Bosch Rexroth R911313736 User manual

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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(DIN 34-1).

The specified data is for product description purposes only and may not

be deemed to be guaranteed unless expressly confirmed in the contract.

All rights are reserved with respect to the content of this documentation

and the availability of the product.

Bosch Rexroth AG

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Telephone +49 (0)93 52/40-0 •Tx 68 94 21 •Fax +49 (0)93 52/40-48 85

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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

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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

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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

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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

DOK-SYNAX*-IL*-13VRS**-AW02-EN-P

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

DOK-SYNAX*-IL*-13VRS**-AW02-EN-P

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)

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Bosch Rexroth R911313736 User manual

Bosch Rexroth R911313736 User manual

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