Electric Drives Linear Motion and and Controls Hydraulics Assembly Technologies Pneumatics Service Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Title Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Type of Documentation Reference Book
Document Typecode DOK-IM*ML*-IMST****V11-RE01-EN-P
Internal File Reference RS-0f69a689baa0e8930a6846a000ab77a0-1-en-US-16
Purpose of Documentation This documentation describes the IndraMotion Service Tool (IMST), a Web- based diagnostic tool used to access a control system over a high speed Ethernet connection. The IMST allows OEMs, end users and service engineers to access and diagnose a system from any PC using Internet Explorer version 8 and Firefox 3.5 or greater. The following control systems are supported: ● IndraMotion MLC L25/L45/L65 ● IndraMotion MLP VEP ● IndraLogic XLC L25/L45/L65 VEP
Record of Revision Edition Release Date Notes 120-3300-B316/EN -01 06.2010 First Edition
Copyright © Bosch Rexroth AG 2010 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 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 availa‐ bility of the product. Published by Bosch Rexroth AG Bgm.-Dr.-Nebel-Str. 2 ■ D-97816 Lohr a. Main, Germany Phone +49 (0)93 52/ 40-0 ■ Fax +49 (0)93 52/ 40-48 85 http://www.boschrexroth.com/ System Development Automation Motion Logic Control, DPJ (KaWa) Note This document has been printed on chlorine-free bleached paper. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG I/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Table of Contents Table of Contents Page 1 Important Instructions on Use...... 5 1.1 Appropriate Use...... 5 1.1.1 Introduction...... 5 1.1.2 Areas of Use and Application...... 5 1.2 Inappropriate Use...... 6
2 Safety Instructions for Electric Drives and Controls ...... 7 2.1 Definitions of Terms...... 7 2.2 General Information...... 8 2.2.1 Using the Safety Instructions and Passing Them on to Others...... 8 2.2.2 Requirements for Safe Use...... 8 2.2.3 Hazards by Improper Use...... 9 2.3 Instructions with Regard to Specific Dangers...... 10 2.3.1 Protection Against Contact with Electrical Parts and Housings...... 10 2.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock ...... 11 2.3.3 Protection Against Dangerous Movements...... 11 2.3.4 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting...... 13 2.3.5 Protection Against Contact With Hot Parts...... 13 2.3.6 Protection During Handling and Mounting...... 13 2.3.7 Battery Safety...... 14 2.3.8 Protection Against Pressurized Systems...... 14 2.4 Explanation of Signal Words and the Safety Alert Symbol...... 15
3 IndraMotion Service Tool – Overview...... 17 3.1 General...... 17 3.2 System Requirements...... 18 3.2.1 Hardware...... 18 3.2.2 Firmware...... 18 3.2.3 Software...... 19 3.2.4 Internet Explorer Security Settings...... 19 3.3 IMST Functionality...... 19 3.3.1 Overview...... 19 3.3.2 Diagnostic Overview...... 20 3.3.3 Hardware Overview...... 23 3.3.4 Data Overview...... 24 3.3.5 User Management Overview...... 25 3.3.6 IMST Toolbar Icons...... 27 3.3.7 Right-Click and Tooltip Functionality...... 28 3.3.8 Help for Diagnostics...... 30
4 Getting Started...... 31 4.1 Overview...... 31 4.2 Browser Settings...... 31 II/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Table of Contents
Page 4.2.1 Overview...... 31 4.2.2 Enabling Security Settings...... 31 4.2.3 Proxy Server Settings...... 32 4.3 Logging On for the First Time...... 33 4.3.1 Overview...... 33 4.3.2 Setting Up User Accounts...... 34 Logging on as the System Administrator...... 34 User Management...... 36
5 Using the IndraMotion Service Tool...... 39 5.1 Overview...... 39 5.2 User Login...... 39 5.3 Standard IMST Toolbar Icons...... 40 5.3.1 Overview...... 40 5.3.2 Hide and Display Tree Structure...... 40 5.3.3 Saving Diagnostic Log and Hardware Details...... 41 5.3.4 File Transfer...... 42 5.3.5 Changing the Operation Mode...... 44 5.3.6 Current PLC State...... 44 5.3.7 Error and Warning Indicators...... 44 5.4 Diagnostics Folder...... 45 5.4.1 Overview...... 45 5.4.2 Control Node...... 46 5.4.3 Oscilloscope Functionality...... 47 Overview...... 47 Graphical Display Area...... 48 Active Measurement...... 49 Configure Measurement and Signal Trigger...... 50 Capturing Traces with the Oscilloscope...... 52 Manipulating Oscilloscope Signals...... 53 5.5 Hardware Folder...... 59 5.5.1 Overview...... 59 5.5.2 Control Hardware...... 59 Overview...... 59 Ethernet...... 60 Sercos...... 61 Control Link (Cross Communication)...... 61 PLS Module...... 62 5.5.3 Drive Hardware...... 63 Overview...... 63 PLS...... 64 Local I/O...... 64 Motor Commutation...... 65 Reference Motor Encoder...... 66 5.6 Data Folder...... 67 5.6.1 Data Folder Overview...... 67 DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG III/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Table of Contents
Page 5.6.2 Archive and Restore Parameters...... 67 5.6.3 Compare Parameters...... 68 5.6.4 Logic...... 69 5.6.5 Parameter...... 71 5.6.6 Custom...... 73 Overview...... 73 Creating a Custom Group List or Table...... 74 Modifying a Custom List or Table...... 75 Editing Custom Data Parameter Value...... 76 Hiding/Displaying Column Headings for List...... 77 5.7 User Documentation...... 77 5.8 User Management Folder...... 78 5.8.1 Overview...... 78 5.8.2 Create a User Account...... 80 5.8.3 Delete a User Account...... 81 5.8.4 Changing a User Account Password...... 81
6 Service and Support...... 83
Index...... 85 IV/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 5/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Important Instructions on Use 1 Important Instructions on Use 1.1 Appropriate Use 1.1.1 Introduction Bosch Rexroth products are developed and manufactured according to the . They are tested prior to delivery to ensure operating safety and reliability.
WARNING Personal injury and damage to property due to incorrect use of products! The products were developed for the use in an industrial environment and may only be used as intended. If they are not used in the appropriate way, situations resulting in property damage and personal injury can occur.
Bosch Rexroth, as the manufacturer of the products, will not as‐ sume any warranty, liability or payment of damages in case of damage resulting from a non-intended use of the products. If he fails to use the products as intended, the user will be solely respon‐ sible for any resulting risks.
Before you use Bosch Rexroth products, the following requirements must be met in order to guarantee the intended use of the products: ● Personnel that in any way, shape or form uses our products must first read and understand the relevant safety instructions and be familiar with ap‐ propriate use. ● If the products take the form of hardware, then they must remain in their original state, in other words, no structural changes are permitted. It is not permitted to decompile software products or alter source codes. ● Do not mount damaged or faulty products or use them in operation. ● Ensure that the products have been installed in the manner described in the relevant documentation. 1.1.2 Areas of Use and Application The IndraMotion MLC, IndraMotion MLP and IndraLogic XLC by Bosch Rexroth are intended for Motion/Logic applications.
The IndraMotion MLC, IndraMotion MLP and IndraLogic XLC may only be used together with the accessories and attachment parts given in this documentation. Components that are not expressly mentioned must neither be attached nor connected. The same is valid for cables and lines. The operation must only be carried out with the component config‐ urations and combinations that were expressly mentioned and with the software and firmware indicated and specified in the respective functional description.
