Firmware Version Notes MPH-04, MPB-04, MPD-04R911315487 - 01 PDF

Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.
com
Electric Drives
and Controls
Hydraulics
Linear Motion and

Assembly Technologies
Pneumatics
Rexroth IndraDrive
Firmware for Drive Controllers
MPH-04, MPB-04, MPD-04
Firmware Version Notes
Service
R911315487
Edition 01
Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.com
About this Documentation
Title
Rexroth IndraDrive
Firmware for Drive Controllers
Type of Documentation
Document Typecode
Internal File Reference
Firmware Version Notes

DOK-INDRV*-MP*-04VRS**-FV01-EN-P
Box: 81-04V-EN
Document Number: 120-2400-B329-01/EN
Purpose of Documentation
Record of Revisions
Copyright
This documentation contains an overview of the functional differences

(marked with gray background color) between firmware version
MPH-04/MPB-04/MPD-04 and firmware MPx-03.
Description
Release
Date
Notes
01.2006
First edition
2006 Bosch Rexroth AG

Copying this document, giving it to others and the use or communication
of the contents thereof without express authority, are forbidden. Offenders
are liable for the payment of damages. All rights are reserved in the event
of the grant of a patent or the registration of a utility model or design
(DIN 34-1).
Validity
Published by
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
Bgm.-Dr.-Nebel-Str. 2 D-97816 Lohr a. Main
Telephone +49 (0)93 52/40-0 Tx 68 94 21 Fax +49 (0)93 52/40-48 85
http://www.boschrexroth.com/
Dept. EDY
Note
This document has been printed on chlorine-free bleached paper.
Contents I
Contents
1
System Overview
1.1
1-1
General Information ...................................................................................................................... 1-1

Overview of Drive Firmware .................................................................................................... 1-1
1.2
Drive Controllers ........................................................................................................................... 1-2

Overview.................................................................................................................................. 1-2
Power Sections........................................................................................................................ 1-4
Control Sections ...................................................................................................................... 1-4
1.3
Motors and Measuring Systems ................................................................................................... 1-6

Supported Motors .................................................................................................................... 1-6
Supported Measuring Systems ............................................................................................... 1-6
1.4
Master Communication................................................................................................................. 1-7
1.5
Overview of Functions/Functional Packages................................................................................ 1-7

Overview.................................................................................................................................. 1-7
Base Packages...................................................................................................................... 1-12
Alternative Functional Packages ........................................................................................... 1-15
Additive Functional Packages ............................................................................................... 1-17
1.6
Performance Data....................................................................................................................... 1-19

Overview................................................................................................................................ 1-19
Control Section Design and Performance ............................................................................. 1-20
Selecting Performance via Parameter P-0-0556................................................................... 1-21
Master Communication
2.1
2-1
Basic Functions of Master Communication .................................................................................. 2-1

Device Control and Status Machines ...................................................................................... 2-2
Multiplex Channel .................................................................................................................... 2-2
2.2
Profile Types (with Field Bus Interfaces) ...................................................................................... 2-3

Supported Profile Types .......................................................................................................... 2-3
I/O Mode (Positioning and Preset Velocity)............................................................................. 2-3
2.3
SERCOS III................................................................................................................................... 2-5
2.4
PROFIBUS-DP ............................................................................................................................. 2-8
2.5
CANopen Interface ..................................................................................................................... 2-10
2.6
DeviceNet Interface .................................................................................................................... 2-11
Drive Control
3.1
3-1
Overview of Drive Control............................................................................................................. 3-1

Basic Principles and Terms ..................................................................................................... 3-1
Closed-Loop Axis Control (Closed-Loop Operation) ............................................................... 3-1
II Contents
3.2
Motor Control ................................................................................................................................ 3-2
3.3
Closed-Loop Axis Control (Closed-Loop Operation) .................................................................... 3-3
General Information on Motor Control ..................................................................................... 3-2

Velocity Loop (with Respective Filters) ................................................................................... 3-3
Position Loop (with Respective Feedforward Functions and Actual Value
Adjustment).............................................................................................................................. 3-3
3.4
Commutation Setting .................................................................................................................... 3-4
3.5
Power Supply................................................................................................................................ 3-4
Operating Modes
4.1
4-1
Torque/Force Control.................................................................................................................... 4-1
4.2
Velocity Control" ........................................................................................................................... 4-1
4.3
Position Control with Cyclic Command Value Input ..................................................................... 4-2
4.4
Positioning Block Mode ................................................................................................................ 4-3
4.5
Synchronization Modes ................................................................................................................ 4-4

Basic Functions of the Synchronization Modes....................................................................... 4-4
Velocity Synchronization with Real/Virtual Master Axis .......................................................... 4-5
Phase Synchronization with Real/Virtual Master Axis............................................................. 4-5
Electronic Cam Shaft with Real/Virtual Master Axis................................................................ 4-7
Electronic Motion Profile with Real/Virtual Master Axis........................................................... 4-9
Drive Functions
5.1
5-1
Establishing the Position Data Reference .................................................................................... 5-1

Establishing Position Data Reference for Absolute Measuring Systems................................ 5-1
5.2
Error Reactions ............................................................................................................................. 5-2

Overview of Error Reactions.................................................................................................... 5-2
Best Possible Deceleration...................................................................................................... 5-3
5.3
Compensation Functions/Corrections .......................................................................................... 5-4
5.4
Measuring Wheel Mode................................................................................................................ 5-5
5.5
Redundant Motor Encoder............................................................................................................ 5-5
5.6
Virtual Master Axis Generator....................................................................................................... 5-6
5.7
Parameter Set Switching .............................................................................................................. 5-8
5.8
Cross Communication (CCD) ....................................................................................................... 5-9
5.9
Rexroth IndraMotion MLD (Drive-Integrated PLC) ..................................................................... 5-14
Detent Torque Compensation ................................................................................................. 5-4
5.10 Integrated Safety Technology..................................................................................................... 5-15
Extended Drive Functions
6-1
6.1
Quick Stop via Probe Input ........................................................................................................... 6-1
6.2
Encoder Emulation ....................................................................................................................... 6-2
6.3
Analog Outputs ............................................................................................................................. 6-3
Handling, Diagnostic and Service Functions
7-1
7.1
Loading, Storing and Saving Parameters..................................................................................... 7-1
7.2
Replacing the Firmware................................................................................................................ 7-1

General Notes on How to Replace the Firmware.................................................................... 7-1
Notes on Application
Contents III
8-1
8.1
New Applications .......................................................................................................................... 8-1
8.2
Functional Modifications with Regard to Previous Version .......................................................... 8-1

New and Modified Functions ................................................................................................... 8-1
New and Modified Parameters ................................................................................................ 8-3
New and Modified Diagnostic Messages .............................................................................. 8-10
Index
10 Service & Support
9-1
10-1
10.1 Helpdesk ..................................................................................................................................... 10-1

10.2 Service-Hotline ........................................................................................................................... 10-1
10.3 Internet........................................................................................................................................ 10-1
10.4 Vor der Kontaktaufnahme... - Before contacting us... ................................................................ 10-1
10.5 Kundenbetreuungsstellen - Sales & Service Facilities ............................................................... 10-2
IV Contents
Notes
System Overview 1-1
System Overview
1.1
General Information
Overview of Drive Firmware

Firmware Variants
For the IndraDrive range, there are different application-related firmware
variants available that are characterized by their scope of functions and
their performance:
MTH: Drives for Machine Tool Applications with SERCOS interface
(Advanced Performance and Functionality)
MPx: Drives for General Automation (Incl. Machine Tool Applications)
with SERCOS interface, PROFIBUS-DP, Parallel and Analog Interface
(the variants of design are MPH, MPB and MPD; see below)
Note:
The first two letters of the firmware designation identify the

application and profile of the firmware:
MT: "Machine Tool" Drives for Machine Tool
Applications with SERCOS interface
(drive profile according to SERCOS)
MP: "Multi Purpose" Drives for General Automation
(Incl. Machine Tool Applications) with
SERCOS interface, Profibus, as well as Parallel and
Analog Interface
(drive profile according to SERCOS)
The third letter of the firmware designation identifies the
hardware, as well as the performance and functionality of the
firmware (x contains H, B and D):
H: single-axis firmware with Advanced performance and
functionality
B: single-axis firmware with Basic performance and
functionality
D: double-axis firmware with Basic performance and
functionality
This documentation describes the functionality of the following firmware

types:
FWA-INDRV*-MPH-04VRS-D5
FWA-INDRV*-MPB-04VRS-D5
FWA-INDRV*-MPD-04VRS-D5
The "IndraWorks D" commissioning tool is available for commissioning
these firmware variants.
1-2 System Overview
Organization of the Firmware

For application-specific definition of drive functionality the firmware
functions are divided into different "functional packages". There are a
generally available basic package and various additional functional
packages (e.g. integrated safety technology, IndraMotion MLD) that can
be optionally activated.
Note:
1.2
The scope of functions of the functional packages and their

possible combinations are described in the section "Functional
Packages" in the same chapter.
Drive Controllers
Overview
Standard Design of the IndraDrive Controllers
As a standard, IndraDrive controllers
components:
consist of
two hardware
Power section
Control section
power section
Compact
IndraDrive C
compact or modular design
1 ... 110 kW
scalable power
uniform design
IndraDrive M
control section
ADVANCED single-axis
scalable performance
high performance and interface flexibility
Modular
1 ... 120 kW
scalable functionality
BASIC single-axis
limited performance and interface flexibility
safety technology
BASIC double-axis
limited performance and interface flexibility
DF000108v01_en.fh7
Fig. 1-1:
Power Section
Design of the IndraDrive controllers
The following are connected to the power section:

power supply unit (DC bus voltage)
24 V control voltage
motor
System Overview 1-3
Note:
Control Section
Each of the two types of the control section is described in the

separate documentation; e.g. "IndraDrive M Drive Controllers,
Power Sections, Project Planning Manual" (DOKINDRV*-HMS+HMD****-PR**-EN-P; part no. R911295014).
The control section is a separate part of the IndraDrive controller and is

plugged in the power section. The drive controller is supplied ex works
complete with control section. The control section may only be replaced
by a qualified service engineer.
Note:
The available control sections are described in the separate

documentation "IndraDrive Drive Controllers, Control Sections,
Project Planning Manual" (DOK-INDRV*-CSH********-PR**EN-P; part no. R911295012).
Special Design of the IndraDrive Controllers

Apart from the usual device design which consists of power section and
control section, there are the following special designs:
SERCOS analog converter (= control section + housing)
IndraDrive Mi (in preparation)
SERCOS Analog Converter
The so-called SERCOS analog converter is a control section housing with

24V supply but without output stage. An IndraDrive control section can be
plugged in this housing.
The SERCOS analog converter is used to
connect control units with SERCOS interface to components with
analog interface
- and convert SERCOS position command values to analog speed
command values.
Note:
With these possibilities of use, the SERCOS analog converter

is suited for modernization of machines and installations. Drive
controllers with analog command value input of the ANAX
range can be controlled with IndraDrive; in this case
IndraDrive acts as the gateway to the SERCOS control unit.
Realizing the SERCOS analog converter requires the following individual

components:
housing for HAC01.1-002 control sections
configurable control section with SERCOS master communication,
e.g. BASIC UNIVERSAL double-axis CDB01.1C-SE-NNN-NNNMA1-NNN-NN-S-NN-FW
IndraDrive firmware as of version MPx-04VRS
e.g. FWA-INDRV*-MPD-04VRS-**-*-***-**
See separate documentation "Rexroth IndraDrive, Drive System, Project
Planning Manual" (DOK-INDRV*-SYSTEM*****-PRxx-EN-P; part no.
R911309636)!
1-4 System Overview
Power Sections
The following power sections for the standard design of IndraDrive
controllers can be operated with the firmware MPx-04VRS:
IndraDrive M
IndraDrive C
Single-axis
power sections
Double-axis
power sections
Single-axis converters
in 300mm type of constr.
Single-axis converters
in 400mm type of constr.
HMS01.1N-W
HMD01.1N-W
HCS02.1E-W
HCS03.1E-W
in preparation:
HMS02.1N-W
in preparation:
HCS04.1E-W
Fig. 1-2:
Power sections for IndraDrive firmware
Control Sections
Available Control Section Designs
The following control sections can be operated with the appropriate
MPx-04VRS firmware variant:
Configurable control sections
ADVANCED (single-axis; type CSH01.1C-...)
BASIC UNIVERSAL (single-axis; type CSB01.1C-...)
BASIC UNIVERSAL double-axis (type CDB01.1C-...)
Non-configurable control sections
BASIC OPENLOOP (single-axis; type CSB01.1N-FC-...)
BASIC SERCOS (single-axis; type CSB01.1N-SE-...)
BASIC PROFIBUS (single-axis; type CSB01.1N-PB-...)
BASIC ANALOG (single-axis; type CSB01.1N-AN-...)
Supported Control Section Configurations

The configurable control sections differ with regard to the scope of their
configurability. It basically depends on the control section type and the
corresponding firmware variant.
The following overview contains the theoretically possible
configurations of control sections as regards the support by the
MPx-04VRS firmware. The abbreviations in the first column identify the
configuration of control sections in the type designation.
Note:
Your sales representative will help you with the current status
of available control section types.
System Overview 1-5
Control section type

Firmware variant
CSH01.1C
CSB01.1C
CDB01.1C
MPH-04VRS
MPB-04VRS
MPD-04VRS
Options for master communication

AN
analog interface
CO
CANopen/DeviceNet
ET
PROFInet (in preparation)
FC
analog/digital
for open-loop operation
PB
PROFIBUS-DP
PL
parallel interface
S3
SERCOS III
SE
SERCOS interface
cross communication
EN1
encoder interface for HSF,

resolver
EN2
X
X
X
X
X
encoder interface for EnDat,

1Vpp sine and TTL signals
ENS
encoder interface for MSK

motors and HIPERFACE
encoders
MA1
analog I/O extension
MD1
digital I/O extension
MD2
digital I/O extension

(with SSI interface)
MEM
encoder emulator
L1
starting lockout
S1
safety technology
Optional modules
CCD
1)
Safety option
1):
Fig. 1-3:
only required for CCD master

Supported control section configurations
Note:
The type codes of the individual designs of IndraDrive control

sections and the respective assignment of possible optional
modules to the slots are described in the separate
documentation "IndraDrive Drive Controllers, Control Sections,
Project Planning Manual" (DOK-INDRV*-CSH********-PR**EN-P; part no. R911295012).
1-6 System Overview
1.3
Motors and Measuring Systems
Supported Motors
The table below contains an overview of the Rexroth motors which can be
operated at IndraDrive controllers.
Housing motors
synchronous
asynchronous
MHD
2AD
MKD
ADF
MKE
MAD (IndraDyn A)
MSK (IndraDyn S) MAF (IndraDyn A)
MAL
SF (Bosch)
Fig. 1-4:
Kit motors
synchronous
asynchronou
s
MLF (IndraDyn L)
MBS (Standard)
MBSxx2 (IndraDyn H)
MBT (IndraDyn T)
LSF
1MB
Appropriate Rexroth motors for IndraDrive
Supported Measuring Systems

Motor Encoder and External
Optional Encoders
In addition to the encoders integrated in the Rexroth motors, the

IndraDrive firmware can evaluate the following measuring systems as
motor encoders or as external optional control encoders:
GDS or GDM encoders from Bosch Rexroth (single-turn or multi-turn
type)
resolvers according to Rexroth signal specification (single-turn or
multi-turn type)
encoders with sine signals and EnDat2.1 interface (1 Vpp)
encoders with sine signals (1 Vpp)
encoders with square-wave signals (TTL)
Hall sensor box and encoder with sine signals (1 Vpp)
Hall sensor box and encoder with square-wave signals (TTL)
encoders with sine signals and HIPERFACE interface (1 Vpp)
Measuring Encoder
For measuring purposes the firmware can evaluate the following

measuring systems (measuring encoders, no control encoders):
GDS or GDM encoders from Bosch Rexroth (single-turn or multi-turn
type)
encoders with sine signals and EnDat2.1 interface (1 Vpp)
encoders with sine signals (1 Vpp)
encoders with square-wave signals (TTL)
encoders with sine signals and HIPERFACE interface (1 Vpp)
motor encoders of MSK, MHD, 2AD, ADF, MAD, MAF motors
SSI encoders
Note:
Resolvers cannot be evaluated as measuring encoders!
System Overview 1-7
1.4
In the MPx-04 firmware, the following master communication interfaces
are available:
SERCOS interface
SERCOS III
PROFIBUS-DP
CANopen interface
DeviceNet interface
parallel interface (not for double-axis type MPD)
analog interface (not for double-axis type MPD)
1.5
Overview of Functions/Functional Packages
Overview
The application-specific scope of usable functions
FWA-INDRV*-MP*-04VRS drive firmware depends on
of
the
the available control section and, if available, its configuration

- and the licensed functional firmware packages.
Note:
Depending on the hardware design, the scope of firmware

functionality can be determined according to the respective
application (scalability of the firmware functionality). The scope
of corresponding parameters depends on the available
functions.
Scaling the Drive Functionality

Firmware Scaling by Control
Section Configuration
The control sections of the IndraDrive controllers have a maximum of

4 optional card slots and a master communication slot. Depending on the
available optional cards, it is possible to activate certain functions (incl.
corresponding parameters), e.g.:
master communication
safety technology (starting lockout, standard safety technology)
analog I/O extension card
digital I/O extension card
Note:
The functions and parameters for the evaluation of the

measuring systems as control encoders or measuring
encoders do not depend on the control section configuration
since their functions can be freely assigned to the various
optional encoder modules.
1-8 System Overview

Firmware Scaling by Functional
Packages
The firmware functionality is divided into the following package groups:

base packages (open-loop or closed-loop)
optional expansion packages:
alternative functional packages
(expansion packages for servo function, main spindle function,
synchronization)
additive functional package "IndraMotion MLD"
(drive-integrated PLC and technology functions)
Depending on the hardware configuration, the base packages are
available without any access enable. Using the optional expansion
packages, however, requires licensing.
Note:
The desired scope of firmware functions should preferably be

defined when the firmware is ordered. This guarantees that
the required functional packages have been enabled when the
firmware is delivered. In individual cases it is possible to
provide access enable subsequently (additional licensing) or to
reduce the activated scope of functions.
This procedure is described in section "Enabling of Functional
Packages" in chapter "Handling, Diagnostic and Service
Functions".
Note:
The drive-integrated safety technology is a functionality

only scalable by means of the hardware and does not require
any additional enabling of functions!
System Overview 1-9
The figure below contains an overview of the possibilities of firmware

scaling by functional packages:
BASIC
single- and double-axis design

(firmware MPB04 and MPD04)
Open-Loop
Closed-Loop
ADVANCED
single-axis design
(firmware MPH04)
Open-Loop
IndraMotion MLD-S
Closed-Loop
IndraMotion MLD
(not for double-axis design)
main spindle
main spindle
main spindle
main spindle
synchronization
synchronization
synchronization
synchronization
servo
base package
open-loop
base package
closed-loop
additive
functional
package
alternative
functional
packages
servo
base package
open-loop
base package
closed-loop
base package
always contained
functional packages optional expansion packages
DF000109v03_en.fh
Fig. 1-5:
Functional packages of IndraDrive firmware MPx04 depending on

control performance
Note:
With Basic performance, the option "IndraMotion MLD-S" is

not allowed for free programming!
Brief Description of the Functional Packages

The overall functionality of an IndraDrive device is divided into groups of
functions, the so-called "functional packages". The firmware FWAINDRV*-MP*-04VRS supports the functional packages listed below.
Note:
Base Packages
Each of the listed packages is available in Basic or Advanced

characteristic which differ with regard to their performance and
functionality.
The following base packages are available:

base package "open-loop" (open-loop motor control)
no position evaluation and functions depending thereof and no
position control modes are possible
base package "closed-loop" (closed-loop motor control)
position evaluation and functions and operating modes depending
thereof are possible
1-10 System Overview
Alternative Functional Packages
The following alternative functional packages are available:

1)
Servo functions :
This package makes available all specific expansions for servo
applications, such as compensations and correction functions (e.g.
axis error correction, quadrant error correction).
1)
Synchronization :
With this package the possibilities of synchronization of the drive can
be used (support of synchronization modes, measuring encoder
function, probe function ...).
1)
Main spindle functions :

This package contains the specific functions for the use of main
spindles (e.g. spindle positioning, parameter set switching).
1)
Note:
Additive Functional Packages
These functional packages cannot be

simultaneously (only individually)!
Alternative
expansion packages
activated
There is also an additional functional package available:

