IndraLogic Electric Drives and Controls

IndraLogic
Electric Drives and Controls Übersicht E-Planung 2006 | Norbert Sasse BRC/PRM3 | 01.12.2005 1
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System family IndraLogic
Marketing Strategy
Rexroth Rexroth
IndraMotion IndraLogic
...
IndraMotion IndraMotion IndraLogic IndraLogic IndraLogic IndraLogic IndraLogic

MTX VE VS
MLD L40 VP VPP21
ndraMotion IndraMotion
MLP MLC
IndraLogic
L20
3 designs has already
been introduced to the
market
Motion & Logic Based PLC-Based

IndraLogic Overview
What is IndraLogic ?
IndraLogic is...
The new PLC system solution for BRC
Scalable with standardized platforms for

the different controller hardware
Common engineering with the IndraWorks
Software-Framework
programming compatibility to the industrial
standard IEC 61131-3 and PLCopen
One PLC runtime system for all Motion-

Logic solutions SYNAX 200, VisualMotion and
IndraMotion MTX, MLx
IndraLogic L Systems
Version timeline
Prototype Series
02VRS L20/L40.1 02VRS Basis

Basis IndraLogic
IndraLogic 1.x
1.x
(CoDeSys 2.x)
(CoDeSys 2.x)
03VRS L20/L40.1 03VRS
04VRS L20/L40.2 04VRS
20VRS L40.2
1st Prototype 20VRS
21VRS L10/L20/L40.2 Basis 21VRS

Basis IndraLogic
IndraLogic 2.x
2.x
(CoDeSys
(CoDeSys 3.x)
3.x)
22VRS L10/L20/L40.2/ 22VRS
L45/L65
2005 2006 2007 2008
Development planning 2006
Version planning IndraLogic
• FM: DeviceNet Master (CML40 )

• FM: Profibus Master (CML40 )
• Profibus Slave (CML20/40)
• EtherNet IP Slave (CML20/40)
• PLCopen Motion Function Blocks (CML20 /CoDeSysRTE)
• IndraMotion for Handling (CML20)
• Serial Interface for IndraLogic VE (VEP)
• Integrated in IndraWorks 04VRs
Version planning IndraLogic
• Accessing IndraLogic through Profibus (Master Class 2-

Tunneling)
• PLCopen –Parameter listing
• DeviceNet Master (VEP/Vxx)
• Integrated in IndraWorks 05VRs
IndraLogic
Advantages
performance by innovative
powerful and aligned architectures of hardware
and software
PLC functionality through full
implementation of IEC 61131-3
handling and installation because

of easy mounting and wiring
IndraLogic
Advantages
controller platforms
powerful Drives ==> Controller ==> PC
communication by consequently
scalable supporting of open
and standardized interfaces
expansion by optional function
modules and the fine scalability of
Rexroth Inline-I/O
IndraLogic
Advantages
Programming conform IEC 61131-3

powerful and PLCopen by common PLC
runtime
Engineering with the software
scalable framework IndraWorks for all systems
and platforms
network for controls and HMI by

standard standard software interfaces
PLCopen
IndraLogic Overview
System family IndraLogic
Rexroth IndraWorks
The Engineering-
Engineering-Framework
Rexroth
IndraControl V
Rexroth
IndraControl L
Rexroth
IndraDrive
Drive based PLC solution Controller based PLC solution PC based PLC solution
IndraLogic Overview
IndraMotion MLD - drive based solutions
The economic compact solution for

drive based one and multi axes
applications with integrated Motion-
Logic
based on the drives platform

Rexroth IndraDrive
optimized for modular and

decentralized machine
architectures with limited number of
axes
scalable as software PLC integrated

in drives or optional for multi axes
control
IndraDrive
IndraMotion MLD & Cross Communication
Expansion stages
Single drive MC MLD-S Cross communication CCD Multi axes MC MLD-M
Master Master Master

Control (optional) Control Control (optional)
1 HMI 1 2 1 2
PC Ethernet TCP/IP Ethernet TCP/IP
HMI PC HMI PC
e t a te
Single axis Motion Control
t
Digital setpoint coupling a t
s master p s
Multiple axis MotioneControl
or
p e
(position, speed, torque,
to ty
(up to 7 slaves)
Drive with advanced
toty required
axis position)
o
Norprogramming Pr o
technology function P
1 - Fieldbus-slave or drive w/o 1 - Fieldbus-slave 1 - Fieldbus-slave or drive w/o
command communication - Advanced control section command communication
- Advanced or Basic - Optional module CCD - Advanced control section
control section - Optional module CCD
- Firmware option - Basic control section with Sercos-III - Firmware option IndraMotion MLD
IndraMotion MLD sufficient
- Basic control section with Sercos-III
2 - max. 3 (SYSTEM) -7(BASIC) slaves
2 sufficient
IndraMotion MLD & CCD
Fields of Application
Typical fields of
application are:
Single-Axis/Multi-axes motion control

anti backlash drive
position command value sync. (Gantry axes)
torque/force or speed synchronisation
virtual/real master axis synchronisation
Intelligent technology functions
IndraMotion MLD/Cross Communication
CCD Slaves
All slave drives with Sercos-III command interface (without special function):
Basic Single Axis: CSB-01.1C-S3-xxx-xx-x-.. ( CSB-01.1N- S3 -xxx-xx-x-.. In prep.)
Advanced Single Axis: CSH-01.1C- S -xxx-xx-x-.. (CDB-01.1C- S3 -xxx-xx-x-.. in prep.)
CCD master:
Master drive with Sercos-III Motion functionality up to 7 Slaves via S-III
Required hardware: CSH-01.2C-xx-xxx-xxx-CCD-xx-x-.. S-3-Master on option 3 Master )
Command interface:
Profibus or DeviceNet with limitation: Parallel-/Analog interface, CanOpen and Sercos-2
On request : Profinet-I/O, EtherNet IP; Not planned: Sercos-3
Note:
1 free Ethernet port in Non-Sercos-Mode for optional Engineering-Interface and HMI
New features:
32k Retained data onboard
CSH1.2 only
Access to I/O‘s of all axes
IndraMotion MLD & CCD
System overview
Master Control
Pass trough Slave axes

mode for all axes Fieldbus Advanced or BASIC- Double axis / Single axis
Optional card Option Sercos-III for

