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Application Description
Bosch Rexroth AG | Electric Drives Rexroth IndraWorks | Application Description
and Controls
Purpose of Documentation This documentation describes the functions of simulation component View3D,
virtual control panel, virtual control and its operation in IndraWorks.
Table of Contents
Table of Contents
Page
1 General.......................................................................................................................... 1
1.1 Why Simulation?..................................................................................................................................... 1
1.2 What is Simulated?................................................................................................................................. 1
1.3 Goals of Simulation in IndraWorks......................................................................................................... 1
4 Quick Start................................................................................................................... 15
Table of Contents
Page
5.3 Virtual User Panel................................................................................................................................. 25
5.3.1 General Description........................................................................................................................... 25
5.3.2 Configurator....................................................................................................................................... 26
5.3.3 The Application.................................................................................................................................. 27
5.4 Virtual Control....................................................................................................................................... 27
5.4.1 General Description........................................................................................................................... 27
6 Operation in IndraWorks.............................................................................................. 29
6.1 Creating a Model.................................................................................................................................. 29
6.1.1 General.............................................................................................................................................. 29
6.1.2 Creating a Simple 3D Model ............................................................................................................. 29
6.1.3 Importing eM-RealNC Models .......................................................................................................... 29
6.2 Using the Virtual User Panel................................................................................................................. 29
6.2.1 Configuration..................................................................................................................................... 29
Configuration in IndraWorks........................................................................................................... 29
Supplements to the configuration file ............................................................................................ 30
6.2.2 Connection to Virtual Control ............................................................................................................ 31
6.2.3 Start................................................................................................................................................... 32
6.2.4 Error Messages and Remedies......................................................................................................... 32
6.3 Using 3D Visualization.......................................................................................................................... 32
6.3.1 3D Models in IndraWorks.................................................................................................................. 32
Importing 3D models ..................................................................................................................... 32
Opening, renaming and deleting 3D models ................................................................................. 34
6.3.2 Process Connection.......................................................................................................................... 34
Connecting 3D objects with IndraMotion MTX axis values ............................................................ 34
Configuring the process connection .............................................................................................. 34
Establishing a connection to the control ........................................................................................ 36
6.3.3 3D Visualization Operation................................................................................................................ 36
Basic 3D visualization functions .................................................................................................... 36
Manipulating 3D objects ................................................................................................................ 37
Changing settings of the View3D model ........................................................................................ 37
6.4 Using the Virtual Control....................................................................................................................... 37
6.4.1 Installation of MTX Emulation............................................................................................................ 37
General........................................................................................................................................... 37
6.4.2 Projecting Emulation.......................................................................................................................... 38
Restoring an existing project.......................................................................................................... 38
6.4.3 Projecting the HMI............................................................................................................................. 38
General........................................................................................................................................... 38
6.4.4 Designing the NC Core...................................................................................................................... 40
General........................................................................................................................................... 40
6.4.5 Projecting the PLC............................................................................................................................. 44
General........................................................................................................................................... 44
6.4.6 Starting and Exiting MTX Emulation.................................................................................................. 46
General........................................................................................................................................... 46
6.4.7 Starting Operation Desktop............................................................................................................... 47
Application Description | Rexroth IndraWorks Electric Drives | Bosch Rexroth AG III/III
and Controls
Table of Contents
Page
7 Communication............................................................................................................ 49
7.1 OPC...................................................................................................................................................... 49
7.2 SCP...................................................................................................................................................... 49
Index............................................................................................................................ 53
Bosch Rexroth AG | Electric Drives Rexroth IndraWorks | Application Description
and Controls
Application Description | Rexroth IndraWorks Electric Drives | Bosch Rexroth AG 1/53
and Controls
General
1 General
1.1 Why Simulation?
Due to the ever-increasing competitive pressure among the manufacturers of
machines, we are always looking for new ways of minimizing the costs for a
machine project. This includes every phase of the machine life cycle (construc‐
tion, commissioning, production). Due to more and more powerful computer
systems, simulation is becoming more and more important: in the future, there
may even be virtual factories in which all the processes of a production plant
can be reproduced virtually. One component of this virtual factory is the virtual
machine, which can be used, with the help of suitable simulation tools, to sup‐
port the individual phases of the machine life cycle.