IndraMotion MLD
Note:
For single-axis devices (Advanced and Basic) this expansion

package can be activated in addition to a possibly available
alternative package.
The overview below illustrates how the individual functional packages are
depending on the respective hardware and the firmware type:
Firmware variant
Control section design
performance
basic functions
base
package
base
package
"open-loop"
(U/f)
Basic
base
package
"closed-loop"
(Servo)
Basic
FWA-INDRV*-MPB-04VRS
FWA-INDRV*-MPD-04VRS
FWA-INDRV*-MPH-04VRS
CSB0.1.1
(Basic single-axis)
CDB0.1.1
(Basic double-axis)
CSH0.1.1
(Advanced single-axis)
open-loop
closed-loop
open-loop
closed-loop
open-loop
closed-loop
Advanced
X
Advanced
Basic
servo
Advanced
alternative
functional
packages
Basic
X
X
synchronizat.
Advanced
Basic
main spindle
Advanced
additive
functional
package
IndraMotion
MLD
Basic
1)
Advanced
1)
Fig. 1-6:
1)
no free programming and only MLD-S

Dependence of functional packages on hardware and firmware
variant
System Overview 1-11
Firmware Types
Release
Language
Open-/closedloop
Alternative
expansion
packages
Additive
expansion
packages
The type designation of the IndraDrive firmware consists of the following

type code elements:
Version
Structure of the Firmware Type

Designation
Base package of
varaiant
(depending on
control section)
Basic single-axis
FWA-INDRV*
-MPB-
04
VRS-
D5-
x-
xxx-
xx
Basic double-axis
FWA-INDRV*
-MPD-
04
VRS-
D5-
x-
xxx-
xx
Advanced single-axis
FWA-INDRV*
-MPH-
04
VRS-
D5-
x-
xxx-
xx
IndraDrive-Firmware
Fig. 1-7:
Function-Specific Abbreviations
in Type Designation of
IndraDrive Firmware
Basic structure of the firmware type designation
Base package (application and performance):

MPB
single-axis firmware with Basic performance
MPD
double-axis firmware with Basic performance
MPH
single-axis firmware with Advanced performance
Firmware characteristic:
0
open-loop
closed-loop
Alternative expansion packages:

NNN
without alternative expansion package
SRV
functional package "servo"
SNC
functional package "synchronization"
MSP
functional package "main spindle"
ALL
all alternative expansion packages
Additive expansion package:
NN
without additive expansion package
ML
IndraMotion MLD for free programming

(incl. use of technology functions)
TF
IndraMotion MLD for using the technology functions
Note:
Your sales representative will help you with the current status
of available firmware types.
Base Packages
In the base packages of the firmware the minimum scope of
functionalities is available depending on the respective firmware
characteristic ("open-loop" or "closed-loop"). They contain the basic
functions of a drive firmware and a number of other fundamental
functions.
Basic Functions
The following basic functions are available for every drive and contain the
fundamental basic functions of a digital drive (available in the firmware
characteristics "open-loop" and "closed-loop"):
extensive diagnostic functions
drive-internal generation of diagnostic messages
monitor function
analog output
patch function
status displays, status classes
oscilloscope function
code of optional card
parameter value check
operating hours counter, logbook function, error memory
undervoltage monitor
output of control signals
limitations that can be parameterized
serial communication
Scope of Functions of Base Packages

Apart from the basic functions there are other functions available in the
base package of the firmware. Their scope depends on the firmware
variant and its characteristic ("open-loop" or "closed-loop").
The following overview shows the available scope of functions of the

respective base package:
FWA-INDRV*-MPB04VRS
(Basic single-axis)
Firmware variant
Functions of the base

packages
Master
communication
closed-loop
open-loop
closed-loop
open-loop
closed-loop
signal control / signal status word
multiplex channel
SERCOS interface
1)2)
1)2)
1)2)
1)2)
SERCOS III
X1)2)
X1)2)
PROFIBUS (incl. PROFIsafe)
X1)2)
X1)2)
X1)2)
1)2)
1)2)
1)2)
PROFInet
1)
X1)
X1)
X1)
X1)2)
X1)
X1)
1)2)
1)
X1)
CANopen
X1)
X1)
X1)
X1)
DeviceNet
X1)
X1)
X1)
X1)
parallel interface
X1)3)
X1)3)
X1)
X1)
analog interface
Rexroth housing motors, asynchr.,

with encoder data memory
X
X
Rexroth kit motors, synchron.,

without encoder data memory
Rexroth kit motors, asynchr.,
without encoder data memory
X
X
X
X
third-party motors, synchronous
X
X
X
X
third-party motors, asynchronous

(standard motors)
motor holding brake
X4)
X4)
X4)
redundant motor encoder
3)
3)
optional control encoder
encoder correction
overload protection (temperature

monitoring)
U/f operation
in
preparation
in
preparation
field-oriented current control,

without encoder
field-oriented current control,
with encoder
motor parameter determination
Axis
control
motor encoder
Motor
control
FWA-INDRV*-MPH04VRS
open-loop
Rexroth housing motors, synchr.,

with encoder data memory
Motors
and
encoders
FWA-INDRV*-MPD04VRS
(Basic double-axis)
X
X
X
X
commutation setting
velocity loop
position loop
automatic axis control loop setting
current limitation
torque/force limitation
Fig. 1-8:
Scope of functions of the firmware base packages (to be continued

on next page)
Firmware variant
Functions of the base

packages
FWA-INDRV*-MPB04VRS
(Basic single-axis)
open-loop
torque/force control
Drive
functions
Error
reactions
Expanded
drive
functions
closed-loop
FWA-INDRV*-MPH04VRS
open-loop
X
X
closed-loop
X
position control
drive-internal interpolation
drive-controlled positioning
positioning block mode
Drive Halt
travel range limit switch
position limit values

(software limit switch)
detecting marker position
positive stop drive procedure
command value generator
parking axis
drive-controlled homing
NC-controlled homing
setting absolute measuring
E-Stop function
torque disable
vcmd reset
("emergency halt")
vcmd reset with ramp and filter

("quick stop")
analog I/Os (on basic device or

optional module)
X1)
X1)
X1)
X1)
X1)
X1)
digital I/Os (on basic device or

optional module)
X1)5)
X1)5)
X1)5)
X1)5)
X1)
X1)
X1)
encoder emulation
position switch points
X1)
X1)
X3)
X3)
firmware handling
standard control panel
comfort control panel
"Easy Startup" mode
scaling/standardization
option. parameteriz. interface
oscilloscope function
MMC support
Handling,
diagnosis,
service
open-loop
velocity control
Operating
modes
closed-loop
FWA-INDRV*-MPD04VRS
(Basic double-axis)
patch function
1)
2)
3)
4)
5)
Fig. 1-9:
depending on hardware configuration

max. 24 byte MDT/AT data per axis and min. Tscyc = 1000 s
only with control section "BASIC UNIVERSAL"
brake check and brake abrasion not possible
no digital I/Os on optional module for Basic design
Scope of functions of the firmware base packages (continuation)
Alternative Functional Packages

Apart from the base packages that are always available, we offer optional
expansion packages. Part of the expansion packages is the group of
alternative functional packages; from this group only one package can be
activated at a time (alternative activation).
At present, there are the following alternative expansion packages
available:
expanded servo function
synchronization
main spindle function
Servo Function
Depending on the firmware variant and characteristic, the expansion
package "servo" has the following scope of functions:
Firmware variant
Functions of the expansion

package "servo"
(Basic single-axis)
open-loop
closed-loop
(Basic double-axis)
open-loop
closed-loop
open-loop
quadrant error correction
closed-loop
X
friction torque compensation
set/shift coordinate system
detent torque compensation

1)
axis error correction
1)
X
2)3)
X2)
quick stop via probe input
X2)3)
X2)
X2)3)
X2)
X2)3)
X2)
programmable position switch
1)
2)
3)
Fig. 1-10:
Note:
2)3)
2)
probe function
relative return motion
2)
2)3)
only single reversal clearance; no correction tables

for Advanced single-axis 2 probes; for Basic single-axis only
1 probe; for Basic double-axis 2 probes per controller
in parameter S-0-0428, Probe, IDN list signal selection the
following signals are not available: S-0-0051, S-0-0052, P-0-0227
Overview expansion package "servo"
With "BASIC ..." hardware design the probe input is only

available for the control sections "BASIC SERCOS",
"BASIC PROFIBUS" and "BASIC UNIVERSAL" (CSB01.1***).
Synchronization
package "synchronization" has the following scope of functions:
Firmware variant

package "synchronization"
(Basic single-axis)
(Basic double-axis)
(open-loop)
(open-loop)
(open-loop)
measuring wheel mode

velocity synchronization
(closed-loop)
X
(closed-loop)
X
(closed-loop)
X
phase synchronization
electronic cam shaft
electronic motion profile
virtual master axis generator
X
2)3)
X2)
quick stop via probe input
X2)3)
X2)
X2)3)
X2)
X3)
X2)
X4)
X4)
programmable position switch
2)3)
probe function
measuring encoder
2)
2)
3)
4)
Fig. 1-11:
Note:
2)
3)
for Advanced single-axis 2 probes; for Basic single-axis only

1 probe; for Basic double-axis 2 probes per controller
in parameter S-0-0428, Probe, IDN list signal selection the
following signals are not available: S-0-0051, S-0-0052, P-0-0227
only with control section "BASIC UNIVERSAL"
Overview expansion package "synchronization"
With "BASIC ..." hardware design the probe input is only

available for the control sections "BASIC SERCOS",
"BASIC PROFIBUS" and "BASIC UNIVERSAL" (CSB01.1***).
Main Spindle Function

package "main spindle" has the following scope of functions:
Firmware variant

package "main spindle"
(Basic single-axis)
(Basic double-axis)
(open-loop)
(open-loop)
(open-loop)
spindle positioning
(closed-loop)
X
(closed-loop)
X
(closed-loop)
X
parameter set switching
drive-controlled oscillation
Fig. 1-12:
Overview expansion package "main spindle"
Additive Functional Packages

The so-called additive functional packages are part of the optional
expansion packages. Additive functional packages can be used in
addition to the base function and one of the alternative functional
packages (additive activation).
At present, there is the following additive functional package available:
IndraMotion MLD
(drive-integrated PLC and technology functions)
Note:

only scalable by means of the hardware and is not part of the
expansion packages that can be enabled!
IndraMotion MLD (Drive-Integrated PLC)

The expansion package "IndraMotion MLD" makes available the following
scope of functions:
integrated logic control ("ML")
standard PLC tasks
integrated multi-axis/single-axis motion control ("ML")
motion function block according to PLCopen for single-axis positioning
on local and remote axes and synchronization mode (synchronous
running, cam shaft)
"low-level motion functions"
basis for technology functions ("TF")
Examples: following-on cutting devices, pick&place, process controller
(register controller, winding computation, etc.), preventive
maintenance, free function block combination
Note:
The expansion package "IndraMotion MLD" is not available in

conjunction with BASIC double-axis control sections
(CDB-***)!
Apart from "Rexroth IndraMotion MLD", another variant of a freely

programmable control unit, "Rexroth IndraMotion MLC", is available.
Other freely programmable control units, e.g. "Rexroth IndraMotion MLP",
are in preparation. The variants differ in functionality, performance and
hardware platform.
The following hardware characteristics are distinguished:
drive-based PLC
IndraMotion MLD
PC-based PLC
IndraMotion MLP (in preparation)
controller-based stand-alone PLC
IndraMotion MLC
The figure below illustrates the integration of "Rexroth IndraMotion MLD"

in the automation platform "Rexroth IndraMotion":
Rexroth IndraWorks
commissioning software
Rexroth IndraMotion
MLD
integrated drive PLC
(multi-axis and single-axis motion)
Rexroth IndraMotion
MLC
stand-alone PLC
(multi-axis motion)
Rexroth IndraMotion
MLP
PC-based PLC
(multi-axis motion)
Rexroth IndraLogic
programming environment
DF000135v05_en.fh
Fig. 1-13:
Overview "Rexroth IndraMotion"
Note:
All "Rexroth IndraMotion" variants are operated and

programmed with the same programming tool (Rexroth
IndraLogic) so that the programs created with it are portable, if
the requirements have been complied with (see "Guidelines
for Programming with IndraLogic").
Integrated Safety Technology

Note:

only scalable by means of the hardware and does not require
any additional enabling of functions! The requirement for using
this function is the use of the optional safety modules L1 and
S1 depending on the control section configuration.
The following safety function is supported in conjunction with starting

lockout (safety module L1):
Safety related starting lockout
The following safety functions are supported in conjunction with safety
technology I/O or PROFIsafe in the different operating states (safety
module S1):
in normal operation
Safety related limited maximum velocity
Safety related end position with safety related trend monitoring
in status "Safety related stopping process"
Safety related standstill
Safety related operational stop
Safety related drive interlock
in status "Safety related motion"
Safety related reduced speed
Safety related direction of motion
Safety related limited increment
Safety related limited absolute position
auxiliary functions
Safety related monitored shutdown
Safety related homing procedure
Safety related brake management (in preparation)
Safety related inputs/outputs for PROFIsafe
safety functions for "Safety related feedback"
Safety related diagnostic outputs
Safety related control of a door locking device (not with PROFIsafe)
1.6
Performance Data
Overview
Levels of Control Performance
For the control performance of the IndraDrive range we basically
distinguish three levels with regard to the clock rates (cycle times):
Advanced performance
highest degree of control performance by high internal clock rates
for the control loops and the signal processing of inputs/outputs or
drive-integrated PLC (IndraMotion MLD)
Basic performance
standard control performance by medium internal clock rates for the
control loops and the signal processing of inputs/outputs or driveintegrated PLC (IndraMotion MLD)
Economy performance
low control performance by reduced clock rates for the control loops
and the signal processing of inputs/outputs or drive-integrated PLC
(IndraMotion MLD)
Performance and Clock Rates

In this documentation the clock rate data refer to the following
characteristic values:
current loop clock
TA_current
velocity loop clock
TA_velocity
position loop clock
TA_position
cycle time of PLC (IndraMotion MLD)
TMLD
cycle time of master communication
TMastCom
The table below contains an overview of the clock rates depending on the
respective control performance. The detailed assignment of the clock rate
to control section design, performance level and parameter setting is
contained in the table in section "Control Section Design and
Performance" (see below).
Performance
Advanced
Basic
Economy
1):
Fig. 1-14:
TA_current
62.5/83.3/125
62.5/83.3/125/250
125/250
1)
with 2 kHz PWM

Clock rates (in s)
1)
TA_velocity
TA_position
TMLD
TMastCom
125
250
1000
500
250
500
2000
500/1000
500
1000
2000
2000
Note:
The control performance is not equivalent to the control

section design (Advanced or Basic), because it is determined
by several factors (e.g. P-0-0556, bits 2 and 5).
The available performance depends on the following requirements and

parameter settings:
control section design (CSH, CSB or CDB) and the corresponding
drive firmware (MPH, MPB and MPD)
activation of functional packages (cf. P-0-2004)
performance level in P-0-0556, Config word of axis controller
(bits 2 and 5)
switching frequency in P-0-0001, Switching frequency of the power
output stage
Control Section Design and Performance

The control section design differs with regard to the performance levels
that can be reached (cycle times or clock frequencies).
The table below contains an overview of the performance levels and clock
rates that can be reached depending on the control section design and
parameter settings:
Control
section type/
firmware
CSH01.1/MPH
Functional
packages
Perform.
level
Switching
frequency
CSB01.1/MPB
TA_posit.
TMLD
TMastCom.
250 s
500 s
500 s
1000 s
500 s
Basic
4000 Hz
125 s
250 s
500 s
1000 s
500 s
Basic
8000 Hz
125 s
250 s
500 s
1000 s
500 s
Basic
12000 Hz
83,3 s
250 s
500 s
1000 s
500 s
Basic
16000 Hz
62,5 s
250 s
500 s
1000 s
500 s
Advanced
4000 Hz
125 s
125 s
250 s
1000 s
500 s
Advanced
8000 Hz
62,5 s
125 s
250 s
1000 s
500 s
Advanced 16000 Hz
62,5 s
125 s
250 s
1000 s
500 s
2)
250 s
250 s
500 s
--
1000 s
2000 Hz
Basic
4000 Hz
125 s
250 s
500 s
--
1000 s
Basic
8000 Hz
125 s
250 s
500 s
--
1000 s
250 s
500 s
1000 s
--
2000 s
Economy 2000 Hz
2)
Economy
4000 Hz
125 s
500 s
1000 s
--
2000 s
Economy
8000 Hz
125 s
500 s
1000 s
--
2000 s
250 s
500 s
1000 s 2000 s
2000 s
Economy 2000 Hz
"synchronization"
and "IndraMotion"
TA_velocity
2000 Hz 2)
all
all, except for

"synchronization"
and "IndraMotion"
TA_current
Basic
Basic
CDB01.1/MPD
P-0-0556
bit 2 bit 5
1)
2)
Economy
4000 Hz
125 s
500 s
1000 s 2000 s
2000 s
Economy
8000 Hz
125 s
500 s
1000 s 2000 s
2000 s
Basic
4000 Hz
125 s
250 s
500 s
--
1000 s
Basic
8000 Hz
125 s
250 s
500 s
--
1000 s
all
1):
can be set via P-0-0001
2):
only with power section HCS04.1 and MAD/MAF
P-0-0556:
Config word of axis controller
Fig. 1-15: Performance depending on the control section design
Selecting Performance via Parameter P-0-0556

For certain applications it is necessary to use the same clock rates in all
axes so that the slowest drive sets the clock. It is therefore possible to
specifically reduce the performance via bit 2 and bit 5 of parameter
P-0-0556, Config word of axis controller.
For BASIC control sections it is possible to select the performance
levels "Basic" or "Economy" via bit 5 of P-0-0556.
For ADVANCED control sections it is possible to select the
performance levels "Advanced" or "Basic" via bit 2 of P-0-0556.
See also Parameter Description "P-0-0556, Config word of axis
controller"
Note:
The effective clock rates of the active performance level are

contained in the table "Performance depending on the control
section design" in section "Control Section Design and
Performance" (see above).