Sercos-III for Basic / Double or
ADVANCED Advanced
CCD-System mode: max. 5

Ethernet TCP/IP CCD -Expert mode: max. 7
Ethernet IP in MPx06 (07)
MLD-M mode: max. 7
Sercos w/o direct

CC
MASTER SLAVE 1 SLAVE 2 SLAVE 3
IndraMotion MLD / CCD
Mode of operation
CCD SYSTEM mode

CCD slaves with direct logic connection to the field bus CCD master.
Command and process data via external control
MLD-M mode
CCD slaves without direct logic connection to the external control unit.
Command triggering and input of process data only via the MLD-M.
CCD
Expert mode
„CCD Expert mode“ Prerequisite:
Firmware: from MP*04VRS
with fieldbus connection
Software: IndraWorks and IndraLogic
Master unit: CSH01.2 + „CCD“ (Option 3)
Control
Control Slave unit: CSH01.1C/ CSB01.1C + „S3“
Main features:
Command interface: Profibus, DeviceNet, CanOpen, Parallel,
Motion Analoginterface, SERCOS II, (on request: ProfiNet)
command
min. cycle time: (T=500µs/ 1 Slave, T=1000µs/ 7 Slaves)
CCD -S III
Parameter channel gateway (PKG) for acyclic access master - slave
Free config. Real time channel with max 48 Byte (16 IDN ) per drive
FB-Slave S3-Slave S3-Slave
Max. I/O-extension (distributed Slave periphery via Master)
SPS
MLD MLD MLD 7 * dig, I/O (16 Bit) via parameter inside Master : 114 dig. I/O
CCD
7 * analoge I/O (2 each) : 14 analog I/O
Adv. Area of use:

control
Distributed Motion control (via local MLD-S) or CCD between MLD-S
CC CC In case of setpoint coupling or synchronisation, one command interface
Master Slaves is required
Limitations:
no ProfiSafe solution
no SERCOS III as command interface on CCD Master
no Electric
directDrives
process dataÜbersicht
and Controls gateway via
E-Planung external
2006 control
| Norbert Sasse to| Slave
BRC/PRM3 01.12.2005axes 18
CCD
SYSTEM mode
„CCD System mode“ Prerequisite:
with fieldbus connection
Motion Master unit: CSH01.2 + „CCD“ (Option 3)
Control
Control command Slave unit: CSH01.1C/ CSB01.1C + „S3“
MC
Fieldbus Main features:
Communication interface: Profibus, DeviceNet (on request: ProfiNet)
CCD -S III Parameter channel gateway (PKG) for acyclic access external control -
slaves
FB-Slave S3-Slave S3-Slave Free config. Real time channel with max 48 Byte (16 IDN ) per drive
MLD MLD MLD Area of use:

CCD
easy command setpoint coupling, synchronisation of axes
Cyclical position command (Gantry axis)
CSH01.1 CSH01.1 CSH01.1 Master-/Slave applications (Isommand)
CCD CCD
Antibacklash (ncommand)
Master Slaves I/O-extension (digital I/O‘s)
Limitations:
no CanOpen, Parallel, Analog, SERCOS II, SERCOS III for command values on CCD Master
Only
Electric with
Drives andfree config.
Controls Profile
Übersicht E-Planung0xFFFE,
2006 | Norbert 0xFFFD
Sasse BRC/PRM3 | 01.12.2005 19
IndraMotion-MLD
MLD-M System mode
„MLD-M System mode“ Prerequisite:

with fieldbus
Master unit: CSH01.2 + „CCD“ (Option 3)
Control
Control Slave unit: CSH01.1C/ CSB01.1C + „S3“
Fieldbus (Sercos, Parallel) Main features:

Command interface: Profibus, DeviceNet, CanOpen, Parallel, Analog
Motion and SERCOS-II, (on request: ProfiNet)
command
CCD -S III
Parameter channel gateway (PKG) for acyclic access master - slave
FB-Slave S3-Slave S3-Slave

Free config. Real time channel with max 16 Byte I/O per drive
Max. I/O-extension (distributed I/O)
MC
SPS MLD MLD 7 * dig, I/O (16 Bit) via parameter inside Master : 114 dig. I/O
CCD
7 * analoge I/O (2 each) : 14 analog I/O
Motion channel from Master drive PLC to Slave drives (MC_Power,
Advancedl MC_Reset, MX/C_Stop, MC_MoveXXX, MC_CAM/Gear/GearPos_In/Out, ..)
CCD CCD Area of use:

Master Slaves complex command coupling with intelligent failure reaction
Drive integrated MotionControl -->System solution
Limitations:
Actually no SERCOS III command interface on CCD Master available
Electric Drives and Controls Übersicht E-Planung 2006 | Norbert Sasse BRC/PRM3 | 01.12.2005
No direct process data gateway from external control to Slaves
20
IndraMotion MLD
Project Explorer with S-III
IndraMotion MLD
MLD-M/CCD settings
IndraMotion MLD
CCD status/control word
Use of Slave I/O‘s
Technology function „Flying shear“
Technology Function: Flying Shear
Job for flying cut systems