The IndraMotion MLC, IndraMotion MLP and IndraLogic XLC have been de‐ veloped for use in single and multi-axis drive and control tasks. For the application-specific usage of the IndraMotion MLC, IndraMotion MLP and IndraLogic XLC, our product range comprises various device types with different performance and interfaces. 6/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Important Instructions on Use
Typical applications for IndraMotion MLC, IndraMotion MLP and IndraLogic XLC are: ● [Handling and mounting systems] ● [Packaging and food machines] ● [Printing and paper-processing machines] ● [Machine tools] The IndraMotion MLC, IndraMotion MLP and IndraLogic XLC must be operated only in the mounting and installation conditions, the position, and the ambient conditions (temperature, degree of protection, moisture, EMC, etc.) specified in this documentation. 1.2 Inappropriate Use Use of the IndraMotion MLC, IndraMotion MLP or IndraLogic XLC in applica‐ tions other than those specified or described in the documentation and technical data is considered as "inappropriate". IndraMotion MLC, IndraMotion MLP or IndraLogic XLC must not be used if ● they are subjected to operating conditions not corresponding to the speci‐ fied ambient conditions. Operation under water, extreme temperature fluctuations or extreme maximum temperatures etc. is prohibited. ● the intended applications were not expressly validated by Bosch Rexroth. Therefore, read the statements given in the general safety instructions! DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 7/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Safety Instructions for Electric Drives and Controls 2 Safety Instructions for Electric Drives and Controls 2.1 Definitions of Terms Application Documentation Application documentation comprises the entire documentation used to inform the user of the product about the use and safety-relevant features for config‐ uring, integrating, installing, mounting, commissioning, operating, maintaining, repairing and decommissioning the product. The following terms are also used for this kind of documentation: User Guide, Operation Manual, Commissioning Manual, Instruction Manual, Project Planning Manual, Application Manual, etc. Component A component is a combination of elements with a specified function, which are part of a piece of equipment, device or system. Components of the electric drive and control system are, for example, supply units, drive controllers, mains choke, mains filter, motors, cables, etc. Control System A control system comprises several interconnected control components placed on the market as a single functional unit. Device A device is a finished product with a defined function, intended for users and placed on the market as an individual piece of merchandise. Electrical Equipment Electrical equipment encompasses all devices used to generate, convert, trans‐ mit, distribute or apply electrical energy, such as electric motors, transformers, switching devices, cables, lines, power-consuming devices, circuit board as‐ semblies, plug-in units, control cabinets, etc. Electric Drive System An electric drive system comprises all components from mains supply to motor shaft; this includes, for example, electric motor(s), motor encoder(s), supply units and drive controllers, as well as auxiliary and additional components, such as mains filter, mains choke and the corresponding lines and cables. Installation An installation consists of several devices or systems interconnected for a de‐ fined purpose and on a defined site which, however, are not intended to be placed on the market as a single functional unit. Machine A machine is the entirety of interconnected parts or units at least one of which is movable. Thus, a machine consists of the appropriate machine drive ele‐ ments, as well as control and power circuits, which have been assembled for a specific application. A machine is, for example, intended for processing, treatment, movement or packaging of a material. The term "machine" also cov‐ ers a combination of machines which are arranged and controlled in such a way that they function as a unified whole. Manufacturer The manufacturer is an individual or legal entity bearing responsibility for the design and manufacture of a product which is placed on the market in the in‐ dividual's or legal entity's name. The manufacturer can use finished products, finished parts or finished elements, or contract out work to subcontractors. However, the manufacturer must always have overall control and possess the required authority to take responsibility for the product. Product Examples of a product: Device, component, part, system, software, firmware, among other things. Project Planning Manual A project planning manual is part of the application documentation used to support the sizing and planning of systems, machines or installations. Qualified Persons In terms of this application documentation, qualified persons are those persons who are familiar with the installation, mounting, commissioning and operation of the components of the electric drive and control system, as well as with the hazards this implies, and who possess the qualifications their work requires. To comply with these qualifications, it is necessary, among other things, 8/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Safety Instructions for Electric Drives and Controls
1) to be trained, instructed or authorized to switch electric circuits and devices safely on and off, to ground them and to mark them 2) to be trained or instructed to maintain and use adequate safety equipment 3) to attend a course of instruction in first aid User A user is a person installing, commissioning or using a product which has been placed on the market. 2.2 General Information 2.2.1 Using the Safety Instructions and Passing Them on to Others Do not attempt to install and operate the components of the electric drive and control system without first reading all documentation provided with the product. Read and understand these safety instructions and all user documentation prior to working with these components. If you do not have the user documentation for the components, contact your responsible Bosch Rexroth sales partner. Ask for these documents to be sent immediately to the person or persons respon‐ sible for the safe operation of the components. If the component is resold, rented and/or passed on to others in any other form, these safety instructions must be delivered with the component in the official language of the user's country. Improper use of these components, failure to follow the safety instructions in this document or tampering with the product, including disabling of safety de‐ vices, could result in property damage, injury, electric shock or even death.
2.2.2 Requirements for Safe Use Read the following instructions before initial commissioning of the components of the electric drive and control system in order to eliminate the risk of injury and/or property damage. You must follow these safety instructions. ● Bosch Rexroth is not liable for damages resulting from failure to observe the safety instructions. ● Read the operating, maintenance and safety instructions in your language before commissioning. If you find that you cannot completely understand the application documentation in the available language, please ask your supplier to clarify. ● Proper and correct transport, storage, mounting and installation, as well as care in operation and maintenance, are prerequisites for optimal and safe operation of the component. ● Only qualified persons may work with components of the electric drive and control system or within its proximity. ● Only use accessories and spare parts approved by Bosch Rexroth. ● Follow the safety regulations and requirements of the country in which the components of the electric drive and control system are operated. ● Only use the components of the electric drive and control system in the manner that is defined as appropriate. See chapter "Appropriate Use". ● The ambient and operating conditions given in the available application documentation must be observed. ● Applications for functional safety are only allowed if clearly and explicitly specified in the application documentation "Integrated Safety Technolo‐ gy". If this is not the case, they are excluded. Functional safety is a safety DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 9/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Safety Instructions for Electric Drives and Controls
concept in which measures of risk reduction for personal safety depend on electrical, electronic or programmable control systems. ● The information given in the application documentation with regard to the use of the delivered components contains only examples of applications and suggestions. The machine and installation manufacturers must – make sure that the delivered components are suited for their individ‐ ual application and check the information given in this application documentation with regard to the use of the components, – make sure that their individual application complies with the appli‐ cable safety regulations and standards and carry out the required measures, modifications and complements. ● Commissioning of the delivered components is only allowed once it is sure that the machine or installation in which the components are installed complies with the national regulations, safety specifications and standards of the application. ● Operation is only allowed if the national EMC regulations for the applica‐ tion are met. ● The instructions for installation in accordance with EMC requirements can be found in the section on EMC in the respective application documenta‐ tion. The machine or installation manufacturer is responsible for compliance with the limit values as prescribed in the national regulations. ● The technical data, connection and installation conditions of the compo‐ nents are specified in the respective application documentations and must be followed at all times. National regulations which the user must take into account ● European countries: In accordance with 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)
2.2.3 Hazards by Improper Use ● High electrical voltage and high working current! Danger to life or serious injury by electric shock! ● High electrical voltage by incorrect connection! Danger to life or injury by electric shock! ● Dangerous movements! Danger to life, serious injury or property damage by unintended motor movements! ● Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electric drive systems! ● Risk of burns by hot housing surfaces! 10/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Safety Instructions for Electric Drives and Controls
● Risk of injury by improper handling! Injury by crushing, shearing, cutting, hitting! ● Risk of injury by improper handling of batteries! ● Risk of injury by improper handling of pressurized lines!