Notes
Master Communication 2-1
2.1
Basic Functions of Master Communication

The basic functions of master communication for IndraDrive devices
apply to SERCOS interface, SERCOS III, field bus interface, parallel and
analog interface.
Features
All variants of master communication supported by IndraDrive have the
following functional features in common:
address assignment
communication address to be freely parameterized (via master
communication, serial and control panel) via parameter P-0-4025,
Drive address of master communication
command processing
drive commands to be externally
communication, serial and control panel)
activated
(via
master
device control (status machine)

individual status machines for master communication and device
According to the variant of master communication, the master
communication status machine has different functionality and
complexity. The communication-specific states are distinguished
and mapped to the status words of the corresponding master
communication (e.g. for SERCOS: S-0-0014, S-0-0135).
The device status machine is independent of the variant of master
communication and maps the device-specific states to parameter
S-0-0424, Status parameterization level. We always distinguish
operating mode (OM) and parameter mode (PM).
extended possibilities of control
signal control word/signal status word (S-0-0144, S-0-0145)
multiplex channel
New or Modified Parameters

S-0-0420, C0400 Activate parameterization level 1 procedure
command
S-0-0422, C0200 Exit parameterization level procedure command
S-0-0424, Status parameterization level
S-0-0128, C5200 Communication phase 4 transition check
For the "SERCOS III" interface, the following additional parameters are
used:
S-0-1134, SERCOS-III: Master control word
S-0-1135, SERCOS-III: Drive status word
New or Modified Diagnostic Messages

C5200 Communication phase 4 transition check
C0200 Exit parameterization level procedure command
C0400 Activate parameterization level 1 procedure command
2-2 Master Communication
Device Control and Status Machines

Overview
The drive status (e.g. Drive Halt, drive errors) represents a specific
internal and external drive behavior. The drive status can be exited by
defined events (e.g. drive commands, switching of operating modes).
Corresponding status transitions are assigned to the events. The status
transitions or the interaction of control and status bits are called status
machine.
We distinguish between:
device- internal status machine
(defines the device-specific states which determine the behavior of the
device)
status machine of master communication
field bus
status machine
parallel/analog
status machine
SERCOSstatus machine
device
status machine
communic.
phase 4
communic.
phase 3
Data Exchange
Data Exchange
communic.
phase 2
communic.
phase 1
operating mode
(AH, AF, ...)
S-0-0128
C5200
S-0-0422
C0200
S-0-0420
C0400
S-0-0127
C0100
parameter mode
communic.
phase 0
Check Config
communic.
phase -1
Set Param
booting
process
initialization
booting
process
booting
process
status machines of master communication
device
status machine
DF000191v01_en.fh
S-0-0127:
S-0-0128:
S-0-0420:
S-0-0422:
Fig. 2-1:
Overview: status machines of master communications and device
Multiplex Channel
New or Modified Diagnostic
Messages
C0238 Order of cyclic command value configuration incorrect
2.2
Profile Types (with Field Bus Interfaces)
Supported Profile Types

Overview
When a field bus interface is used for master communication, IndraDrive
controllers support the following profile types (modes):
I/O mode positioning
I/O mode preset velocity
freely configurable mode (Rexroth profile type)
The table below contains an overview of the most important properties
and features of the 3 profile types:
Content of
P-0-4084, Profile
type
Master
communication
Field bus or drive

operating mode
Features
Profile type: I/O mode positioning

FF82h
PROFIBUS,
CANopen,
DeviceNet
I/O mode positioning

(positioning block mode,
encoder 1, lagless)
- up to 64 positioning blocks can be

controlled via field bus
- apart from control and status word,
other real-time data can be configured (in P-0-4080 and P-0-4081)
- bits can be freely defined in signal
status word via function "configurable
signal status word"
- fixed velocity command values can be

controlled and ramp generator can be
operated via field bus
- apart from control and status word,
other real-time data can be configured (in P-0-4080 and P-0-4081)
- bits can be freely defined in signal
status word via function "configurable
signal status word"
freely configurable mode

(default assignment is
"drive-controlled positioning" with corresponding
required cyclic data)
- possible use of complete drive functionality

by free configuration of real-time data
and operating mode selection
- control and status word have a Rexrothspecific structure
- selection suited for operation with
analog command values in
commissioning phase
Profile type: I/O mode preset velocity

FF92h
PROFIBUS,
CANopen,
DeviceNet
Profile type: freely configurable mode

FFFEh
PROFIBUS,
CANopen,
DeviceNet
FFFDh
like profile FFFEh, but reduced field bus control word

(relevant for MLD applications, for example)
Fig. 2-2:
Supported profile types for IndraDrive firmware
I/O Mode (Positioning and Preset Velocity)

We distinguish the following variants of the profile type "I/O mode":
I/O mode positioning (functionality similar to parallel interface)
(e.g. for open-loop applications)
The I/O mode has the following features:

General Features
optional parameter channel can be activated, if required, via P-0-4083,

Field bus: length of parameter channel (max. 8 words)
(default: P-0-4083 = 0 without parameter channel)
real-time channel consists of at least one word (16 bits), the field bus
control word (P-0-4068) and the signal status word (S-0-0144)
Data direction
Word1
Format
master --> slave
P-0-4068, Field bus: control

word IO
u16 (1 word)
slave --> master
S-0-0144, Signal status word
u16 (1 word)
freely expandable real-time channel by configuration of real-time data:

Master slave (drive)
configuration of P-0-4081, Field bus: config. list of cyclic
command value data ch.
Slave (drive) master
configuration of P-0-4080, Field bus: config. list of cyclic actual
value data ch.
freely configurable field bus status word (cf. S-0-0144)
Relationship between profile type selection and operating mode which
takes effect:
In the I/O modes there is a determined relationship between profile
type (P-0-4084) and predefined primary mode of operation
(S-0-0032).
The freely configurable mode allows free selection of the
operating modes (S-0-0032, S-0-0033, ).
Note:
Features of "I/O Mode

Positioning"
The respective default settings are activated by selecting the

profile type and subsequent action "load default
communication parameters" (see also P-0-4090 and
S-0-0262).
Specific features of "I/O mode positioning":

The drive is operated in the mode "positioning block mode, lagless,
encoder 1".
In this operating mode, 64 programmable positioning blocks can be
selected and started via 6 bits (in the 16 bit wide control word).
The jog function can be activated in P-0-4068, Field bus: control
word IO. "Drive-controlled positioning" has been set as secondary
operating mode 1.
Features of "I/O Mode Preset

Velocity"
Specific features of "I/O mode preset velocity":

The drive is operated in the "velocity control" mode.
In this operating mode you can, for example, select and start
5 programmable fixed velocity command values (in the 16 bit wide
control word) and operate the ramp generator function.
2.3
SERCOS III
Overview
It is possible to operate IndraDrive controllers with a SERCOS III interface
as master communication module. This requires the control section with
the master communication option "SERCOS III" (S3). Via this module it is
possible to exchange real-time data with a SERCOS III master.
The master communication interface with SERCOS III interface is
optionally available for the following configurable control sections:
single-axis BASIC UNIVERSAL
(CSB01.1C)
single-axis ADVANCED
(CSH01.1C)
The following communication channels are distinguished:

cyclic data channel (MDT, AT)
data container for cyclic transmission of useful data (process data)
in real time
acyclic data channel (service channel)
data container for acyclic transmission of useful data (service data)
Features
General Features
transmission rate 100Mbit/s

cyclic data exchange of command values and actual values with equal
time intervals
data transmission via Ethernet cable (CAT5-copper)
service channel for parameterization and diagnosis
free configuration of telegram contents
synchronization between time command value takes effect and
measurement starting time of the actual values for all drives on a ring
overall synchronization of all connected drives to the master
Firmware-Specific Features
cycle time: min. 250/500 s, max. 65 ms

(multiples of position clock 250 s or 500 s can be set)
SERCOS compatibility class C
max. number of configurable data in the MDT:
32 bytes
max. number of configurable data in the AT:
32 bytes
Note:
The number of configurable byte in the MDT/AT depends on

the relation of the position cycle time (P-0-0556, bit 2) to the
SERCOS cycle time.
SERCOS cycle time = position clock max. length 16 bytes
SERCOS cycle time > position clock max. length 32 bytes
Pertinent Parameters
Specific parameters for SERCOS III communication:
S-0-0001, SERCOS-III: NC cycle time (TNcyc)
S-0-1002, SERCOS-III: SERCOS cycle time (TScyc)
S-0-1005, SERCOS-III: Minimum feedback acquisition time (T5)
S-0-1006, SERCOS-III: AT transmission starting time (T1)
S-0-1007, SERCOS-III: Feedback acquisition starting time (T4)
S-0-1008, SERCOS-III: Command value valid time (T3)
S-0-1009, SERCOS-III: RTC offset in MDT
S-0-1010, SERCOS-III: MDT lengths
S-0-1011, SERCOS-III: RTC offset in AT
S-0-1012, SERCOS-III: AT lengths
S-0-1013, SERCOS-III: SVC offset in MDT
S-0-1014, SERCOS-III: SVC offset in AT
S-0-1015, SERCOS-III: ring delay
S-0-1016, SERCOS-III: slave delay (SYNCCNT-P, SYNCCNT-S)
S-0-1017, SERCOS-III: IP channel transmission starting time
S-0-1018, SERCOS-III: SYNC delay (P-count, S-count)
S-0-1019, Master communication: MAC address
S-0-1020, Master communication: IP address
S-0-1021, Master communication: network mask
S-0-1022, Master communication: gateway address
S-0-1023, SERCOS-III: SYNC jitter
S-0-1024, SERCOS-III: ring control
S-0-1025, SERCOS-III: ring status
S-0-1026, SERCOS-III: hardware code
S-0-1028, SERCOS-III: MST error counter
S-0-1029, SERCOS-III: MDT error counter
S-0-1030, SERCOS-III: AT error counter
S-0-1031, SERCOS-III: signal assignment
S-0-1095, SERCOS-III: diagnostic message
Additional pertinent parameters according to "SERCOS interface":
S-0-0014, Interface status
S-0-0015, Telegram type parameter
S-0-0016, Configuration list of AT
S-0-0024, Config. list of the master data telegram
S-0-0096, Slave arrangement (SLKN))
S-0-0097, Mask class 2 diagnostics
S-0-0098, Mask class 3 diagnostic
S-0-0143, Sercos interface version
S-0-0185, Length of the configurable data record in the AT
S-0-0186, Length of the configurable data record in the MDT
S-0-0187, List of configurable data in the AT

S-0-0188, List of configurable data in the MDT
S-0-0301, Allocation of real-time control bit 1
S-0-0303, Allocation of real-time control bit 2
S-0-0305, Allocation of real-time status bit 1
S-0-0307, Allocation of real-time status bit 2
S-0-0413, Bit number allocation of real-time control bit 1
S-0-0414, Bit number allocation of real-time control bit 2
S-0-0415, Bit number allocation of real-time status bit 1
S-0-0416, Bit number allocation of real-time status bit 2
P-0-4029, Diagnostic report SCSB module
Pertinent Diagnostic Messages

C0104 Config. IDN for MDT not configurable
C0105 Maximum length for MDT exceeded
C0106 Config. IDNs for AT not configurable
C0107 Maximum length for AT exceeded
C0108 Time slot parameter > Sercos cycle time
C0109 Position of data record in MDT (S-0-0009) even
C0110 Length of MDT (S-0-0010) odd
C0111 ID9 + Record length - 1 > length MDT (S-0-0010)
C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) error
C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error
C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
C0115 T2 too small
C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010)
C0139 T2 (S-0-0089) + length MDT (S-0-0010) > TScyc (S-0-0002)
F4001 Double MST failure shutdown
F4002 Double MDT failure shutdown
F4003 Invalid communication phase shutdown
F4004 Error during phase progression
F4005 Error during phase regression
F4006 Phase switching without ready signal
2.4
PROFIBUS-DP
Overview
Drive controllers of the IndraDrive range have a master communication
module with PROFIBUS interface. Via this module it is possible to
exchange real-time data with a PROFIBUS-DP master.
Using the master communication "PROFIBUS-DP" requires the following
control section design:
single-axis BASIC PROFIBUS (not configurable)
(CSB01.1N-PB)
In addition it is possible to use the following configurable control sections

if they have been designed with the optional module PB:
(CSB01.1C)
(CSH01.1C)
double-axis BASIC UNIVERSAL
(CDB01.1C)

Cyclic data channel (PROFIBUS-DP)
The field bus provides data containers in which useful data can be
cyclically transmitted. This section is called cyclic data channel. The
cyclic data channel is divided into
a device-specific parameter channel (optional) for reading and
writing all parameters via PROFIBUS-DP,
Note:
This parameter channel does not fulfill "real-time

properties"!
a safety related, axis-specific process data channel (optional)

that allows, depending on the firmware and hardware, transmitting
safety-relevant signals,
an axis-specific process data channel (real-time channel)
containing firmly specified information that can be directly
interpreted by the receiver.
Acyclic data channel (DPV1 parameter communication)
The following are supported:
one class-1 connection
two class-2 connections
safety related
not safety related
master slave
param. channel
PROFIsafe
ctrl word, cmd values
slave master
param. channel
PROFIsafe
status word, act. val.

DF000156v01_en.fh7
Fig. 2-3:
Overview cyclic data channel
Note:
To simplify field bus communication Bosch Rexroth makes

available function blocks for different programmable logic
controllers (PLCs). The principles applied can be easily used
for other field bus masters.
The slave PROFIBUS-DP circuit with master communication module PL

has the following functional features:
Features
support of RS485 interfaces according to IEC61158-2

support of all data rates according to IEC61158-2, with exclusive use
of PROFIBUS-DP (9.6 kBaud, 19.2 kBaud, 45.45 kBaud, 93.75 kBaud,
187.5 kBaud, 500 kBaud, 1.5 MBaud, 3 MBaud, 6 MBaud, 12 Mbaud)
automatic baud rate detection
configurable cyclic data up to 15 parameters (incl. field bus control
word and field bus status word) in both data directions
(max. 48 bytes or 24 words)
additional optional parameter channel in the cyclic channel with up to
16 bytes (8 words)
monitoring of the cyclical data exchange (watchdog function)
LED for diagnosing the PROFIBUS interface
supported DPV0 services:
Slave_Diag (read diagnostic data)
Get_Cfg (read configuration data)
Set_Prm (send parameterization data)
Chk_Cfg (check configuration data)
Data Exchange (transfer I/O data)
Global Control (synchronization)
RD_Outp (read output data)
RD_Inp (read input data)
parameter access with DPV1-class-1 services
DDLM_Initiate (establishment of connection)
DDLM_Read (acyclic read access)
DDLM_Write (acyclic write access)
DDLM_Abort (abortion of connection)
DDLM_Idle (connection monitoring)
support of up to two DPV1-class-2 connections
supported field bus profiles:
0xFF82: I/O mode "positioning" with configurable real-time data
0xFF92: I/O mode "preset velocity" with configurable real-time data
0xFFFE: freely configurable mode
access to all device parameters according to PROFIdrive specification
2.5
CANopen Interface
Overview
It is possible to operate IndraDrive controllers with a CANopen interface
the master communication option "CANopen/DeviceNet" (CO). Via this
module it is possible to exchange real-time data with a CANopen master.
The "CANopen" protocol (according to Draft Standard DS301,
version 4.0.2) has been implemented in the drive controller.
The master communication interface with CANopen interface is optionally
available for the following configurable control sections:
(CSB01.1C)
(CSH01.1C)

Cyclic data channel (PDO)
cyclically transmitted in real time (process data objects).
Acyclic data channel (SDO)
The field bus provides data containers in which useful data (service
data objects) can be acyclically transmitted.
Note:
The process data are always transmitted via PDOs.
Features
simple configuration through use of "predefined connection set" and
"minimum boot-up" according to DS301
baud rates of 20, 50, 125, 250, 500, 800 and 1000 kbit/s specified by
CANopen according to DS301 are supported
configurable cyclic data up to 12 parameters (incl. field bus control
word and field bus status word) in both data directions
(max. 24 bytes or 12 words)
multiplex channel permanently configured in one PDO pair
functional compatibility with EcoDrive functions through profile
selection (I/O mode)
node monitoring (heartbeat function)
LED displays on the front panel of the command communication
module for simple diagnosis of bus functions and most important
communication relationships between drive and field bus (2 LEDs:
"Run" status and "Error" status)
all parameters of the drive can be directly read via SDO and, if
permitted, can be written
upload/download function for all parameters of the drive possible with
SDO services
event-controlled transmission of process data can be switched off
CANopen Device profile DSP402 is not supported; field bus profiles
according to DSP402 are partly supported
Communication Parameters
Specific parameters for CANopen communication:

P-0-3610, CANopen: Heartbeat configuration
P-0-3611, CANopen: COB-IDs
P-0-3612, CANopen: transmission types
P-0-3613, CANopen: List of the Event Parameters
Parameters for general field bus communication:
P-0-4025, Drive address of master communication
P-0-4073, Field bus: diagnostic message
P-0-4074, Field bus: data format
P-0-4076, Field bus: cycle time (Tcyc)
P-0-4079, Field bus: baud rate
Profile Type Parameters
Apart from mere communication parameters, we use parameters in

conjunction with the profile types.
Parameters for Extended

Communication
We use additional parameters for extended communication.

F4009 Bus failure
F4012 Incorrect I/O length
2.6
DeviceNet Interface
Overview
It is possible to operate IndraDrive controllers with a DeviceNet interface
the master communication option "CANopen/DeviceNet" (CO). Via this
module it is possible to exchange real-time data with a DeviceNet master.
The drive supports the protocol "DeviceNet" according to ODVA
version 2.0.
The master communication interface with DeviceNet interface is optionally
available for the following configurable control sections:
(CSB01.1C)
(CSH01.1C)

Cyclic data channel (polled I/O)
cyclically transmitted in real time.
Acyclic data channel (Explicit Message)
The field bus provides an object directory of the device. The objects
can be acyclically read and, if allowed, can be written.
Note:
The process data are always transmitted via "polled I/O".
To achieve high system flexibility all parameters of the drive are

accessible via objects. In DeviceNet these objects can be addressed
through class, instance and attribute. Some of these objects can be

assigned to the "polled I/O" as real-time data and thus be cyclically
transmitted. There is also the option of transmitting via "Explicit
Message", but no objects defined in the real-time channel (P-0-4081) may
be written by the master via "Explicit Message".
Features
DeviceNet interface completely galvanically decoupled
"Open Pluggable Connector" according to specification 2.0
(Phoenix COMBICON connector)
"DeviceNet Generic Device" according to specification ODVA 2.0
easy configuration by implementing "Group 2 only Server"
support of all data rates:
125 kbit/s (up to a distance of 500 m)
freely configurable process data channel (max. 24 words, max.
15 IDN) in both data directions via drive parameters P-0-4080 and
P-0-4081
monitoring of the process data channel (watchdog function)
all parameters of the drive can be acyclically read via "Explicit
Message" and, if allowed, can be written
LED displays on the front panel of the command communication
module for simple diagnosis of bus functions and most important
communication relationships between drive and field bus (2 LEDs:
module status and network status)
Communication Parameters
Parameters for general field bus communication (incl. DeviceNet):

P-0-4025, Drive address of master communication
P-0-4073, Field bus: diagnostic message
P-0-4074, Field bus: data format
P-0-4075, Field bus: watchdog
P-0-4076, Field bus: cycle time (Tcyc)
P-0-4079, Field bus: baud rate
Profile Type Parameters
Apart from mere communication parameters, we use parameters in

conjunction with the profile types.
Parameters for Extended

Communication
We use additional parameters for extended communication.

F4009 Bus failure
F4012 Incorrect I/O length
Drive Control 3-1
Drive Control
3.1
Overview of Drive Control
Basic Principles and Terms

The IndraDrive firmware supports the following two basic principles of
drive control:
open-loop axis control (open-loop U/f control)
open-loop-controlled operation without encoder information
closed-loop axis control
with encoder feedback
closed-loop-controlled operation (position, velocity and current)
without encoder feedback
closed-loop-controlled operation with motor model (velocity and
current)
Closed-Loop Axis Control (Closed-Loop Operation)

Closed-loop axis control allows closed-loop-controlled operation of the
drive; we distinguish two principles of closed-loop axis control:
Operation with encoder
The velocity and position control loops are closed by means of
encoder feedback so that the following operating modes are supported
by field-oriented closed-loop current control with encoder feedback:
velocity control
position control with cyclic command value input
positioning modes (e.g. drive-controlled positioning)
synchronization modes
Operation without encoder
The velocity control loop is closed by means of a motor model
(monitor) so that field-oriented closed-loop current control without
encoder feedback supports velocity control without encoder.
3-2 Drive Control
3.2
Motor Control
General Information on Motor Control

Open-Loop/Closed-Loop Operation
The IndraDrive firmware supports the following two basic principles of
motor control:
motor control (U/f control) in open-loop operation
open-loop-controlled operation without encoder information
motor control in closed-loop operation
with encoder feedback
closed-loop-controlled operation (position, velocity and current)
without encoder feedback
closed-loop-controlled operation with motor model (velocity and
current)
Via bit 14 and bit 15 of parameter P-0-0045, Control word of current
controller the method of motor control is selected.
Cycle Times and PWM Frequencies

Depending on the firmware variant (MPH, MPD or MPB) and the
respective control section (CSH01.1, CDB01.1, CSB01.1), there are the
following possible cycle times and PWM frequencies:
TA_current
P-0-0001
FWA variant
P-0-0556, bit 2
Performance
62.5 s
16000
MPH
Basic
83.3 s
12000
MPH
Basic
125 s
8000
MPH
MPB
MPD
Basic
125 s
4000
MPH
MPB
MPD
Basic
250 s
2000
MPH
MPB
Basic
62.5 s
16000
MPH
Advanced
83.3 s
12000
MPH
Advanced
62.5 s
8000
MPH
Advanced
125 s
4000
MPH
Advanced
1)
TA_current: sampling time of current loop

P-0-0001: Switching frequency of power output stage (in Hz)
P-0-0556: Config word of axis controller
1):
only with power section HCS04.1 and MAD/MAF
Fig. 3-1:
Cycle times and switching frequencies that can be set
Note:
Via bit 2 and bit 5 of parameter P-0-0556, Config word of

axis controller it is possible to select the performance options
depending on the control section design.
See "Performance Data" in chapter "System Overview"
Drive Control 3-3
3.3
Closed-Loop Axis Control (Closed-Loop Operation)
Velocity Loop (with Respective Filters)

P-0-0555, Status word of axis controller
P-0-0556, Config word of axis controller
Position Loop (with Respective Feedforward Functions and Actual

Value Adjustment)
The following section only describes the position loop with the respective
feedforward possibilities (velocity and acceleration feedforward).
velocity
feedforward
master
axis
positioning
block no.
target
position
position
cmd value
synchronization
modes
bit 3
positioning
block
mode
acceleration
feedforward
P-0-0040
S-0-0348
S-0-0032
P-0-0180
P-0-0556
bit 0
S-0-0104
drivecontrolled
positioning
P-0-0434
position
control with
cyclic
cmd value
input
S-0-0189
+
S-0-0038
S-0-0039
S-0-0091
+
IPO
fine
position
loop interpolator
S-0-0048
P-0-0691
actual
value
adjustment
P-0-0059
P-0-0455
P-0-0454
nlimit
S-0-0051
S-0-0053
+
S-0-0040
current
loop
S-0-0092
P-0-0109
P-0-0048
P-0-0049
DF000194v01_en.fh
Features
Fig. 3-2:
Structure of position loop
Note:
The preprocessing of the position command value (command

value adjustment) is described in the corresponding section of
the position control mode (e.g. position control with cyclic
command value input, positioning block mode, ...).
digital proportional loop, can be set via the following parameter:

