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Motion-Logic
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IndraMotion MLC
Controller based
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Simple, open and flexible
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The compact Rexroth IndraMotion MLC motion-logic system gives you any freedom you wish for your consistent and modern machine automation. Innovative software and firmware functions, easy engineering and open system interfaces provide maximum flexibility in all motion applications.
By combining motion, robot and logic controls with technology functions, you can synchronize multi-axis applications very easily – freely scalable for centralized or decentralized solutions with a flexible control platform. Motion functions, such as master axes, electronic gears, cam disks and the innovative FlexProfile for complex motion sequences, can be used quickly and transparently. Robot control provides full functionality for multi-axis path interpolation in space. Integrate hydraulic axes just as easily and quickly in your automation solution with same tools and functionalities. The engineering framework IndraWorks with intuitive operation and the PLCopen-conforming software interface with standardized function blocks according to IEC 61131-3 facilitate integration in various machine designs. Both electric and hydraulic motion control applications – for all tasks in automation, IndraMotion MLC motion logic system is the answer. Especially in terms of effective engineering, flexible process adaptation and cost-optimized automation. |
MLC L40 1G | MLC L65 1G | MLC L25 | MLC L45 | MLC L65 | ||
Control units | ||||||
Runtime system | Integrated motion logic system | ● | ● | ● | ● | ● |
Multitasking | ● | ● | ● | ● | ● | |
Data management | Code, data, retentive data, user data | ● | ● | ● | ● | ● |
Storage | Boot project | ● | ● | ● | ● | ● |
PLC project as packed archive file | ● | ● | ● | ● | ● | |
User data to the internal memory and a removable storage medium | ● | ● | ● | ● | ● | |
Support | Function modules | 4 | 4 | 2 | 4 | 4 |
System events | ● | ● | ● | ● | ● | |
Probe function, control | ● | ● | ○ | ● | ● | |
User memory | Total: code, data | 24 MB | 36 MB | 12 MB | 24 MB | 36 MB |
Retentive memory | Total: system, user | 128 kB | 256 kB | 256 kB | 256 kB | 256 kB |
On-board diagnosis and settings | ||||||
Status display (boot, sercos, test) | Display | ● | ● | ● | ● | ● |
Errors, warnings, messages, system reset | ● | ● | ● | ● | ● | |
Ethernet settings (IP address) | ● | ● | ● | ● | ● | |
Voltage monitoring, watchdog | ● | ● | ● | ● | ● | |
Relay output ready for operation | ● | ● | ● | ● | ● | |
IndraMotion Service Tool | Web based engineering | ○ | ○ | ○ | ○ | ○ |
Interfaces on board | ||||||
sercos III | Automation Bus | - | ● | ● | ● | ● |
sercos II | Real-time motion bus | ● | ○ | ○ | ○ | ○ |