Material like plastic, paper, sheet
metal or tubes which are running
continuously will be cut to the
programmed lenght on the fly.
The material doesn‘t stop for cutting.
MLD Technology Function
Cross cutter inside Technoly library (option)
Technology Function: Cross Cutter
MLD Technology Function
Feeder
Technology Function: Cam Feeder
IndraMotion MLD
Technology Function „ Rollfeed“
Technology Function (MLD-S) Rollfeed

IndraMotion for Metal Forming
Functionality
Different materials like sheet metal, plastic foil, wires and so on will be
transported with a rollfeed system under a press, shear or a punch.
Note: All application have to be confirmed by BRC/SIA (Karl Rapp)

Rollfeed
Example with MLD-M
Cross communication of command speed, R/W of I/O and parameters
Roll-feed Straightener Coil

Press
I/Os and analog

Motor feedback signals
Measuring wheel
CCD CCD
Press-encoder
Applications that can use MLD-s and MLD-M
MLD-M apps in FL:

Gantries
simple smart belts
simple palletizers
Sold to Osgood for ice cream container filling retro-fit
Micron Pharma for two axis thermoformer
IndraLogic Overview
IndraLogic L - controller based solutions
The powerful controller solution

based on the scalable hardware
platform IndraControl L
Innovative combination of an
embedded PC with fine scalable
terminal technology in a compact
housing
Rexroth Inline for centralized and

decentralized I/O modules
Easy and flexible expansion of

technology and communication
IndraControl L20 interfaces by function modules (only
IndraControl L40)
IndraControl L40
IndraLogic L20
Characteristics
Complete stand-alone PLC-System

in the lower performance range
Based on the IndraControl platform
IndraControl L20
Expandable functionality
Inline-I/O
User-Friendly Programming
Conformant to IEC 61131-3 standards
Engineering-Framework IndraWorks
Simple Communication to the HMI
Control devices and sensor/actuators
(e.g. IndraDrive over Profibus)
IndraLogic L20
Performance Feature
User Memory 3 MB runtime IndraLogic (conform to IEC

61131-3)
Retain memory 32 kByte programming IEC61131-3 conform:

languages ST, IL, LD, SFC, FBD, CFC
Number of 8 programming Rexroth IndraWorks

tasks system
Kind of tasks cyclic, free running, periodic, programming Ethernet or RS232

controlled by external events interfaces
Processing time typicaly 150 µs (1000 functions for breakpoint, single step,
commands in IL, Bit and programm test single cycle, write/force,
Word operations) monitoring, sampling, trace,
online change, simulation
I/O 8 Bit I (interruptable) + included PLCopen, TCP/IP and ser.
8 Bit O on board librarys communication, standard
256 Bit I/O (Local) IEC61131-3 library
126 decentralized modules
over DP-interface (each 8
kByte configurable)
IndraLogic L40
comfortable operating and diagnostic
Display with function keys, reset push

button, stop LED
diagnostic
display of the status
handling of addresses
handling of parameters
switching: run/stop
locking outputs
reset of control
display of the status:
STOP
IndraLogic L40
Performance features
user memory 8 MB runtime IndraLogic (conform to IEC

61131-3)
retain memory 64 kByte programming IEC61131-3 conform:

languages ST, IL, LD, SFC, FBD, CFC
number of tasks 16 programming Rexroth IndraWorks

system
kind of tasks cyclic, free running, periodic, programming Ethernet or RS232

controlled by external events interfaces
processing time typically 70 µs (1000 functions for breakpoint, single step,

commands in IL, bit and programm test single cycle, write/force,
word operations) monitoring, sampling, trace,
I/O 8 bit I (interruptable) + included PLCopen, TCP/IP and ser.
8 bit O on board librarys communication, standard
512 bit I/O (local) IEC61131-3 library
126 modules decentralized
via Profibus-DP (each 8
kByte, configurable)
Competitive comparison
IndraLogic L40 vs. Rockwell Automation ControlLogix
technical features IndraLogic L40 ControlLogix
user memory 8 MB 750 kB, 1,5/3,5/7,5 MB (dep. on CPU

type)
changeable memory 32 MB CF-Card (contains user data pluggable memory module (opt. also
and firmware) as non-permanent); memory module
always has to be plugged.
retain memory 64 kB, autom. at NvRAM user memory, battery buffered
number of tasks 16 max. 32 (each task max. 32 programs
assignable)
processing time typically 70 µs 80 µs for bit operations, for word
(1000 commands IL, bit operations no information
and word operations)
I/O 8 Bit I (interruptable) + max. 512 Bit I/O in rack with CPU
8 Bit O on board module
512 Bit I/O (local)
fieldbuses 1 Profibus-DP Master (DP-V1) optional: ControlNet, DeviceNet,
max. each 8 kByte I/O addressable Ethernet/IP, Universal Remote I/O
max. 126 modules
programming interface Ethernet or RS232 RS232C
programming language IEC61131-3: ST, IL, LD, SFC, FBD, IEC61131-3: ST, IL, FBD, SFC
CFC
realtime clock / buffering yes / typically 5 days no information
time
communication interfaces RS232, Ethernet, PROFIBUS-DP RS232C (more only via optional
communication modules)
IndraLogic L40
comparison vs. CLxx0 systems
technical features IndraLogic L40 CL200, ZE200-DP CL350 / CL400 CL550

