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Rexroth SYNAX 200
MotionLogic Version 13
R911313736
Edition 02
Application Manual
Electric Drives
and Controls Pneumatics Service
Linear Motion and
Assembly Technologies
Hydraulics
About this Documentation Rexroth SYNAX 200 - MotionLogic
DOK-SYNAX*-IL*-13VRS**-AW02-EN-P
Rexroth SYNAX 200
MotionLogic Version 13
Application Manual
DOK-SYNAX*-IL*-13VRS**-AW02-EN-P
•SYNAX200-MotionLogic 13VRS (PPC-R).doc
•Document number 120-2200-B367-02/EN
This documentation describes
•the expansion of the system solution SYNAX 200 MotionControl by
the integrated PLC LogicControl to the system solution SYNAX 200
MotionLogic.
Description Release
Date
Notes
DOK-SYNAX*-IL*-13VRS**-AW01-EN-P 03.06 Version 13VRS
DOK-SYNAX*-IL*-13VRS**-AW02-EN-P 02.07 First edition
2007 Bosch Rexroth AG
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Rexroth SYNAX 200 - MotionLogic Contents I
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Contents
1 Introduction 1-1
1.1 Overview SYNAX 200 MotionLogic .............................................................................................. 1-1
Programming environment IndraLogic .................................................................................... 1-1
Supported programming languages ........................................................................................ 1-1
Communication with the programming interface..................................................................... 1-2
Target and libraries.................................................................................................................. 1-2
I/O configuration ...................................................................................................................... 1-3
Multitasking.............................................................................................................................. 1-5
Diagnosis ................................................................................................................................. 1-5
Storage of the PLC program.................................................................................................... 1-5
Technical data ......................................................................................................................... 1-6
2 Communication 2-1
2.1 IndraLogic via SCP/SIS ................................................................................................................ 2-1
Overview.................................................................................................................................. 2-1
Communication setting MotionLogic ....................................................................................... 2-2
Communication setting SCP.................................................................................................... 2-4
Communication setting IndraLogic .......................................................................................... 2-6
2.2 Serial IndraLogic protocol ............................................................................................................. 2-8
Communication setting MotionLogic ....................................................................................... 2-9
Communication setting IndraLogic ........................................................................................ 2-10
2.3 IndraLogic protocol Ethernet....................................................................................................... 2-12
Communication setting MotionLogic ..................................................................................... 2-13
Communication setting IndraLogic ........................................................................................ 2-13
3 Extension of programming environment IndraLogic 3-1
3.1 Overview about the system specific extensions of the programming environment
IndraLogic ..................................................................................................................................... 3-1
3.2 Tool "Install / Deinstall GSD-File" ................................................................................................. 3-2
Installation of a Profibus-DP slave........................................................................................... 3-2
Deinstallation of a Profibus-DP slave ...................................................................................... 3-4
3.3 Tool "IndraLogic Archive Extractor".............................................................................................. 3-5
Open IndraLogic project from the archive file.......................................................................... 3-5
3.4 Tool "SYNAX 200 Information"..................................................................................................... 3-8
3.5 Tool "SYNAX 200 Target Converter"............................................................................................ 3-8
General procedure of a versions change ................................................................................ 3-9
Export of a PLC project ........................................................................................................... 3-9
Conversion of an export file................................................................................................... 3-10
Import of a PLC project.......................................................................................................... 3-13
II Contents Rexroth SYNAX 200 - MotionLogic
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4 PLC configuration 4-1
4.1 Introduction ................................................................................................................................... 4-1
4.2 IndraLogic targets ......................................................................................................................... 4-5
Target "SYNAX 200 - MotionLogic 13VRS (PPC-P)".............................................................. 4-5
Target "SYNAX 200 - MotionLogic 13VRS (PPC-R)".............................................................. 4-6
4.3 Import of the PLC configuration.................................................................................................... 4-7
4.4 Data exchange between MotionControl and LogicControl on the SYNAX 200 -
MotionLogic (MotionLogic Data Exchange)................................................................................ 4-10
Binary control and status signals (Cyclic Motion Data) ......................................................... 4-11
Process data - parameter (Cyclic Motion Data) .................................................................... 4-17
Fieldbus data (Cyclic Fieldbus Data)..................................................................................... 4-28
4.5 PPC onboard I/O ........................................................................................................................ 4-34
4.6 Remote Connections .................................................................................................................. 4-35
4.7 Local RECO02 I/Os .................................................................................................................... 4-36
4.8 Fieldbus master interface ........................................................................................................... 4-39
Profibus-DP master DPM01-PC104...................................................................................... 4-40
DeviceNet-Master DNM01-PC104 ........................................................................................ 4-43
4.9 Fieldbus slave interface.............................................................................................................. 4-45
Profibus-DP slave DPS01-PC104 ......................................................................................... 4-46
5 Parameter of the LogicControl on the MotionLogic 5-1
5.1 General information ...................................................................................................................... 5-1