Master axis grouping | sercos III | ○ | ○ | ○ | ○ | ○ |
sercos II | ○ | ○ | ○ | ○ | ○ | |
Number of controls in control link | 64 | 64 | 64 | 64 | 64 | |
PROFIBUS | Master | ● | ● | - | ● | ● |
Slave | ● | - | - | ● | ● | |
PROFINET IO | Controller (Master) | - | - | ○ | ○ | ○ |
Device (Slave) | - | - | ○ | ○ | ○ | |
EtherNet/IP | Scanner (Master) | - | - | ▼ | ▼ | ▼ |
Adapter (Slave) | - | - | ○ | ○ | ○ | |
Ethernet TCP/IP | ● | ● | ● | ● | ● | |
Control grouping | Ethernet TCP/UDP/IP | ● | ● | ● | ● | ● |
RS232 | On board | ● | - | - | - | - |
Function modules | ||||||
Number | 4 | 4 | 2 | 4 | 4 | |
PROFIBUS-Master/-Slave | ○ | ○ | - | - | - | |
Realtime-Ethernet/PROFIBUS | - | - | ○ | ○ | ○ | |
DeviceNet-Master | ○ | ○ | - | - | - | |
Realtime-Ethernet/DeviceNet | - | - | ▼ | ▼ | ▼ | |
sercos III/ Master axis grouping (ELS) |
○ | ○ | ○ | ○ | ○ | |
sercos 2/ Master axis grouping (ELS) |
○ | ○ | ○ | ○ | ○ | |
Programmable limit switch | ○ | ○ | ○ | ○ | ○ | |
SRAM | ○ | ○ | ○ | ○ | ○ | |
Fast I/O | ○ | ○ | ○ | ○ | ○ | |
HMI | ||||||
IndraControl VCP, VCH | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
IndraControl VEP, VEH | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
IndraControl VSP, VPP, VSB/VDP, VPB/VDP | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
Inputs/outputs | ||||||
On board | ||||||
Fast digital inputs | Interruptible, typ. 50 μs | 8 | 8 | - | 8 | 8 |
Fast digital outputs | 0,5 A, typ. 500 μs | 8 | 8 | - | 8 | 8 |
Local | ||||||
Fast digital inputs (function module FAST I/O) | Interruptible, typ. 40 μs | ○ | ○ | ○ | ○ | ○ |
Fast digital outputs (function module FAST I/O) | 0,5 A, typ. 70 μs | ○ | ○ | ○ | ○ | ○ |
Inline (digital, analog, relais, technology) | 64 Byte, max. 512 E/A | ○ | ○ | ○ | ○ | ○ |
Distributed via Inline (IP20) | ||||||
sercos III | On board / function module | -/○ | - | - | - | - |
PROFIBUS | On board / function module | ○ | ○ | ○ | ○ | ○ |
DeviceNet | Functional module | ○ | ○ | - | - | - |
Distributed via Fieldline (IP67) | ||||||
PROFIBUS | On board / function module | -/○ | - | - | - | - |
DeviceNet | Functional module | ○ | ○ | - | - | - |
Distributed via IndraControl S67 | ||||||
sercos III | On board / function module | -/○ | - | - | - | - |
PROFIBUS | On board / function module | -/○ | - | - | - | - |
DeviceNet | On board / function module | ○ | ○ | - | - | - |
Logic-Control | ||||||
PLC runtime system | ||||||
IndraLogic 1G kernel | Conforming with IEC 61131-3 | ● | ● | ● | ● | ● |
IndraLogic 2G kernel | Conforming with IEC 61131-3 with extensions | - | - | ● | ● | ● |
Program organization | According to IEC 61131-3 | ● | ● | ● | ● | ● |
Loading and executing IEC 61131-3 applications |
● | ● | ● | ● | ● | |
Task management | ||||||
Freely configurable tasks (priority 0-20) | Cyclic, free-running, event-controlled, externally event-controlled | 8 | 8 | 8 | 8 | 8 |
Cycle-synchronous processing of the I/O process image | ● | ● | ● | ● | ● | |