General
Before using the Bosch Rexroth products, the following prerequisites must be
fulfilled to ensure that they are used as intended:
● Everyone who in any way deals with one of our products must read and
understand the corresponding notes regarding safety and regarding prop‐
er use.
● If the products are hardware, they must be kept in their original state, i.e.
no constructional modifications may be made. Software products may not
be decompiled; their source codes may not be modified.
● Damaged or improperly working products must not be installed or put into
operation.
● It must be ensured that the products are installed according to the regu‐
lations mentioned in the documentation.
The virtual control panel is used in connection with the control emulation. During
utilizing the virtual control panel of the real control it has to be considered that
the signals can not arrive between virtual control panel and control because of
communication errors. Therefore a PLC program and a producing machine can
no longer be stopped via control.
● Bosch Rexroth has not specifically released them for that intended pur‐
pose. In this connection, observance of the statements in the General
Safety Notes is imperative!
Application Description | Rexroth IndraWorks Electric Drives | Bosch Rexroth AG 5/53
and Controls
● Follow all safety regulations and requirements for the specific application
as practiced in the country of use.
● The devices have been designed for installation in industrial machinery.
● The ambient conditions given in the product documentation must be ob‐
served.
● Only use safety-relevant applications that are clearly and explicitly ap‐
proved in the Project Planning Manual. If this is not the case, they are
excluded. Safety-relevant are all such applications which can cause dan‐
ger to persons and material damage.
● The information given in the documentation of the product with regard to
the use of the delivered components contains only examples of applica‐
tions and suggestions.
The machine and installation manufacturer must
– make sure that the delivered components are suited for his individual
application and check the information given in this documentation
with regard to the use of the components,
– make sure that his application complies with the applicable safety
regulations and standards and carry out the required measures,
modifications and complements.
● Commissioning of the delivered components is only permitted once it is
sure that the machine or installation in which they are installed complies
with the national regulations, safety specifications and standards of the
application.
● Operation is only permitted if the national EMC regulations for the appli‐
cation are met.
● The instructions for installation in accordance with EMC requirements can
be found in the section on EMC in the respective documentation (Project
Planning Manuals of components and system).
The machine or installation manufacturer is responsible for compliance
with the limiting values as prescribed in the national regulations.
● Technical data, connection and installation conditions are specified in the
product documentation and must be followed at all times.
National regulations which the user must take into account
● European countries: according to European EN standards
● United States of America (USA):
– National Electrical Code (NEC)
– National Electrical Manufacturers Association (NEMA), as well as
local engineering regulations
– regulations of the National Fire Protection Association (NFPA)
● Canada: Canadian Standards Association (CSA)
● Other countries:
– International Organization for Standardization (ISO)
– International Electrotechnical Commission (IEC)
Warning symbol Signal word Degree of hazard seriousness acc. to ANSI Z 535.4-2002
Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electrical equipment!
Observe the safety instructions!
WARNING
CAUTION
CAUTION
Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating electrical equipment, it is unavoid‐
able that some parts of the units conduct dangerous voltage.
High electrical voltage! Danger to life, electric shock and severe bodily
injury!
● Only those trained and qualified to work with or on electrical equipment
DANGER are permitted to operate, maintain and repair this equipment.
● Follow general construction and safety regulations when working on elec‐
trical power installations.
● Before switching on the device, the equipment grounding conductor must
have been permanently connected to all electrical equipment in accord‐
ance with the connection diagram.
● Do not operate electrical equipment at any time, even for brief measure‐
ments or tests, if the equipment grounding conductor is not permanently
connected to the mounting points of the components provided for this
purpose.
● Before working with electrical parts with voltage potentials higher than
50 V, the device must be disconnected from the mains voltage or power
supply unit. Provide a safeguard to prevent reconnection.
● For electrical drive and filter components, observe the following:
Wait 30 minutes after switching off power to allow capacitors to dis‐
charge before beginning to work. Measure the electrical voltage on the
capacitors before beginning to work to make sure that the equipment is
safe to touch.
● Never touch the electrical connection points of a component while power
is turned on.
● Install the covers and guards provided with the equipment properly before
switching the device on. Before switching the equipment on, cover and
safeguard live parts safely to prevent contact with those parts.