user memory 8 MB 128 kB (36 k commands 256 kB (64 k / 128 k 2,5 MB (200 k
IL) commands IL) commands IL)
retain memory 64 kB battery bufferered, total battery bufferered, total battery bufferered, total
memory incl. data, memory incl. data, memory incl. data,
flags, timer, counter flags, timer, counter flags, timer, counter
number of tasks 16 1 1 1
processing time (1000 typically 70 µs 300 µs 250 µs (bit) 80 µs (bit)
commands IL, bit and 500 µs (word) 100 µs (word)
word operations)
I/O 8 bit I (interruptable) + 192 bit I/128 Bit O + je 2048 Bit I/O (local) decentralized via
8 bit O on board auxiliary I/O field (local) Profibus-DP (max. 126
512 bit I/O (local) + + decentralized via modules, each 8 kB I/O
decentralized via Profibus-DP (max. 126
Profibus-DP (max. 126 modules, each 8 kB I/O
modules, each 8 kB I/O
fieldbuses Profibus-DP (V1) master Profibus-DP (V1) master optional: expansion Profibus-DP (V1) master
in prep.: slave modul optional: Interbus-S
programming interface Ethernet oder RS232 RS232 RS232 Ethernet oder RS232
programming IEC61131-3: ST, IL, LD, IL, LD, CFC, SFC IL, LD, FUP, AS IL, LD, FUP, AS
languages SFC, FBD, CFC high level language „C“ high level language „C“ high level language „C“
realtime clock, yes, typically 5 days yes, battery buffered yes, battery buffered yes, battery buffered
buffering time
communication RS232, Ethernet, RS232, PROFIBUS-DP RS232 Ethernet, RS232,
interfaces PROFIBUS-DP optional: Ethernet optional: Ethernet, DP PROFIBUS-DP
IndraLogic L40
Integrated display - operating menu
IndraLogic L40
“Connectivity” - Profibus-DP
control +
local I/O
VCP02...
VCP25 HMI
decentralized I/O
Rexroth Inline/Fieldline
EcoDrive
IndraDrive
drives
IndraLogic L40
“Connectivity” - Profibus-DP
DP-DP Gateway
net 1 net 2 Interconnection of two DP
master nets via Gateway
multi master operation

not necessary
easy connection to
3rd party systems
IndraLogic L40
“Connectivity” - Ethernet
Router/ or directly
wye connection via hubs or
switches
Hubs/Switches
crosslink communication
via Ethernet protocol (3S)
easy connection to
3rd party systems
IndraLogic L40
“Connectivity” - Visualization
IndraLogic L40
“Connectivity” - controls
IndraLogic L40
“Connectivity” - peripheral and programming
IndraLogic overview
IndraLogic V - PC based solutions
Combination of software PLC

with integrated operation and
visualization
Based on the new HMI hardware

platform IndraControl V
Scalable as IPC or embedded PC

Common design, operation and
engineering
Open interfaces for networking via

Ethernet and Profibus
IndraControl V
IndraLogic VE
PLC system based on embedded PC
f PLC system based on IndraControl

VEP with operation and visualization
f Open interfaces for the interlinking via
f Connection of decentralized I/O via
fieldbus
f Generally in design, operation and
IndraControl engineering
VEPxx
f IndraLogic VE (AV since 9/2005)
IndraLogic VE
Technology view IndraControl VEP
f Device variants
VEP50 f VEP30, VEP40, VEP50
(15‘‘ TFT)
f Touch-Screen, Keyboard as virtual
keyboard
f 400 MHz , 128 MB
VEP40
(12,1‘‘ TFT)
f optional extendable:
f 64/128 MB Compact Flash, internal
f 64/128 MB Compact Flash, external
f Windows CE.NET 4.2
VEP30
f 1 x Ethernet, 2 x USB
(8,4‘‘ TFT)
f Short time UPS for the data saving on
Compact Flash
f Standard fieldbus master
IndraLogic VE
System architecture of plc solutions on embedded PC
Programmiergerät (PC..)
.Net Framework
Bedien- Engineering
oberfläche Werkzeuge
PC Betriebssystem
Einheitliche API
(Application Programmer´s Interface)
TCP/IP - Treiber
TCP/IP
VEP
IndraControl Windows
CE-Visu
VEPxx CE 4.x
Windows
CE 4.x
OPC
SPS
IndraLogic VE
Performance
User memory 12 MB (4 MB/8 MB) Runtime IndraLogic (conformal to the

(code / data) IEC 61131-3)
Retain memory 256 kB, Flash Programming Conformal to IEC61131-3:

languages ST, IL, LD, SFC, FB, CFC
number of tasks 16 Engineering Rexroth IndraWorks Logic

Framework
Available tasks cyclic, periodic, free Programming Ethernet, RS232

running, controlled by interfaces
external event
Processing time typically 100µs (1000 instr. Functions for Breakpoint, single step,
in IL, bit- and word- program test single cycle, write/force,
commands) monitoring, sampling, trace,
I/O 126 devices decentralized Provided PLCopen, TCP/IP and serial
via Profibus DP (7 kByte, libraries communication, standard
each) IEC61131-3 library
Communication RS232, Ethernet, USB,
interfaces fieldbuses
IndraLogic VS
Technical Data
Technical Data IndraLogic VS
PC Hardware IndraControl VSP16/40, VSB40
Operating Systems Windows XP
Real-Time VxWorks/VxWin
Runtime System IndraLogic
User Memory (Code/Data) 24MB (8MB/16MB)
NVRAM 2MB on hard drive (with USV)
Number of Tasks 32
Task Types cyclic, free running, event-controlled
Processing Time (1,000 instructions in IL with bit and word typical, 30 µs