sercos III synchronous processing of the I/O process image | - | - | ● | ● | ● | |
Min. PLC cycle time | Synchronous to the system cycle | 1 ms | 1 ms | 1 ms | 1 ms | 1 ms |
Synchronous to the sercos cycle | - | - | 1 ms | 0.5 ms | 0.25 ms | |
Min. motion cycle time | Setpoint generator | 1 ms | 1 ms | 2 ms | 1 ms | 1 ms |
PLC processing time | ||||||
Typical processing time for 1,000 instructions/μs | Command mix (Real, Integer, Bool etc.) | 50 | 5 | 35 | 30 | 5 |
Bool-Operation | 50 | 5 | 20 | 30 | 5 | |
Word-Operation | 50 | 5 | 20 | 30 | 5 | |
Motion Control | ||||||
Number of axes | Real, virtual, encoder, grouping | 32 | 64 | 16 | 32 | 64 |
Control axis | Centrally controlled | - | - | 4 | 8 | 32 |
Synchronization (ELS – electronic line shaft) | Virtual axes (Virtual masters) |
● | ● | ● | ● | ● |
Encoder axes (Real masters) |
● | ● | ● | ● | ● | |
Real axes (Servo drives) |
● | ● | ● | ● | ● | |
Real axes (Cross-communication) |
● | ● | ● | ● | ● | |
Dynamic synchronization | ● | ● | ● | ● | ● | |
Master axis cascading | ● | ● | ● | ● | ● | |
Positioning | Single-axis | ● | ● | ● | ● | ● |
Electronic gears | ● | ● | ● | ● | ● | |
Electronic cams | Intermediate point tables (In the drive, max. 1,024 intermediate points) |
4 | 4 | 4 | 4 | 4 |
Electronic Motion Profile (in the output drive, motion profiles with max. 16 segments) |
2 | 2 | 2 | 2 | 2 | |
FlexProfile (In the control, master-/time-based motion profiles with max. 16 segments) |
4 | 4 | 4 | 4 | 4 | |
Motion commands according to PLCopen (choice) | MC_MoveAbsolute | ● | ● | ● | ● | ● |
MC_MoveRelative | ● | ● | ● | ● | ● | |
MC_MoveVelocity | ● | ● | ● | ● | ● | |
MC_Home | ● | ● | ● | ● | ● | |
MC_CamIn, MC_CamOut | ● | ● | ● | ● | ● | |
MC_GearIn, MC_GearOut | ● | ● | ● | ● | ● | |
Extended motion commands (choice) | MB_ReadListParameter | ● | ● | ● | ● | ● |
MB_WriteListParameter | ● | ● | ● | ● | ● | |
MB_GearInPos | ● | ● | ● | ● | ● | |
MB_PhasingSlave | ● | ● | ● | ● | ● | |
MB_ClearAxisError | ● | ● | ● | ● | ● | |
MB_ClearSystemError | ● | ● | ● | ● | ● | |
Hydraulic functions | ||||||
Best-in-class | - | - | ● | ● | ● | |
Synchronizer (active/passive) | - | - | ● | ● | ● | |
Control transfer | - | - | ● | ● | ● | |
Force ramps/curves | - | - | ● | ● | ● | |
Travel-dependent deceleration | - | - | ● | ● | ● | |
FcP/SvP control | - | - | ● | ● | ● | |
Robot control | ||||||
Number of axes per kinematic | 16 | 16 | 16 | 16 | 16 | |
Multi-axis kinematics | Incl. auxiliary axes | 16 | 16 | 16 | 16 | 16 |
Kinematics transformations | ● | ● | ● | ● | ● | |
Types of interpolation
LINEAR, CIRCULAR, PTP
|
● | ● | ● | ● | ● | |
Configurable block transitions | ● | ● | ● | ● | ● | |
Override | ● | ● | ● | ● | ● | |
Teach-in function | ● | ● | ● | ● | ● | |
Approximate positioning | ● | ● | ● | ● | ● | |
Late blending | - | - | ● | ● | ● | |
Belt synchronization | ● | ● | ● | ● | ● | |
Jogging/single step | - | - | ● | ● | ● | |