5.2 Configuration and motion control parameter ................................................................................ 5-1
Y-0-0011: Integrated PLC timeslot in MC cycle time .............................................................. 5-1
Y-0-0016: Integrated PLC configuration.................................................................................. 5-1
Y-0-0020 Integrated PLC - Control word................................................................................. 5-3
Y-0-0034 Target cycle time ..................................................................................................... 5-3
Y-0-0531 PPC configured options........................................................................................... 5-4
5.3 Status parameters and project identification ................................................................................ 5-5
Y-0-0021 Integrated PLC - Status word .................................................................................. 5-5
Y-0-0030 Integrated PLC - Project identity.............................................................................. 5-5
Y-0-0031 Integrated PLC - Project name ................................................................................ 5-5
Y-0-0035 Cycle: minimal possible cycle time .......................................................................... 5-5
Y-0-0532 Integrated PLC - Name of stored bootproject.......................................................... 5-5
Y-0-0533 Free memory in PLC file system ............................................................................. 5-5
5.4 Communication parameters ......................................................................................................... 5-6
Y-0-0022 Integrated PLC - Idle time acyclic communication .................................................. 5-6
Y-0-0200(..Y-0-0231) Fieldbus - External IO, PPC input word 1 - 32 (Y-0-0231 = 32)........... 5-6
Y-0-0250(..Y-0-0281) Fieldbus - External IO, PPC output word 1 (Y-0-0281 = 32)................ 5-6
Y-0-0300(..Y-0-0363) Fieldbus - PLC input variable data container 1 (Y-0-0363 = 64).......... 5-6
Y-0-0400(..Y-0-0463) Fieldbus - PLC output variable data container 1 (Y-0-0463 =
64)............................................................................................................................................ 5-6
Y-0-0534(..Y-0-0545) Fieldbus - PLC list data container 1 (1kByte) (Y-0-0545 = 12
(16kByte)) ................................................................................................................................ 5-7
6 System integration 6-1
6.1 Communication paths ................................................................................................................... 6-1
Rexroth SYNAX 200 - MotionLogic Contents III
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6.2 System events .............................................................................................................................. 6-5
6.3 Important notes for the use of system resources ......................................................................... 6-7
6.4 Task management........................................................................................................................ 6-9
Timing diagrams .................................................................................................................... 6-10
6.5 Benchmarks................................................................................................................................ 6-15
Time measuring functions ..................................................................................................... 6-15
Benchmark ............................................................................................................................ 6-16
7 Data archiving and recovery 7-1
7.1 Introduction and settings............................................................................................................... 7-1
Introduction .............................................................................................................................. 7-1
Example: Compatibility table Target<>Firmware release SYNAX 11V17............................... 7-1
Requirements .......................................................................................................................... 7-3
7.2 Data to be saved........................................................................................................................... 7-6
7.3 Archiving in IndraLogic ................................................................................................................. 7-7
7.4 PLC file management with SynTop .............................................................................................. 7-9
Load project (PC->PPC).......................................................................................................... 7-9
Save project (PPC->PC)........................................................................................................ 7-10
Extract project from archive................................................................................................... 7-11
File manager.......................................................................................................................... 7-12
Launch IndraLogic ................................................................................................................. 7-12
8 Libraries of the SYNAX 200 system MotionLogic in IndraLogic 8-1
8.1 Overview....................................................................................................................................... 8-1
8.2 Application notes, runtime behavior and special interface variables............................................ 8-4
8.3 Diagnostic system....................................................................................................................... 8-13
Local diagnostic and error handling....................................................................................... 8-13
Selective elements of the diagnostic and error structure `ERROR_STRUCT´ ..................... 8-17
9 Library MS_BaseSL13.lib 9-1
9.1 Overview....................................................................................................................................... 9-1
9.2 Function blocks and functions ...................................................................................................... 9-3
Version_MS_BaseSL13_01V*................................................................................................. 9-3
MSV_GetDVErrorId ................................................................................................................. 9-5
9.3 Data types..................................................................................................................................... 9-7
MS_PPC_SYSTEM_LC2MC................................................................................................... 9-7
MS_PPC_SYSTEM_MC2LC................................................................................................... 9-8
MS_MA_LC2MC...................................................................................................................... 9-9
MS_MA_MC2LC.................................................................................................................... 9-11
MS_FA_LC2MC.....................................................................................................................9-13
MS_FA_MC2LC.....................................................................................................................9-15
Further data types ................................................................................................................. 9-17
9.4 Global variables - parameter identity number constants ............................................................ 9-18
SYNAX Parameter Identity Number (IDENT) - A_ParameterNumber_IDENT ..................... 9-18