processing
I/O decentralized, via Profibus DP (max. 126 units, per 7 kB I/O)
Programming Software IndraWorks
Programming Languages (IEC61131-3) IL, LD, FBD, ST, SFC
Programming Interfaces Ethernet, RS232 or directly on the target hardware
Communication Interfaces RS232, USB, Ethernet
Included Libraries PLCopen, Communications, IEC 61131-3
Functionality for Program Test breakpoint, single-step, single-cycle, write/force, monitoring, sampling trace, simulation, online
change
IndraLogic VP
Technical Data
Technical Data IndraLogic VP
PC Hardware IndraControl VPP16/40/60, VPB40, IndraControl BTV16/40/60, IPC40
Operating Systems WindowsXP/Windows2000
Real-Time VxWorks/VxWin
Runtime System IndraLogic
User Memory Code/Data) 24 MB (8MB/16MB)
NVRAM 2MB on hard drive (with USV)
Number of Tasks 32
Task Types cyclic, free running, event-controlled
Processing Time(1,000 instructions in IL with bit and word processing) typical, 50 µs
I/O decentralized via Profibus DP (max. 126 units, per 7 kB I/O)
Programming Software IndraWorks
Programming Languages (IEC61131-3) IL, LD, FBD, ST, SFC
Programming Interfaces Ethernet, RS232 or directly on the target hardware
Communication Interfaces RS232, USB, Ethernet
Included Libraries PLCopen, Communication, Standard IEC 61131-3
Functionality for Program Testing breakpoint, single-step, single cycle, write/force, monitoring, sampling trace,
simulation, online change
IndraLogic VPP21
System architecture of the IPC-based PLC
solutions
.Net Framework
operator engineering
interface tools
PC operating system
uniform API
(Application Programmer`s Interface)
internal TCP/IP -
IndraLogic VPP21
oriented communication
PLC
VxWorks
realtime operating system
IndraLogic VPP21
IPC-based PLC solution
f PLC solution based on IndraControl V

with operation and visualization
f Open interfaces for networking via
f Connection of decentralized I/Os via
fieldbus
f Identical in design, operation and
engineering
IndraLogic VPP21 f First available variant is IndraLogic
VPP21 (AWP since 5/2004)
f More VPP- and VEP-variants will be
followed at the end of 2004
IndraLogic VPP21
Technical features
user memory 24 MB runtime IndraLogic (conform to IEC

61131-3)
retain memory 2 MB, battery buffered programming IEC61131-3 conform:

language ST, IL, LD, SFC, FBD, CFC
number of tasks 32 programming Rexroth IndraWorks

system
kind of tasks cyclic, free running, programming Ethernet, RS232 or direct on

