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Motion-Logic
 

IndraMotion MLC
Controller based 

  Simple, open and flexible
  • Integrated runtime system with motion, robot and logic controls
  • Extensive software libraries in conformity with IEC 61131-3 and PLCopen
  • Innovative motion function FlexProfile for complex motion sequences
  • Intuitive engineering with the software framework IndraWorks
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 

Compact and powerful
  • Certified safety technology
  • Drive-integrated motion-control according to IEC 61131-3
  • Electronic synchronization of up to 10 axis
  • Intuitive engineering with the software framework IndraWorks
  • Optional technology and communication interfaces
 
IndraMotion MLD combines motion and PLC functions to form a modern open automation platform for modular machine designs. The distributed control architecture establishes a compact motion-logic system, based on the scalable IndraDrive platform, so that higher-order controls are no longer necessary.

This drive-based solution is available as a single-axis control for simple applications as well as a multi-axis control for applications with a maximum of 10 axes. Ready-to-use function libraries simplify the use of the intelligent drive functions of the IndraDrive series. In addition, PLCopen-conforming function blocks provide access to standardized motion-control functions. The open technology and communication interfaces facilitate integration of IndraMotion MLD in your automation design.
  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

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