2.3 Instructions with Regard to Specific Dangers 2.3.1 Protection Against Contact with Electrical Parts and Housings
This section concerns components of the electric drive and control system with voltages of more than 50 volts.
Contact with parts conducting voltages above 50 volts can cause personal danger and electric shock. When operating components of the electric drive and control system, it is unavoidable that some parts of these components conduct dangerous voltage.
High electrical voltage! Danger to life, risk of injury by electric shock or serious injury! ● Only qualified persons are allowed to operate, maintain and/or repair the components of the electric drive and control system. ● Follow the general installation and safety regulations when working on power installations. ● Before switching on, the equipment grounding conductor must have been permanently connected to all electric components in accordance with the connection diagram. ● Even for brief measurements or tests, operation is only allowed if the equipment grounding conductor has been permanently connected to the points of the components provided for this purpose. ● Before accessing electrical parts with voltage potentials higher than 50 V, you must disconnect electric components from the mains or from the pow‐ er supply unit. Secure the electric component from reconnection. ● With electric components, observe the following aspects: Always wait 30 minutes after switching off power to allow live capacitors to discharge before accessing an electric component. Measure the elec‐ trical voltage of live parts before beginning to work to make sure that the equipment is safe to touch. ● Install the covers and guards provided for this purpose before switching on. ● Never touch electrical connection points of the components while power is turned on. ● Do not remove or plug in connectors when the component has been pow‐ ered. ● Under specific conditions, electric drive systems can be operated at mains protected by residual-current-operated circuit-breakers sensitive to uni‐ versal current (RCDs/RCMs). ● Secure built-in devices from penetrating foreign objects and water, as well as from direct contact, by providing an external housing, for example a control cabinet.
DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 11/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Safety Instructions for Electric Drives and Controls
High housing voltage and high leakage current! Danger to life, risk of injury by electric shock! ● Before switching on and before commissioning, ground or connect the components of the electric drive and control system to the equipment grounding conductor at the grounding points. ● Connect the equipment grounding conductor of the components of the electric drive and control system permanently to the main power supply at all times. The leakage current is greater than 3.5 mA. ● Establish an equipment grounding connection with a copper wire of a cross section of at least 10 mm2 (8 AWG) or additionally run a second equipment grounding conductor of the same cross section as the original equipment grounding conductor.
2.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock Protective extra-low voltage is used to allow connecting devices with basic in‐ sulation to extra-low voltage circuits. On components of an electric drive and control system provided by Bosch Rexroth, all connections and terminals with voltages between 5 and 50 volts are PELV ("Protective Extra-Low Voltage") systems. It is allowed to connect devices equipped with basic insulation (such as programming devices, PCs, notebooks, display units) to these connections.
Danger to life, risk of injury by electric shock! High electrical voltage by incorrect connection! If extra-low voltage circuits of devices containing voltages and circuits of more than 50 volts (e.g., the mains connection) are connected to Bosch Rexroth products, the connected extra-low voltage circuits must comply with the re‐ quirements for PELV ("Protective Extra-Low Voltage").
2.3.3 Protection Against Dangerous Movements Dangerous movements can be caused by faulty control of connected motors. Some common examples are: ● Improper or wrong wiring or cable connection ● Operator errors ● Wrong input of parameters before commissioning ● Malfunction of sensors and encoders ● Defective components ● Software or firmware errors These errors can occur immediately after equipment is switched on or even after an unspecified time of trouble-free operation. The monitoring functions in the components of the electric drive and control system will normally be sufficient to avoid malfunction in the connected drives. Regarding personal safety, especially the danger of injury and/or property dam‐ age, 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 move‐ ments depends upon the type of control and the state of operation.
12/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Safety Instructions for Electric Drives and Controls
Dangerous movements! Danger to life, risk of injury, serious injury or property damage! A risk assessment must be prepared for the installation or machine, with its specific conditions, in which the components of the electric drive and control system are installed. As a result of the risk assessment, the user must provide for monitoring func‐ tions and higher-level measures on the installation side for personal safety. The safety regulations applicable to the installation or machine must be taken into consideration. Unintended machine movements or other malfunctions are pos‐ sible if safety devices are disabled, bypassed or not activated. To avoid accidents, injury and/or property damage: ● Keep free and clear of the machine’s range of motion and moving machine parts. Prevent personnel from accidentally entering the machine’s range of motion by using, for example: – Safety fences – Safety guards – Protective coverings – Light barriers ● Make sure the safety fences and protective coverings are strong enough to resist maximum possible kinetic energy. ● Mount emergency stopping switches in the immediate reach of the oper‐ ator. Before commissioning, verify that the emergency stopping equip‐ ment works. Do not operate the machine if the emergency stopping switch is not working. ● Prevent unintended start-up. Isolate the drive power connection by means of OFF switches/OFF buttons or use a safe starting lockout. ● Make sure that the drives are brought to safe standstill before accessing or entering the danger zone. ● Additionally secure vertical axes against falling or dropping after switching off the motor power by, for example, – mechanically securing the vertical axes, – adding an external braking/arrester/clamping mechanism or – ensuring sufficient counterbalancing of the vertical axes. ● The standard equipment motor holding brake or an external holding brake controlled by the drive controller is not sufficient to guarantee personal safety! ● Disconnect electrical power to the components of the electric drive and control system using the master switch and secure them from reconnec‐ tion ("lock out") for: – Maintenance and repair work – Cleaning of equipment – Long periods of discontinued equipment use ● Prevent the operation of high-frequency, remote control and radio equip‐ ment near components of the electric drive and control system and their supply leads. If the use of these devices cannot be avoided, check the machine or installation, at initial commissioning of the electric drive and control system, for possible malfunctions when operating such high-fre‐ quency, remote control and radio equipment in its possible positions of normal use. It might possibly be necessary to perform a special electro‐ magnetic compatibility (EMC) test. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 13/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Safety Instructions for Electric Drives and Controls
2.3.4 Protection Against Magnetic and Electromagnetic Fields During Oper‐ ation and Mounting Magnetic and electromagnetic fields generated by current-carrying conductors or permanent magnets of electric motors represent a serious danger to persons with heart pacemakers, metal implants and hearing aids. Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electric components! ● Persons with heart pacemakers and metal implants are not allowed to enter the following areas: – Areas in which components of the electric drive and control systems are mounted, commissioned and operated. – Areas in which parts of motors with permanent magnets are stored, repaired or mounted. ● If it is necessary for somebody with a heart pacemaker to enter such an area, a doctor must be consulted prior to doing so. The noise immunity of implanted heart pacemakers differs so greatly 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.
2.3.5 Protection Against Contact With Hot Parts Hot surfaces of components of the electric drive and control system. Risk of burns! ● Do not touch hot surfaces of, for example, braking resistors, heat sinks, supply units and drive controllers, motors, windings and laminated cores! ● According to the operating conditions, temperatures of the surfaces can be higher than 60 °C (140 °F) during or after operation. ● Before touching motors after having switched them off, let them cool down for a sufficient period of time. Cooling down can require up to 140 mi‐ nutes! The time required for cooling down is approximately five times the thermal time constant specified in the technical data. ● After switching chokes, supply units and drive controllers off, wait 15 mi‐ nutes to allow them to cool down before touching them. ● Wear safety gloves or do not work at hot surfaces. ● For certain applications, and in accordance with the respective safety reg‐ ulations, the manufacturer of the machine or installation must take meas‐ ures to avoid injuries caused by burns in the final application. These measures can be, for example: Warnings at the machine or installation, guards (shieldings or barriers) or safety instructions in the application documentation.