Speed limitation | For path and axes | ● | ● | ● | ● | ● |
Acceleration limitation | For path and axes | ● | ● | ● | ● | ● |
Safety zones | ▼ | ▼ | ▼ | ▼ | ▼ | |
System functions (choice) | ||||||
Programmable limit switch | ● | ● | ● | ● | ● | |
Measuring wheel | ● | ● | ● | ● | ● | |
Probe | ● | ● | ● | ● | ● | |
Technology functions (choice) | ||||||
Crank cinematics | ● | ● | ● | ● | ● | |
Cross cutter | ● | ● | ● | ● | ● | |
Flying cut-off | ● | ● | ● | ● | ● | |
Sag control | ● | ● | ● | ● | ● | |
Tension control | ● | ● | ● | ● | ● | |
Register control | - | - | ● | ● | ● | |
Winder | ● | ● | ● | ● | ● | |
Magic belt | - | - | ● | ● | ● | |
Smart belt | - | - | ● | ● | ● | |
Hydraulic axes | - | - | ● | ● | ● | |
Diagnostic | ||||||
Diagnosis (status, warning, error) |
Function blocks (Software) |
● | ● | ● | ● | ● |
Parameter access to diagnostics memory (Software) |
● | ● | ● | ● | ● | |
Locally via display (Control hardware) |
● | ● | ● | ● | ● | |
Axis monitoring (e.g. capacity, encoders, limit values) |
● | ● | ● | ● | ● | |
Diagnostics memory (64 kB, max. 999 messages) |
● | ● | ● | ● | ● | |
Debugging monitor for IEC applications | ● | ● | ● | ● | ● | |
Drive systems | ||||||
Electric axes | ||||||
IndraDrive | BASIC and ADVANCED with MPB/MPH firmware | ● | ● | ● | ● | ● |
Dual-axis control units with MPD firmware | ● | ● | ● | ● | ● | |
IndraDrive Mi | With MPB firmware | ● | ● | ● | ● | ● |
IndraDrive Cs | ● | ● | ● | ● | ● | |
EcoDrive Cs | ● | ● | ● | ● | ● | |
sercos Pack-Profile | ● | ● | ● | ● | ● | |
Master communication | sercos III | ● | ● | ● | ● | ● |
Master communication | sercos II | ● | ● | ● | ● | ● |
Min. sercos III cycle time | 1 ms | 1 ms | 1 ms | 0.5 ms | 0.25 ms | |
Hydraulic axes | ||||||
HNC100.3 | Hydraulic drive | ● | ● | ● | ● | ● |
Engineering and Operation | ||||||
IndraWorks | ○ | ○ | ○ | ○ | ○ | |
IndraMotion Service Tool | Web based engineering | ○ | ○ | ○ | ○ | ○ |
Compatibility with all IndraLogic XLC systems | ● | ● | ● | ● | ● |
Drive based
IndraMotion MLD
MLD-M IndraDrive Cs | MLD-M IndraDrive C/M | MLD-S IndraDrive Cs | MLD-S IndraDrive C/M | MLD-S IndraDrive Mi | ||
Control units | ||||||
Runtime system | integrated motion logic system | ● | ● | ● | ● | ● |
Multitasking | ● | ● | ● | ● | ● | |
Data management | Code, data, remanent data, user data | ● | ● | ● | ● | ● |
Storage | Boot project | ● | ● | ● | ● | ● |
PLC project as packed archive file | ● | ● | ● | ● | ● | |
User data to the internal memory and a removable storage medium | ● | ● | ● | ● | ● | |
Support | System events | ● | ● | ● | ● | ● |
Touch probe with synchronization function | ○ | ○ | ○ | ○ | ○ | |
User memory | Total: Code, data | 4 MB | 4 MB | 512 kB | 512 kB | 512 kB |
Retentive memory | Total: System, user | 32 kB | 32 kB | 32 kB | 32 kB | 32 kB |
On-board diagnosis and settings | ||||||
Status display (boot, SERCOS, test) | Display | ● | ● | ● | ● | - |