S-0-0104, Position loop Kv-factor
lag error is minimized by
variable velocity feedforward (see P-0-0040)
- and variable acceleration feedforward (see S-0-0348), incl. smoothing
filter
Depending on the control performance which has been set, the cycle
time TA_position is used for position loop calculations (see "Performance
Data" in chapter "System Overview").
with lag error or lagless, i.e. with velocity feedforward
3-4 Drive Control
model monitor for the lag error (see also F2028)

possible evaluation of a "hybrid actual position value" from motor
encoder and external position control encoder (up to now only motor
encoder and measuring wheel encoder)
S-0-0048, Position command value additional

S-0-0520, Control word of axis controller
S-0-0521, Status word of position loop
3.4
Commutation Setting

Messages
P-0-0518, C5600 Command

commutation offset
subsequent
optimization
of
C5600 Command subsequent optimization of commutation offset

C5601 Command requires drive enable
C5602 Axis blocked
C5603 Timeout: axis in motion
3.5
Power Supply
P-0-0860, Converter configuration

P-0-0861, Power supply status word
Operating Modes 4-1
Operating Modes
4.1
Torque/Force Control
In the "torque/force control" mode a torque/force command value is
preset for the drive. If required this command value can be filtered. When
the operating mode is activated the diagnostic message is "A0100 Torque
control".
command value adjustment

for torque/force control
torque/force
command value
torquegenerating
current cmd value
Fig. 4-1:
Features
current loop
DF0054v1.fh7
"Torque/force control" block diagram
torque/force control with regard to the sum of the command values

preset in parameters S-0-0080, Torque/force command value and
S-0-0081, Additive torque/force command value
torque/force command value is generated internally by the velocity
loop; value of S-0-0081 can be added as additive component
limitation of the preset command value to limit value that can be
parameterized
command value filtered via parameters S-0-0822, Torque/force ramp
and S-0-0823, Torque/force ramp time

S-0-0822, Torque/force ramp
S-0-0823, Torque/force ramp time
S-0-0824, Message torque/force command value reached
4.2
Velocity Control"
In the "velocity control" mode a velocity command value is preset for the
drive. The velocity command value is limited by ramps and filters.
velocity command
value
command value adjustment for velocity loop
velocity loop
effective
velocity command
value
Fig. 4-2:
current loop
torque/force
command value
"Velocity control" block diagram
DF0026v1.fh7
4-2 Operating Modes
Features
an external velocity command value (sum of S-0-0036, Velocity

command value and S-0-0037, Additive velocity command value)
is preset via analog inputs or master communication interface
(SERCOS, field bus, ...)
selection of predefined and internally stored velocity command values
(31 fixed values) is possible via binarily coded digital inputs (e.g. for
jogging forward/backward, feeding, setting up, ...)
use of a drive-internal command value generator for generating
command value ramps ("motor potentiometer")
inversion of the provided velocity command value before it is
processed in the ramp generator
window comparator for masking critical velocity ranges in the
command value channel (e.g. machine resonances) with
corresponding acceleration adjustment (cf. P-0-1209)
ramp generator with separately adjustable two-stage acceleration and
deceleration limits of the preset velocity command value; switching
from ramp 1 to ramp 2 is done with selectable velocity and run-up stop
that can be parameterized
velocity control via a digital PI controller with extensive filter measures
monitoring the command velocity and actual velocity for exceeding
parameter S-0-0091, Bipolar velocity limit value
smoothing of velocity control loop difference via filter that can be
parameterized
smoothing of preset command value by means of average filter (jerk
limitation by means of moving average filter)
fine interpolation of the velocity command values; transmission of
these command values in the position loop clock
The fine interpolator can be switched on or off (P-0-0556, bit 0).
velocity control loop monitoring (cannot be parameterized) to prevent
the drive from running away
The monitor can be switched on or off (P-0-0556, bit 1).
velocity loop internally generates the torque/force command value to
which the value of parameter S-0-0081, Additive torque/force
command value can be added as an additive component
control word and status word especially for "velocity control" mode (cf.
P-0-1200 and P-0-1210)

P-0-1200, Control word 1 velocity control
P-0-1206, Memory of velocity command values
4.3
Position Control with Cyclic Command Value Input
P-0-0143, Synchronization velocity

Operating Modes 4-3
4.4
Positioning Block Mode

In the "positioning block mode" it is possible to run up to 64 programmed
positioning blocks. The drive moves to the target position in position
control, while maintaining velocity, acceleration, deceleration and jerk
limits as defined in the respective positioning block.
positioning
block
positioning
generator
cmd value
interpolation
target
position
position
controller
effective
pos. cmd value
velocity
controller
velocity cmd
value
current
controller
torque/force
cmd value
DF000087v01_en.fh7
Fig. 4-3:
Features
"Positioning block mode" block diagram
parameterization of up to 64 positioning blocks; each with target

position/travel distance, velocity, acceleration, deceleration and jerk
defined block acceptance by toggling bit 0 in S-0-0346 with reaction
time tR_Strobe = tposition
Note: With field bus drives, the I/O mode and control via the parallel
interface are exceptions. In these cases acceptance takes place by a
0-1 edge of bit 0 in P-0-4060.
block selection and acknowledgment via separate parameters
( handshake principle)
positioning modes to be freely parameterized:
relative positioning
absolute positioning
infinite travel (positive or negative)
single-block or sequential block mode with different conditions for
advance:
block advance with switch cams
block advance at defined position value
block transition with "old" or "new" positioning velocity
positioning block transition with freely definable delay time (P-0-4018)
positioning while taking command value mode into account
(shortest distance, positive direction, ...)
residual path processing can be activated ( no loss of incremental
dimension)
"slow travel" mode can be activated
velocity override to be set

P-0-4018, Positioning block mode delay time

A0162 Positioning block mode
4-4 Operating Modes
4.5
Synchronization Modes
Basic Functions of the Synchronization Modes

Configuring and Controlling the Synchronization Modes
The synchronization modes are configured and controlled by means of
the following parameters:
(Synchronization Parameters)

P-0-0086, Configuration word synchronous operating modes
P-0-0088, Control word for synchronous operating modes
P-0-0089, Status word for synchronous operating modes
After having selected the required synchronization mode, you can make
the following settings via these parameters:
position control with lag error or lagless
use of encoder 1 or encoder 2
Command Value Addition

This section contains an overview of the basic possibilities of adding
command values. The characteristics and details specific to operating
mode are described in the section of the respective synchronization
mode.
P-0-0060, Filter time constant additional pos. command

P-0-0686, Additive position command value, positioning velocity
P-0-0687, Additive
acceleration
position
command
value,
positioning
P-0-0688, Additive master axis position, positioning velocity

P-0-0689, Additive master axis position, positioning acceleration
The figure below contains a rough overview of the command values which
can act on the master and slave axis and of how they can be influenced.
Fig. 4-4:
Possibilities of command value addition for master and slave axis
Operating Modes 4-5
Master Axis Adjustment

Master Axis Generation
Possible signal sources

synchronization modes:
for
the
effective
master
axis
of
the
real master axis

virtual master axis, external
virtual master axis, internal
Master Axis Offset and Modulo
Limitation
For internal adjustment or processing of the master axis information there

are the following options:
addition of components (= offset) to the incoming master axis angle:
via P-0-0054, Additive master axis position
via P-0-0692, Additive master axis position, process loop
limitation to modulo range of master axis
Electronic Gear Function
By means of factors to be set (e.g. input revolutions, output revolutions,

polarity), the electronic gear function can influence the master axis
position relevant for the operating mode as compared to the master axis
position preset by master axis evaluation.
P-0-0054, Additive master axis position
P-0-0761, Master axis position for slave axis
Dynamic Synchronization of the Slave Axis

P-0-0697, Synchronization, master axis synchronous position

P-0-0698, Synchronization, master axis synchronization range
Velocity Synchronization with Real/Virtual Master Axis



Messages
A0164 Velocity synchronization
Phase Synchronization with Real/Virtual Master Axis

In the operating mode "phase synchronization with real/virtual master
axis" the drive follows a preset master axis position in an absolute or
relative phase synchronous way.
The real master axis velocity is generated by a measuring encoder, the
virtual master axis velocity is preset by the master or the integrated
master axis generator.
4-6 Operating Modes
Features
determination of the position command value from the master axis

position using the electronic gear with fine adjust, adjustable master
axis polarity
synchronization mode to be selected
single-step or double-step synchronization
absolute or relative phase synchronization
synchronization range to be selected
The figure below illustrates the interaction of the individual subfunctions
(function blocks) of the "phase synchronization" mode:
real master axis

encoder
P-0-0052
virtual
master
axis pos.
(external)
P-0-0053
dynam.
synchronization
command
value
addition
cmd value processing

specific to oper. mode
+
adjustment
pos. format
master axis
adjustment
virtual
master
axis pos.
(internal)
P-0-0776
P-0-0778
internal
cmd value
P-0-0434
P-0-0761
P-0-0777
P-0-0779
DF000218v01_en.fh
P-0-0052:
Actual position value of measuring encoder
P-0-0053:
Master axis position
P-0-0434:
Position command value of controller
P-0-0761:
Master axis position for slave axis
P-0-0776:
Effective master axis position
P-0-0777:
Effective master axis velocity
P-0-0778:
Synchronous position command value
P-0-0779:
Synchronous velocity
Fig. 4-5:
Function blocks of the operating mode "phase synchronization with
real/virtual master axis"
Variants of the Operating Mode
There are the following variants of the operating mode to be selected:

position synchronization
phase synchronization with real master axis, encoder 1
phase synchronization with real master axis, encoder 2
phase synchronization with real master axis, encoder 1, lagless
phase synchronization with real master axis, encoder 2, lagless
phase synchronization with virtual master axis, encoder 1
phase synchronization with virtual master axis, encoder 2
phase synchronization with virtual master axis, encoder 1, lagless
phase synchronization with virtual master axis, encoder 2, lagless
Note:
In the operating mode variant "position synchronization", select

phase synchronization and the master axis in P-0-0088,
Control word for synchronous operation modes. The
encoder selection and lagless position control are set in
S-0-0520, Control word of axis controller.
Operating Modes 4-7
Application "Absolute Phase

Synchronization"
For machining processes that require absolute phase synchronization,

e.g. printing, punching or perforating in printing machines, the absolute
position reference to the master axis is established in the "phase
synchronization" mode. The drive synchronizes with a position command
value that is generated from master axis position and additive position
command value.
Application "Relative Phase

Synchronization"
For machining processes that only require relative phase synchronization,

e.g. synchronization of belts or feed rollers without defined starting point,
a relative position reference to the master axis is established. During the
first synchronization, there is only an adjustment to the synchronous
velocity but no position adjustment carried out.


Messages
A0163 Position synchronization
Electronic Cam Shaft with Real/Virtual Master Axis

In the operating mode "electronic cam shaft with real/virtual master axis"
there is a fixed relationship between the master axis position and the
slave axis.
Features
4 cam shaft profiles with a max. of 1024 data points

(P-0-0072, P-0-0092, P-0-0780, P-0-0781)
4 cam shaft profiles with a max. of 128 data points
(P-0-0783, P-0-0784, P-0-0785, P-0-0786)
cubic spline interpolation of the cam shaft data points
dynamic angle offset and angle offset at begin of profile
freely definable switch angle for cam shaft and cam shaft distance
single-step or double-step synchronization
absolute or relative phase synchronization
change of format "on the fly"
cross cutter function
clocked pull roll
4-8 Operating Modes

(function blocks) of the "electronic cam shaft" mode:
real master axis
encoder
P-0-0052
virtual
master
axis pos.
(external)
P-0-0053
dynam.
synchronization
command
value
addition

specific to oper. mode
cam
shaft
profiles
master axis
adjustment
virtual
master
axis pos.
(internal)
adjustment
pos. format
P-0-0776
P-0-0778
internal
cmd value
P-0-0434
P-0-0761
P-0-0777
P-0-0779
DF000219v01_en.fh
P-0-0052:
P-0-0053:
P-0-0434:
P-0-0761:
P-0-0776:
P-0-0777:
P-0-0778:
P-0-0779:
Fig. 4-6:
Function blocks of the operating mode "cam shaft with real/virtual
master axis"

cam shaft with real master axis, encoder 1
cam shaft with real master axis, encoder 2
cam shaft with real master axis, encoder 1, lagless
cam shaft with real master axis, encoder 2, lagless
cam shaft with virtual master axis, encoder 1
cam shaft with virtual master axis, encoder 2
cam shaft with virtual master axis, encoder 1, lagless
cam shaft with virtual master axis, encoder 2, lagless
Note:



Messages
Operating Modes 4-9
Electronic Motion Profile with Real/Virtual Master Axis

In the operating mode "electronic motion profile with real/virtual master
axis" there is a fixed relationship between the master axis position and the
slave axis.
Features
2 sequences of motion with up to 8 motion steps per master axis

revolution
definition of a motion step by standardized profile or cam shaft profile
standard profiles can be selected (rest in rest, rest in velocity, velocity
in rest, velocity in velocity, constant velocity)
th
standard profiles realized by 5 order polynomial or, in the case of rest

in rest, alternatively by inclined sine curve
individual cam shaft distance for each motion step
dynamic angle offset and angle offset at begin of profile
absolute synchronization can be switched off
absolute or relative processing of the motion steps to be selected
cross cutter function
(function blocks) of the "electronic motion profile" mode:
real master axis
encoder
P-0-0052
virtual
master
axis pos.
(external)
P-0-0053
dynam.
synchronization
command
value
addition

specific to operating mode
polynomial
calculation
master axis
adjustment
virtual
master
axis pos.
(internal)
P-0-0776
adjustment
pos. format
P-0-0778
internal
cmd value
P-0-0434
P-0-0761
P-0-0777
P-0-0779
DF000211v01_en.fh
P-0-0052:
P-0-0053:
P-0-0434:
P-0-0761:
P-0-0776:
P-0-0777:
P-0-0778:
P-0-0779:
Fig. 4-7:
Function blocks of the operating mode "motion profile with
real/virtual master axis"
4-10 Operating Modes


motion profile with real master axis, encoder 1
motion profile with real master axis, encoder 2
motion profile with real master axis, encoder 1, lagless
motion profile with real master axis, encoder 2, lagless
motion profile with virtual master axis, encoder 1
motion profile with virtual master axis, encoder 2
motion profile with virtual master axis, encoder 1, lagless
motion profile with virtual master axis, encoder 2, lagless
Note:


P-0-0700, Motion profile, master axis switching position
P-0-0701, Motion step 1, slave axis initial position
P-0-0702, Motion profile, diagnosis, set 0
P-0-0703, Number of motion steps, set 0
P-0-0704, Master axis velocity, set 0
P-0-0705, List of master axis initial positions, set 0
P-0-0706, List of motion step modes, set 0
P-0-0707, List of distances, set 0
P-0-0708, List of slave axis velocities, set 0
P-0-0755, Gear reduction

Messages
Drive Functions 5-1
Drive Functions
5.1
Establishing the Position Data Reference
Establishing Position Data Reference for Absolute Measuring Systems

The position data reference of an absolute measuring system to the axis
has to be established once during initial commissioning, after replacing
the motor or encoder (motor encoder or external encoder) and changes in
the mechanical axis system.
Establishing Position Data
Reference via Drive Commands
In the case of measuring systems to be evaluated in absolute form, the

position data reference is automatically established by the drive by
starting the "set absolute measuring" command.
In the case of measuring systems to be evaluated in absolute form, the
position data reference can be automatically established by the drive by
starting the command
"setting absolute measuring"
- or "drive-controlled homing procedure".
The position data reference once established is maintained until one of
the two commands is started again. The actual position values therefore
are axis-related ("homed") immediately after the drive is switched on.
Motor Encoder and External

Encoder
If two absolute measuring systems have been connected to the controller,

the position data reference can be separately established for both
measuring systems. If the position data reference was only set for one of
the measuring systems, both actual position values are equal at the
position at which the position data reference was established.
Note:
If the position data reference was only set for one encoder, the
actual position values of both encoders remain equal as long
as mechanical axis system and encoder systems are
mechanically connected without slip (slip control is possible!).
Command "Set Absolute

Measuring"
It is recommended to start the "set absolute measuring" command when

the axis is in standstill without drive enable. In the cases in which the axis,
for establishing the position data reference, is to be brought to a defined
position on the master side and be held in this position by the drive, "set
absolute measuring" can also be executed with active drive.
"Drive-Controlled Homing
Procedure" Command
When the command "drive-controlled homing procedure" (without

previous start of "set absolute measuring") is started, the drive
automatically moves the axis to a dedicated position, defined by a home
switch and/or the zero position of the absolute encoder, and at this
position establishes the position data reference.
For absolute encoders, the command "drive-controlled homing
procedure" can be advantageously used after loss of position data
reference after:
encoder replacement in conjunction with a home switch,
encoder error with peripheral causes in the case of modulo-scaled
axes (e.g. encoder cable damage).
Note:
"Active drive" means the drive that is in control. Drive enable

("AF") has been set.
5-2 Drive Functions

Assigning the Axis-Related
Actual Position Value with "Set
Absolute Measuring"
By starting the "set absolute measuring" command the previous actual

position value of an encoder at a dedicated position of the axis is set to a
new value. This value is the current axis position related to the coordinate
system of the machine.
The dedicated position is defined by:
the current axis position
- or the positioning of the axis at a "striking" axis position
(e.g. value "0").
The required assignments and configurations for "setting absolute
measuring" are realized via parameter settings.
Assigning the Axis-Related

Actual Position Value with
"Drive-Controlled Homing"
By starting the "drive-controlled homing procedure" command the

previous actual position value of an encoder at a dedicated position of the
axis is set to a new value. This value is the current axis position related to
the coordinate system of the machine.
The required assignments and configurations for "drive-controlled
homing" are realized via parameter settings.
5.2
Error Reactions
Overview of Error Reactions

Depending on the operating mode that is used and some parameter
settings, the drive controller carries out monitoring functions. An error
message is generated by the drive controller, if a status is detected that
no longer allows correct operation.
Errors are classified in error classes. The error class is represented by
the first two digits of the diagnostic message number.
If the drive controller is in control (drive enable was set) and an error
occurs, the drive controller automatically starts a drive error reaction.
This drive error reaction depends on:
the error class of the error occurred and
the settings of the following parameters:
P-0-0117, Activation of NC reaction on error
P-0-0118, Power supply, configuration
P-0-0119, Best possible deceleration
Note:
At the end of each error reaction, the drive goes torque-free.

Power off depends on the setting in parameter P-0-0118!
Drive Functions 5-3
Error Classes
There are 8 error classes with different priority:

Diagnostic
message
number
Error class
Error reaction
F2xxx
non-fatal error
according to setting in parameter:

- P-0-0119, Best possible deceleration
- P-0-0117, Activation of NC reaction on
error
F3xxx
non-fatal safety
technology error

- P-0-0117, Activation of NC reaction on
error
F4xxx
interface error

F6xxx
travel range error
velocity command value reset

("emergency halt")
F7xxx
safety technology error according to setting in bit 9 of parameter

P-0-3210, Safety technology
configuration
F8xxx
fatal error
immediate torque disable
F9xxx
fatal system error
E-xxxx
fatal system error

"processor exception"
Fig. 5-1:
Error classes and drive reaction
Note:
The error class can be recognized by the diagnostic message

number and defines the drive behavior in the case of error.
Best Possible Deceleration

The drive reaction defined in parameter P-0-0119, Best possible
deceleration is automat. carried out in the case of the following states:
non-fatal errors (F2xxx)
non-fatal safety technology errors (F3xxx)
interface errors (F4xxx)
change of drive enable signal from "1" to "0"
(drive enable switched off)
switching from operating mode to parameter mode while the drive is in
control (reset of the communication phase)
Note:
At the end of each error reaction, the drive goes torque-free!
The setting in parameter P-0-0119 is ignored in the case of:

travel range errors (F6xxx)
velocity command value reset ("emergency halt")
safety technology errors (F7xxx)
depending on bit 9 of parameter P-0-3210, Safety technology
configuration
fatal errors (F8xxx)
fatal system errors (F9xxx)
5-4 Drive Functions
5.3
Compensation Functions/Corrections
Detent Torque Compensation

Expansion packages servo (order code SRV) and synchronization (order code SNC) in closed-loop
characteristic
Motors for which the magnetic excitation is realized with permanent

magnets (e.g. synchronous motors) in many cases show detent torques
or detent forces. Detent torques/detent forces already act on the moving
component of the motor in the de-energized state and aim at moving it to
a stable position.
When the motor is put into motion by control, the detent torques/detent
forces act on the motor in a decelerating or accelerating way, according to
the position. For applications in which minimum lag error or very constant
velocity is important, the position-dependent detent torques/detent forces
can have a negative effect.
To improve the synchronous operation and lag error behavior of
synchronous motors, IndraDrive controllers provide detent torque and
detent force compensation for drives with high demands on lag error and
synchronous operation quality. For this purpose, additive torque
command values take effect in drive control in a position-dependent way.
P-0-1130, Table of detent torque compensation values pos.

direction
P-0-1131, Control word of detent torque compensation
P-0-1132, Table of detent torque compensation values neg.
direction
P-0-1133, Status word of detent torque compensation
P-0-1134, Velocity threshold for attenuation of detent torque
compens.
P-0-1135, Velocity threshold for switching off detent torque
compens.
P-0-1136, Lead time detent torque compensation
P-0-1138,
C4800
compensation table
Command
Determine
detent
torque
C4800 Command Determine detent torque compensation table

C4801 Detent torque compensation: measuring velocity too high
C4802 Detent torque compensation: measuring velocity too low
C4803 Detent torque compensation: inadmissible acceleration
C4804 Det. torque comp.: error when storing corr. val. table
C4805 Detent torque comp.: motor measuring system not homed
Drive Functions 5-5
5.4
Measuring Wheel Mode

P-0-0185, Control word of encoder 2 (optional encoder)
5.5
Redundant Motor Encoder
Base package of all variants in closed-loop characteristic

Motor control of synchronous motors requires a position measuring
system that measures the position of the moving part of the motor as
opposed to the static part. If there is malfunction or defect in the position
measuring system (motor encoder), a synchronous motor can no longer
be decelerated in a controlled way.
Depending on the requirements, position control can require an external
measuring system at the axis which detects the position at the load with
the required precision.
For axis control, the entire mechanical drive system between motor
encoder and load position of the external encoder is mapped via
parameters. This allows calculating the position of the motor encoder
from the position of the external encoder or determining the load position
from the motor encoder position, if the mechanical drive system is without
slip.
If there is a defect in the motor encoder, the motor position, when an
external encoder is used, can be determined via the position of the
external encoder and the synchronous motor can be decelerated in a
controlled way.
For asynchronous motors with motor encoder, it is also possible to use an
external measuring system for controlled deceleration if there is a defect
in the motor encoder. But if the asynchronous motor, depending on the
drive task, is operated without encoder, controlled deceleration via
external encoder in the case of error is not possible!
Note:
You can only use measuring systems with Upp = 1V or

resolvers as redundant motor encoders!