2.3.6 Protection During Handling and Mounting Risk of injury by improper handling! Injury by crushing, shearing, cutting, hitting! ● Observe the relevant statutory regulations of accident prevention. ● Use suitable equipment for mounting and transport. ● Avoid jamming and crushing by appropriate measures. 14/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Safety Instructions for Electric Drives and Controls
● Always use suitable tools. Use special tools if specified. ● Use lifting equipment and tools in the correct manner. ● Use suitable protective equipment (hard hat, safety goggles, safety shoes, safety gloves, for example). ● Do not stand under hanging loads. ● Immediately clean up any spilled liquids from the floor due to the risk of slipping.
2.3.7 Battery Safety Batteries consist of active chemicals in a solid housing. Therefore, improper handling can cause injury or property damage. Risk of injury by improper handling! ● Do not attempt to reactivate low batteries by heating or other methods (risk of explosion and cauterization). ● Do not attempt to recharge the batteries as this may cause leakage or explosion. ● Do not throw batteries into open flames. ● Do not dismantle batteries. ● When replacing the battery/batteries, do not damage the electrical parts installed in the devices. ● Only use the battery types specified for the product.
Environmental protection and disposal! The batteries contained in the product are considered dangerous goods during land, air, and sea transport (risk of explosion) in the sense of the legal regulations. Dispose of used batteries separately from other waste. Observe the national regulations of your country.
2.3.8 Protection Against Pressurized Systems According to the information given in the Project Planning Manuals, motors and components cooled with liquids and compressed air can be partially supplied with externally fed, pressurized media, such as compressed air, hydraulics oil, cooling liquids and cooling lubricants. Improper handling of the connected sup‐ ply systems, supply lines or connections can cause injuries or property damage. Risk of injury by improper handling of pressurized lines! ● Do not attempt to disconnect, open or cut pressurized lines (risk of explo‐ sion). ● Observe the respective manufacturer's operating instructions. ● Before dismounting lines, relieve pressure and empty medium. ● Use suitable protective equipment (safety goggles, safety shoes, safety gloves, for example). ● Immediately clean up any spilled liquids from the floor due to the risk of slipping. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 15/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Safety Instructions for Electric Drives and Controls
Environmental protection and disposal! The agents (e.g., fluids) used to operate the product might not be environmentally friendly. Dispose of agents harmful to the environment separately from other waste. Observe the national regulations of your country.
2.4 Explanation of Signal Words and the Safety Alert Symbol The Safety Instructions in the available application documentation contain spe‐ cific signal words (DANGER, WARNING, CAUTION or NOTICE) and, where required, a safety alert symbol (in accordance with ANSI Z535.6-2006). The signal word is meant to draw the reader's attention to the safety instruction and identifies the hazard severity. The safety alert symbol (a triangle with an exclamation point), which precedes the signal words DANGER, WARNING and CAUTION, is used to alert the reader to personal injury hazards.
DANGER In case of non-compliance with this safety instruction, death or serious injury will occur.
WARNING In case of non-compliance with this safety instruction, death or serious injury could occur.
CAUTION In case of non-compliance with this safety instruction, minor or moderate injury could occur.
NOTICE In case of non-compliance with this safety instruction, property damage could occur. 16/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 17/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview 3 IndraMotion Service Tool – Overview 3.1 General The IndraMotion Service Tool (IMST) is a Web-based diagnostic tool supported by the following IndraMotion control systems over a high speed Ethernet con‐ nection: ● IndraMotion MLC L25/L45/L65 ● IndraMotion MLP ● IndraLogic XLC L25/L45/L65 The IMST allows OEMs, end users and service engineers to access and diag‐ nose a system from any PC using Internet Explorer version 8 or Firefox 3.5 or later.
No installation or setup is required with the IMST. All necessary files and tools are embedded in the control's firmware. The IMST is sup‐ ported in IndraMotion MLC/MLP and IndraLogic XLC 11VRS con‐ trol firmware.
The control's web server is password protected and requires that the user have access to the system's network. The web server is accessed by entering the control's IP address in the browser's address bar. Once a connection to the control is established, the IMST login page is loaded into the browser's window.
Fig.3-1: IndraMotion Service Tool login page Upon a successful login, the user is granted access to the IMST pages. The data that is displayed is dependent on the user's access rights, hardware and project configuration. The administrator of the system can create new accounts and specify the data that can be viewed and/or modified by the current user. 18/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
The project in the control must first be configured and downloaded using IndraWorks Engineering suite 11VRS. The IMST can then be used to access the control's web server. Any changes to the current project must be downloaded to the control before the changes are displayed on the IMST.
Depending on the user's access rights, the IMST provides an overview of the control system, including drives communicating with the control as well as any supported control and drive modules. The tool provides detailed data of all hardware and firmware that is connected to the control, either directly or indi‐ rectly via a link ring configuration. A user with access rights can access and modify control and drive parameters as well as create archives that are stored on the control's compact flash card.
Fig.3-2: IndraMotion Service Tool 3.2 System Requirements 3.2.1 Hardware The following hardware components are required to access the IMST:
Hardware Description
A desktop or laptop with a high speed Personal Computer Ethernet connection IndraMotion MLC L25/L45/L65 Control System IndraMotion MLP IndraLogic XLC L25/L45/L65
Fig.3-3: Hardware specifications
A direct Ethernet connection between the PC and the control is supported using a cross-link Ethernet cable.
3.2.2 Firmware The following firmware components are required for the IndraMotion MLC L25/ L45/L65 hardware: DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 19/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
● IndraMotion MLC – FWA-CML25*-MLC-xxVRS – FWA-CML45*-MLC-xxVRS – FWA-CML65*-MLC-xxVRS ● IndraMotion MLP – FWA-VEP*04-CW*-xxVRS-D0 ● IndraLogic XLC – FWA-CML25*-XLC-xxVRS-D0 – FWA-CML45*-XLC-xxVRS-D0 – FWA-CML65*-XLC-xxVRS-D0 xx = Version 3.2.3 Software The following software versions are required to access the IMST:
Software Description
Operating System Microsoft Windows 2000 or XP Internet Explorer version 8 Internet Browser Firefox 3.5 or laterNote: Note: The IMST is supported by Internet Explorer and Firefox. The appear‐ ance of data and functionality can not be guaranteed when using other Internet browsers Fig.3-4: Required software 3.2.4 Internet Explorer Security Settings The following Internet Explorer security settings are necessary to ensure full functionality of the IMST: ● Security: Enable native XMLHTTP support (required for IE8) ● Active scripting (required for all supported browsers) ● Scripting of Java applets (required for all supported browsers) ● Allow cookies to be stored on your computer (required for all supported browsers) Refer to chapter 4.2 "Browser Settings" on page 31 for details. 3.3 IMST Functionality 3.3.1 Overview The IMST is a diagnostic tool that allows users to connect to a IndraMotion MLC/MLP or IndraLogic XLC control and diagnose and clear an error state of any supported devices configured in the project. Hardware details for supported components are also provided and include information such as typecodes, se‐ rial numbers and firmware versions. Users that are assigned access rights to the control can perform additional functions such as archiving control and drive data, modifying control and drive parameters and changing the SERCOS phase for the system. The IMST provides access to control data via the following four main folders within the navigation tree structure: ● Diagnostics 20/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
● Hardware ● Data ● User Documentation * ● User Management * Refer to chapter 5.7 "User Documentation" on page 77 for details.