SYNAX Parameter Identity Number (IDENT) – C_ParameterNumber_IDENT .................... 9-18
SYNAX Parameter Identity Number (IDENT) – Y_ParameterNumber_IDENT..................... 9-18
IV Contents Rexroth SYNAX 200 - MotionLogic
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DRIVE Parameter Identity Number (IDENT) –S_ParameterNumber_IDENT...................... 9-19
DRIVE Parameter Identity Number (IDENT) –P_ParameterNumber_IDENT...................... 9-19
9.5 Global variables - direct variables ..............................................................................................9-20
10 Library MS_MotionComm.lib 10-1
10.1 Overview..................................................................................................................................... 10-1
10.2 The Ethernet connection of a SYNAX 200 - MotionLogic / MotionControl................................. 10-3
Configuration of the communication interface (master) ........................................................ 10-3
Configuration of the communication interface (slave) ........................................................... 10-6
10.3 Function blocks and functions .................................................................................................. 10-11
Version_MS_MotionComm_01V*........................................................................................ 10-11
MSV_ReadParameter ......................................................................................................... 10-13
MSV_ReadRealParameter.................................................................................................. 10-16
MSV_ReadListParameter.................................................................................................... 10-19
MSV_ReadRealListParameter ............................................................................................ 10-22
MSV_ReadStringParameter................................................................................................ 10-25
MS_ReadDbParameter ....................................................................................................... 10-27
MSV_ReadListArrayParameter ........................................................................................... 10-30
MSV_WriteParameter.......................................................................................................... 10-33
MSV_WriteRealParameter .................................................................................................. 10-35
MSV_WriteListParameter.................................................................................................... 10-37
MSV_WriteRealListParameter............................................................................................. 10-40
MSV_WriteStringParameter ................................................................................................ 10-43
MS_WriteDbParameter ....................................................................................................... 10-45
MSV_WriteListArrayParameter ........................................................................................... 10-47
MSV_ReadAttribute............................................................................................................. 10-50
MSV_ReadName................................................................................................................. 10-53
MSV_ReadUnit.................................................................................................................... 10-55
MSV_ReadDataStatus ........................................................................................................ 10-57
MSV_ReadMaxValue .......................................................................................................... 10-60
MSV_ReadMaxRealValue................................................................................................... 10-63
MSV_ReadMinValue ........................................................................................................... 10-66
MSV_ReadMinRealValue.................................................................................................... 10-69
MS_ChangePhase .............................................................................................................. 10-72
MS_ReadPhase................................................................................................................... 10-74
MS_CyclProcDataUdpType01............................................................................................. 10-76
MS_CyclProcDataUdpType02............................................................................................. 10-79
10.4 Data types................................................................................................................................. 10-82
MS_CYCL_PROC_DATA_CONFIG.................................................................................... 10-82
MS_CYCL_PROC_DATA_STATUS ................................................................................... 10-82
10.5 Global variables ........................................................................................................................ 10-82
K_MS_SIS_DATA_MAX_LENGTH..................................................................................... 10-82
11 Library MS_ProfibusComm.lib 11-1
11.1 Overview..................................................................................................................................... 11-1
11.2 Special error codes of function blocks of library MS_ProfibusComm.lib.................................... 11-5
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Overview................................................................................................................................ 11-5
Error on fieldbus level............................................................................................................ 11-6
Error on function block level .................................................................................................. 11-6
Error on protocol- or execution level...................................................................................... 11-8
11.3 The PROFIBUS-DP slave connection of a SYNAX 200 - MotionControl................................. 11-11
Construction of the process data channel ........................................................................... 11-11
Configuration of the process data channel of the SYNAX 200 - MotionControl.................. 11-13
11.4 Function blocks and functions .................................................................................................. 11-22
Version_MS_ProfibusComm_01V* ..................................................................................... 11-22
MS_ASCIIToWordPb........................................................................................................... 11-24
MS_LockAccessPb.............................................................................................................. 11-25
MS_UnlockAccessPb .......................................................................................................... 11-27
MS_ReadPhasePb .............................................................................................................. 11-28
MS_ChangePhasePb .......................................................................................................... 11-32
MS_ReadParameterPb ....................................................................................................... 11-35
MS_ReadParameterDaPb................................................................................................... 11-39
MS_WriteParameterPb........................................................................................................ 11-43
MS_WriteParameterDaPb ................................................................................................... 11-47
MS_ReadListArrayParameterPb ......................................................................................... 11-51