periodic, controlled by interfaces the destination hardware
external events
processing time typically 25µs (1000 functions for breakpoint, single step,
commands IL, bit and word program test single cycle, write/force,
operations) monitoring, sampling, trace,
online-change, simulation
I/O 126 modules decentralized included PLCopen, TCP/IP- and ser.
via Profibus-DP (each 7 libraries communication, standard
kByte configurable) IEC61131-3 library
communication RS232, Ethernet, USB,
interfaces fieldbuses
IndraLogic
comparison between IndraLogic systems
technical features IndraLogic in Drives IndraLogic L20 IndraLogic L40 IndraLogic VPP21
User memory 64 kB (on board), 3 MB 8 MB 24 MB
512 kB (optional with
MMC)
retain memory 252 Byte (on board), 32 kB 64 kB 2 MB, battery buffered
32 kB (optional)
number of tasks 4 8 16 32
processing time (1000 typically 100 µs typically 150 µs typically 70 µs typically 50 µs
commands IL, bit and
word operations)
I/O digital: 11I/2O (on 256 I/O (local), 512 I/O (local), decentralized via
board), 16I/16O or decentralized via decentralized via Profibus-DP (max. 126
12I/8O (dep. of option) Profibus-DP (max. 126 Profibus-DP (max. 126 modules, each 7 kB I/O)
analogous: 1I/2O (on modules, each 8 kB modules, each 8 kB
board), 2I/2O (optional) I/O), 8I /8O on board I/O), 8I /8O on board
Programming interface RS232, Ethernet, RS232 Ethernet, RS232 Ethernet, RS232 or
Ethernet (in prep.) directly on control
Communication SERCOS interface, RS232, Ethernet, RS232, Ethernet, RS232, Ethernet, USB
interfaceses PROFIBUS, parallel PROFIBUS-DP PROFIBUS-DP fieldbuses
interface.
in prep.: Ethernet,
DeviceNet, CANopen
IndraLogic System family
Performance
In d ra L o g ic M L D In d ra L o g ic L 2 0 In d ra L o g ic L 4 0 In d ra L o g ic V P P 2 1
P ro g ra m m e m o ry 1 9 2 kB (o n b o a rd ), 3 MB 8 MB 32 M B
5 1 2 kB (o p tio n a l M M C )
R e ta in m e m o ry 2 5 0 B yte (o n b o a rd ), 32 kB 64 kB 2 M B w ith b a tte ry
3 2 k B (O p tio n M D 1 )
M a x . ta s k s 4 8 16 32
P e rfo rm a n c e typ ic a l 1 0 0 µ s typ ic a l 1 5 0 µ s typ ic a l 7 0 µ s typ ica l 5 0 µ s
1 0 0 0 lin e s
In s tru c tio n lis t
I/O ‘s d ig ita l: 1 1 I/O (o n b o a rd ), 2 5 6 I/O (ze n tra l), 5 1 2 I/O (c e n tra l), d e c e n tra l via P ro fib u s -
1 6 I/1 6 O o r 1 2 I/8 O d e c e n tra l via D P d e c e n tra l via D P D P w ith m a x. 1 2 6
( O p tio n ) m a x. 1 2 6 s la ve s m a x. 1 2 6 s la ve s s la ve s
a n a lo g : 1 I/O A (o n 8 k b I/O p e r s la ve 8 k b I/O p e r s la ve 8 k B I/O p e r s la ve
b o a rd ), 2 I/2 O (O p tio n ) 8 /8 I/O o n b o a rd 8 /8 I/O o n b o a rd
C o m m u n ic a tio n RS232 E th e rn e t, R S 2 3 2 E th e rn e t, R S 2 3 2 E th e rn e t, R S 2 3 2
in te rfa c e
Com m and S E R C O S , P R O F IB U S , R S 2 3 2 , E th e rn e t, R S 2 3 2 , E th e rn e t, R S 2 3 2 , E th e rn e t, U S B
in te rfa c e P a ra lle l-In te rfa ce . P R O F IB U S -D P P R O F IB U S -D P P ro fib u s , C A N b u s
IndraLogic VE IndraLogic VS IndraLogic VP IndraLogic VPP21
User memory 12 MB 24 MB
Retain memory 64 kB 2 MB (Harddisk, USP) 2 MB (Harddisk, USP) 2 MB, with battery
Tasks 16 32 32 32
1000 orders in IL typical 100 µs typical 30 µs Typical 50 µs typical 50 µs
Bit- and Word
I/O Decentral Decentral Decentral decentral
Fieldbus Profibus-DP (V1) Master Profibus-DP (V1) Master Profibus-DP (V1) Master Profibus-DP (V1) Master
max. 7 kByte I/O per max. 7 kByte I/O per max. 7 kByte I/O per max. 7 kByte I/O per
slave, max. 126 slaves slave, max. 126 slaves slave, max. 126 slaves slave, max. 126 slaves
Programming interface Ethernet or RS232 Ethernet, RS232 or Ethernet, RS232 or Ethernet, RS232 or
direct direct direct
Programming IEC61131-3: All supp. IEC61131-3: All supp. IEC61131-3: All supp. IEC61131-3: All supp.
languages
RTC yes yes yes yes
Communication RS232, Ethernet, RS232, Ethernet, RS232, Ethernet, RS232, Ethernet,
interface PROFIBUS-DP PROFIBUS-DP
PROFIBUS-DP PROFIBUS-DP
55
IndraMotion MLC
IndraMotion MLC – Control hardware
Expanding
Expanding functionality
functionality for
for I/O
I/O extension
extension by
by direct
direct
communications
communications and
and Technology
Technology connection
connection the
the Inline
Inline I/O
I/O
module
module (max.
(max. 4)
4) modules
modules
IndraControl L40
Cross communication MLC 02VRS
DeviceNet Master MLC 02VRS
PROFIBUS Master MLC 03VRS
SERCOS III MLC 03VRS
Cam builder FM MLC 03VRS

IndraMotion MLC 02VRS
System Component Hardware
HMI (optional)
IndraControl VSP/VPP
IndraControl VEP/VEH
IndraControl VCP
Hardware IndraControl L40

CML40.1-SP-220-NA-NNNN-NW
Connector set
R-IB IL CML S01-PLSET
Function modules (optional)

CFL01.1-D1 (DeviceNet Master)
CFL01.1-Q2 (Cross Communication)
Drives
IndraDrive M/C
- Firmware MPx03
- Firmware MPx04*
*
new MPx04 functionality is not supported
System components software/firmware
SWA-IWORKS-ML*-V02-DO-CD700
Software Cam Builder (SWS-IWORKS-CAM-03VRS-DO)

WinStudio Lite Editor & Runtime
MLC Engineering incl. technologies
Engineering PC IndraLogic Programming
Standard Add-On
Ethernet
FWA-CML40*-ML*-V02RS-DO
Firmware MLC Motion-Logic Runtime

Max. 16 axes
Standard and technology functions

IndraControl L40
Real-time OS VxWorks
Standard
Offline parameter setup
Complete offline parameter r4

setup of control and drives
via hardware emulation
Activation
Activation via context menu
Activation of
of offline
offline
parameter
parameter setup
setup
in project tree
Access to all C, A, S and P
parameter via „Online
dialogues“
Parameter comparison via
switching OnlineÎOffline
ÎOnline
Import/Export of parameter
is possible anytime
Dialogues
Dialogues and
and
data are active
data are active
Status
Status is
is offline
offline
Slide 60
r4 ralashqar, 1/19/2006
Link ring – control configuration
MLC link ring

corresponds to cross
communication of
SYNAX/VM
Max. 64 controls
can communicate via
link ring (8 ms
SERCOS cycle time)
Automatic
Automatic call
call of
of wizards
wizards for
for
basic
basic configuration
configuration
Link ring – configuration per Drag & Drop
New
New library
library „FM“
„FM“
(Function
(Function module)
module)
Insert
Insert of
of function
function module
module for
for
cross
cross communication
communication per
per
Drag
Drag &
& Drop
Drop
Link ring – parameter setup
Setup of link axes via

context menue in project
tree
Link axes are taken from
Link ring
All Axis types (Virtual,
Real, Encoder) can be
used within the link ring
New
New node
node „Link
„Link
Axes“
Axes“ in
in project
project tree
tree
Selection
Selection of
of available
available
link
link axes
axes
Parking and deactivation of real axes
New motion interface for