● A residual-current-operated circuit-breaker or r.c.d. cannot be used for
electric drives! Indirect contact must be prevented by other means, for
example, by an overcurrent protective device according to the relevant
standards.
● Secure built-in devices from direct touching of electrical parts by providing
an external housing, for example a control cabinet.
Application Description | Rexroth IndraWorks Electric Drives | Bosch Rexroth AG 9/53
and Controls
For electrical drive and filter components with voltages of more than
50 volts, observe the following additional safety instructions.
High housing voltage and high leakage current! Risk of death or bodily
injury by electric shock!
● Before switching on, the housings of all electrical equipment and motors
DANGER must be connected or grounded with the equipment grounding conductor
to the grounding points. This is also applicable before short tests.
● The equipment grounding conductor of the electrical equipment and the
devices must be non-detachably and permanently connected to the power
supply unit at all times. The leakage current is greater than 3.5 mA.
● Over the total length, use copper wire of a cross section of a minimum of
10 mm2 for this equipment grounding connection!
● Before commissioning, also in trial runs, always attach the equipment
grounding conductor or connect to the ground wire. Otherwise, high vol‐
tages may occur at the housing causing electric shock.
The monitoring in the drive components will normally be sufficient to avoid faulty
operation in the connected drives. Regarding personal safety, especially the
danger of bodily harm and/or material damage, this alone cannot be relied upon
to ensure complete safety. Until the integrated monitoring functions become
effective, it must be assumed in any case that faulty drive movements will occur.
The extent of faulty drive movements depends upon the type of control and the
state of operation.
Application Description | Rexroth IndraWorks Electric Drives | Bosch Rexroth AG 11/53
and Controls
Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electrical equipment!
● Persons with heart pacemakers and metal implants are not permitted to
WARNING enter following areas:
– Areas in which electrical equipment and parts are mounted, being
operated or commissioned.
– Areas in which parts of motors with permanent magnets are being
stored, repaired or mounted.
● If it is necessary for somebody with a pacemaker to enter such an area,
a doctor must be consulted prior to doing so. The noise immunity of pres‐
ent or future implanted heart pacemakers differs greatly so that no general
rules can be given.
● Those with metal implants or metal pieces, as well as with hearing aids,
must consult a doctor before they enter the areas described above. Oth‐
erwise health hazards may occur.
Quick Start
4 Quick Start
In the following, the execution sequence that makes it possible to sensibly op‐
erate the various simulation components of IndraWorks is described for an
IndraMotion MTX project. It is not suitable for a user who has no prior knowledge
of the simulation components. The inexperienced user should first read the
entire documentation to become familiar with the subject matter.
Execute the following steps to be able to simulate an IndraMotion MTX project
on a PC:
1. Start IndraWorks using the link on the desktop
2. Load the desired IndraMotion MTX project into IndraWorks
3. Start the IndraMotion MTX emulation (also see chapter 6.4.6 "Starting
and Exiting MTX Emulation" on page 46)
4. Set the communication settings for the IndraMotion MTX and the PLC to
“localhost”.
5. The PLC must be stopped.
6. The NC kernel data must be restored (also see chapter 6.4.4 "Designing
the NC Core" on page 40).
7. The PLC program must be loaded and started (also see chapter 6.4.5
"Projecting the PLC" on page 44)
8. Activate the IndraWorks project for Operation Desktop (also see chapter
6.4.3 "Projecting the HMI" on page 38)
9. Create the virtual control panel in IndraWorks Engineering (also see
chapter "Creating a Virtual User Panel" on page 29) and configure it
(also see chapter 6.2.1 "Configuration" on page 29)
10. Start the Windows program “Virtual Control Panel” (also seechapter 6.2.2
"Connection to Virtual Control " on page 31).
If a machine model exists, it can be loaded into the 3D viewer and controlled
using data from the emulation via OPC. To do this, proceed as follows:
1. Add a new model to the project (also see chapter "Importing 3D models "
on page 32)
2. Link the OPC items to the objects of the model (also see chapter "Con‐
necting 3D objects with IndraMotion MTX axis values " on page 34)
3. Start the simulation of the model in IndraWorks
Bosch Rexroth AG | Electric Drives Rexroth IndraWorks | Application Description
and Controls
Application Description | Rexroth IndraWorks Electric Drives | Bosch Rexroth AG 17/53
and Controls
If the node Simulation and/or the entry Virtual Control Panel does
not exist, it can be added as follows using the project node:
● Call menu item Add... in the contextual menu of the project
node.