MS_WriteListArrayParameterPb ......................................................................................... 11-58
MS_ReadDataStatusPb ...................................................................................................... 11-65
MS_AbortServicePb ............................................................................................................ 11-69
MS_AbortServiceDaPb........................................................................................................ 11-72
MS_ReadAttributePb........................................................................................................... 11-74
MS_ReadDbParameterPb................................................................................................... 11-79
MS_WriteDbParameterPb ................................................................................................... 11-84
MS_ReadMuxLayer32Pb .................................................................................................... 11-89
MS_ReadMuxLayer64Pb .................................................................................................... 11-93
MS_WriteMuxLayer32Pb..................................................................................................... 11-96
MS_WriteMuxLayer64Pb..................................................................................................... 11-99
11.5 Data types............................................................................................................................... 11-102
MS_PB_FIELDBUS32_IN, MS_PB_FIELDBUS32_OUT, MS_PB_FIELDBUS64_IN,
MS_PB_FIELDBUS64_ OUT ............................................................................................ 11-102
MS_PB_ACYCLIC_IN, MS_PB_CYCLIC32_IN, MS_PB_CYCLIC64_IN......................... 11-103
MS_PB_ACYCLIC_ OUT, MS_PB_CYCLIC32_ OUT, MS_PB_CYCLIC64_ OUT.......... 11-105
Fieldbus control word and fieldbus status word ................................................................ 11-107
Multiplex control and multiplex status word....................................................................... 11-110
11.6 Global variables ...................................................................................................................... 11-112
InstanceAddressOfActivePoe............................................................................................ 11-112
12 Library MS_ArcNetComm.lib 12-1
12.1 Overview..................................................................................................................................... 12-1
12.2 Function blocks and functions .................................................................................................... 12-2
Version_MS_ArcNetComm_01V*.......................................................................................... 12-2
MS_TransmitDataArcNet....................................................................................................... 12-4
12.3 Data types................................................................................................................................... 12-6
12.4 Global variables .......................................................................................................................... 12-6
VI Contents Rexroth SYNAX 200 - MotionLogic
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13 Library MS_LoopControl.lib 13-1
13.1 Overview..................................................................................................................................... 13-1
13.2 Function blocks and functions .................................................................................................... 13-2
Version_MS_LoopControl_01V*............................................................................................ 13-2
MS_PIDType01 ..................................................................................................................... 13-4
MS_TwoPointType01 ............................................................................................................ 13-9
MS_PT1Type01................................................................................................................... 13-11
13.3 Data types................................................................................................................................. 13-14
13.4 Global variables ........................................................................................................................ 13-14
14 Library MS_AdvanceMath.lib 14-1
14.1 Overview..................................................................................................................................... 14-1
14.2 Function blocks and functions .................................................................................................... 14-3
Version_MS_AdvanceMath_01V* ......................................................................................... 14-3
MS_DegToRad...................................................................................................................... 14-5
MS_RadToDeg...................................................................................................................... 14-5
MS_DegToInc........................................................................................................................ 14-7
MS_IncToDeg........................................................................................................................ 14-8
MS_RadToInc........................................................................................................................ 14-9
MS_IncToRad...................................................................................................................... 14-10
MS_MaxValue ..................................................................................................................... 14-11
MS_LinearInterpolation ....................................................................................................... 14-13
14.3 Data types................................................................................................................................. 14-16
14.4 Global variables ........................................................................................................................ 14-16
15 Library MSV_CamTable.lib 15-1
15.1 Overview..................................................................................................................................... 15-1
15.2 Function blocks and functions .................................................................................................... 15-3
Version_MSV_CamTable_01V* ............................................................................................ 15-3
MSV_CamTableType01 ........................................................................................................ 15-5
MSV_CamTableType02 ........................................................................................................ 15-9
MSV_CamTableType03 ...................................................................................................... 15-13
MSV_CamTableType04 ...................................................................................................... 15-17
MSV_CamTableType05 ...................................................................................................... 15-22
MSV_CamTableType06 ...................................................................................................... 15-27
MSV_CamTableType07 ...................................................................................................... 15-31
MSV_CamTableType08 ...................................................................................................... 15-35
MSV_CamTableType09 ...................................................................................................... 15-39
MSV_CamTableType10 ...................................................................................................... 15-43