F2031 Encoder 1 failure: signal amplitude wrong
F2042 Encoder 2: encoder signals incorrect
F8022 Enc. 1: enc. signals incorr. (can be cleared in ph. 2)
F8042 Encoder 2 failure: signal amplitude wrong
5-6 Drive Functions
5.6
Virtual Master Axis Generator
Expansion package synchronization (order code SNC) in all designs

As for drive-controlled positioning, a positioning command value is preset
for the virtual master axis generator; this value can be processed
internally in absolute (position target) or relative (travel distance) form. In
the internal interpolator, a position command value characteristic is
generated as the input value for the position loop from the preset
positioning data (effective target position, velocity, acceleration and jerk).
Note:
positioning
input
The function "virtual master axis generator" is identical to the

operating mode "drive-controlled positioning". Only the
parameters used are different!
cmd value adjustment

for virtual
master axis generator
master axis
effective
virtual
pos. cmd value
Fig. 5-2:
oper. mode
velocity
cmd value
position
control loop
torque/force
cmd value
DF000195v01.fh
Block diagram "virtual master axis generator" (and subsequent

function blocks)
Features
As device function, the virtual master axis generator has been realized
with the following characteristics:
nd
2 order command value interpolator with subsequent jerk limitation

absolute, relative and additive positioning capability
"infinite travel" (jogging) is possible
position data format to be set:
linear:
0.0001 mm / 0.0001 inch
rotary:
0.0001 degrees
modulo value to be set

master axis "absolute" or "modulo"
format conversion from position format "virtual master axis" to master
axis format (modulo value "virtual master axis" 2^20 * P-0-0750)
virtual master axis generator realized as
IndraMotion MLD with individual scaling system
virtual
axis
in
setting of virtual master axis generator either directly via parameters or

via the following function blocks:
MC_MoveVelocity / MX_MoveVelocity
MC_MoveAbsolut / MX_MoveAbsolut
MC_MoveAdditiv / MX_MoveAdditiv
MC_MoveRelativ / MX_MoveRelativ
MC_Stop
MB_Stop
Drive Functions 5-7
The function blocks for the virtual axis must behave exactly like those
for a real axis. The diagnostic and error messages, however, are
different.
P-0-0756, Virtual master axis, scaling type
P-0-0757, Virtual master axis, modulo value
P-0-0758, Virtual master axis, actual position value
P-0-0759, Virtual master axis, actual velocity value
P-0-0760, Virtual master axis, positioning control word
P-0-0766, Virtual master axis, positioning command value
P-0-0767, Virtual master axis, effective target position
P-0-0768, Virtual master axis, positioning status
P-0-0769, Virtual master axis, command value mode
P-0-0771, Virtual master axis, positioning acceleration
P-0-0772, Virtual master axis, positioning deceleration
P-0-0774, Virtual master axis, positioning window shortest
distance
P-0-0911, Virtual master axis, positioning window
P-0-0912, Virtual master axis, standstill window
P-0-0913, Virtual master axis, positioning jerk
P-0-0914, Virtual master axis, velocity threshold positioning
P-0-0917, Control word of master axis generator

E2100 Positioning velocity of master axis generator too high
E2101 Acceleration of master axis generator is zero
F2063 Internal overflow master axis generator
F2064 Incorrect cmd value direction master axis generator
5-8 Drive Functions
5.7
Parameter Set Switching

IndraDrive devices have been equipped with up to eight parameter sets; it
is possible to switch between these sets in operation. One of the
switchable parameter sets is always active. Switching takes place upon
command of the control master.
Notes on Applications
With the possibility of adjusting the values of different parameters to

different operating phases or machining processes by switching
parameter sets, if necessary during operation, the IndraDrive firmware
supports the work flow in flexible production facilities.
Examples of application:
changing from C-axis to roughing or finishing operation in the case of
spindles
positioning mode for tool change with different gear ratios
changing motor spindles for different machining phases
adjusting the control loop gains to different load inertia or load masses
(e.g. with very different workpieces)
start-delta switching of motors with switchable winding to increase the
torque in short-time operation
Classification of Switchable
Parameters
Under the application-related point of view, the parameters to be switched

are divided into the following groups:
application parameters
control loop parameters
load gear parameters
winding parameters
encoder parameters

P-0-2216, Parameter set switching, configuration
P-0-2218, Parameter set switching, delay time

C4101 Switching only possible without AF
C4104 Error during parameter set switching (->S-0-0423)
Drive Functions 5-9
5.8
Cross Communication (CCD)

Basic Information on the CCD Function
The IndraDrive interface for cross communication ( CCD: Cross
Communication Drives) allows electronic (digital) coupling of axes. We
distinguish the following subfunctions of CCD:
synchronization of the CCD slaves to the CCD master
command value linkage of the CCD axes (e.g. master/slave, Gantry
axis)
command triggering (control over axes: RF, AH, )
transmission of external process data (command values and actual
values of the external control unit)
parameterization of all axes of the CCD group via the interfaces
(RS232, field bus, ) of the CCD master
Note:
Communication between the CCD master and the CCD slaves

takes place via a protocol according to SERCOS III
specification.
higher-level
control unit
PLC
(BASIC single-axis/double-axis or ADVANCED)
X31
X8
X4
optional module
"CCD"
for ADVANCED
X32
X7
X31
X4
X7
X32
X31
X10
Ethernet TCP/IP
X8
X4
X7
X32
X31
X10
X8
X4
X32
X10
X41
X10
X8
X41
X7
X41
commissioning
all axes
without replugging
slave axes
field bus
X41
SERCOS III
Rexroth
X2
X2
H20
Esc
Enter
MASTER
X2
H20
Esc
Enter
SLAVE 1
optional master communication
module "S3" for
BASIC single-axis/double-axis
and ADVANCED
Fig. 5-3:
X2
H20
Esc
H20
Esc
Enter
SLAVE 2
Enter
SLAVE 3
DF000188v01_en.fh
Hardware topology of drive cross communication (CCD)
5-10 Drive Functions
Variants and Dependencies of the CCD Function

Bus Topology
As regards system structure and bus topology, the following basic

distinction is made:
Collective bus connection
Configuration of the CCD slaves and communication with the external
control unit always takes place via the CCD master drive, as the
individual CCD slaves do not have their own additional interface for
master communication.
Individual bus connection (in preparation)
Each drive in the cross communication group additionally has its own
interface for master communication.
CCD Modes
When cross communication (CCD) is used between the drives, we

distinguish the following variants (CCD modes):
CCD system mode
The CCD slaves have a direct logic connection to the field bus CCD
master; command triggering and input of process data take place via
en external control unit.
CCD basic mode
The functions are available as for the CCD system mode, but without
use of MLD-M functionality in the master axis.
MLD-M system mode
The CCD slaves have no direct logic connection to the external control
unit, but only to the MLD-M in the CCD master. Command triggering
and input of process data take place by the MLD-M in the CCD
master.
Features
The table below contains the main features and important data of the
CCD modes:
Command
triggering
(Motion Control)
CCD
master
CCD
slave
remote
remote
CCD
basic mode
local
local
MLD-M
system mode
local
remote
MLD-M
CCD
system mode
Possible master communication
PROFIBUS
DeviceNet
profiles 0xFFFE, 0xFFFE

for all CCD nodes
CANopen
--
SERCOS
Parallel/
analog
Max.
number of
slaves
--
--
all profiles (only for CCD master)
yes
yes
all profiles (only for CCD master)
yes
yes
remote:
control by external master
remote MLD-M: control by MLD-M in CCD master
local:
control by local MLD-S of the respective axis
Fig. 5-4:
Main features of the CCD modes
Drive Functions 5-11
Communication Data
The cross communication (CCD) function is characterized by the following

communication-specific features:
synchronization of the CCD slaves to the CCD master
CCD (SERCOS-III) cycle time (see S-0-1002) can be selected
depending on the controller performance which was set (P-0-1602):
Advanced performance: 0.5 ms, 1 ms, 2 ms, 4 ms
Basic performance:
1 ms, 2 ms, 4 ms
The overview below shows the dependency between cycle time, CCD
mode and maximum number of slaves:
Data length
(bytes/slave)
CCD
cycle time
CCD
system mode
CCD basic mode/

MLD-M system mode
500 s
1 master + 1 slave
1 master + 1 slave
1000 s
1 master +3 slaves
1 master +5 slaves
4000 s
1 master +5 slaves
1 master +7 slaves
48
Fig. 5-5: Maximum number of slaves depending on CCD cycle time and CCD
mode
max. baud rate:
100 MBaud
CCD communication protocol:

SERCOS III
(see "SERCOS III" in chapter "Master Communication")
data channels:
cyclic data channel (MDT, AT):
max. 48 bytes and 16 IDN each
parameter or service channel:
2 bytes
In the case of collective field bus connection in the system mode, only
the freely configurable profile (0xFFFE and 0xFFFD) is supported in
the master!
Apart from the exchange of cyclic process data (MDT, AT), all CCD
slaves can be parameterized via the parameterization interfaces
(Ethernet, serial, master communication) available at the CCD master.
Fields of Application
Typical fields of application for cross communication:
control tasks for multi-axis applications
anti backlash
synchronous operation control
load control of several axes
simple command value linkage
position command value linkage (Gantry axes)
torque/force linkage
simple motion controls (in preparation)
with decentralized command value adjustment for single-axis
positioning and master axis linkage
Note:
With the cross communication function, "Coordinated Motion"

is not possible!
Note:
The higher-level master mostly is a PLC with a field bus which

does not have real-time and synchronization ability
(PROFIBUS, DeviceNet).
Hardware Requirements
Using the drive function "cross communication" requires the following
control section design:
CCD Master
control section in ADVANCED design with optional module CCD at
optional slot 3
CSH-01.2C-xx-xxx-xxx-CCD-xx-x-..
CCD slaves
control section with master communication interface "SERCOS III"
(S3); possible with the following designs:
BASIC UNIVERSAL single-axis
CSB-01.1C-S3-xxx-xx-x
BASIC UNIVERSAL double-axis CDB-01.1C-S3-xxx-xx-x

ADVANCED single-axis CSH-01.1C-S3-xxx-xx-x
See documentation "Project Planning Manual for Control

Sections"
Note:
As for integrated safety technology, this firmware function

does not require separate enabling of functional packages; the
function of drive cross communication is available with the
corresponding hardware design.
Note:
The parameters listed below are only required for the CCD
master!
These list parameters are available once in the CCD master for all CCD
slaves:
P-0-1600, CCD: configuration
P-0-1601, CCD: addresses of projected drives
P-0-1602, CCD: timing settings
P-0-1605, CCD: command communication phase
P-0-1606, CCD: actual communication phase
P-0-1611, CCD: configuration list signal status word
P-0-1612, CCD: configuration list signal control word
P-0-1613, CCD: assignment list signal status word
P-0-1614, CCD: assignment list signal control word
P-0-1615, CCD: extrapolated cmd value IDN list signal selection
P-0-1616, CCD: extrapolated cmd value signal selection
P-0-1617, CCD: number of extrapolation steps
P-0-1618, CCD: extrapolated command value
P-0-1621, CCD: configuration list master communication cmd
values
P-0-1622, CCD: configuration list master communication actual
values
P-0-1623, CCD: configuration list master cmd values
P-0-1624, CCD: configuration list actual master values

P-0-1625, CCD: configuration list slave cmd values
P-0-1626, CCD: configuration list actual slave values
P-0-1630, CCD: diagnosis
P-0-1632, CCD: system data 2 bytes
P-0-165x, CCD: master control word, slave x
P-0-166x, CCD: drive status word, slave x
P-0-1670, CCD: active actual position value, master
P-0-167x, CCD: active actual position value, slave x
P-0-1680, CCD: actual velocity value, master
P-0-168x, CCD: actual velocity value, slave x
P-0-1690, CCD: actual torque/force value, master
P-0-169x, CCD: actual torque/force value, slave x
P-0-170x, CCD: diagnostic message number slave x
P-0-1710, CCD: signal status word, master
P-0-171x, CCD: signal status word, slave x
P-0-1720, CCD: signal control word, master
P-0-172x, CCD: signal control word, slave x
P-0-1730, CCD: MDT real-time container 1, master
P-0-173x, CCD: MDT real-time container 1, slave x
P-0-1770, CCD: AT real-time container 1, master
P-0-177x, CCD: AT real-time container 1, slave x
P-0-1810, CCD: status word synchronous operating modes,
master
P-0-181x, CCD: status word synchronous operating modes,
slave x
Note:
For configuring the SERCOS III communication in the slaves

we use the standard SERCOS III parameters (see S-0-1001 et
seq.).

C0265 Incorrect CCD address configuration
C0266 Incorrect CCD phase switch
C0267 CCD timeout phase switch
C0403 Switching to CCD phase 2 impossible
E4012 Maximum number of CCD slaves exceeded
E4013 Incorrect CCD addressing
E4014 Incorrect phase switch of CCD slaves
F2140 CCD slave error
F4140 CCD communication error
F6140 CCD slave error (emergency halt))
F8140 Fatal CCD error
5.9
Rexroth IndraMotion MLD (Drive-Integrated PLC)

The optional expansion package "IndraMotion MLD" provides the function
of a PLC integrated in the drive according to IEC-61131-3 with the
following scope of functions:
integrated logic control (standard PLC tasks)
completely conforms to IEC-61131-3
online change
debugging
offline simulation
integrated multi-axis/single-axis motion control
motion function block according to PLCopen for single-axis positioning
on local and remote axes and synchronization mode (synchronous
running, cam shaft, ...)
"low-level motion functions"
priority programming via SFC combined with ST
Single-Action-Steps (non-IEC steps) for "single" steps
motion function block per libraries
cyclic parameters available as direct variables (system-wide
variables)
library administration
basis for technology functions
Examples: following-on cutting devices, pick&place, process controller
(register controller, winding computation, etc.), preventive
maintenance, free function block combination
synchronous, consistent data exchange with drive control,
configurable cyclical data channel
periodic, high-priority user task
run-time monitoring
Note:
This optional extension of the drive functionality is described in

detail
in
the
separate
documentation
"Rexroth
IndraMotion MLD" (DOK-INDRV*-MLD-S*VRS**-AW01-EN-P;
part no. R911306084).
The expansion package "IndraMotion MLD" requires one of the following

control section designs:
single-axis ADVANCED (CSH01.1C)
single-axis BASIC (CSB01.1)
Note:
Firmware Requirements
The expansion package "IndraMotion MLD" is not available

for double-axis control sections (CDB01.1C)!
In the firmware MPx-04VRS the function "IndraMotion MLD" is available

in the following variants:
Advanced design (MPH)
Basic single-axis design (MPB)
5.10 Integrated Safety Technology

Note:
The drive-integrated safety technology is a functionality only

scalable by means of the hardware and does not require any
additional enabling of functional packages.
We distinguish the following characteristics of integrated safety

technology for IndraDrive:
Safety related starting lockout
(pure hardware solution Option L1)
Integrated safety technology "Safety on Board"
(firmware and hardware solution Option S1)
The overview below illustrates the dependence of the safety technology
characteristic on the hardware:
Integrated safety technology (Safety on Board)
Hardware option
Safety related starting

lockout
Safety related
motion
Safety related
stopping process
Drive interlock
L1
S1
S1
S1
BASIC OPENLOOP
(CSB01.1N-FC)
BASIC SERCOS
(CSB01.1N-SE)
BASIC PROFIBUS
(CSB01.1N-PB)
BASIC ANALOG
(CSB01.1N-AN)
BASIC UNIVERSAL
(CSB01.1C; single-axis)
BASIC UNIVERSAL
(CDB01.1C; double-axis)
ADVANCED
(CSH01.1C)
Fig. 5-6:
Dependence of safety technology on hardware
Integrated Safety Technology (Safety on Board)

Features
dual-channel selection of safety functions via digital inputs/outputs

(24 V) or digital inputs/outputs (24 V) and master communication or a
safety related process data channel for PROFIBUS-DP (PROFIsafe)
integrated functionality for detecting "sleeping" errors:
dual-channel data processing with structure by diversity
cross comparison of the safety-relevant data
dynamization of static states
password protection for all safety technology parameters
safety functions in normal operation
(Safety related maximum speed, Safety related end position with trend
monitoring)
safety functions in status "Safety related stopping process"
(Safety related standstill, Safety related operational stop, Safety
related drive interlock)
safety functions in status "Safety related motion"
(Safety related reduced speed, Safety related direction of motion,
Safety related limited increment, Safety related limited absolute
position)
other auxiliary functions (Safety related shutdown, Safety related
homing procedure, Safety related inputs/outputs for PROFIsafe)
safety functions for "Safety related feedback"
(Safety related diagnostic outputs, Safety related control of a door
locking device)
P-0-3205, Safety technology device identifier

P-0-3210, Safety technology configuration
P-0-3231, Reference position for safety related reference
P-0-3232, Standstill window for safety related direction of motion
P-0-3238, Extended safety technology status
P-0-3239, Configuration of global safety technology functions
P-0-3295, Safety technology field bus configuration
P-0-3296, Safety technology field bus control word
P-0-3297, Safety technology field bus status word
P-0-3300, Redundant holding brake: configuration
P-0-3301, Redundant holding brake: status word
P-0-3302, Safety related holding system: time interval brake
check
P-0-3303, Safety related holding system: nominal load
P-0-3306, Redundant holding brake: drive on delay time
P-0-3307, Redundant holding brake: drive off delay time
P-0-3310, Safety related holding system: max. travel range brake
check
P-0-3311, Safety rel. hold. sys.: dur. test torque injection br.
check

Messages
A0018 Special mode motion 1 active

C5700 Command Release redundant holding brake
C5701 Command Release redundant holding brake not possible
C5800 Command Apply redundant holding brake
C5801 Command Apply redundant holding brake not possible
C5900 Command Abrasion of redundant holding brake
C5901 Command Abrasion of red. holding brake only possible
with AF
C5902 Command Error during abrasion of redundant holding
brake
C5903 Command execution impossible
E3116 Nominal load torque of holding system reached
F3116 Nominal load torque of holding system exceeded

Notes
Extended Drive Functions 6-1
Extended Drive Functions
6.1
Quick Stop via Probe Input
Expansion packages servo (order code SRV) and synchronization (order code SNC) in all designs
The edge reversal of a digital voltage signal can trigger the quick stop of
an axis, if the drive is ready for this action. For quick stop, a velocity
command value reset is internally triggered which causes the axis to
decelerate. The following conditions are taken into account in this case:
the current torque/force limit value for drives in closed-loop operation
the maximum stator frequency change (P-0-0569) for drives in openloop operation
When the drive has detected the quick stop signal, it ignores the setting of
command values by the control master, decelerates in a drive-controlled
way and remains in a drive-internal operating mode until the readiness for
quick stop is reset.
To keep the delay between edge reversal of the signal and triggering of
quick stop as short as possible, the rapid digital input for probe 1 is used
for this function. This realizes the quickest signal evaluation under the
following conditions:
sampling time for signals at probe input approx. 0.05 s
For sufficient noise immunity, signal edge reversal must last for at
least 4.0 s in order to be safely detected!
Quick stop via probe input can only be used for drives the control sections
of which have a rapid digital input (probe input 1).
The following control section designs are available:
no rapid digital input ( quick stop via probe input not possible):
CSB01.1N-FC- BASIC OPENLOOP
CSB01.1N-AN- BASIC ANALOG
one rapid digital input:
CSB01.1N-SE- BASIC SERCOS
CSB01.1N-PB- BASIC PROFIBUS
CSB01.1C
BASIC UNIVERSAL (single-axis)
one rapid digital input per axis:
CDB01.1C-
BASIC UNIVERSAL (double-axis)
two rapid digital inputs:
CSH01.1C-...
ADVANCED
The terminal designations of the "rapid" digital inputs are contained in the
documentation "Project Planning Manual for Control Sections".
6-2 Extended Drive Functions
S-0-0130, Probe value 1 positive edge
S-0-0170, Probing cycle procedure command
S-0-0401, Probe 1
S-0-0405, Probe 1 enable
S-0-0409, Probe 1 positive latched
S-0-0426, Signal select probe 1
S-0-0428, Probe, IDN list signal selection
P-0-0226, Probe, extended control word
P-0-0300, Digital I/Os, assignment list
P-0-0301, Digital I/Os, bit numbers
P-0-0302, Digital I/Os, direction

E8035 Quick stop with probe detection is active
6.2
Encoder Emulation
Features
cyclic calculation of the position or increments output by the emulator
in the position loop clock (see "Performance Data" in chapter "System
Overview")
freely selectable position signals for emulation (P-0-0900, P-0-0901)
resolution that can be parameterized (incremental encoder emulation
in lines/revolution; absolute encoder emulation in bits/revolution)
scaling-related emulation (SSI and incremental) S-0-0076
synchronization of SSI emulation to SSI clock can be activated
dead-time compensation that can be activated for incremental encoder
emulation (P-0-0902, bit 3)
zero pulse that can be shifted for incremental encoder emulation
(P-0-0904)
parameterizable cyclic zero pulse output for incremental encoder
emulation referring to zero pulse distance (P-0-0904) and position data
reference (P-0-0902)
incremental encoder emulation can be switched off in operation
( pause)
internal clock increase of incremental encoder emulation to reduce
zero pulse jitter and frequency jitter (not for BASIC ANALOG control
sections)
signal-related and motor-encoder-related emulation to be freely
selected
( influence on position of zero pulse!)