Activation/deactivation of
real axes, access to A
parameter is possible
Parking of real axes,
access to A, S and P
parameter is possible, drive
follows SERCOS phases
Activation/Parking
Activation/Parking of
of an
an
axis
axis via
via
context
context menu
menu
MLC‘s Robot Control
RoCo Features
MLC03VRS
- MLC: 32 axes over all
- 1 Kinematics with max. 8 axes (position, orientation, belts)
- Transformation for XYZ-, Scara- and Delta-Robot released
- Pool of more than 90 transformations available
- Belt synchron motion (up to 4 belts)
- Buffered/Blended motion (Block_Slope, Progr_Slope)
- World coordinate shifting
- RCL-Subprograms
- PTP, LINEAR, CIRCULAR movements with:
– Conditional break,
– Setting binary output at exact position or time
– Time movement (v = s/t)
RoCo Features
Motion
- Synchron PTP* (all axes start and end at same time)
(absolute or relative)
- Linear interpolation* (absolute or relative)
- Circular interpolation* (absolute or relative)
- Programable speed and acceleration
(A, V, AFACTOR, DFACTOR, AFIX, V_PTP)
- Sinus² acceleration
- Speed can depend on programmed time (v=s/t)
- Motion break on signal
- Signal out on exact position
- Block_Slope, Progr_Slope (Buffered/Blended motion)
* The programmed points can be in WCS or JCS (world- or joint coordinate system)
RCL Features (Robot Control Language)

RCL means „Robot Control Language“.
In the past it is also known as BAPS (Bewegungs- und Ablauf-Programmier-Sprache).
RCL is a sequential programming language (in contrast to

the PLC program)
RCL has all features of a modern programming language
Programable workspace
Belt synchron movements (up to 4 belts)
Setup
IndraWorks
- Kinematics Wizard
- Dialogs to configure the Kinematics (K-parameter)
- RCL-program editor
- RCL point table editor
- RCL compiler (generates IRD-program and Point-table)
- Up-/Download of RoCo files
- RCL-program debugger (MLC 04VRS)
MLC‘s Robot Control setup
Standard
Axes Definition
IndraWorks MLC
Kinematics IndraWorks MLC

Configuration Kinematics wizard
Edit RCL- IndraWorks MLC

Programm RoCo-Editor
Edit PLC
IndraLogic
Programm
RCL-program Standard
compile, download IndraWorks MLC
IndraWorks‘ workflow for the Robot Control
Standard
Axes Definition Axes Definition
IndraWorks MLC
(name, #, …)
Configuration Kinematics wizard Axes type (lin./rot.,
abs./mod., …)
Axes max. speed,
acc., moving range,.
Edit PLC
IndraLogic
Programm
Axes blending range
RCL-program Standard for PTP movements
Standard
Axes Definition Kinematics
IndraWorks MLC
Definition (Name,
Trafo-type)
Assign Axes to the
Kinematics
Trafo values (length
Edit PLC of arms, …)
IndraLogic
Programm
Name of cartesian
RCL-program Standard coordinates
IndraWorks‘ Kinematics Wizard
Axes Definition
Standard RCL-Programming
IndraWorks MLC language also known as
BAPS
Kinematics IndraWorks MLC Sequencial -Programming
Configuration Kinematics wizard Syntax Highlighting
Goto Error
Edit RCL- IndraWorks MLC Debugging / Breakpoints
Compile to IRD-program
Download
Edit PLC
IndraLogic
Programm
RCL-program Standard
IndraWorks‘ created RCL Program
IndraWorks‘ RCL Editor
Program header
Program name
Auto complete
Standard axes power on

Axes Definition
IndraWorks MLC
Kinematics IndraWorks MLC maybe homing

Edit RCL- IndraWorks MLC add axis to

Programm RoCo-Editor kinematics (group)
Edit PLC select IRD-program

IndraLogic
Programm
RCL-program Standard start program

Standard
Axes Definition
IndraWorks MLC


Edit PLC
IndraLogic
Programm
RCL-program Standard Download selection

compile, download IndraWorks MLC box
IndraMotion for Handling
October 2006
BRC/PM
Rami Al-Ashqar
Linear and Gantry robots
Cartesian kinematics only
no (circular)
coordination transformations
up to 6 Axis
3 main axis
3 orientation axis
Hardware architecture with MLC
handheld
HMI VEH30
VCP08
Ethernet
IndraMotion
MLC
Rexroth Inline I/O
Hardware combination in
IndraDrive
HT06 9
VEH30 9
VCP08.2 9
MLC 9
IndraDrive 9
EcoDrive DKC No
EcoDrive Cs No
80
Functionality and Customer Benefits (1/2)
Turn key system solution

Saving engineering costs at OEM
Open Source - Machine builder can do easily modifications
the only PLC-based motion system solution on the market
Complete PLC based
Scaleable with MLC, L40, L20
Simple Motion programming

Simple, end-user oriented motion programming, easy to learn
User programs created independent of PLC
Operating /programming menus as an OpenSource example
Teaching/Programming with hand-held or cabinet HMI
Coordinated PTP moves with up to 6 axis
cycle time optimized movements
Movements with blending
Functionality and Customer Benefits (2/2)
Several Jogging options implemented

Continuos jogging with 2 velocities
Incremental jogging
Software limit switches on the control
Ready-made Speed override

Speed can be manipulated by the operator at any time
Single Step functionality on board