MSV_CamTableType11 ...................................................................................................... 15-47
MSV_CamTableType12 ...................................................................................................... 15-53
MSV_CamTableType13 ...................................................................................................... 15-58
MSV_CamTableType14 ...................................................................................................... 15-63
15.3 Data types................................................................................................................................. 15-68
15.4 Global variables ........................................................................................................................ 15-68
Rexroth SYNAX 200 - MotionLogic Contents VII
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16 Library MSV_CheckRtv.lib 16-1
16.1 Overview..................................................................................................................................... 16-1
Structuring of monitoring ....................................................................................................... 16-3
16.2 Function blocks and functions .................................................................................................... 16-8
Version_MSV_CheckRtv_01V* ............................................................................................. 16-8
MSV_GetRuntimeError........................................................................................................ 16-10
CheckBounds ...................................................................................................................... 16-12
CheckDivByte ...................................................................................................................... 16-12
CheckDivWord..................................................................................................................... 16-12
CheckDivDWord .................................................................................................................. 16-12
CheckDivReal...................................................................................................................... 16-12
CheckDivLReal.................................................................................................................... 16-12
CheckRangeSigned............................................................................................................. 16-12
CheckRangeUnsigned......................................................................................................... 16-12
CheckPointer ....................................................................................................................... 16-13
CheckPointerAligned ........................................................................................................... 16-13
16.3 Data types................................................................................................................................. 16-14
16.4 Global variables ........................................................................................................................ 16-14
17 Library MS_ApplBase.lib 17-1
17.1 Overview..................................................................................................................................... 17-1
17.2 The diagnostic system in the application program ..................................................................... 17-3
17.3 Data types................................................................................................................................... 17-5
17.4 Global variables .......................................................................................................................... 17-5
18 Library MS_ApplUtilities.lib 18-1
18.1 Overview..................................................................................................................................... 18-1
18.2 Function block and functions ...................................................................................................... 18-3
Version_MS_ApplUtilities_01V* ............................................................................................ 18-3
MS_CmdHandlerType01 ....................................................................................................... 18-5
MS_CmdHandlerType02 ....................................................................................................... 18-8
Notes about the function blocks MS_ContinuousAdjustType01,
MS_ContinuousAdjustType02 and MS_IncrementalAdjustType01 .................................... 18-11
MS_ContinuousAdjustType01............................................................................................. 18-14
MS_ContinuousAdjustType02............................................................................................. 18-18
MS_IncrementalAdjustType01 ............................................................................................ 18-22
MS_GetModuloType01........................................................................................................ 18-25
MS_GetModuloType02........................................................................................................ 18-26
MS_DriveGuardType01....................................................................................................... 18-27
MS_DriveGuardType02....................................................................................................... 18-30
MS_SaveRestoreToFile ...................................................................................................... 18-33
MS_SaveRestoreToParameter ........................................................................................... 18-35
MS_WriteParameterSet....................................................................................................... 18-37
MS_ReadParameterSet ...................................................................................................... 18-39
MS_AverageType01............................................................................................................ 18-41
MS_ScalarProductType01................................................................................................... 18-43
VIII Contents Rexroth SYNAX 200 - MotionLogic
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MS_ScalarProductType02................................................................................................... 18-45
MS_ScalarProductType03................................................................................................... 18-47
MS_ScalarProductType04................................................................................................... 18-49
18.3 Data types................................................................................................................................. 18-51
MS_CMD_STATUS............................................................................................................. 18-51
MS_DRV_GUARD_TYPE01 ............................................................................................... 18-51
MS_DRV_GUARD_TYPE02 ............................................................................................... 18-51
MS_WR_PARAMETER_SET.............................................................................................. 18-52
18.4 Global variables ........................................................................................................................ 18-53
19 Library MS_ApplGravurePrintCorrection.lib 19-1
19.1 Overview..................................................................................................................................... 19-1
19.2 Function blocks and functions .................................................................................................... 19-2
Version_MS_ApplGravurePrintCorrection_01V** ................................................................. 19-2