P-0-0902, Encoder emulation control parameter
6.3
Analog Outputs
Overview
According to the control section type, IndraDrive controllers already have
analog outputs in their basic configuration (without optional modules).
Configurable control sections can be upgraded with this function by using
the optional module MA1. The number and function of the analog outputs
differ according to the type and configuration of control section (see
"Hardware Requirements" below).
The figure below illustrates the interaction of the two analog output
channels with the analog outputs.
P-0-0427
bit 13
only for MPD
P-0-0427
bit 12
analog output: assignment B

P-0-0427
bit 8
P-0-0425
select
drive parameters acc.
to P-0-0426
P-0-0427
bit 10
P-0-0427
bit 5
only for MPD
P-0-0427
bit 4
analog output: assignment A

bit 0
P-0-0422
select
drive parameters acc.
to P-0-0426
P-0-0420
(output on MA1)
D
P-0-0417
Out 6
analog output 4
(output on MA1)
D
P-0-0415
Out 4
analog output 2
(control section)
D
P-0-0140
Out 2
P-0-0419
P-0-0423
P-0-0427
analog output 6
P-0-0427
bit 2
analog output 5
(output on MA1)
D
P-0-0416
Out 5
analog output 3
(output on MA1)
D
P-0-0414
Out 3
analog output 1
(control section)
D
P-0-0139
Out 1
P-0-0418
DF000092v02_en.fh
MA1:
Fig. 6-1:
analog I/O extension (optional module)

Assignment mechanism for the analog outputs
The drive function "analog outputs" allows using analog signal values for
commissioning and optimizing drives with appropriate measuring devices
(e.g. oscilloscope, multimeter), as well as for visualizing the contents of
drive parameters.
Features
General Information
number and characteristics of analog outputs depending on type and

configuration (with/without optional module MA1) of the control section
up to 6 analog outputs available according to control section design
update of analog outputs in velocity loop clock (see "Performance
Data" in chapter "System Overview")
analog outputs can be written via master communication (cyclic or
acyclic channel)
internal status variables and signals (= parameter contents) are output
as analog voltage signals at output terminal connectors of the drive
controller (see separate documentation "Project Planning Manual for
Control Sections")
monitoring function with regard to double assignment of outputs
variable scaling of analog outputs
switching of the behavior at the limits of voltage range that can be
displayed between overflow and limitation
parameterizable output offset or parameterizable reference value
Analog Outputs on Control

Section
Analog Outputs on Optional

Module MA1
number and resolution of analog outputs according to control section

design:
ADVANCED
2 analog outputs with 8 bits
BASIC UNIVERSAL double-axis
BASIC OPENLOOP
output voltage range:
0 to 5 V
available quantization:
19.5 mV (= 5V/2^8)
The optional module MA1 was developed according to VDE 0411part 500 (programmable logic controllers) and should be used according
to the specifications contained in this standard.
connection via 15-pin D-Sub connector
2 analog outputs with 12 bits each
output voltage range:
10 V with reference to 0 VA
available quantization:
5 mV (= 10V/2^11)
Analog output
Control
section type
1
(P-0-0139)
2
(P-0-0140)
3
(P-0-0414)
4
(P-0-0415)
5
(P-0-0416)
6
(P-0-0417)
CSH01.1C
An1
An2
MA1
(optional slot 2:
AA1)
MA1
(optional slot 2:
AA2)
--
--
CSB01.1C
--
--
MA1
(optional slot 2:
AA1)
MA1
(optional slot 2:
AA2)
--
--
CDB01.1C
An1
An2
MA1
(optional slot 3:
AA1)
MA1
(optional slot 3:
AA2)
MA1
(optional slot 4:
AA1)
MA1
(optional slot 4:
AA2)
CSB01.1N-FC
An1
An2
--
--
--
--
CSB01.1N-AN
--
--
--
--
--
--
CSB01.1N-SE
--
--
--
--
--
--
CSB01.1N-PB
--
--
--
--
--
--
MA1:
Fig. 6-2:
optional module MA1 (analog I/O extension)

Overview of hardware dependence of the analog outputs
The terminal designations and technical data of the analog

outputs are contained in the separate documentation "IndraDrive, Drive
Controllers Control Sections, Project Planning Manual"!
Note:
In the case of double-axis devices (control section

CDB01.1-....), the analog outputs are used by both axes,
simultaneous use of an analog output by both axes is
impossible.

P-0-0416, Analog output 5
P-0-0417, Analog Output 6

Notes
Handling, Diagnostic and Service Functions 7-1
Handling, Diagnostic and Service Functions
7.1
Loading, Storing and Saving Parameters

Messages
7.2
P-0-4090, Configuration for loading default values

C0751 Parameter default value incorrect (-> S-0-0423)
Replacing the Firmware
General Notes on How to Replace the Firmware

Basic Principles
Explanation of Terms
For firmware replacement we distinguish the following cases:

Release update
An old firmware release (e.g. MPH04V06) contained in the device is
replaced by a new firmware release (e.g. MPH04V08).
Version upgrade
The old firmware version (e.g. MPH03V20) contained in the device is
replaced by a new firmware version (e.g. MPH04V08).
Note:
The paragraphs below describe the recommended options

firmware replacement by higher releases ("update")
versions ("upgrade"). The same conditions and sequences
actions apply to firmware replacement by older releases
older firmware versions.
of
or
of
or
Firmware for IndraDrive is replaced using the following hardware and

software:
MultiMediaCard (MMC)
PC with software "IndraWorks D"
Note:
The commissioning software "IndraWorks D" can be ordered

from one of our sales and service facilities under the
designation
SWA-IWORKS-D**-03VRS-D0-CD650-COPY
(part no. R911312495). The scope of supply of
"IndraWorks D" contains a documentation which describes the
operation of the program.
7-2 Handling, Diagnostic and Service Functions

Notes
Notes on Application 8-1
Notes on Application
8.1
New Applications
The firmware MPx-04VRS provides the following new possibilities of
application:
drive cross communication for command value linkage
motor switching in operation by extended functions "parameter set
switching" and "parking axis"
8.2
Functional Modifications with Regard to Previous Version

The paragraphs below in short form contain the most important functional
modifications with regard to the previous version MPx-03VRS. These
modifications have been marked with gray background color in the
respective sections of this documentation.
New and Modified Functions

New Functions
operating mode "electronic motion profile with real/virtual master axis"
virtual master axis generator
drive cross communication "CCD"
master communication CANopen, DeviceNet and SERCOS III
safety related brake management
system-wide operating hours counter
fine adjustment of commutation setting
software-side increase of absolute encoder range
IndraDrive inverter at third-party supply unit
start value which can be set for I-component of velocity loop for
vertical axes
redundant motor encoder
safety related end position
trend monitoring for transition to "safety related speed"
inputs/outputs of the drive as "safety related inputs/outputs"
safety related reduced speed without time monitoring
command handling for PLC commands
unassigned diagnosis parameter for PLC diagnoses
storage of PLC data in non-volatile form
PLC motion function blocks for synchronous operation
automatic baud rate search with CANopen and DeviceNet field bus
interface
8-2 Notes on Application
Compatible Functional Expansions and Modifications

parameter set switching
drive-controlled oscillation
parking axis
automatic setting of motor control parameters
extended possibilities of use for MultiMediaCard (MMC)
introduction of Rexroth commissioning tool "IndraWorks D"
probe function
operating mode "velocity control"
field bus I/O profile for velocity control
settings for "load default values"
drive-controlled parameter set switching
drive-controlled star-delta switching
extension of cyclic data interface
extension of the functions of the standard control panel
increase filter time of jerk filter
synchronization of SSI emulation with control unit
switching external encoder/motor encoder or kind of position loop
message "command value reached" independent of operating mode
positioning block mode with pause time
axis error correction for double-axis devices
undervoltage error as warning with motive torque switched off
acceleration limitation in command value path of velocity control
extension of cyclic field bus interface to 48 bytes (a maximum of
15 IDNs can be configured)
for CANopen master communication, three PDOs can be configured in
each direction with a maximum of 8 bytes each
Incompatible Functional Modifications

The following functions were extended or modified in firmware
MPx-04VRS in incompatible form with regard to the previous
version:
measuring wheel mode
"phase synchronization" and "electronic cam shaft" modes
PLC motion function blocks
The following functions were extended or modified in firmware
MPx-04VRS in incompatible form with regard to firmware
FGP-20VRS:
acyclic access
communication
to
drive
parameters
for
DeviceNet
master
node monitoring changed from "Node Guarding Protocol"

"Heartbeat Protocol" for CANopen master communication
to
acyclic parameter access (SDO) modified for CANopen master

communication
New and Modified Parameters

New Parameters
The following new parameters were introduced in firmware version
MPx-04VRS:
S-0-0163, Weight counterbalance
S-0-0420, C0400 Activate parameterization level 1 procedure
command
S-0-0422, C0200 Exit parameterization level procedure command
S-0-0423, IDN-list of invalid op. data for parameterization level
S-0-0424, Status parameterization level
S-0-0447, Command Set absolute measuring
S-0-0448, Control word for setting absolute measuring
S-0-0822, Torque/force ramp
S-0-0823, Torque/force ramp time
S-0-0824, Message torque/force command value reached
S-0-1001, SERCOS-III: NC cycle time (TNcyc)
S-0-1002, SERCOS-III: SERCOS cycle time (TScyc)
S-0-1005, SERCOS-III: Minimum feedback acquisition time (T5)
S-0-1006, SERCOS-III: AT transmission starting time (T1)
S-0-1007, SERCOS-III: Feedback acquisition starting time (T4)
S-0-1008, SERCOS-III: Command value valid time (T3)
S-0-1009, SERCOS-III: RTC offset in MDT
S-0-1010, SERCOS-III: MDT lengths
S-0-1011, SERCOS-III: RTC offset in AT
S-0-1012, SERCOS-III: AT lengths
S-0-1013, SERCOS-III: SVC offset in MDT
S-0-1014, SERCOS-III: SVC offset in AT
S-0-1015, SERCOS-III: ring delay
S-0-1016, SERCOS-III: slave delay (SYNCCNT-P, SYNCCNT-S)
S-0-1017, SERCOS-III: IP channel transmission starting time
S-0-1023, SERCOS-III: SYNC jitter
S-0-1024, SERCOS-III: ring control
S-0-1025, SERCOS-III: ring status
S-0-1026, SERCOS-III: hardware code
S-0-1028, SERCOS-III: MST error counter
S-0-1029, SERCOS-III: MDT error counter
S-0-1030, SERCOS-III: AT error counter
S-0-1031, SERCOS-III: signal assignment
S-0-1095, SERCOS-III: diagnostic message
P-0-0067, Phase current U, actual value

P-0-0068, Phase current V, actual value
P-0-0197, System time
P-0-0198, System time error memory
P-0-0199, System time error code
P-0-0208, Analog input 5
P-0-0209, Analog input 6
P-0-0234, Analog input 5, time constant input filter
P-0-0235, Analog input 6, time constant input filter
P-0-0518, C5600 Command
commutation offset
subsequent
optimization
of
P-0-0551, Current load torque

P-0-0686, Additive position command value, positioning velocity
P-0-0687, Additive
acceleration
position
command
value,
positioning

P-0-0697, Synchronization, master axis synchronous position
P-0-0698, Synchronization, master axis synchronization range
P-0-0756, Virtual master axis, scaling type
P-0-0757, Virtual master axis, modulo value
P-0-0758, Virtual master axis, actual position value
P-0-0759, Virtual master axis, actual velocity value
P-0-0760, Virtual master axis, positioning control word
P-0-0767, Virtual master axis, effective target position
P-0-0768, Virtual master axis, positioning status
P-0-0769, Virtual master axis, command value mode
P-0-0770, Virtual master axis, positioning velocity
P-0-0771, Virtual master axis, positioning acceleration
P-0-0772, Virtual master axis, positioning deceleration
P-0-0774, Virtual master axis, positioning window shortest
distance
P-0-0819, Energy counter
P-0-0910, SSI control parameter
P-0-0911, Virtual master axis, positioning window
P-0-0912, Virtual master axis, standstill window
P-0-0913, Virtual master axis, positioning jerk
P-0-0914, Virtual master axis, velocity threshold positioning
P-0-0915, Master axis format converter IDN list signal selection
P-0-0916, Master axis format converter signal selection
P-0-0917, Control word of master axis generator
P-0-0918, Feed travel internal virtual master axis

P-0-1130, Table of detent torque compensation values pos.
direction
P-0-1131, Control word of detent torque compensation
P-0-1132, Table of detent torque compensation values neg.
direction
P-0-1133, Status word of detent torque compensation
P-0-1134, Velocity threshold for attenuation of detent torque
compens.
P-0-1135, Velocity threshold for switching off detent torque
compens.
P-0-1136, Lead time detent torque compensation
P-0-1138,
C4800
compensation table
Command
Determine
P-0-1359, PLC retain data

P-0-1364, PLC idle time
P-0-1365, PLC error message
P-0-1398, PLC input WORD8 AT %IB16
P-0-1418, PLC output WORD8 AT %QB16
P-0-1440, PLC input DWORD25 AT %IB100
detent
torque

P-0-1449, C4900 PLC command
P-0-1530, Control section MAC address
P-0-1531, Control section IP address
P-0-1532, Control section network mask
P-0-1533, Control section gateway address
P-0-1600, CCD: configuration
P-0-1601, CCD: Addresses of projected drives
P-0-1602, CCD: timing settings
P-0-1605, CCD: command communication phase
P-0-1606, CCD: actual communication phase
P-0-1611, CCD: configuration list signal status word
P-0-1612, CCD: configuration list signal control word
P-0-1613, CCD: assignment list signal status word
P-0-1614, CCD: assignment list signal control word
P-0-1615, CCD: extrapolated cmd value IDN list signal selection
P-0-1616, CCD: extrapolated cmd value signal selection
P-0-1617, CCD: number of extrapolation steps
P-0-1618, CCD: extrapolated command value
P-0-1621, CCD: configuration list master communication cmd
values
P-0-1622, CCD: configuration list master communication actual
values
P-0-1623, CCD: configuration list master cmd values
P-0-1624, CCD: configuration list actual master values
P-0-1625, CCD: configuration list slave cmd values
P-0-1626, CCD: configuration list actual slave values
P-0-1630, CCD: diagnosis
P-0-1640, CCD: MAC address
P-0-1641, CCD: IP address
P-0-1642, CCD: network mask
P-0-1643, CCD: gateway address
P-0-165x, CCD: master control word, slave x
P-0-166x, CCD: drive status word, slave x
P-0-1670, CCD: active actual position value, master
P-0-167x, CCD: active actual position value, slave x
P-0-1680, CCD: actual velocity value, master
P-0-168x, CCD: actual velocity value, slave x
P-0-1690, CCD: actual torque/force value, master
P-0-169x, CCD: actual torque/force value, slave x
P-0-170x, CCD: diagnostic message number slave x
P-0-1710, CCD: signal status word, master

P-0-171x, CCD: signal status word, slave x
P-0-1720, CCD: signal control word, master
P-0-172x, CCD: signal control word, slave x
P-0-1810, CCD: status word synchronous operating modes,
master
P-0-181x, CCD: status word synchronous operating modes,
slave x
P-0-2218, Parameter set switching, delay time
P-0-3025, Brake voltage, encoder memory
P-0-3238, Extended safety technology status
P-0-3239, Configuration of global safety technology functions
P-0-3295, Safety technology field bus configuration
P-0-3296, Safety technology field bus control word
P-0-3297, Safety technology field bus status word
P-0-3300, Redundant holding brake: configuration
P-0-3301, Redundant holding brake: status word
P-0-3302, Safety related holding system: time interval brake
check
P-0-3303, Safety related holding system: nominal load
P-0-3306, Redundant holding brake: drive on delay time
P-0-3307, Redundant holding brake: drive off delay time
P-0-3310, Safety related holding system: max. travel range brake
check
P-0-3311, Safety rel. hold. sys.: dur. test torque injection br.
check
P-0-3313, C5800 Command Apply redundant holding brake
P-0-3314, C5900 Command Abrasion of redundant holding brake
P-0-3610, CANopen: Heartbeat Configuration
P-0-3611, CANopen: COB-IDs

P-0-3612, CANopen: Transmission Types
P-0-3613, CANopen: List of the Event Parameters
P-0-3905, Adjust values analog I/O interface 5-6
P-0-4018, Positioning block mode delay time
P-0-4024, IDN list cyclic parameter display
P-0-4054, C5400 Command Save PLC retain data on MMC
P-0-4055, C5500 Command Load PLC retain data from MMC
Modified Parameters
The following parameters were extended or modified in firmware version
MPx-04VRS:
S-0-0048, Additive position command value
S-0-0115, Position feedback 2 type
S-0-0128, C0200 Communication phase 4 transition check
S-0-0139, C1600 Parking axis command
S-0-0277, Position feedback 1 type
S-0-0292, List of all operating modes
S-0-1019, Master communication: MAC address
S-0-1020, Master communication: IP address
S-0-1021, Master communication: network mask
S-0-1022, Master communication: gateway address
P-0-0001, Switching frequency of the power output stage
P-0-0054, Additive master axis position
P-0-0060, Filter time constant additional pos. Command
P-0-0072, Cam shaft profile 1
P-0-0074, Encoder type 1 (motor encoder)
P-0-0075, Encoder type 2 (optional encoder)
P-0-0076, Encoder type 3 (measuring encoder)
P-0-0088, Control word for synchronous operation modes
P-0-0117, Activation of NC reaction on error
P-0-0143, Synchronization velocity
P-0-0155, Synchronization mode
P-0-0218, Analog input, control parameter
P-0-0226, Probe, extended control word
P-0-0328, Type of position encoder for measuring encoder
P-0-0427, Control parameter of analog output
P-0-0525, Holding brake control word
P-0-0555, Status word of axis controller
P-0-0556, Configuration of axis controller
P-0-0612, Control word for setting absolute measuring
P-0-0700, Motion profile, master axis switching position

P-0-0701, Motion step 1, slave axis initial position
P-0-0755, Gear reduction
P-0-0778, Synchronous position command value
P-0-0860, Converter configuration
P-0-0861, Power supply status word
P-0-0902, Encoder emulation control parameter
P-0-1206, Memory of velocity command values
P-0-2216, Parameter set switching, configuration
P-0-3205, Safety technology device identifier
P-0-3210, Safety technology configuration
P-0-3214, Safety technology status word, channel 1
P-0-3231, Reference position for safety related reference
P-0-3232, Standstill window for safety related direction of motion
P-0-3600, Master communication: software version
P-0-3601, Master communication: station name
P-0-3602, Master communication: station type
P-0-4035, Thermal time constant of motor
P-0-4068, Field bus: control word IO
P-0-4090, Configuration for loading default values
Parameters no Longer Available