The navigation folders that are visible to the user are dependent on the access levels created by the administrator. Refer to chapter 4.3.2 "Setting Up User Accounts" on page 34 for details.
3.3.2 Diagnostic Overview The Diagnostic folder is the initial folder that is displayed when a user logs on. The folder expands to display the supported components that are configured in the current IndraWorks project. Selecting any of the sub-folders displays the current status for the device along with additional information.
Read and modify access is dependent on user's access level. The buttons that appear in the window can be used to clear errors and display additional information on the page.
Error/Warning State In the event of an error or warning, the folder for the device where the condition occurred along with the Diagnostics folder changes into one of the following states:
● Error state
● Warning state Selecting the device folder with the error/warning displays the diagnostic infor‐ mation for the device in the main data window. From here, the user can determine the cause, request help and clear the error/warning. Clearing Errors Many errors that occur in the system can be cleared simply by clicking on the Clear Error button. However, some control errors must be reset at the control and may or may not require a reboot of the control. If a reboot is required, in order to reinitialize the system, refresh the IMST by pressing the Go button in the browser window. This will cause the tool to return to the login screen. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 21/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
Fig.3-5: Example: Diagnostics details for an IndraMotion MLC L65 Integrated Safety Technology The integrated Rexroth safety technology provides the user with the require‐ ments, on the control unit and drive side, for realizing functions of personal and machine protection with a minimum of planning and installation work required. The integrated safety technology is initially configured using the IndraWorks engineering environment. The IMST only displays an Integrated Safety Tech‐ nology icon when the drive is equipped with the S2 safety hardware. When selected, it displays a diagnostics page showing the current state of all config‐ ured safety related functionality. 22/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
Fig.3-6: Integrated Safety Technology Oscilloscope Function A basic oscilloscope function is supported. From here, the user can define and capture signals for the control and any drives in the project. The oscilloscope function displays a "Save" toolbar icon that stores Oscilloscope traces to the PC. These saved traces can be reviewed using IndraWorks. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 23/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
Fig.3-7: Oscilloscope function under Diagnostics 3.3.3 Hardware Overview The Hardware folder displays an overview of all supported components that are currently connected to the control and configured in the project. The user can obtain detailed information for the type of hardware, firmware, modules, circuit boards and even temperature and operating hours for all hardware components in the project. The Ethernet folder displays the current network configuration for the control. An authorized user can modify the IP settings and communication parameters. Additional Module Support In addition to hardware details, the control and drive folders can also display any of the following modules: ● IndraMotion MLC/IndraMotion MLP/IndraLogic XLC Control: – PLS Module Note: – SERCOS 2 Cross Communication ● IndraDrive: – Profibus fieldbus – CANopen fieldbus – DeviceNet fieldbus Note: only IndraMotion MLC/IndraLogic XLC. Drive Hardware Support Each drive connected to the control can have the following options configured directly from the IMST: ● Programmable Limit Switch ● Local IO for X31 and X32 ● Motor commutation and referencing 24/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
Fig.3-8: Hardware folder 3.3.4 Data Overview The "Archive" selection under the Data folder is used to perform backup and restore operations for the control and all configured drives.
Control and drive parameters can only be saved to the device's local memory, e.g. memory card.
From the Logic folder, the user can modify PLC variables defined in the symbol table of the IndraWorks PLC project. The Parameter folder contains a param‐ eter editor that supports the control, IndraDrives (Real axes), Virtual axes, Encoder axes, Link axes and Control axes. A custom list or table of user-defined parameters can be created under the Custom folder. Refer to chapter 5.6.2 "Archive and Restore Parameters" on page 67 for details. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 25/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
Fig.3-9: Data folder 3.3.5 User Management Overview The User Management folder is used to create and manage user accounts for the IMST. It requires access rights before it to be displayed in the navigation tree structure. Each user in the system can be granted View and/or Modify rights by selecting the relevant checkbox from each area of the IMST. Areas that can only be viewed will have the Modify checkbox grayed out.
Although any user can be setup to have rights to every area of the IMST, it is recommended that an administrator be defined to man‐ age all the accounts. 26/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
Fig.3-10: User Management folder The IMST provides the following four default user accounts: ● administrator ● service ● user ● guest The default permissions for each user can be viewed by the administrator by clicking on the relevant user account folder and viewing the selections. Existing accounts can be modified and/or deleted by the administrator as well as the creation of new accounts. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 27/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
3.3.6 IMST Toolbar Icons The header section of the IMST displays the Bosch Rexroth logo to the right and standard IMST toolbar icons to the left.
Fig.3-11: IMST header section
Standard Icons Description Used to hide or display the navigation tree struc‐ ture. Hiding the tree structure increases the overall Tree icon page width for other functions such as the Oscillo‐ scope Used to save hardware configuration and diagnos‐ tic log data for the control and drives to the PC in Save icon HTML or XML format. XML formats can be imported into spreadsheet programs such as Microsoft Excel Motion mode icon Displays the current operation mode for the system. The operation mode can be switched by authorized users. The system may display any of the following operation modes: P0 - No communication P1 - Initializing SERCOS communication P2 - Parameter mode P3 - Transition mode BB - Operation mode
Displays the current PLC state PLC run state icon
PLC stop state icon
PLC init state Displays the current error/warning state of the con‐ Error state icon trol and all connected devices. During an error state, pressing the icon will display the source of the error Warning state icon
Fig.3-12: Header section icons The center area of the header section can display different icons based on whether the Oscilloscope, Archive, Custom or User Management folder is se‐ lected in the navigation tree structure. 28/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
Tree Structure Selection Icons Displayed Function Oscilloscope Save Oscilloscope data
Archive View Log
Parameter Compare
File Transfer
Logic Search
Parameter Help
Parameter Search
List of valid operating data
Custom Modify Current Page
Delete Current Page
Add New Data Group
User Documentation File Transfer
User Management Add User
Delete User
Change Password
Save
Delete Current Page
Fig.3-13: Header section center icons 3.3.7 Right-Click and Tooltip Functionality The IMST supports standard Windows right-click and tooltip functionality from within the different areas of the browser window. Right-Clicking Right-clicking over the "Oscilloscope", "Archive", "Custom" or "User Manage‐ ment" tree selections will display shortcuts that match the functionality of the toolbar icons as illustrated in the following figure: DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 29/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
Fig.3-14: Right-Clicking over tree structure folders Tooltip Descriptions The IMST supports tooltip descriptions for all toolbar icons as well as for any field and button that appears in the main display window. The tooltip for toolbar icons displays a description for the function while the tooltip for a field or button displays the control or drive parameter from where the information is being re‐ trieved. Refer to the following figure for an example:
Fig.3-15: Tooltip description 30/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
IndraMotion Service Tool – Overview
3.3.8 Help for Diagnostics The IMST provides help icons,
The current control and drive firmware help systems must be in‐ stalled on the PC in order for the IMST to launch any help related information.
The following IMST areas support help: ● Diagnostics for control and drives: – System diagnostic messages (Help icon) – Diagnostic log entries (
Getting Started 4 Getting Started 4.1 Overview This chapter describes the Internet settings and initial procedures for accessing the IndraMotion Service Tool. 4.2 Browser Settings 4.2.1 Overview Before the IMST web server can be accessed using Internet Explorer version 8 or FireFox 3.5 or later, ensure that the following browser security settings are enabled:
Security Setting Browser Version Functionality Usage
Enable native XMLHTTP sup‐ IE8 Required for IMST to function port under the Security tab Active scripting All supported Required for IMST to function Scripting of Java applets All supported Required for Oscilloscope Optional for saving login informa‐ Allow cookies to be stored on All supported tion and Oscilloscope color selec‐ your computer tion
Fig.4-1: Browser security settings 4.2.2 Enabling Security Settings Perform the following security settings:
The steps described below are for Internet Explorer. Refer to help for Firefox settings.