MS_GravPrintCorr ................................................................................................................. 19-4
19.3 Data types................................................................................................................................... 19-6
19.4 Global variables .......................................................................................................................... 19-6
20 The common used Bosch Rexroth libraries 20-1
20.1 Overview..................................................................................................................................... 20-1
20.2 Library RIL_Diagnosis.lib............................................................................................................ 20-3
20.3 Library RIL_CommonTypes.lib ................................................................................................... 20-4
20.4 Library RIL_Utilities.lib................................................................................................................ 20-5
20.5 Library RIL_DeviceNet.lib........................................................................................................... 20-7
20.6 Library RIL_ProfibusDP.lib ......................................................................................................... 20-8
20.7 Library Standard.lib..................................................................................................................... 20-9
20.8 Library Iecsfc.lib........................................................................................................................ 20-10
20.9 Library Util.lib ............................................................................................................................ 20-11
20.10 Library NetVarUdp_LIB_V23.lib ............................................................................................... 20-12
21 Library RIL_Utilities.lib 21-1
21.1 Overview..................................................................................................................................... 21-1
21.2 Function blocks and functions .................................................................................................... 21-3
Version_RIL_Utilities_01V* ................................................................................................... 21-3
IL_HighResTimeTick ............................................................................................................. 21-5
IL_HighResTimeDiff .............................................................................................................. 21-7
IL_SercosAttribute ................................................................................................................. 21-8
IL_SercosElementsToParaNo............................................................................................. 21-11
IL_SercosStringToParaNo................................................................................................... 21-13
IL_Date ................................................................................................................................ 21-15
IL_TimeOfDay...................................................................................................................... 21-16
IL_DateAndTime.................................................................................................................. 21-17
IL_SysTime64...................................................................................................................... 21-18
IL_SysTimeDate .................................................................................................................. 21-19
IL_ExtSysTimeDate............................................................................................................. 21-20
IL_SysTime64ToSysTimeDate............................................................................................ 21-22
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IL_SysTimeDateToSysTime64............................................................................................ 21-23
21.3 Data types................................................................................................................................. 21-24
21.4 Global variables ........................................................................................................................ 21-24
22 The SysLib - libraries 22-1
22.1 Overview..................................................................................................................................... 22-1
22.2 Important notes for the use of system resources ....................................................................... 22-2
22.3 Library SysLibCallback.lib........................................................................................................... 22-4
22.4 Library SysLibDirect.lib ............................................................................................................... 22-4
22.5 Bibliothek SysLibTime.lib............................................................................................................ 22-4
22.6 Library SysLibFile.lib................................................................................................................... 22-5
22.7 Library SysLibSockets.lib............................................................................................................ 22-6
22.8 Library SysTaskInfo.lib ............................................................................................................... 22-8
23 Service & Support 23-1
23.1 Helpdesk..................................................................................................................................... 23-1
23.2 Service-Hotline ........................................................................................................................... 23-1
23.3 Internet........................................................................................................................................ 23-1
23.4 Vor der Kontaktaufnahme... - Before contacting us... ................................................................ 23-1
23.5 Kundenbetreuungsstellen - Sales & Service Facilities ............................................................... 23-2
XContents Rexroth SYNAX 200 - MotionLogic
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Rexroth SYNAX 200 - MotionLogic Introduction 1-1
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1 Introduction
1.1 Overview SYNAX 200 MotionLogic
Programming environment IndraLogic
IndraLogic is the programming environment for the programmable logic
control (PLC) of Bosch Rexroth AG. IndraLogic allows the PLC software
engineer a simple access to the programming languages according to
IEC 61131-3.
ILSplashScreen.bmp
Fig. 1-1: Start screen IEC 61131-3 programming interface IndraLogic
Supported programming languages
The programming environment IndraLogic supports the following
programming languages described in IEC 61131-3 standard:
•Instruction List (IL)
•Structured Text (ST)
•Sequential Function Chart (SFC)
•Function Block Diagram (FBD)
•Ladder Diagram (LD)
Further on IndraLogic supports the following graphical programming
languages:
•Continuous function chart (CFC)
Textual languages
Graphical languages:
Additional graphical language:
1-2 Introduction Rexroth SYNAX 200 - MotionLogic
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Communication with the programming interface
The programming environment IndraLogic communicates with the run-
time system via SCP (Scalable-Communication-Platform). The following
interfaces are available (section 2 Kommunikation):
•serial interface (RS232 and RS485)
•Ethernet TCP/IP
•PCI-DPRAM (only with PPC-P11)
Target and libraries
Various libraries with different functionalities are available in the
programming environment IndraLogic depending on the target (function
blocks, functions, data types, ...) (section 4.2 - IndraLogic targets; section
8.1 - Overview).