The following parameters are no longer available compared to the
previous firmware version or were replaced by other parameters:
P-0-0176, Torque/force command smoothing time constant
P-0-0240, C1700 Command measuring wheel mode
P-0-0716, Motion step 3, mode
P-0-0717, Motion step 3, distance
P-0-0718, Motion step 3, slave axis velocity
P-0-0719, Motion step 4, master axis initial position
P-0-1499, PLC retain data on-board
New and Modified Diagnostic Messages

New Diagnostic Messages
The following new diagnostic messages were introduced in firmware
version MPx-04VRS:
A0050 Parameterization level 1 active
A0160 Position mode drive-controlled
A0161 Drive-controlled positioning
A0162 Positioning block mode
A0164 Velocity synchronization
C0210 Feedback 2 required (->S-0-0423)

C0218 Double signal selection master axis format converter
C0223 Invalid settings for controller cycle times
C0229 Field bus: IDN for cycl. command val. not configurable
C0230 Field bus: max. length for cycl. command val. exceeded
C0231 Field bus: IDN for cycl. actual val. not configurable
C0232 Field bus: length for cycl. actual values exceeded
C0233 Field bus: Tcyc (P-0-4076) incorrect
C0234 Field bus: P-0-4077 missing for cycl. command values
C0239 IDN for command value data container not allowed
C0240 IDN for actual value data container not allowed
C0265 Incorrect CCD address configuration
C0266 Incorrect CCD phase switch
C0267 CCD timeout phase switch
C0281 Commutation via encoder-2 impossible
C0298 Impossible to exit parameterization level
C0299 Functional package selection changed. Restart
C0403 Switching to CCD phase 2 impossible
C07_3 Load def. proc. com. (load defaults procedure for PLC)
C4101 Switching only possible without AF
C4104 Error during parameter set switching (->S-0-0423)
C4800 Command Determine detent torque compensation table
C4801 Detent torque compensation: measuring velocity too high
C4802 Detent torque compensation: measuring velocity too low
C4803 Detent torque compensation: inadmissible acceleration
C4804 Det. torque comp.: error when storing corr. val. table
C4805 Detent torque comp.: motor measuring system not homed
C4900 PLC command
C4901 PLC command error no. 1
C4910 PLC command timeout
C5400 Command Save PLC retain data on MMC
C5401 PLC program not ready for retain data backup
C5402 Error when writing data to the MMC
C5500 Command Load PLC retain data from MMC
C5501 PLC program not ready for loading retain data
C5502 MMC not available or not OK
C5503 PLC retain data do not match PLC program
C5504 Unknown format in PLC retain file
C5505 Invalid PLC retain data
C5600 Command subsequent optimization of commutation offset

C5601 Command requires drive enable
C5602 Axis blocked
C5603 Timeout: axis in motion
C5701 Command Release redundant holding brake not possible
C5800 Command Apply redundant holding brake
C5801 Command Apply redundant holding brake not possible
C5900 Command Abrasion of redundant holding brake
C5901 Com. Abrasion of red. holding brake only possible AF
C5902 Com. Error during abrasion of redundant holding brake
C5903 Command execution impossible
C6000 Command Set absolute measuring
C6001 Measuring system unavailable
C6002 Absolute evaluation of measuring system impossible
C6003 Absolute encoder offset cannot be saved
C6004 Command cannot be executed under drive enable
E2010 Position control with encoder 2 not possible
E2070 Acceleration limit active
E2092 Internal synchronization defective
E2100 Positioning velocity of master axis generator too high
E2101 Acceleration of master axis generator is zero
E3116 Nominal load torque of holding system reached
E4012 Maximum number of CCD slaves exceeded
E4013 Incorrect CCD addressing
E8026 Undervoltage in power section
E8035 Quick stop with probe detection is active
E8819 Mains failure
F2025 Drive not ready for Control
F2031 Encoder 1 error: signal amplitude incorrect
F2063 Internal overflow master axis generator
F2064 Incorrect cmd value direction master axis generator
F2130 Error comfort control panel
F2140 CCD slave error
F3116 Nominal load torque of holding system exceeded
F4017 S-III: incorrect sequence during phase switch
F4140 CCD communication error
F6140 CCD slave error (emergency halt)
F8042 Encoder 2 error: signal amplitude incorrect
F8140 Fatal CCD error
Modified Diagnostic Messages

The following diagnostic messages were extended or modified in
firmware version MPx-04VRS in compatible form:
C0201 Invalid parameters (->S-0-0423)
C0202 Parameter limit error (->S-0-0423)
C0203 Parameter calculation error (->S-0-0423)
C0212 Invalid control section data (->S-0-0423)
C0242 Multiple configuration of a parameter (->S-0-0423)
C0245 Operating mode configuration (->S-0-0423) not allowed
C0284 Invalid motor data in encoder memory (->S-0-0423)
C0287 Error during initialization of motor data (->S-0-0423)
C0401 Drive active, switching not allowed
C1600 Parking axis command
E3107 Safety related reference missing
F2026 Undervoltage in power section
F3112 Safety related reference missing
Diagnostic Messages no Longer Available

The following diagnostic messages are no longer available compared to
the previous firmware version or were replaced by other diagnostic
messages:
A0017 Special mode motion active
C0134 Invalid motor data in encoder memory (->S-0-0021)
C0138 Invalid control section data (->S-0-0021)
C0151 IDN for command value data container not allowed
C0152 IDN for actual value data container not allowed
C0154 Field bus: IDN for cycl. command val. not configurable
C0155 Field bus: max. length for cycl. command val. exceeded
C0156 Field bus: IDN for cycl. actual val. not configurable
C0157 Field bus: length for cycl. actual values exceeded
C0158 Field bus: Tcyc (P-0-4076) incorrect
C0159 Field bus: P-0-4077 missing for cycl. command values
C0199 Functional package selection changed. Restart
C1700 Command measuring wheel mode
C1701 Measuring wheel mode not possible
C4102 Switching only possible in parameter mode
F3111 Refer. missing when selecting safety related end pos.

Notes
Index 9-1
Index
A
Advanced performance 1-19
analog output 6-3
axis control
position loop 3-3
velocity loop 3-3
B
basic functions of master communication 2-1
basic functions of the synchronization modes 4-4
Basic performance 1-19
best possible deceleration 5-3
C
CANopen interface 2-10
CCD See cross communication
clock rates 1-19
closed-loop axis control 3-1
closed-loop axis control (closed-loop operation) 3-3
closed-loop operation 3-1
compatible functional expansions 8-2
configurations of the control section 1-4
control section configurations 1-4
control section designs 1-4
control sections, overview 1-4
controllers, overview 1-2
cross communication 5-9
cycle times 1-19
D
deceleration, best possible 5-3
detent torque compensation 5-4
device control 2-2
DeviceNet interface 2-11
diagnostic messages, new and modified 8-10
drive control 3-1
drive controllers
control sections 1-4
overview 1-2
power sections 1-4
drive controllers, special design 1-3

drive controllers, standard design 1-2
drive error reaction See error reactions
drive firmware, overview 1-1
drive functions 5-1
extended drive functions 6-1
drive-integrated PLC See IndraMotion MLD See IndraMotion MLD

dynamic synchronization of the slave axis 4-5
E
Economy performance 1-19
electronic cam shaft with real/virtual master axis 4-7
electronic motion profile with real/virtual master axis 4-9
encoder emulation 6-2
error classes 5-3
error reactions 5-2
best possible deceleration 5-3
establishing position data reference See establishing position data reference for
absolute measuring systems
for absolute measuring systems 5-1
extended drive functions 6-1
9-2 Index
F
firmware types 1-11
firmware variants 1-1
functional modifications with regard to previous version 8-1
functional packages 1-7
additive functional packages 1-17
alternative functional packages 1-15
base packages 1-12
functions, new and modified 8-1
I
I/O mode (positioning and preset velocity) 2-3
incompatible functional modifications 8-2
IndraMotion MLD 1-17, 5-14
integrated safety technology 1-18
M
master axis adjustment 4-5
master axis generator, virtual 5-6
master communication 2-1
CANopen interface 2-10
DeviceNet interface 2-11
overview 1-7
PROFIBUS-DP 2-8
SERCOS III 2-5
measuring systems
supported measuring systems 1-6
measuring wheel mode 5-5

motor control 3-2
motor encoder, redundant 5-5
motors
supported motors 1-6
multiplex channel 2-2
N
notes on application 8-1
O
operating modes
electronic cam shaft with real/virtual master axis 4-7
electronic motion profile with real/virtual master axis 4-9
phase synchronization with real/virtual master axis 4-5
positioning block mode 4-3
synchronization modes 4-4
torque/force control 4-1
velocity control 4-1
velocity synchronization with real/virtual master axis 4-5
P
parameter set switching 5-8
parameters
loading, storing and saving 7-1
parameters, new and modified 8-3

performance data 1-19
phase synchronization with real/virtual master axis 4-5
position loop 3-3
positioning block mode 4-3
power sections, overview 1-4
power supply 3-4
probe input, quick stop via 6-1
PROFIBUS-DP 2-8
Index 9-3
profile types 2-3

freely configurable mode 2-3
I/O Mode 2-3
I/O mode (positioning and preset velocity) 2-3
overview 2-3
Q
quick stop, via probe input 6-1
R
redundant motor encoder 5-5
release update 7-1
replacing the firmware 7-1
basic principles, terms 7-1
S
safety technology 1-18
scaling the drive functionality 1-7
SERCOS analog converter 1-3
SERCOS III 2-5
status machine 2-2
synchronization modes 4-4
synchronization of the slave axis, dynamic 4-5
system overview 1-1
T
torque/force control
block diagram 4-1
V
velocity control
block diagram 4-1
velocity loop 3-3

velocity synchronization with real/virtual master axis 4-5
version upgrade 7-1
virtual master axis generator 5-6
9-4 Index
Notes
Service & Support 10-1
10
Service & Support
10.1 Helpdesk
Unser Kundendienst-Helpdesk im Hauptwerk Lohr
am Main steht Ihnen mit Rat und Tat zur Seite.
Sie erreichen uns
Our service helpdesk at our headquarters in Lohr am

Main, Germany can assist you in all kinds of inquiries.
Contact us
+49 (0) 9352 40 50 60
telefonisch - by phone:
ber Service Call Entry Center
- via Service Call Entry Center
Mo-Fr 07:00-18:00
Mo-Fr 7:00 am - 6:00 pm
+49 (0) 9352 40 49 41
per Fax - by fax:
per e-Mail - by e-mail: service.svc@boschrexroth.de
10.2 Service-Hotline
Auerhalb der Helpdesk-Zeiten ist der Service
direkt ansprechbar unter
After helpdesk hours,

department directly at
contact
our
service
+49 (0) 171 333 88 26

oder - or
+49 (0) 172

660 04 06
10.3 Internet
Unter www.boschrexroth.com finden Sie
ergnzende Hinweise zu Service, Reparatur und
Training sowie die aktuellen Adressen *) unserer
auf den folgenden Seiten aufgefhrten Vertriebsund Servicebros.
At www.boschrexroth.com you may find

additional notes about service, repairs and training
in the Internet, as well as the actual addresses *) of
our sales- and service facilities figuring on the
following pages.
Verkaufsniederlassungen
sales agencies
Niederlassungen mit Kundendienst
offices providing service
Auerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mit

unserem fr Sie nchstgelegenen Ansprechpartner auf.
*) Die Angaben in der vorliegenden Dokumentation knnen

seit Drucklegung berholt sein.
Please contact our sales / service office in your area first.
*) Data in the present documentation may have become

obsolete since printing.
10.4 Vor der Kontaktaufnahme... - Before contacting us...

Wir knnen Ihnen schnell und effizient helfen wenn
Sie folgende Informationen bereithalten:
For quick and efficient help, please have the

following information ready:
i.
detaillierte Beschreibung der Strung und der

Umstnde.
1. Detailed description
circumstances.
ii.
Angaben
auf
dem
Typenschild
der
betreffenden
Produkte,
insbesondere
Typenschlssel und Seriennummern.
2. Information on the type plate of the affected

products, especially type codes and serial
numbers.
iii.
Tel.-/Faxnummern und e-Mail-Adresse, unter

denen Sie fr Rckfragen zu erreichen sind.
3. Your phone/fax numbers and e-mail address,

so we can contact you in case of questions.
of
the
failure
and
10-2 Service & Support
10.5 Kundenbetreuungsstellen - Sales & Service Facilities

Deutschland Germany
Vertriebsgebiet Mitte
Germany Centre
Bosch Rexroth
Electrice Drives and Controls GmbH
Bgm.-Dr.-Nebel-Str. 2 / Postf. 1357
97816 Lohr am Main / 97803 Lohr
Kompetenz-Zentrum Europa
Tel.:
Fax:
+49 (0)9352 40-0

+49 (0)9352 40-4885
SERVICE AUTOMATION
CALL ENTRY CENTER
Helpdesk
MO FR
von 07:00 - 18:00 Uhr
from 7 am 6 pm
vom Ausland:
from abroad:
(0) nach Landeskennziffer weglassen!

dont dial (0) after country code!
SERVICE AUTOMATION
HOTLINE 24 / 7 / 365
auerhalb der Helpdesk-Zeit
out of helpdesk hours
Tel.: +49 (0)172 660 04 06
Tel. +49 (0) 9352 40 50 60

Fax +49 (0) 9352 40 49 41
service.svc@boschrexroth.de
oder / or
Tel.: +49 (0)171 333 88 26
SERVICE AUTOMATION
ERSATZTEILE / SPARES
verlngerte Ansprechzeit
- extended office time nur an Werktagen
- only on working days von 07:00 - 18:00 Uhr
- from 7 am - 6 pm Tel. +49 (0) 9352 40 42 22
Vertriebsgebiet Sd
Germany South
Vertriebsgebiet West
Germany West
Gebiet Sdwest
Germany South-West
Bosch Rexroth AG
Landshuter Allee 8-10
80637 Mnchen
Bosch Rexroth AG
Regionalzentrum West
Borsigstrasse 15
40880 Ratingen
Bosch Rexroth AG
Service-Regionalzentrum Sd-West
Siemensstr. 1
70736 Fellbach
Tel.: +49 (0)89 127 14-0

Fax: +49 (0)89 127 14-490
Tel.:
Fax:
Tel.: +49 (0)711 510460

Fax: +49 (0)711 51046248
Vertriebsgebiet Nord
Germany North
Vertriebsgebiet Mitte
Germany Centre
Vertriebsgebiet Ost
Germany East
Vertriebsgebiet Ost
Germany East
Bosch Rexroth AG
Walsroder Str. 93
30853 Langenhagen
Bosch Rexroth AG
Regionalzentrum Mitte
Waldecker Strae 13
64546 Mrfelden-Walldorf
Bosch Rexroth AG
Beckerstrae 31
09120 Chemnitz
Bosch Rexroth AG
Regionalzentrum Ost
Walter-Khn-Str. 4d
04356 Leipzig
Tel.: +49 (0) 61 05 702-3

Fax: +49 (0) 61 05 702-444
Tel.:
Fax:
Tel.:
Fax:
Tel.:
+49 (0) 511 72 66 57-0
Service: +49 (0) 511 72 66 57-256
Fax:
+49 (0) 511 72 66 57-93
Service: +49 (0) 511 72 66 57-783
+49 (0)2102 409-0

+49 (0)2102 409-406
+49 (0)2102 409-430
+49 (0)371 35 55-0

+49 (0)371 35 55-333
+49 (0)341 25 61-0

+49 (0)341 25 61-111
Europa (West) Europe (West)

vom Ausland: (0) nach Landeskennziffer weglassen,
from abroad: dont dial (0) after country code,
Italien: 0 nach Landeskennziffer mitwhlen

Italy: dial 0 after country code
Austria - sterreich
Austria sterreich
Belgium - Belgien
Denmark - Dnemark
Bosch Rexroth GmbH

Electric Drives & Controls
Stachegasse 13
1120 Wien
Tel.:
+43 (0) 1 985 25 40
Fax:
+43 (0) 1 985 25 40-1459
Bosch Rexroth GmbH

Industriepark 18
4061 Pasching
Tel.:
+43 (0)7221 605-0
Fax:
+43 (0)7221 605-1220
Bosch Rexroth NV/SA

Henri Genessestraat 1
1070 Bruxelles
BEC A/S
Zinkvej 6
8900 Randers
Tel: +32 (0) 2 451 26 08

Fax: +32 (0) 2 451 27 90
info@boschrexroth.be
service@boschrexroth.be
Tel.:
Fax:
Denmark - Dnemark
Great Britain Grobritannien
Finland - Finnland
France - Frankreich
Bosch Rexroth A/S

Engelsholmvej 26
8900 Randers
Bosch Rexroth Ltd.

Broadway Lane, South Cerney
Cirencester, Glos GL7 5UH
Bosch Rexroth Oy
Ansatie 6
017 40 Vantaa
Tel.:
+44 (0)1285 863-000
Fax:
+44 (0)1285 863-030
sales@boschrexroth.co.uk
service@boschrexroth.co.uk
Tel.:
Fax:
Bosch Rexroth SAS

Avenue de la Trentaine
(BP. 74)
77503 Chelles Cedex
Tel.:
+33 (0)164 72-63 22
Fax:
+33 (0)164 72-63 20
Hotline: +33 (0)608 33 43 28
France - Frankreich
France Frankreich
France Frankreich
Italy - Italien
Bosch Rexroth SAS

ZI de Thibaud, 20 bd. Thibaud
(BP. 1751)
31084 Toulouse
Tel.: +33 (0)5 61 43 61 87
Fax: +33 (0)5 61 43 94 12
Bosch Rexroth SAS

91, Bd. Irne Joliot-Curie
69634 Vnissieux Cedex
Tel.: +33 (0)4 78 78 53 65
Fax: +33 (0)4 78 78 53 62
Tightening & Press-fit:

Globe Techniques Nouvelles
143, Av. du Gnral de Gaulle
92252 La Garenne Colombes
Bosch Rexroth S.p.A.

Strada Statale Padana
Superiore 11, no. 41
20063 Cernusco S/N.MI
Hotline: +39 02 92 365 563
Tel.:
+39 02 92 365 1
Service: +39 02 92 365 300
Fax:
+39 02 92 365 500
Service: +39 02 92 365 516
Italy - Italien
Italy - Italien
Italy - Italien
Italy - Italien

Via Paolo Veronesi, 250
10148 Torino

Via Mascia, 1
80053 Castellamare di Stabia NA

Via del Progresso, 16 (Zona Ind.)
35020 Padova

Via Isonzo, 61
40033 Casalecchio di Reno (Bo)
Tel.:
Fax:
Tel.:
Fax:
Tel.:
Fax:
Tel.:
Fax:
Tel.:
+45 36 77 44 66
Fax:
+45 70 10 03 20
tj@boschrexroth.dk
+39 011 224 88 11

+39 011 224 88 30
+39 081 8 71 57 00
+39 081 8 71 68 85
Tel.:
+358 (0)9 84 91-11

+358 (0)9 84 91-13 60
+33 (0)1 41 19 33 33
+39 049 8 70 13 70
+39 049 8 70 13 77
+45 87 11 90 60
+45 87 11 90 61
+39 051 29 86 430

+39 051 29 86 490
Italy - Italien
Netherlands Niederlande/Holland
Netherlands - Niederlande/Holland
Norway - Norwegen

TEMA S.p.A. Automazione
Via Juker, 28
20025 Legnano
Bosch Rexroth B.V.

Kruisbroeksestraat 1
(P.O. Box 32)
5281 RV Boxtel
Bosch Rexroth AS
Berghagan 1
or: Box 3007
1405 Ski-Langhus
1402 Ski
Tel.:
+47 64 86 41 00
Tel.:
Tel.:
+31 (0) 411 65 16 40
Fax:
+31 (0) 411 65 14 83
www.boschrexroth.nl
Bosch Rexroth Services B.V.

Technical Services
Kruisbroeksestraat 1
(P.O. Box 32)
5281 RV Boxtel
Tel.:
+31 (0) 411 65 19 51
Fax:
+31 (0) 411 67 78 14
Hotline: +31 (0) 411 65 19 51
services@boschrexroth.nl
+39 0 331 4671
Fax:
+47 64 86 90 62
Hotline: +47 64 86 94 82
jul.ruud@rexroth.no
Spain Spanien
Spain - Spanien
Spain - Spanien
Sweden - Schweden
Goimendi Automation S.L.

Parque Empresarial Zuatzu
C/ Francisco Grandmontagne no.2
20018 San Sebastian
Bosch Rexroth S.A.