● In the dialog box Add new element, open the template Virtual
Control Panel from the category Virtual Components.
The entry Virtual Control Panel is added to the project tree
within the node Simulation.
Project node 3D Visualization Node 3D Visualization can be used to access 3D models of the View3D appli‐
cation.
New 3D models can be added using the contextual menu Add... on node 3D
Visualization.
See also chapter "Handling instruction: Importing a 3D model" on page 32.
A View3D model can be opened using the contextual menu Open ... of the
corresponding node in the Project Explorer or by double-clicking it.
Furthermore, models can be renamed or deleted in the Project Explorer.
See also chapter "Opening, renaming and deleting 3D models " on page
34.
5.2 3D Visualization
5.2.1 General Description
The View3D 3D visualization system is used to represent a machine model as
a three-dimensional volume model (3D scene).
18/53 Bosch Rexroth AG | Electric Drives Rexroth IndraWorks | Application Description
and Controls
Individual objects in the 3D scene can be combined with process values of the
IndraMotion MTX within View3D. If the NC program of the machine is executed
using the virtual control (also seechapter 5.4 "Virtual Control" on page 27),
the axis movements of the machine can be traced in the three-dimensional
machine model.
Additional functions in View3D include:
● Rotating a 3D scene
● Zoom function
● Wireframe representation
● Saving of camera positions (viewpoints)
If the mouse is moved within the 3D view with the center mouse button held
down, the 3D scene is positioned according to the mouse movement.
Zooming a 3D scene To be able to better see the details in the 3D model, you can zoom into the 3D
scene.
● Mouse operation
If the mouse is moved within the 3D view with the right mouse button held
down, the view “zooms” into the 3D scene. Moving the mouse upwards
zooms out of the model. Moving the mouse downwards zooms into the
model.
● Keyboard operation
You can zoom within the 3D view using the <PgUp> and <PgDn> keys.
Pressing the <PgUp> key zooms into the model; pressing the <PgDn> key
zooms out of the model.
Functions for manipulating 3D objects
Control reset Pressing key <Pos 1> moves the 3D scene into a predefined camera position.
This is an internal basic setting that cannot be changed.
For these functions, the entry Rendering always active must have
been switched on in dialog box Model properties (also see chapter
5.2.6 "Properties of the View3D Model " on page 25).
Moving/rotating objects To move an object, it must be marked beforehand. Then press one of the keys
<X>, <Y> or <Z> to select the desired axis direction for the move. In addition,
you must now move the mouse (with the left mouse button held down) to the
left or right in order to move the object.
If you press and hold the right mouse button instead of the left one, the object
is rotated around the selected axis.
Saving camera positions Keys <0> to <9> can be used to save and call 10 different camera positions.
To do this - see the explanation in chapter "Basic functions" on page 19 - the
camera position is changed and then saved using key combination <Ctrl+num‐
ber>.
A camera position (viewpoint) can be called again by pressing one of the keys
<0> to <9>.
For these functions, the entry Rendering always active must have
been switched on in dialog box Model properties (also see chapter
5.2.6 "Properties of the View3D Model " on page 25).
Explosion/implosion Pressing the <End> key brings manipulated objects back to the basic position
(implosion).
If you then press the <E> key, the objects move back to the manipulated posi‐
tion (explosion).
For these functions, the entry Rendering always active must have
been switched on in dialog box Model properties (also see chapter
5.2.6 "Properties of the View3D Model " on page 25).
Z rotation. The degrees of freedom are a component of the objects listed in the
tree, but are not shown explicitly. The individual nodes of the tree have a
checkbox with which they can shown or hidden in the 3D model. If an OPC item
is assigned to at least one of the degrees of freedom of the kinematics object,
the corresponding icon in the tree node changes.
The menu item is active only if the selected node has subnodes.
Application Description | Rexroth IndraWorks Electric Drives | Bosch Rexroth AG 23/53
and Controls
The point of rotation and the angle of a kinematics object can be modified in
the Object properties dialog box.