In general a target is included in the installation of the programming
environment IndraLogic. But it is also possible to install additional targets.
The SYNAX 200 system makes two targets available in version 13VRS:
the RECO-based option PPC-R and the PCI-based option PPC-P.
The enabled libraries for the PLC control (target) are stored in the
corresponding target directory by presetting. The library of the RECO-
based option PPC-R and the PCI-based option PPC-P of the SYNAX 200
system are completely compatible to each other. Programs, functions,
etc., can be exchanged.
\\Rexroth\IndraLogic\Targets\SYNAX200_ML_13VRS_PPC_R\
\\Rexroth\IndraLogic\Targets\SYNAX200_ML_13VRS_PPC_P\
Directory level Content
config configuration data of the targets
dll driver and additional elements
ini messages and commands
internal internal driver, additional elements and libraries
lib libraries
lib\oldver libraries of older target versions
userconfig user-specific additional elements (e.g., GSD files)
xml task configuration
Fig. 1-2: Structure of the target directory
SYNAX 200 MotionLogic 13VRS
(PPC-R)
SYNAX 200 MotionLogic 13VRS
(PPC-P)
Rexroth SYNAX 200 - MotionLogic Introduction 1-3
DOK-SYNAX*-IL*-13VRS**-AW02-EN-P
LibrariesOfTarget.bmp
Fig. 1-3: Storage of the libraries of a target
I/O configuration
Inputs and outputs of the PLC are graphical configured in the
programming environment IndraLogic via the PLC configuration (section 4
- PLC configuration).
Cyclic data exchange between MotionControl and
LogicControl
The cyclic data exchange between MotionControl and LogicControl (PLC)
takes place via two communication channels:
•Cyclic Motion Data: The register "Cyclic Motion Data" contains all
internal inputs and outputs of the MotionControl, i.e. of the master
axes, of the following axes and of the system itself. These binary
inputs and outputs are mapped to global structures in parts (e.g.,
MS_FA_LC2MC). The binary data exchange only takes place in
operating mode (SERCOS communication phase P4).
The register "Cyclic Motion Data“ contains a configurable parameter
channel in addition to exchange 2 and 4 byte parameters. There's a
range "Parameters" in the respective register, e.g., of a following axis,
where parameters can be cyclical configured. The parameter data
exchange at A, S and P parameters only takes place in operating
mode (SERCOS communication phase P4). Y and C parameters can
be exchanged in every communication phase.
•Cyclic Fieldbus Data: The register "Cyclic Fieldbus Data" contains a
configurable channel to tunnel fieldbus data. The fieldbus slave
interfaces of the MotionLogic are allocated to the MotionControl and
transmit parameter data and PLC variables via parameter data
containers accordingly. The contents of the parameter containers can
be made available to the LogicControl (PLC) in the "Cyclic Fieldbus
Data".
1-4 Introduction Rexroth SYNAX 200 - MotionLogic
DOK-SYNAX*-IL*-13VRS**-AW02-EN-P
PPC onboard I/Os
At the system SYNAX 200 - MotionLogic three potential-free inputs as
well as two potential-free outputs are directly available on the control with
hardware option PPC-R22 at master switch X1.
Remote Connections
At the system SYNAX 200 - MotionLogic with hardware option PPC-R22,
it is possible to exchange parameters via the function blocks of library
MS_MotionComm.lib with up to 64 remote stations via Ethernet (SIS
protocol).
RECO local bus I/Os
The local RECO inputs and outputs that are available for the MotionLogic
are fixed allocated to the integrated LogicControl (PLC). It is not possible
to use them on the MotionControl (e.g., for the cam switch group 2).
Fieldbus master interface, fieldbus slave interface
The fieldbus master interfaces of the MotionLogic are handled by the
integrated LogicControl (PLC). The fieldbus slave interfaces are only
allocated to the MotionControl.
Controlconfiguration.bmp
Fig. 1-4: I/O configuration of the MotionLogic in IndraLogic
Rexroth SYNAX 200 - MotionLogic Introduction 1-5
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Multitasking
The IndraLogic runtime system on the SYNAX 200 - MotionLogic
supports preemptive multitasking with up to 16 IEC tasks. The following
task types are supported:
•cyclic (time triggered)
•freewheeling
•event triggered
•external event triggered
On the SYNAX 200 - MotionLogic (version 13VRS) an external event
triggered task is supported. This task is called synchronized to the
SERCOS cycle by the parallel running MotionControl in operating mode
(SERCOS communication phase 4) with the external event
"OP_MODE_SERCOS_CYCLIC" (section 6.1 - Task management).