Centro Industrial Santiga
Obradors 14-16
08130 Santa Perpetua de Mogoda
Barcelona
Tel.:
+34 9 37 47 94-00
Fax:
+34 9 37 47 94-01
Bosch Rexroth S.A.

c/ Almazara, 9
28760 Tres Cantos (Madrid)
Bosch Rexroth AB
- Varuvgen 7
(Service: Konsumentvgen 4, lfsj)
125 81 Stockholm
Sweden - Schweden
Switzerland East - Schweiz Ost
Switzerland West - Schweiz West
Bosch Rexroth AB
Ekvndan 7
254 67 Helsingborg
Tel.:
+46 (0) 4 238 88 -50
Fax:
+46 (0) 4 238 88 -74
Bosch Rexroth Schweiz AG

Hemrietstrasse 2
8863 Buttikon
Tel.
+41 (0) 55 46 46 111
Fax
+41 (0) 55 46 46 222
Bosch Rexroth Suisse SA

Av. Gnral Guisan 26
1800 Vevey 1
Tel.:
+34 9 43 31 84 21
- service: +34 9 43 31 84 56
Fax:
+34 9 43 31 84 27
- service: +34 9 43 31 84 60
sat.indramat@goimendi.es
Tel.:
+34 91 806 24 79
Fax:
+34 91 806 24 72
fernando.bariego@boschrexroth.es
Tel.:
Fax:
+41 (0)21 632 84 20

+41 (0)21 632 84 21
Tel.:
Fax:
+46 (0) 8 727 92 00

+46 (0) 8 647 32 77
Europa (Ost) Europe (East)

vom Ausland: (0) nach Landeskennziffer weglassen
from abroad: dont dial (0) after country code
Czech Republic - Tschechien
Hungary - Ungarn
Bosch -Rexroth, spol.s.r.o.

Hviezdoslavova 5
627 00 Brno
Tel.:
+420 (0)5 48 126 358
Fax:
+420 (0)5 48 126 112
DEL a.s.
Strojrensk 38
591 01 Zdar nad Szavou
Tel.:
+420 566 64 3144
Fax:
+420 566 62 1657

Bosch -Rexroth, spol.s.r.o.
Stetkova 18
140 68 Praha 4
Bosch Rexroth Kft.

Angol utca 34
1149 Budapest
Tel.:
+36 (1) 422 3200
Fax:
+36 (1) 422 3201
Poland Polen
Poland Polen
Romania - Rumnien
Romania - Rumnien
Bosch Rexroth Sp.zo.o.

Biuro Poznan
ul. Dabrowskiego 81/85
60-529 Poznan
Tel.:
+48 061 847 64 62 /-63
Fax:
+48 061 847 64 02

ul. Staszica 1
05-800 Pruszkw
Tel.:
+48 (0) 22 738 18 00
service: +48 (0) 22 738 18 46
Fax:
+48 (0) 22 758 87 35
service: +48 (0) 22 738 18 42
East Electric S.R.L.

Bdul Basarabia no.250, sector 3
73429 Bucuresti
Tel./Fax:: +40 (0)21 255 35 07
+40 (0)21 255 77 13
Fax:
+40 (0)21 725 61 21
eastel@rdsnet.ro

Str. Drobety nr. 4-10, app. 14
70258 Bucuresti, Sector 2
Tel.:
+40 (0)1 210 48 25
+40 (0)1 210 29 50
Fax:
+40 (0)1 210 29 52
Russia - Russland
Russia Belarus - Weissrussland
Turkey - Trkei
Turkey - Trkei
Bosch Rexroth OOO

Wjatskaja ul. 27/15
127015 Moskau
Tel.:
+7-095-785 74 78
+7-095 785 74 79
Fax:
+7 095 785 74 77
laura.kanina@boschrexroth.ru
ELMIS
10, Internationalnaya
246640 Gomel, Belarus
Tel.:
+375/ 232 53 42 70
+375/ 232 53 21 69
Fax:
+375/ 232 53 37 69
elmis_ltd@yahoo.com
Bosch Rexroth Otomasyon

San & Tic. A..S.
Fevzi Cakmak Cad No. 3
34295 Sefaky Istanbul
Servo Kontrol Ltd. Sti.

Perpa Ticaret Merkezi B Blok
Kat: 11 No: 1609
80270 Okmeydani-Istanbul
Tel.:
+90 212 411-13 00
Fax:
+90 212 411-13 17
www.boschrexroth.com.tr
Tel:
+90 212 320 30 80
Fax:
+90 212 320 30 81
remzi.sali@servokontrol.com
www.servokontrol.com
Slowakia - Slowakei
Slowenia - Slowenien
DOMEL
Otoki 21
64 228 Zelezniki
MTS, spol .s.r.o.

02755 Kriva 53
Tel.:
+421 43 5819 161
Tel.:
+420 (0)241 406 675
Tel.:
+386 5 5117 152
Fax:
+386 5 5117 225
brane.ozebek@domel.si
Australien, Sd-Afrika Australia, South Africa

Australia - Australien
Australia - Australien
South Africa - Sdafrika
South Africa - Sdafrika
AIMS - Australian Industrial

Machinery Services Pty. Ltd.
28 Westside Drive
Laverton North Vic 3026
Melbourne
Bosch Rexroth Pty. Ltd.

No. 7, Endeavour Way
Braeside Victoria, 31 95
Melbourne
TECTRA Automation (Pty) Ltd.

100 Newton Road, Meadowdale
Edenvale 1609

Jendamark Automation
76A York Road, North End
6000 Port Elizabeth
Tel.:
+61 3 93 14 3321
Fax:
+61 3 93 14 3329
Hotlines: +61 3 93 14 3321
+61 4 19 369 195
enquires@aimservices.com.au
Tel.:
+61 3 95 80 39 33
Fax:
+61 3 95 80 17 33
mel@rexroth.com.au
Tel.:
+27 11 971 94 00
Fax:
+27 11 971 94 40
Hotline: +27 82 903 29 23
georgv@tectra.co.za
Tel.:
+27 41 391 4735
Asien Asia (incl. Pacific Rim)

China
China
China
China
Shanghai Bosch Rexroth

Hydraulics & Automation Ltd.
No.122, Fu Te Dong Yi Road
Waigaoqiao, Free Trade Zone
Shanghai 200131 - P.R.China
Shanghai Bosch Rexroth

Hydraulics & Automation Ltd.
4/f, Marine Tower
No.1, Pudong Avenue
Shanghai 200120 - P.R.China
Bosch Rexroth (China) Ltd.

Satellite Service Office Changchun
Rm. 1910, Guangming Building
No.336 Xian Rd., Chao Yang Distr.
Changchun 130061 - P.R.China
Tel.:
+86 21 58 66 30 30
Fax:
+86 21 58 66 55 23
richard.yang@boschrexroth.com.cn
Tel:
Fax:
+86 21 68 86 15 88
+86 21 68 86 05 99
+86 21 58 40 65 77
y.wu@boschrexroth.com.cn
Tel.+Fax: +86 431 898 1129

Mobile:
+86 139 431 92 659
shuhong.wang@boschrexroth.com.cn

Satellite Service Office Wuhan
No. 22, Pinglanju, Milanyuan, Golden
Harbor
No. 236 Longyang Avenue
Economic & Technology Development
Zone
Wuhan 430056 - P.R.China
China
China
China
China

Beijing Representative Office
Xi San Qi Dong, De Sheng Mei Wai
Hai Dian District
Beijing 100096, P.R.China

Guangzhou Repres. Office
Room 3710-3716, Metro Plaza,
Tian He District, 183 Tian He Bei Rd
Guangzhou 510075, P.R.China

Dalian Representative Office
Room 2005,Pearl River Int. Building
No.99 Xin Kai Rd., Xi Gang District
Dalian, 116011, P.R.China
Tel.:
+86 10 82 91 22 29
Fax:
+86 10 82 91 81 09
yan.zhang@boschrexroth.com.cn
Tel.:
+86 20 87 55 00 30
+86 20 87 55 00 11
Fax:
+86 20 87 55 23 87
andrew.wang@boschrexroth.com.cn
Tel.:
+86 411 83 68 26 02
Fax:
+86 411 83 68 27 02
jason.tan@boschrexroth.com.cn

C. Melchers GmbH & Co
Shanghai Representation
13 Floor Est Ocean Centre
No.588 Yanan Rd. East
65 Yanan Rd. West
Shanghai 200001
Tel.:
+86 21 63 52 88 48
Fax:
+86 21 63 51 31 38
shermanxia@sh.melchers.com.cn
Hongkong
India - Indien
India - Indien
India - Indien

6th Floor,
Yeung Yiu Chung No.6 Ind Bldg.
19 Cheung Shun Street
Cheung Sha Wan,
Kowloon, Hongkong
Bosch Rexroth (India) Ltd.

Plot. No.96, Phase III
Peenya Industrial Area
Bangalore 560058

Advance House, II Floor
Ark Industrial Compound
Narol Naka, Makwana Road
Andheri (East), Mumbai - 400 059
Tel.:
+852 27 86 46 32
Fax:
+852 27 42 60 57
Paul.li@boschrexroth.com.cn
Tel.:
Fax:
+91 80 51 17 0-211...-218
+91 80 83 94 345
+91 80 83 97 374
mohanvelu.t@boschrexroth.co.in
Tel.: +91 22 28 56 32 90
+91 22 28 56 33 18
Fax: +91 22 28 56 32 93
singh.op@boschrexroth.co.in
Tel.:
India - Indien
Indonesia - Indonesien
Japan
Japan

S-10, Green Park Extension
New Delhi 110016
PT. Bosch Rexroth

Building # 202, Cilandak Commercial
Estate
Jl. Cilandak KKO, Jakarta 12560
Bosch Rexroth Automation Corp.

Service Center Japan
Yutakagaoka 1810, Meito-ku,
NAGOYA 465-0035, Japan
Bosch Rexroth Automation Corp.

2F, I.R. Building
Nakamachidai 4-26-44, Tsuzuki-ku
YOKOHAMA 224-0041, Japan
Tel.:
+91 11 26 56 65 25
+91 11 26 56 65 27
Fax:
+91 11 26 56 68 87
koul.rp@boschrexroth.co.in
Tel.: +62 21 7891169 (5 lines)

Fax: +62 21 7891170 - 71
rudy.karimun@boschrexroth.co.id
Tel.: +81 52 777 88 41

+81 52 777 88 53
+81 52 777 88 79
Fax: +81 52 777 89 01
Tel.: +81 45 942 72 10

Fax: +81 45 942 03 41
Korea
Korea
Korea
Korea
Bosch Rexroth-Korea Ltd.

1515-14 Dadae-Dong, Saha-gu
Pusan Metropolitan City, 604-050

Electric Drives and Controls
Bongwoo Bldg. 7FL, 31-7, 1Ga
Jangchoong-dong, Jung-gu
Seoul, 100-391

1515-14 Dadae-Dong, Saha-gu
Ulsan, 680-010

KVT Co., Ltd.
901, Daeryung Techno Town 8
481-11 Gasan-Dong
Geumcheon-Gu
Seoul, 153-775
Tel.: +82 2 2163 0231 9
gf.zhu@boschrexroth.com.cn
Tel.:
+82 51 26 00 741
Fax:
+82 51 26 00 747
eunkyong.kim@boschrexroth.co.kr
Tel.:
Fax:
+82 234 061 813

+82 222 641 295
Tel.+Fax: +86 27 84 23 23 92
Mobile:
+86 139 71 58 89 67
ym.zhu@boschrexroth.com.cn
Tel.:
+82 52 256-0734
Fax:
+82 52 256-0738
keonhyun.jeong@boschrexroth.co.kr
MICO
Hosur Road Adugodi
560 030 Bangalore Karnataki
+91 80 22 99 28 86
Malaysia
Singapore - Singapur
Taiwan
Taiwan
Bosch Rexroth Sdn.Bhd.

11, Jalan U8/82, Seksyen U8
40150 Shah Alam
Selangor, Malaysia
Bosch Rexroth Pte Ltd

15D Tuas Road
Singapore 638520
Tel.:
+60 3 78 44 80 00
Fax:
+60 3 78 45 48 00
hhlim@boschrexroth.com.my
rexroth1@tm.net.my
Tel.:
+65 68 61 87 33
Fax:
+65 68 61 18 25
lai.ts@boschrexroth.com.sg
Bosch Rexroth Co., Ltd.

Taichung Industrial Area
No.19, 38 Road
Taichung, Taiwan 407, R.O.C.
Tel :
+886 - 4 -235 08 383
Fax:
+886 - 4 -235 08 586
jim.lin@boschrexroth.com.tw
david.lai@boschrexroth.com.tw
Bosch Rexroth Co., Ltd.

Tainan Branch
No. 17, Alley 24, Lane 737
Chung Cheng N.Rd. Yungkang
Tainan Hsien, Taiwan, R.O.C.
Thailand
NC Advance Technology Co. Ltd.
59/76 Moo 9
Ramintra road 34
Tharang, Bangkhen,
Bangkok 10230
Tel.:
+66 2 943 70 62
+66 2 943 71 21
Fax:
+66 2 509 23 62
Hotline
+66 1 984 61 52
sonkawin@hotmail.com
Tel :
+886 - 6 253 6565
Fax:
+886 - 6 253 4754
charlie.chen@boschrexroth.com.tw
Nordamerika North America

USA
Headquarters - Hauptniederlassung
USA
Central Region - Mitte
USA
Southeast Region - Sdost
Bosch Rexroth Corporation

5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707

1701 Harmon Road
Auburn Hills, MI 48326

2810 Premiere Parkway, Suite 500
Duluth, GA 30097
Tel.:
+1 847 645-3600
Fax:
+1 847 645-6201
servicebrc@boschrexroth-us.com
repairbrc@boschrexroth-us.com
Tel.:
Fax:
Tel.:
Fax:
USA
Northeast Region Nordost
USA
West Region West

99 Rainbow Road
East Granby, CT 06026

7901 Stoneridge Drive, Suite 220
Pleasanton, CA 94588
Tel.:
Fax:
Tel.:
Fax:
+1 860 844-8377
+1 860 844-8595
+1 248 393-3330
+1 248 393-2906
USA SERVICE-HOTLINE
- 7 days x 24hrs -
+1-800-REXROTH
+1 678 957-4050
+1 678 417-6637
+1 800 739-7684
Canada East - Kanada Ost

Bosch Rexroth Canada Corp.
5345 Outer Drive unit 5
Windsor, Ontario
Canada N9A 6J3
+1 925 227-1084
+1 925 227-1081
Tel.:
+1 519 737 7393
Canada East - Kanada Ost
Canada West - Kanada West
Mexico
Mexico
Bosch Rexroth Canada Corporation

Burlington Division
3426 Mainway Drive
Burlington, Ontario
Canada L7M 1A8
Bosch Rexroth Canada Corporation

5345 Goring St.
Burnaby, British Columbia
Canada V7J 1R1
Bosch Rexroth Mexico S.A. de C.V.

Calle Neptuno 72
Unidad Ind. Vallejo
07700 Mexico, D.F.
Bosch Rexroth S.A. de C.V.

Calle Argentina No 3913
Fracc. las Torres
64930 Monterrey, N.L.
Tel.:
Fax:
Tel.
+1 604 205 5777
Fax
+1 604 205 6944
Hotline:
+1 604 205 5777
david.gunby@boschrexroth.ca
Tel.:
Fax:
Tel.:
+1 905 335 5511

+1 905 335 4184
michael.moro@boschrexroth.ca
+52 55 57 54 17 11
+52 55 57 54 50 73
mario.francioli@boschrexroth.com.mx
Fax:
+52 81 83 49 80 91
+52 81 83 49 80 92
+52 81 83 49 80 93
+52 81 83 65 52 80
Sdamerika South America

Argentina - Argentinien
Argentina - Argentinien
Brazil - Brasilien
Brazil - Brasilien
Bosch Rexroth S.A.I.C.

"The Drive & Control Company"
Rosario 2302
B1606DLD Carapachay
Provincia de Buenos Aires
NAKASE SRL
Servicio Tecnico CNC
Calle 49, No. 5764/66
B1653AOX Villa Balester
Provincia de Buenos Aires
Bosch Rexroth Ltda.

Av. Tgula, 888
Ponte Alta, Atibaia SP
CEP 12942-440
Bosch Rexroth Ltda.

R. Dr.Humberto Pinheiro Vieira, 100
Distrito Industrial [Caixa Postal 1273]
89220-390 Joinville - SC
Tel.:
Tel.:
+54 11 4768 36 43
Fax:
+54 11 4768 24 13
Hotline: +54 11 155 307 6781
nakase@usa.net
nakase@nakase.com
gerencia@nakase.com (Service)
Tel.:
Tel./Fax:
Mobil:
+54 11 4756 01 40
+54 11 4756 02 40
+54 11 4756 03 40
+54 11 4756 04 40
Fax:
+54 11 4756 01 36
+54 11 4721 91 53
victor.jabif@boschrexroth.com.ar
+55 11 4414 -56 92

+55 11 4414 -56 84
Fax sales: +55 11 4414 -57 07
Fax serv.: +55 11 4414 -56 86
alexandre.wittwer@rexroth.com.br
+55 47 473 58 33
+55 47 9974 6645
sergio.prochnow@boschrexroth.com.br
Columbia - Kolumbien
Reflutec de Colombia Ltda.
Calle 37 No. 22-31
Santaf de Bogot, D.C.
Colombia
Tel.:
+57 1 208 65 55
Fax:
+57 1 269 97 37
reflutec@etb.net.co
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 (0)93 52-40-50 60
Fax
+49 (0)93 52-40-49 41
service.svc@boschrexroth.de
www.boschrexroth.com
R911315487
Printed in Germany

Firmware Version Notes MPH-04, MPB-04, MPD-04R911315487 - 01 PDF

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Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800) 426-5480 www.cmafh.

Linear Motion and

About this Documentation

Firmware Version Notes

This documentation contains an overview of the functional differences

2006 Bosch Rexroth AG

This document has been printed on chlorine-free bleached paper.

MPH-04, MPB-04, MPD-04

General Information ...................................................................................................................... 1-1

Drive Controllers ........................................................................................................................... 1-2

Motors and Measuring Systems ................................................................................................... 1-6

Master Communication................................................................................................................. 1-7

Overview of Functions/Functional Packages................................................................................ 1-7

Performance Data....................................................................................................................... 1-19

Basic Functions of Master Communication .................................................................................. 2-1

Profile Types (with Field Bus Interfaces) ...................................................................................... 2-3

SERCOS III................................................................................................................................... 2-5

PROFIBUS-DP ............................................................................................................................. 2-8

CANopen Interface ..................................................................................................................... 2-10

DeviceNet Interface .................................................................................................................... 2-11

Overview of Drive Control............................................................................................................. 3-1

MPH-04, MPB-04, MPD-04

Motor Control ................................................................................................................................ 3-2

Closed-Loop Axis Control (Closed-Loop Operation) .................................................................... 3-3

General Information on Motor Control ..................................................................................... 3-2

Commutation Setting .................................................................................................................... 3-4

Power Supply................................................................................................................................ 3-4

Torque/Force Control.................................................................................................................... 4-1

Velocity Control" ........................................................................................................................... 4-1

Position Control with Cyclic Command Value Input ..................................................................... 4-2

Positioning Block Mode ................................................................................................................ 4-3

Synchronization Modes ................................................................................................................ 4-4

Establishing the Position Data Reference .................................................................................... 5-1

Error Reactions ............................................................................................................................. 5-2

Compensation Functions/Corrections .......................................................................................... 5-4

Measuring Wheel Mode................................................................................................................ 5-5

Redundant Motor Encoder............................................................................................................ 5-5

Virtual Master Axis Generator....................................................................................................... 5-6

Parameter Set Switching .............................................................................................................. 5-8

Cross Communication (CCD) ....................................................................................................... 5-9

Rexroth IndraMotion MLD (Drive-Integrated PLC) ..................................................................... 5-14

Detent Torque Compensation ................................................................................................. 5-4

5.10 Integrated Safety Technology..................................................................................................... 5-15

Extended Drive Functions

Quick Stop via Probe Input ........................................................................................................... 6-1

Encoder Emulation ....................................................................................................................... 6-2

Analog Outputs ............................................................................................................................. 6-3

Handling, Diagnostic and Service Functions

Loading, Storing and Saving Parameters..................................................................................... 7-1

Replacing the Firmware................................................................................................................ 7-1

MPH-04, MPB-04, MPD-04

New Applications .......................................................................................................................... 8-1

Functional Modifications with Regard to Previous Version .......................................................... 8-1

10 Service & Support

10.1 Helpdesk ..................................................................................................................................... 10-1

System Overview 1-1

MPH-04, MPB-04, MPD-04

Overview of Drive Firmware

The first two letters of the firmware designation identify the

This documentation describes the functionality of the following firmware

1-2 System Overview

MPH-04, MPB-04, MPD-04