Also see chapter "Handling instruction: Rotating a View3D object around a
user-defined point of rotation" on page 35 and chapter "Handling instruction:
Moving a View3D object in any direction in space" on page 35
Assignment
Using drag-and-drop, an OPC item can be assigned to a degree of freedom of
a kinematics object. If an OPC item from the OPC tree is dropped onto a node
of the scene tree, the following dialog box opens.
OPC group name This is the name of the OPC group that is used when someone logs onto an
OPC server.
OPC update rate The OPC update rate specifies the time (in milliseconds) in which process val‐
ues are updated by the OPC server.
5.3.2 Configurator
The Virtual User Panel is configured in IndraWorks Engineering. Then the con‐
figuration file of the Virtual User Panel must be supplemented by the user (also
see chapter "Supplements to the configuration file " on page 30).
The configuration page of the key‐ This page is used to label the keypads with texts or previously generated im‐
pads ages. Each individual key can be allocated by entering a text or by dragging
and dropping an image from the symbol list.
The configuration page of the The configuration page of the quick-stop module can be used to make various
quick-stop module settings for the two keys:
● Labelling the key
● Function
Since the keys on the real VAM 40 are hardware-wired and the switches
are equipped with make and break contacts, these settings can also be
selected here. If a key is not wired, “None” can be set.
● Mutual locking of the keys
Since the keys are switches, the signals are continuously activated. To
mutually reset these signals, mutual locking of the two keys can be se‐
lected.
The labels for the EMERGENCY STOP and the spindle and fee‐
drate override are not affected.
The configuration file The configuration file contains the assignment of the individual keys. In addition,
the user must enter all the PLC variables that are required for communication
with the Virtual User Panel (also see chapter "Supplements to the configuration
file " on page 30).
The individual keys, switch settings, lamps and overrides can then use these
settings to control the PLC program and to display the status.
Operation in IndraWorks
6 Operation in IndraWorks
6.1 Creating a Model
6.1.1 General
The import format for 3D scenes into View3D is VRML (Virtual Reality Modeling
Language). Files in the format VRML 2.0 (or VRML97) are supported.
VRML files are recognized by the file extension “.wrl” (world).
Most 3D modelling tools can export 3D scenes in VRML format.
Operation in IndraWorks
Operation in IndraWorks
Operation in IndraWorks
These are created as follows: Variable name: BOOL, e.g. iStart: BOOL;
6.2.3 Start
The Virtual User Panel is started via Start ▶ Program Files ▶ IndraWorks ▶ Vir‐
tual User Panel or using the “IndraWorks Virtual User Panel” icon on the
desktop.
Operation in IndraWorks
Operation in IndraWorks
● Press the <Finish> key. The View3D model is added to node 3D visuali‐
zation in the project tree.
Opening, renaming and deleting 3D models
Opening a 3D model in View3D Highlight the desired View3D model within node 3D visualization using the
mouse or the cursor keys and open it using contextual menu Open or by double-
clicking.
Renaming a 3D model The name of the View3D model can be changed in the Project Explorer. To do
this, select contextual menu Rename on the View3D model in the Project Ex‐
plorer or press key <F2>. Then the name can be changed and entered by
pressing the <Enter> key.
Deleting a 3D model A View3D model can be deleted from the IndraWorks project in the Project
Explorer using contextual menu Delete or with key <Del>.
Operation in IndraWorks
Operation in IndraWorks
dinate (rotation around the Z-axis) to correct the direction of movement for
the X- and Y-axes.
Establishing a connection to the control
Handling instruction: Starting a View3D process connection
This handling instruction describes how to activate the View3D process con‐
nection in order to control 3D objects using process values.
Boundary condition Communication with the IndraMotion MTX must have been established in order
to be able to access IndraMotion MTX OPC items.
To establish communication to the IndraMotion MTX, one of the following steps
must be carried out once before opening a 3D model in View3D:
● Execute a connection test on node IndraMotion MTX in the Project Ex‐
plorer
● Open IndraWorks Operation Desktop
IW Engineering / Simulation: Establishing a View3D process connection for
control
In the main menu, select menu item View3D ▶ Start.
The following actions are now carried out:
● Windows OPC server and OPC assignment are hidden.
● The process connection is started and the 3D objects are supplied with
the process values of the control.
Handling instruction: Stopping a View3D process connection
An active process connection in View3D can be stopped using this handling
instruction.