1. Launch browser 2. Select Tools ▶ Internet Options....and select the Security tab. 3. Select the "Internet Zone" icon or "Local Internet", depending on the con‐ trol that will be accessed. 4. Press the Custom Level button and enable the following settings: ● Under ActiveX controls and plug-ins, enable the following: – Run ActiveX controls and plug-ins – Script ActiveX controls marked safe for scripting ● For IE only, under the Advanced tab, enable the following: – Enable native XMLHTTP support under Security ● Under Scripting, enable the following – Active scripting – Scripting of Java applets ● Under Cookies, enable the following: – Allow cookies to be stored on your computer Refer to the following Internet Explorer windows for an example: 32/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Getting Started
Fig.4-2: Internet Explorer 8 Security Settings 4.2.3 Proxy Server Settings When accessing the control's IMST web server via a proxy server, the following two options can help improve performance: Option 1 Disable Proxy Disabling the proxy server can improve communication to the control's web server. Option 2 Host Name Mapping 1. Select Start ▶ My Computer and open the following file using Notepad: C://WINNT/System32/drivers/etc/hosts (Windows XP) 2. Edit the file and map the control's IP address to a user defined host name (e.g., 10.107.4.55 My_MLCL65). DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 33/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Getting Started
Fig.4-3: Hosts mapping file 3. Save and close the file. 4. Launch Internet Explorer and use the host name in the address bar. 4.3 Logging On for the First Time 4.3.1 Overview Once all Internet Explorer settings have been set, the user can log into the IMST web server by entering the control's IP address in the address bar. The first time the browser accesses the control, the User Name is set to "guest" by de‐ fault. 34/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Getting Started
Fig.4-4: Initial guest login page 4.3.2 Setting Up User Accounts Logging on as the System Administrator User accounts can only be setup when logged on as the administrator. Enter the following username and password to gain administrative access to the IMST: ● Username: administrator ● Password: rexroth Select the desired language and click the Submit button.
Currently, only English and German are supported.
Change Administrator Password It is highly recommended to change the default administrator password to en‐ sure the security of all user accounts. Use the following steps to change the administrator password: 1. Expand the User Management folder, right-click over administrator and select Change Password. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 35/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Getting Started
Fig.4-5: Change Administrator Password 2. Enter the old password "rexroth" and select a new password and confirm it.
Fig.4-6: Change Password 36/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Getting Started
User Management Click on the User Management folder to view the current administrator settings. By default, the administrator has "View" and "Modify" access to all the areas of the IMST. The following user accounts are the default accounts provided by the IMST: ● administrator ● service ● user ● guest
Fig.4-7: User Management folder selection Configure User Accounts Modify the existing user accounts or create new ones and specify the View and Modify permissions for each area of the IMST. User accounts are modified by selecting the relevant user name and then selecting the appropriate View and Modify checkboxes.
When logged on as the administrator, the user can choose to keep the default user accounts (service, user and guest) or delete them and create new ones by right-clicking over the administrator tree selection.
The selections available when right-clicking on a user name also appear above the main window as toolbar icons. Hoover the mouse cursor or an icon to view it's tooltip description. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 37/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Getting Started
Fig.4-8: User management User Management Icons The following User Management icons appear in the center section of the header frame:
Icon Function
Add User
Delete User NOTE:
Change Password 38/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Getting Started
Icon Function Save
Delete Current Page
Note: The "Delete User" icon is only visible when the current user is not se‐ lected in the tree structure Fig.4-9: User Management icons Once all user accounts are configured, the IMST is now ready to be used. Logging Out the IMST The current user can log out of the IMST by closing Internet Explorer or by pressing the Go button. Pressing the Go button logs out the current user and the browser returns to the IMST login page.
Security Warning for Administrator Login Using the "Save Login Information" checkbox in the Login page re‐ tains the user name and password in a cookie. Closing Internet Explorer or shutting down the PC will not remove this state. The next user that establishes a connection to the control with the same PC can just click on the Submit button and log on with the rights of the last user. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 39/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool 5 Using the IndraMotion Service Tool 5.1 Overview This section will cover the detailed functionality of the IMST and all the functions that can be performed. 5.2 User Login User login accounts are created within the User Management folder. By default the IMST has the following four user accounts:
User Name Password
administrator rexroth service service user user guest no password required
Fig.5-1: Default User Accounts
To create new user accounts, refer to chapter 5.8.2 "Create a User Account" on page 80 for details.
Enter the IP address assigned to the control in the Internet Explorer address bar and press enter. Enter a valid user name and password in the login page to gain access to the IMST.
Fig.5-2: IndraMotion Service Tool login page 40/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
5.3 Standard IMST Toolbar Icons 5.3.1 Overview The IMST header section contains 4 basic toolbar icons. The basic functionality of these toolbar icons are described in this section. Refer to chapter 3.3.6 "IMST Toolbar Icons" on page 27 for additional descrip‐ tions. 5.3.2 Hide and Display Tree Structure Tree Icon
The navigation tree structure can be hidden or displayed by toggling the "Tree" icon. Hiding the tree structure increases the width of the main display window and provides more useable area for functions such as the oscilloscope.
Fig.5-3: Hiding tree structure to increase page width DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 41/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
5.3.3 Saving Diagnostic Log and Hardware Details Save Icon
The "Save" icon of the IMST allows the user to store the current diagnostic log for the control and/or drives from within specific Diagnostics folders. The "Save" icon also appears under the Hardware folder and is used to save hard‐ ware details. The files can be saved in HTML or XML format. The HTML file displays the data in a Web browser page for viewing purposes only. XML files can be imported into a spreadsheet program such as Microsoft Excel for further formatting by the user. Use the following steps to save an HTML or XML file: Click on the "Save" icon to open the "Save System Configuration" window.
Fig.5-4: Saving system configuration 1. Select the Device(s) whose data will be saved. The file size is determined by the number of devices that are selected. Selecting the Select All checkbox will select all the devices listed. The selection of a device is only supported for diagnostic logs. 42/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
2. Choose the file format (HTML or XML) from the Save Format drop down list. 3. Click the OK button. The following figure shows the difference between the HTML and XML files.
