der to edit parameter values from a list or table, the current user must havemodification rights.

If the current user has access rights to the "User Management"folder, contact the system administrator so that modification rightscan be added to the list or table of the user.

Parameters in a custom list or table are modified by clicking in the "Value"field of the respective parameter and changing its current value to a new val‐ue. The selected value is highlighted in bold. The value can be modified inthe current sercos phase. Read-only parameters or parameters that cannotbe modified in the current sercos phase are grayed out.

Fig.6-64: Modifying a parameter from a custom List

Hiding/Showing Column Headings for a ListThe various heading columns for a list of parameters can be hidden by rightclicking on any column heading and deselecting a heading name. To displaythe column again, repeat the process and check the heading name again.




Fig.6-65: Hiding and Showing column headings

6.7 User DocumentationThe User Documentation folder is only visible in the tree structure if files weretransferred to the control using the "File transfer" function. See chapter 6.3.4 "File Transfer" on page 50 for more information.Files are opened by clicking on the respective file listed in the "Documenta‐tion" section.

Fig.6-66: "User Documentation" folder

6.8 "User Management" Folder6.8.1 Overview

The "User Management" folder is used to create and manage user accountsfor the IMST. It requires access rights before this folder can be displayed inthe tree structure. Each user in the system can be granted "View" or "Modify"rights by selecting the respective checkbox from each page of the IMST. Pa‐ges that contain read-only data will have the "Modify" checkbox grayed out.For areas that can only be changed, the "View" checkbox is grayed out.

Although any user can be set up to get access to every area ofthe IMST, it is recommended that an administrator is appointedwho manages all accounts.


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Fig.6-67: "User Management" FolderBy default, the following user accounts have been created as an example.The administrator can use or change these accounts. The administrator canalso delete these accounts and create new accounts. All user account infor‐mation is stored in the control.

User name Password Access rights

administrator rexroth Viewing and modification rights for all areas ofIMST

service service Viewing and modification rights for all areas, ex‐cept for the "User Management"




User name Password Access rights

user user Viewing rights for all "Diagnostics" and "Hard‐ware" folders

guest No passwordrequired

Viewing rights for "Diagnostics" and "Hardware"folders only

Tab.6-68: Default user accounts

6.8.2 Creating a User AccountUser accounts can only be created if the user has modification rights for the"User Management" folder. Log in to the IMST using the default administratoruser name and password and proceed as follows to create a user account:

1. Expand the "User Management" folder.2. Right click on the "administrator" user account and select Add User.

Create a new user account by clicking on "Add User" .3. Entries are required in the fields "User Name", "Password" and "Confirm

Password".User name and password have a 20 character limitation.

4. Once the new user window opens, define the viewing and modificationrights for the user by selecting or deselecting the various areas of theIMST. Selecting modification rights automatically selects the viewingright.

5. To save the new user account, click on "Save" in the center of the head‐er.


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Fig.6-69: Creating a new user account

User accounts can be modified by selecting the user account.Subsequently, change the rights and save the changes.

6.8.3 Deleting a User AccountThe "Delete User" functionality (symbol and right click menu selection) is onlyavailable when a user other than the currently logged in user is selected fromthe tree structure.




Fig.6-70: Deleting a user account

Once selected, the user has to confirm the deletion of the selected user ac‐count.

6.8.4 Changing a User Account PasswordAny user currently logged in and provided with viewing rights for the "UserManagement" folder can change the password irrespective of existing modifi‐cation rights. If the user is not provided with viewing rights for the "User Man‐agement" folder, none of the user account options is available:

1. Right click on the user account and select Change Password.The password can also be changed by clicking on "Change Password"

.2. Entries are required for the fields "Old Password", "New Password" and

"Confirm New Password".The Password field has a 20 character limitation.


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Fig.6-71: Changing user passwordWhen OK is pressed to complete the entries, a confirmation window isdisplayed. In case of incorrect entries, an error message window is dis‐played.





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7 Service and SupportOur worldwide service network provides an optimized and efficient support.Our experts offer you advice and assistance should you have any queries.You can contact us 24/7.

Service Germany Our technology-oriented Competence Center in Lohr, Germany, is responsi‐ble for all your service-related queries for electric drive and controls.Contact the Service Helpdesk & Hotline under:

Phone: +49 9352 40 5060Fax: +49 9352 18 4941E-mail: [email protected]: http://www.boschrexroth.com

Additional information on service, repair (e.g. delivery addresses) and trainingcan be found on our internet sites.

Service worldwide Outside Germany, please contact your local service office first. For hotlinenumbers, refer to the sales office addresses on the internet.