Errors, warnings, messages, system reset | Display, keys | ● | ● | ● | ● | - |
Ethernet settings (IP address) | Display, keys | ● | ● | ● | ● | - |
Voltage monitoring, watchdog | ● | ● | ● | ● | ● | |
Relay output ready for operation | ● | ● | ● | ● | ● | |
IndraMotion Service Tool | ▼ | ▼ | - | - | - | |
Interfaces on board | ||||||
sercos III | Automation Bus (Master) | ● | ● | ○ | ○ | ▼ |
Automation Bus (Slave) | ○ | ○ | ○ | ○ | ▼ | |
Multi-Ethernet | ● | ● | ● | ○ | ▼ | |
sercos II | Real-time motion bus | ○ | ○ | ○ | ○ | ○ |
PROFIBUS | Slave | ○ | ○ | ○ | ○ | - |
PROFINET IO | Device (Slave) | ○ | ○ | ○ | ○ | ▼ |
EtherNet/IP | Adapter (Slave) | ○ | ○ | ○ | ○ | ▼ |
DeviceNet | Slave | - | ○ | - | ○ | - |
EtherCAT | Slave | ○ | ○ | ○ | ○ | ▼ |
Ethernet TCP/IP | ● | ● | ● | ○ | ▼ | |
ModbusTCP | Server (Slave) | ○ | ○ | ○ | ○ | ▼ |
CANopen | Slave | ▼ | ○ | ▼ | ◇ | - |
RS232 | On board | - | ● | - | ● | - |
Options | ||||||
Encoder | Number | max. 2 | max. 2 | max. 2 | max. 2 | max. 1 |
Encoder emulation | Number | - | max. 1 | - | max. 1 | - |
HMI | ||||||
IndraControl VCP, VCH | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
IndraControl VEP, VEH | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
IndraControl VSP, VPP, VSB/VDP, VPB/VDP | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
Inputs/outputs | ||||||
On board | ||||||
Digital inputs | Number | 5 | 3 | 5 | 4 | 5 |
Digital inputs/outputs (user-defined settings) | Number | 1 | 4 | 1 | 3 | 1 |
Fast digital inputs | Number of I/O / sample rate | 2/500 µs | 2/41 µs | 2/500 µs | 1/83 µs | 2/500 µs |
Analog in-/outputs | 1 / - | 1 / 2 | 1 / - | max. 2 / - | - | |
Locally | ||||||
Analog in-/outputs | - | max. 2 / 2 | - | max. 2 / 2 | - | |
Digital inputs/outputs | - | max. 16/16 | - | max. 16/16 | - | |
Distributed via Inline (IP20) | ||||||
sercos III | On board | ● | ● | ○ | ○ | ▼ |
Logic-Control | ||||||
PLC runtime system | ||||||
IndraLogic 1G kernel | Conforming with IEC 61131-3 | ● | ● | ● | ● | ● |
Program organization | According to IEC 61131-3 | ● | ● | ● | ● | ● |
Loading and executing IEC 61131-3 applications |
● | ● | ● | ● | ● | |
Task management | ||||||
Freely projectable tasks (priority 0-20) | Cyclic, free-running, event-controlled, extern event-controlled | 4 | 4 | 4 | 4 | 4 |
Cycle-synchronous processing of the I/O process image | ● | ● | ● | ● | ● | |
sercos III synchronous processing of the I/O process image | ● | ● | ● | ● | ● | |
min. PLC cycle time | Synchronous with system cycle | 1 ms | 1 ms | 1 ms | 1 ms | 1 ms |
Synchronous with sercos cycle | 1 ms | 1 ms | 1 ms | 1 ms | 1 ms | |
min. Motion cycle time | Setpoint generator | 0.25 ms | 0.25 ms | 1 ms | 1 ms | 1 ms |
PLC processing time | ||||||
Typical processing time for 1,000 instructions/μs | Command mix (Real, Integer, Bool etc.) | 50 | 50 | 100 | 260 | 260 |
Bool-Operation | 50 | 50 | 100 | 270 | 270 | |
Word-Operation | 45 | 45 | 90 | 240 | 240 | |