Simple commissioning of the automatic cycle
Open Diagnosis system

open for error messages of the machine builder
Motion Programs
200
200steps
stepsper
perprogram
program**
up
upto
to256
256programs
programson
onflash
flashcard
card
50
50position
positionpoints
pointsper
perprogram
program
Pointname
Point namedefined
definedby
byuser,
user,i.e.
i.e.Home,
Home,LoadPos,...
LoadPos,...
10
10(recent)
(recent)programs
programsin
inmemory
memory
100
100integer
integervariables
variables//100
100real
realvariables
variables
Easy
EasyProgram
Program(File
(FileBackup)
Backup)via
viaFTP,
FTP,Ethernet
Ethernetor
or
cardreader
card reader
Blending move
P2 P3
R Cycle
Cycletime
timeoptimized
optimized
movementwith
movement with blending
blending
R=10
Increase
Increasein
inproductivity
productivity
MOVE VIA P2
MOVE P3
easy
easyto
toprogram
program
P1
Example for blending with 2 axis
Application Fields
Loading/Unloading handlings for fully automated production:

Plastic machines, mounting, tool machines, logistics,…
Handling in rough environment:
foundry, …
Palletizing
Pick and Place
laboratory automation
system solution with BRL (CMS)
retrofitting
special machines
….
Target Application Palletizing
Palletizing plastic bottles
76000 bottles
per day !
Customer Applications for Palletizing
Palletizing at Robot Systems in Berlin

Palletizing machines for paper/printing industry
Components: VCP08, L20 and IndraDrive with safety technology
Replacing a B&R solution
IM-HA Version 2
New Functionality
Multi-Kinematics
Up to 4 machines can be operated by one L40 and one HMI
Protection areas
Up to 4 protection areas can be defined.
Scaling in INCH
Enhanced position profile accuracy

Increase profile accuracy while acceleration phase
Subroutines
Global and local subroutines
Ease-of-Use template
Main-Screen
* with
similar
screens
Jog axis Programming Diagnosis Operation-Mode

fcreate fSystem fManual
fmodify fUser fAutomatic
fstart /stop
Jogging function
Axis move‘s
t
2 Jog Speeds
Jog-mode Override
changeable changea
fcontinuous ble
fInc : 0,01
fInc : 0,1
fInc : 1
fInc : 10

IndraLogic Electric Drives and Controls

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IndraLogic

IndraMotion IndraMotion IndraLogic IndraLogic IndraLogic IndraLogic IndraLogic

Motion & Logic Based PLC-Based

 Scalable with standardized platforms for

 One PLC runtime system for all Motion-

02VRS L20/L40.1 02VRS Basis

04VRS L20/L40.2 04VRS

21VRS L10/L20/L40.2 Basis 21VRS

2005 2006 2007 2008

• FM: DeviceNet Master (CML40 )

• Accessing IndraLogic through Profibus (Master Class 2-

handling and installation because

Programming conform IEC 61131-3

network for controls and HMI by

System family IndraLogic

IndraMotion MLD - drive based solutions

 The economic compact solution for

 based on the drives platform

 optimized for modular and

 scalable as software PLC integrated

Single drive MC MLD-S Cross communication CCD Multi axes MC MLD-M

Master Master Master

PC Ethernet TCP/IP Ethernet TCP/IP

 Single-Axis/Multi-axes motion control

Pass trough Slave axes

Optional card Option Sercos-III for

CCD-System mode: max. 5

Sercos w/o direct

MASTER SLAVE 1 SLAVE 2 SLAVE 3

CCD SYSTEM mode

7 * analoge I/O (2 each) : 14 analog I/O

Adv. Area of use:

MLD MLD MLD Area of use:

„MLD-M System mode“ Prerequisite:

Fieldbus (Sercos, Parallel) Main features:

FB-Slave S3-Slave S3-Slave

CCD CCD Area of use:

Use of Slave I/O‘s

Technology Function: Flying Shear

Job for flying cut systems

Technology Function: Cross Cutter

Technology Function: Cam Feeder

Technology Function (MLD-S) Rollfeed

Note: All application have to be confirmed by BRC/SIA (Karl Rapp)

Cross communication of command speed, R/W of I/O and parameters

Roll-feed Straightener Coil

I/Os and analog

 MLD-M apps in FL:

 simple smart belts

 Sold to Osgood for ice cream container filling retro-fit

 Micron Pharma for two axis thermoformer

IndraLogic L - controller based solutions

 The powerful controller solution

 Rexroth Inline for centralized and

 Easy and flexible expansion of

 Complete stand-alone PLC-System

User Memory 3 MB runtime IndraLogic (conform to IEC

Retain memory 32 kByte programming IEC61131-3 conform:

Number of 8 programming Rexroth IndraWorks

Kind of tasks cyclic, free running, periodic, programming Ethernet or RS232

Display with function keys, reset push

user memory 8 MB runtime IndraLogic (conform to IEC

retain memory 64 kByte programming IEC61131-3 conform:

number of tasks 16 programming Rexroth IndraWorks

Scalable with standardized platforms for

One PLC runtime system for all Motion-

The economic compact solution for

based on the drives platform

optimized for modular and

scalable as software PLC integrated

Single-Axis/Multi-axes motion control

MLD-M apps in FL:

simple smart belts

Sold to Osgood for ice cream container filling retro-fit

Micron Pharma for two axis thermoformer

The powerful controller solution

Rexroth Inline for centralized and

Easy and flexible expansion of

Complete stand-alone PLC-System

Combination of software PLC

Based on the new HMI hardware

Scalable as IPC or embedded PC

Open interfaces for networking via

Hardware IndraControl L40

Function modules (optional)

Complete offline parameter r4

MLC link ring

Setup of link axes via

New motion interface for

RCL Features (Robot Control Language)

RCL is a sequential programming language (in contrast to

RCL has all features of a modern programming language

Belt synchron movements (up to 4 belts)