Fig.5-5: Save system configuration file types 5.3.4 File Transfer
The "File Transfer" icon appears in the Archive and User Documentation windows and allows the user to transfer files to and from the control's memory (compact flash). All files being transferred are placed into an uncompressed Zip file. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 43/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
Fig.5-6: Archive file transfer The following operations can be performed from the Archive window: ● Transfer files to the control When transferring files to the control, the user checks the archive details to download. ● Transfer files from the control When transferring files from the control, the content of the archived Zip file is analyzed. The archive details are checked dynamically based on the contents of the Zip file. The following file types can be selected for the transfer:
System Files Description
IMST Configuration Transfer user permissions and custom lists and tables Boot Project PLC boot project file created in IndraLogic. Refer to the IndraLogic help system for details. All PLC files with extensions ● .APP ● .CRC ● .CFG System Error log ExcLog.dat Parameter Allows the transfer of control and drive parameters previ‐ ously archived in the control using the archive function (refer to chapter 5.6.2 "Archive and Restore Parameters" on page 67 for details)
Fig.5-7: File Explorer - File Transfer Operations for Archive Within the User Documentation window, the file transfer functionality is limited to transfer files to the control. 44/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
Fig.5-8: User documentation file transfer 5.3.5 Changing the Operation Mode Motion Mode Icon The system's current operation mode is displayed and can be changed by clicking on the "Motion Mode" icon. Only users with Modify rights for Operation Mode button in Header under the User Management folder can perform this operation. Otherwise, the icon is read-only but will display the current system mode. The following table shows the different operation modes that can be displayed:
Motion Mode Icons Description
Motion mode icon Displays the current operation mode for the system. The operation mode can be switch‐ ed by authorized users. The system may display any of the following operation modes: P0 - No communication P1 - Initializing SERCOS communication P2 - Parameter mode P3 - Transition mode BB - Operation mode
Fig.5-9: Header section icons When the icon is clicked, a message acknowledging the switch appears de‐ pending on the current operation mode. 5.3.6 Current PLC State PLC State Icon PLC Running PLC Stopped PLC Initializing The "PLC state" icon displays the current state of the PLC program. The icon changes dynamically to match the PLC's current state, either "PLC Running", "PLC Stopped" or "PLC Initializing". This is a read-only icon and cannot be changed from the IMST. 5.3.7 Error and Warning Indicators
Error Warning The "Error/Warning" toolbar icon displays the current diagnostic state of the control, drives and supported modules. During an error or warning state, the DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 45/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
icon displays either an error or warning symbol. The device that issued the error/ warning will display a matching icon in the navigation tree structure.
Fig.5-10: Error state Clicking on the "Error/Warning" icon highlights the affected device in the tree structure and opens its relevant page. The error or warning is indicated in the diagnostic or status field. The error or warning is cleared by correcting the con‐ dition that causes the error and then clicking on the Clear Error button.
Fig.5-11: Clearing an error or warning condition 5.4 Diagnostics Folder 5.4.1 Overview The components that are listed under the Diagnostics folder depend on whether or not they were originally configured as part of the IndraWorks project. The project must be downloaded to the control before the components are visible within the IMST. The following components are supported: ● IndraMotion MLC L25/L45/L65 IndraMotion MLP IndraLogic XLC L25/L45/L65 ● Real Axes ● Virtual Axes ● Encoder Axes ● Link Axes ● Control Axes All relevant component parameters are read by the IMST and their respective diagnostic and status data is displayed. Most of the data displayed within the Diagnostics folder contains read-only data with the exception of the buttons for clearing errors. 46/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
5.4.2 Control Node The first node under the Diagnostic folder displays the control device that is currently configured in the IndraWorks project. Selecting the control node (e.g. IndraMotion_MLC65), displays the current status for the control. Under the control node, the IMST displays the following nodes: ● Logic ● Motion Logic Node The Logic node displays the current PLC project. From here, the user can start, stop or reset the PLC project.
Fig.5-12: Diagnostic Logic Motion Node The Motion node displays the Cycle Time Settings, Sensitivity of Motion Cal‐ culation and Motion Time values.
Fig.5-13: Diagnostic Motion Control Link The Control Link folder is visible when the current project in the control contains a cross communication master/slave configuration. It displays the current status of the link axes defined in the IndraWorks project for a master control. Status information is only transmitted when the system is in SERCOS phase 4 (bb, Ab, AH). DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 47/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
The green LED indicators indicate that the cross communication is functioning properly. The LEDs turn red when an error is detected in each relevant area. Transmission, redundancy, and ring error LEDs remain off until an error is de‐ tected. Once the error condition is corrected, the status of the Control Link returns to normal. Tooltip information containing the parameters that are monitored by this window can be viewed by placing the cursor over the relevant field.
Fig.5-14: Control Link cross communication status
The Control Link window, under the Diagnostics folder, is only sup‐ ported when a CrossComm SERCOS II (CFL01.1-Q2) module is attached to the master control and configured in the IndraWorks project. This window is not supported for the slave control. 5.4.3 Oscilloscope Functionality Overview The Oscilloscope in the IMST is a Java applet designed to capture user-defined control or drive signals and display them in a scaled grid. These signals are configured using the options available to the right and below the grid.
The Oscilloscope is available only if the relevant Internet Explorer settings are set (refer to chapter 4.2 "Browser Settings" on page 31 for details). The current user must also have view and modify access in order to use the oscilloscope.
The oscilloscope applet window contains the following areas: ● Main graphical display area shown in an X-Y grid ● Signal details for captured traces just below the X-Y grid ● Configure measurement and signal trigger tabs ● Scaling and color selection tabs ● Active measurement for configuring signals 48/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
Fig.5-15: Initial oscilloscope applet
Increase the viewing area of the oscilloscope by hiding the naviga‐
tion tree structure. Click the "Tree icon" to hide the naviga‐ tion tree structure. Clicking the "Tree icon" again displays the navigation tree structure.
Graphical Display Area The signal display area is an X-Y grid with the following properties: ● The X (horizontal) and Y (vertical) scale is calculated dynamically based on the signals minimum and maximum values and the time period allotted for measurement ● The Y measurement is displayed from minimum to maximum signal value. Resizing the Explorer window dynamically scales the captured traces and the grid's X-Y unit increments ● Signal scaling can be increased or decreased using the Scaling options ● Signal units are displayed in the upper lefthand and lower right-hand cor‐ ners of the display area DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 49/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-16: Oscilloscope Graphical Display Area Active Measurement The "Active Measurement" tab is used to configure the source device and the signals that will be captured. The tab window can contain up to four buttons depending on the trigger type selected in "Confg Measurement / Trigger".
A. Used to select the source and signals to be captured B. Displays the current traces stored in the devices parameters C. Only visible when the trigger type is set to Manual Trigger D. Starts the oscilloscope and captures traces based on signal settings and trigger type Fig.5-17: Active Measurement Use the following steps to select a source device and select the signal to be captured: 1. From the "Active Measurement" tab, select the Signal button to open the Configure Signal window in fig. 5-18 "Configure Signals" on page 50 2. Select a device (control or drive) from the drop-down list (1.). 50/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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For controls, also select the type of parameter C (control) or A (axis) from a second drop-down list (2.). 3. Signals are selected by highlighting a parameter in the left hand window and clicking on the right-directional arrows button (3.). To remove signals from the list, highlight the parameter in the right-hand window and click on the left-directional arrows buttons. Signals can also be selected or removed by double clicking on the pa‐ rameter in either section.
A. The drives support 4 channels and the MLC control supports 16 channels B. Displays the number of channels that can be added Fig.5-18: Configure Signals 4. Click the OK button (4.) to complete the selection of signals. 5. Next, select the trigger type and configure the measurement settings. Refer to chapter "Configure Measurement and Signal Trigger" on page 50 for details. 6. Once all settings are configured, click on the Start button to begin the capture process. For Manual Trigger types, select the Trigger Manually button after the Start button. Configure Measurement and Signal Trigger Configure Measurement The "Confg Measurement" tab is used to configure the number of samples that will be taken and the duration of the capture in ms. The actual recording time is read-only and is calculated by multiplying the "Number of Samples" by the "Time Period". DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 51/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-19: Configure Measurement Signal Trigger / Manual Trigger The "Signal Trigger" tab is used to configure the settings for either a "signal trigger" or a "manual trigger". The Configure button is used to select the trigger type, pre-trigger and source parameter to be evaluated.