Motion Control | ||||||
Number of axes | Real / virtual / encoder / grouping | 1 / 10 / 2 / 1 | 1 / 10 / 2 / 1 | 1 / 1 / 2 / 0 | 1 / 1 / 2 / 0 | 1 / 1 / 2 / 0 |
Synchronization (ELS – electronic line shaft) | real axes (Servo drives) |
● | ● | ● | ● | ● |
Virtual axes (Virtual masters) |
● | ● | ● | ● | ● | |
Encoder axes (Real masters) |
● | ● | ● | ● | ● | |
real axes (Cross-communication) |
● | ● | - | - | - | |
Dynamic synchronization | ● | ● | ● | ● | ● | |
Master axis cascading | ● | ● | - | - | - | |
Positioning | Single-axis | ● | ● | ● | ● | ● |
Electronic gears | ● | ● | ● | ● | ● | |
Electronic cams | Intermediate point tables ((In the drive, max. 1,024 intermediate points) |
4 | 4 | 4 | 4 | 4 |
Electronic motion profile (In the control, motion profiles with max. 8 segments) |
2 | 2 | 2 | 2 | 2 | |
Torque control | ● | ● | ● | ● | ● | |
Velocity control | ● | ● | ● | ● | ● | |
Motion commands according to PLCopen (choice) | MC_MoveAbsolute | ● | ● | ● | ● | ● |
MC_MoveRelative | ● | ● | ● | ● | ● | |
MC_MoveVelocity | ● | ● | ● | ● | ● | |
MC_CamIn, MC_CamOut | ● | ● | ● | ● | ● | |
MC_GearIn, MC_GearOut | ● | ● | ● | ● | ● | |
Extended motion commands (choice) | MB_ReadListParameter | ● | ● | ● | ● | ● |
MB_WriteListParameter | ● | ● | ● | ● | ● | |
MB_GearInPos | ● | ● | ● | ● | ● | |
MB_PhasingSlave | ● | ● | ● | ● | ● | |
MB_Home | ● | ● | ● | ● | ● | |
MB_ClearAllError | ● | ● | ● | ● | ● | |
System functions (choice) | ||||||
Programmable limit switch | ○ | ○ | ○ | ○ | ○ | |
Encoder | ○ | ○ | ○ | ○ | ○ | |
Fault tolerance concerning malfunction of connected devices | ● | ● | ○ | ○ | ○ | |
Deactivation of | I/O | ● | ● | ○ | ○ | ○ |
Drives | ● | ● | - | - | - | |
Ring Recovery and Redundancy | ● | ● | ○ | ○ | ○ | |
Technology functions (choice) | ||||||
Crank cinematics | ○ | ○ | ○ | ○ | ○ | |
Cross cutter | ○ | ○ | - | - | - | |
Flying cutoff | ○ | ○ | ○ | ○ | ○ | |
Tension control | ○ | ○ | - | - | - | |
Register Control | ○ | ○ | ○ | ○ | ○ | |
Winder | ○ | ○ | ○ | ○ | ○ | |
Smart belt | ○ | ○ | ○ | ○ | ○ | |
Diagnostic | ||||||
Diagnosis (status, warning, error) |
Function blocks (Software) |
● | ● | ● | ● | ● |
Parameter access to diagnostics memory (Software) |
● | ● | ● | ● | ● | |
Locally via display (Control hardware) |
● | ● | ● | ● | ● | |
Axis monitoring (e.g. capacity, encoders, limit values) |
● | ● | ● | ● | ● | |
Diagnostics memory (64 kB, max. 999 messages) |
● | ● | ● | ● | ● | |
Debugging monitor for IEC applications | ● | ● | ● | ● | ● | |
Drive systems | ||||||
IndraDrive | ● | ● | - | - | - | |
IndraDrive Mi | Firmware MPB | ▼ | ▼ | - | - | - |
IndraDrive Cs | ● | ● | - | - | - | |
Master communication | sercos III | ● | ● | ● | ● | ● |
min. sercos III cycle time | 0.25 ms | 0.25 ms | 1 ms | 1 ms | 1 ms | |
Engineering and Operation | ||||||
IndraWorks | ○ | ○ | ○ | ○ | ○ | |
IndraMotion Service Tool | ▼ | ▼ | - | - | - |
● Standard |
▼ In preparation |
○ Option |