Boundary condition The process connection must be active (this can be recognized by the check‐
mark on menu item Start in the main View3D menu).
IW Engineering / Simulation: Terminating a View3D process connection for
control
In the main menu, select menu item View3D ▶ Start.
The following actions are now carried out:
● The process connection is stopped.
● Windows OPC server and OPC assignment are displayed.
Operation in IndraWorks
Wireframe representation
The representation of the 3D model can be switched between Solid and Wire‐
frame in View3D. If the checkmark on menu item Wireframe is set in the main
View3D menu, the model is displayed as a wireframe. Otherwise, the 3D model
is shown as a solid.
Manipulating 3D objects
Handling instruction: Moving a View3D object
This handling instruction describes how a single View3D object in the 3D model
can be moved.
IW Engineering / Simulation: Moving a View3D object
● Select the 3D object using the left mouse button.
● Press the <X>, <Y> or <Z> key while simultaneously pressing the left
mouse button. The object can now be moved in the X, Y or Z coordinate
direction by moving the mouse to the left or right.
Handling instruction: Rotating a View3D object
The procedure for rotating a View3D object in the 3D scene is described here.
IW Engineering / Simulation: Rotating a View3D object
● Select the 3D object using the left mouse button.
● Press the <X>, <Y> or <Z> key while simultaneously pressing the right
mouse button. The object can now be rotated around the X, Y or Z coor‐
dinate axis by moving the mouse to the left or right.
Changing settings of the View3D model
Settings of the View3D model are changed in the Properties of the View3D
modeldialog box.
See also chapter 5.2.6 "Properties of the View3D Model " on page 25.
The dialog box can be opened in the main menu using menu item
View3D ▶ Model properties....
Changing the scaling factor for The scaling factor for process values can be changed using the corresponding
process values input field in the dialog box.
Switching rendering on and off Rendering of the 3D scene can be switched on/off using the Rendering always
active checkmark.
Changing the name of the OPC The name of the OPC group can be changed in field Group name under OPC
group settings.
Changing the OPC update time The update time for the OPC group can be entered (in milliseconds) in input
field Update rate under OPC settings.
Operation in IndraWorks
Boundary conditions If the default memory size of 0.5 MB is not sufficient, the RAM file system
memory of the emulation must be increased to 3 MB:
Handling instruction: Increasing the RAM file system memory of the
emulation
If the application requires more memory, proceed as follows to increase it:
Windows / Windows Explorer: Change file names
● In folder “D:\Program Files \Rexroth\IndraWorks\mtx\emu”
– rename file “t3usrfep.pxf” to “t3usrfep.pxf.1MB” and
– rename file “t3usrfep.pxf.3MB” to “t3usrfep.pxf”.
Figure Flowchart Example Instruction Documentation
Documentation : IndraWorks Commissioning Instructions MTX Emulation
Fig.6-4: Link
Operation in IndraWorks
● Click the right mouse button on the node of the HMI device in the Project
Navigator.
Operation in IndraWorks
● The IndraWorks project is activated in the main menu under “Project / Ac‐
tivate for operation”.
Operation in IndraWorks
Operation in IndraWorks
Operation in IndraWorks
Any changed data (e.g. configuration parameter, tool data) will only
be effective if the emulation is ended by entering “14” in the DOS
window.
A new root file system is created via bootstrap; as a result, all the
data of the old file system are lost. If an intact user FEPROM file
system exists, the PLC boot project and configuration data are loa‐
ded from there.
Bootstrap is necessary to apply for example the modifications on the tool da‐
tabase size as well as the structure of tool data records.
1. Copy modifications on tool data record into usrfep.
2. Exits IndraWorks.
3. Exit the emulation in the DOS window by entering “14”.
4. Delete the RamFileSystem, i.e. delete the file “...\Program Files\Rexroth
\IndraWorks\mtx\emu\typ3ram.pxf”.
5. Restart emulation.
6. Restart IndraWorks.
Creation of the user FEPROM file Creating a user FEPROM file system which can be compared to execution of
system (startup mode 7) startup mode 7 of real MTX is necessary if all project-specific data can be de‐
leted on a control or if the user FEPROM file system can is damaged.
The user FEPROM is created via creation of the user FEPROM file
system , but all the data of the old file system are lost. The root file
system remains. The permanent CPL variables will be deleted.