Diagnosis
All diagnoses of the integrated LogicControl (PLC) are displayed on the
H1 display with "F 97". The error numbers 2000..3000 in parameter
"SYNAX - error number" (Y-0-0048) are allocated to the integrated PLC.
Further on all SYNAX diagnoses are also signaled in IndraLogic in online
mode (section 5.2 - Configuration and motion control parameter).
Storage of the PLC program
The PLC program is stored in the flash of the PFM module in the file
system IFS. The storage of the executable code takes place in the
programming environment IndraLogic with command "Online -> create
boot project" and thus is stored in the file "DEFAULT.PRG" on the motion
control.
Additionally it is possible to store the source code in the PLC. See also
chapter '7 "Data archiving and recovery".
1-6 Introduction Rexroth SYNAX 200 - MotionLogic
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Technical data
PPC-R2x/PPC-P11
volatile program memory for program code of the user programs (RAM) 4MB (twice available for online
changes)
non-volatile program memory for the storage of the user programs, etc. (flash) 12MB (32MB PFM module)
58MB (128MB PFM module)
volatile data memory for the variables and instances of the user programs (RAM) 1MB
non-volatile data memory for retain variables of the user programs (nvRAM) 56kB
size of the process build (PAE/PAA) dynamic
maximum number of POUs (default setting) 512
Fig. 1-5: Technical data - runtime system
System prerequisites (minimum)
Processor (CPU) Pentium III 400MHz or comparable
Memory (RAM) 128MB
Screen resolution 640 x 480
Number of colors 256
Hard disk capacity (HDD) 250MB
Communication interfaces COM
Ethernet
Operating system MS Windows 2000 SP4
MS Windows XP SP1
Miscellaneous
MS Internet Explorer 5
MS MSI Installer 2 (is updated, if not available)
MS XML Parser 3 SP 2 (is updated, if not available)
Fig. 1-6: Technical data - engineering environment
Runtime system IndraLogic
Engineering environment
IndraLogic
Rexroth SYNAX 200 - MotionLogic Communication 2-1
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2 Communication
2.1 IndraLogic via SCP/SIS
Overview
Communication of the programming environment IndraLogic with the
runtime system takes places in the standard settings via the common
communication platform SCP (Scalable-Communication-Platform). SCP
supports the operation of several communication participants via an
interface at the same time as a base for the communication. It is also
used by the parameterization and commissioning tool SynTop.
COM-Overview.tif
L: SCP:Scalable Communication Platform
L: SIS: Interface protocol
Fig. 2-1: Communication overview
2-2 Communication Rexroth SYNAX 200 - MotionLogic
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Communication setting MotionLogic
Communication of the MotionLogic with the programming environment
IndraLogic via SCP can take place via one of the three different
communication paths that are available:
•serial interface
•Ethernet
•PCI-DPRAM (only with PPC-P11)
Serial communication
The serial communication between the programming environment
IndraLogic and the MotionControl via RS232 or via RS485 is set with four
parameters on the MotionLogic:
•address of the communication partner
•mode of the serial interface
•baudrate of the interface
•type, i.e., protocol of the communication
The address of the MotionLogic is set with parameter "Device address"
(Y-0-0142). At the RECO-based option PPC-R the setting is also possible
with the S1 button and is set with menu item "M03: Device address = ..."
(also see "Handling with the S1button (only PPC-R)" in the SYNAX 200
Functional Description). The change of the device address in the S1
menu directly affects parameter Y-0-0142.
The settings for the serial interface X10 of the MotionLogic are done with
parameters:
•Y-0-0003 "Serial Port A Baudrate" (9600...115200 baud)
•Y-0-0004 "Serial Port A Mode" (RS232 or RS485)
•Y-0-0005 "Serial Port A device type" (set 3 (=SIS) here)
At the RECO-based option PPC-R the setting is also possible with the S1
button. In the following, the relevant menu items are listed, a change in
the S1 menu affects the corresponding parameters:
•"M04: X10 mode = 232", change affects Y-0-0004
•"M05: X10 baud = 19K2", change affects Y-0-0003
•"M06: X10 type = SIS", change affects Y-0-0005
The settings for the serial interface X16 of the MotionLogic are done with
parameters:
•Y-0-0008 "Serial Port B Baudrate" (9600...115200 baud)
•Y-0-0009 "Serial Port B Mode" (RS232 or RS485)
•Y-0-0010 "Serial Port B device type" (set 3 (=SIS) here)
/