Preparing information To be able to help you more quickly and efficiently, please have the followinginformation ready:● Detailed description of malfunction and circumstances resulting in the

malfunction● Type plate name of the affected products, in particular type codes and

serial numbers● Your contact data (phone and fax number as well as your email ad‐

dress)



Service and Support

http://www.boschrexroth.com


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IndexAAbbreviations...................................................... 12About this documentation..................................... 5

Information representation............................. 11Validity of the documentation........................... 5

BBrowser settings

Enabling security settings.............................. 39

CClear error........................................................... 53Control folder

Control link..................................................... 69Ethernet......................................................... 67Programmable limit switch............................. 70

Control foldersercos ........................................................... 69sercos configuration....................................... 68

Control link.......................................................... 69Cross communication................................... 54, 69Custom list or table............................................. 81

DData folder

Custom........................................................... 81Logic.............................................................. 78Parameters.................................................... 80

Data folderArchive and restore parameters..................... 31Archiving and restoring parameters............... 76

Default user accounts......................................... 47Diagnostic folder

Control link..................................................... 54Diagnostics folder

Oscilloscope functionality............................... 55Documentation structure....................................... 5Drive folder

Reference motor encoder.............................. 74Drive folder

Brake check................................................... 74Local I/O drive................................................ 72Motor commutation........................................ 73Motor diagnostic date..................................... 73PLS module: Drive ........................................ 71

Drive parameters................................................ 81Drive system....................................................... 15

EElectric drive system........................................... 15

FFirst steps........................................................... 39

Browser settings............................................ 39

Initial Login..................................................... 41Initial login, setting up user accounts............. 42

HHardware folder

Drive hardware............................................... 71Hardware overview folder

Control hardware........................................... 67

IImportant instructions on use.............................. 13IMST functionality

Diagnostic overview....................................... 28Right-click and tooltip functionality................. 35

IMST functionality............................................... 27Hardware overview........................................ 30Help for diagnostics....................................... 37IMST toolbar icons......................................... 34User management overview.......................... 32

IMST toolbar symbolsError and warning symbols............................ 53Frame symbol................................................ 48

IMST toolbar symbolsPLC state symbol........................................... 52Save symbol.................................................. 48

IndraMotion Service ToolGeneral information....................................... 25Oscilloscope overview................................... 30

IndraMotion Service ToolsIntegrates Safety technology, Overview........ 29

IndraMotion Service Tool – Overview................. 25Intended

state-of-the-art............................................... 13Intended use....................................................... 13

Areas of use and application.......................... 13

MMD X10 Digital I/O.............................................. 72

OOscilloscope functionality

Active measurement...................................... 57Color.............................................................. 65Configure measurement................................ 58Curve display................................................. 62Detect recording............................................. 60Display area................................................... 56Measured signals........................................... 61Show cursor................................................... 65Signal trigger.................................................. 59Y-scaling........................................................ 62Zoom.............................................................. 64

Oscilloscope trigger............................................ 59



Index

PParameter editor................................................. 80Password............................................................ 42PELV................................................................... 19Product phases..................................................... 5Protective extra-low voltage................................ 19Purpose of this documentation............................. 5

SSafety instructions............................................... 11Safety instructions for electric drives andcontrols............................................................... 15Save system information..................................... 48sercos II communication..................................... 69Signal configuration............................................ 57Standard IMST toolbar symbols

Change operation mode................................ 52File transfer.................................................... 50Navigation frame............................................ 48Save diagnostic log and hardware data......... 48

SupportSee service hotline......................................... 93

Symbols used..................................................... 11System requirements

Firmware........................................................ 26Hardware....................................................... 26Internet Explorer security settings.................. 27Software......................................................... 27

TTarget groups........................................................ 5Terms and abbreviations.................................... 12

UUnintended use................................................... 14

Consequences, Exclusion of Liability............. 13User management.............................................. 44User management folder

Change user account password.................... 90User Management folder

Create ser account......................................... 88Delete user account....................................... 89

Using the IndraMotion Service Tool.................... 47Using the IndraMotion Service Tool

Data folder..................................................... 76Diagnostics folder.......................................... 53Hardware folder............................................. 66Standard IMST toolbar symbols..................... 48User documentation....................................... 86User login....................................................... 47User Management folder............................... 86

XX31/X32 I/O........................................................ 72


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Index

Notes



DOK-IWORKS-IMST****V13-RE02-EN-P

Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Tel. +49 9352 18 0 Fax +49 9352 18 8400 www.boschrexroth.com/electrics

mailto:[email protected]

http://www.boschrexroth.de

Rexroth IndraWorks Edition 02 13VRS IndraMotion Service Tool

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