1. Exits IndraWorks.
2. Exit the emulation in the DOS window by entering “14”.
3. Delete the user FEPROM file system, i.e. delete the file “...\Program Files
\Rexroth\IndraWorks\mtx\emu\typ3ram.pxf”.
4. Restart emulation.
5. Restart IndraWorks.
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and Controls
Operation in IndraWorks
Operation in IndraWorks
Operation in IndraWorks
Operation in IndraWorks
Modified data (e.g. machine parameters or tool data) are saved only
after emulation is exited by entering “14” in the DOS window.
Modified data (e.g. MACODA, tool data) go into effect only after
emulation is exited by entering “14” in the DOS window. For MTX
emulation, it is not necessary to set different startup modes.
Communication
7 Communication
7.1 OPC
The View3D 3D visualization system can access IndraMotion MTX process
data via OPC.
Data are exchanged with the IndraMotion MTX using OPC items, which are
provided by the IndraMotion MTX OPC server (OPC.Iw.SCP.1).
Queries are passed on internally to the OPC server using the Scalable Com‐
munication Platform (SCP), which is also used for communication with the
IndraMotion MTX user interface.
7.2 SCP
The SCP (Scalable Communication Platform) is the standardized IndraWorks
communication platform. All communication between Bosch Rexroth products,
such as Virtual Control Panel and the PLC, is carried out using SCP.
Data are exchanged between Virtual Control Panel and the PLC using SCP
items, which consist of the names of PLC variables, starting with PLC.Pvl,.PLC
variable name.
You can find additional information in the SCP documentation.
Bosch Rexroth AG | Electric Drives Rexroth IndraWorks | Application Description
and Controls
Application Description | Rexroth IndraWorks Electric Drives | Bosch Rexroth AG 51/53
and Controls
8.3 Internet
Additional notes regarding service, maintenance and training, as well as the
current addresses of our sales and service offices can be found on
http://www.boschrexroth.com
Outwith Germany please contact our sales/service office in your area first.
Index
Index
Symbols Restoring an existing project for MTX emulation
3D visualization 38
Assignment list 24 Restoring a PLC project 44
Basic 3D visualization functions 36 Rotating a View3D object 37
Changing settings of the View3D model 37 Rotating a View3D object around a user-defined
Configuring the process connection 34 point of rotation 35
Connecting 3D objects with IndraMotion MTX ax‐ Starting a View3D process connection 36
is values 34 Starting emulation 46
Creating a simple 3D model 29 Stopping a View3D process connection 36
Establishing a connection to the control 36 Stopping emulation 46
Functions for manipulating 3D objects 21 Handling Instruction
Importing 3D models 32 Designing the NC Core 40
Importing eM-RealNC models 29 Hardware-in-the-loop 1
Manipulating 3D objects 37
Model visualization 19 I
Object properties 22 Inappropriate use 3
OPC configuration 23 Intended Use
Opening, renaming and deleting 3D models 34 Applications 3
Properties of the View3D model 25 Cases of Application 3
Scene tree 21 Introduction 3
Wireframe representation 37
K
B Key-operated switch 29
Behavioral simulation 1
L
C Language 19
Configuration file 26, 30
Connection to virtual control 31 M
Machine model 15
E MBS 1
Error messages 32
N
F Non-Intended Use
FEM 1 Consequences, Exclusion of Liability 3
H P
Handling instruction Project explorer 17
Changing the offset for process values 35
Changing the scaling factor for process values Q
34 Quick-stop module 30
Controlling a View3D object using an
IndraMotion MTX process value 34 S
Determining the coordinates of a point in space Safety instructions for electric drives and controls 5
36 SCP 49
Importing a 3D model 32 Software-in-the-loop 1
Increasing the RAM file system memory of the
emulation 38
Moving a View3D object 37 V
Moving a View3D object in any direction in space Virtual factory 1
35 Virtual machine 1
Projecting the HMI for MTX emulation 38 Virtual User Panel 25
Restarting the emulation system 47
Bosch Rexroth AG | Electric Drives Rexroth IndraWorks | Application Description
and Controls
Application Description | Rexroth IndraWorks Electric Drives | Bosch Rexroth AG
and Controls
Notes
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
Printed in Germany
R911317008 DOK-IWORKS-SIMU****V01-AW02-EN-P