A. Tab changes to "Signal Trigger" when the trigger type is set by pressing the Configure button B. Tab changes to "Manual Trigger" when the trigger type is set by pressing the Configure button Fig.5-20: Signal and Manual Trigger configuration Select the Configure button and use the following steps to configure a trigger: 1. Select either the Manual Trigger or the Signal Trigger radio button. A Signal Trigger requires additional configuration starting in step 3. 2. Enter a value, in percent, for the Pre Trigger and Post Trigger fields. 3. Click on the Select button and choose the parameter to be used as the trigger. 4. Select the Trigger Edge that will be used for the selected parameter. 5. Enter a value in the Trigger Value field that will be used to start the Oscil‐ loscope. The fields in the "Trigger Value" section change based on the selected parameter in step 3. 52/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-21: Configure trigger 6. Click the OK button to complete the trigger configuration. Numerical Parameters The selection of a numerical parameter (float or integer) displays the actual value, units and trigger value. The trigger value is defined in the "Trigger Val‐ ue" field. Binary or Hex Parameters The selection of a binary or hexadecimal parameter allows the user to set a binary trigger by defining a trigger mask. Selecting the Bit Trigger checkbox allows the user to define the transition of a single bit. The user defines the value by selecting the relevant checkboxes or radio buttons.
Fig.5-22: Binary parameter trigger configuration Capturing Traces with the Oscilloscope Once all relevant signals and trigger are configured, the signals are ready to be captured. Use the following steps to capture the traces from the selection sig‐ nals. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 53/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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1. Click on the Start button in the Active Measurement tab. If the signal trigger is set to "Manual Trigger", click on the Trigger Man‐ ually button to capture and display the traces. A signal trigger will capture the traces when the conditions configured in the "Signal Trigger" tab are satisfied. 2. Once all traces are captured and displayed, the user can now manipulate the traces using the tools provided in the "Scaling/Color" tabs and from the measured signal traces just below the traces. Manipulating Oscilloscope Signals Overview Once all oscilloscope traces are captured and displayed, the user can perform the following basic operations to the traces: ● Display and hide traces ● Scale and shift the traces in the Y-axis ● Zoom in the X-axis using an incremental zoom or selecting a specific area using the cursor function ● Display the traces using the following options: – Interpolated measurement points – Real measurement curve – Single measurement points ● Change the color of each trace Measured Signal Traces (Displaying Traces) Captured signal traces are displayed or hid by selecting or deselecting the checkbox to the left of each signal. The currently selected signal is highlighted in the table and displayed with a bold trace while the other visible signals are displayed with a finer trace. The units of measurement on the Y axis is unique to the selected trace. The X-axis always measures time in ms.
Fig.5-23: Displaying measured signal traces Number of Support Channels The number of signals that can be measured at one time is dependent on the selected device. The IndraMotion MLC, IndraLogic XLC and IndraMotion MLP control supports 16 channels and the IndraDrives support 4 channels. Trace Color Each trace along with its units of measurement has a matching color associated with it that can be modified by selecting the "Color" tab to the right of the graph‐ ical display area. Ensure that each trace has a unique color assigned. Additional Columns when Using The measured signal trace table displays additional columns when using the Oscilloscope Cursor Function oscilloscope's cursor function supported in the Scaling tab. When the cursor function is used, the "Y Cursor Diff" and "X Cursor Diff" columns appear in the table. 54/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-24: Additional columns when using cursor function Scale Y Oscilloscope traces are scaled by using the options available within the "Scal‐ ing" tab. Only the currently selected trace in the "Measured Signal Trace" table is scaled.
Fig.5-25: Scaling traces in the Y-axis Clicking the negative button ( - ) decreases the increment of the Y-axis causing the active signal to extend in the y-direction. Clicking the positive button ( + ) increases the increment of the Y-axis causing the active signal to compress in the y-direction. Clicking the up arrow button ( ↑ ) shifts the active signal up by 10 %. Clicking the down arrow button ( ↓ ) shifts the active signal down by 10 %. The last two buttons with an image of traces are used to change the amplitude of all the signals as follows: ● The first amplitude button from the left changes the amplitude of all signals to use the full range of the display (i.e. the signals are stretched along the Y-axis) ● The second amplitude button changes the amplitude of all the signals based on the largest signal (i.e. the signals are compressed along the Y- axis) Zoom X The buttons in the Zoom X section of the "Scaling" tab are used to zoom in and out and affects all the traces in the display at once. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 55/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-26: Zoom traces in the X-Axis Zoom Out Clicking the negative button (-) decreases the increment of the X-axis causing all the traces to extend in the x-direction. Switch Off Zoom The one-to-one button (1:1) becomes active when a zoom button (+/-) is clicked and returns the traces to their original size. Zoom In Clicking the positive button ( + ) increases the increment of the X-axis causing all traces to be compressed in the x-direction.
Show Cursors
The "Show cursors" button is used to select a specific segment of a trace by creating a boundary around the segment with two sets of perpendicular lines. The cross section of all four lines is the point of interest. The user can position each line by clicking and dragging each line to the desired position until a box is created around the relevant area. The mouse cursor changes to a two-head‐ ed arrow line (↕) when positioned on a cursor line. 56/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-27: Show Cursors defining boundary Zoom between Cursors
Clicking on the "Zoom between X cursors" button enlarges the display to show the center area between all four cursor lines.
Fig.5-28: Display after zooming In with Show Cursors Curve Display Traces can be displayed in the following three types by clicking one of the Curve Display buttons:
● Interpolated Measurement Points DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 57/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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● Real Measurement Curves
● Single Measurement Points Interpolated Measurement Points Clicking on the I button displays the current traces using interpolated meas‐ urement points.
Fig.5-29: Interpolated measurement points display Real Measurement Curves Clicking on the R button displays the current traces using real measurement curves.
Fig.5-30: Real measurement curves display Single Measurement Points Clicking on the S button displays the current traces using single measurement points.
Fig.5-31: Single measurement points display 58/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Color The "Color" tab is used to choose or change the color for the display back‐ ground, grid and the individual traces. The number of available signal colors depends on the selected source. ● IndraDrives support 4 colors ● IndraMotion MLC, IndraLogic XLC and IndraMotion MLP control supports 16 colors The number displayed in each color rectangle corresponds to a trace starting with 1 from the top of the list, as shown in the following figure:
Fig.5-32: Color Selection Changing a Signal Color The color of the background, grid or trace is changed by selecting the relevant color button and picking a new color from the "Select Color" window. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 59/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-33: Changing Color 5.5 Hardware Folder 5.5.1 Overview The Hardware folder displays a read-only overview of all supported compo‐ nents that are currently connected to the control and configured in the IndraWorks project.
Fig.5-34: Main hardware component page
The main hardware page displays one control and the total number of drives that are connected and supported.
5.5.2 Control Hardware Overview The name that appears for the control folder (e.g., IndraMotion_MLC65) is the device name assigned to the control in the IndraWorks project. All data on this 60/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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page is read-only. The user can obtain detailed information as to the type of hardware, firmware, modules, circuit boards and even temperature and oper‐ ating hours for all hardware components in the project, including serial num‐ bers.
Fig.5-35: Control hardware overview Ethernet The Ethernet folder displays the control's current network configuration. Au‐ thorized users can modify the network configuration settings for the control. The MAC address for the control is read-only. When selecting any of the fields, the respective content of the field becomes bold. This indicates that the field can be edited. Modified data is saved by pressing the
The assignment of Ethernet settings and Internet security against unwanted access is the sole responsibility of the customer's Infor‐ mation Technology department. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 61/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-36: Ethernet overview Sercos The Sercos folder appears in the navigation tree structure when a Sercos II (CFL01.1-Q2) module is attached to the IndraMotion MLC control. The SERCOS 2 module allows SERCOS 2 drives to be connected to the system. This page allows the user to configure all the necessary cross communication settings.
Fig.5-37: SERCOS 2 communication Control Link (Cross Communication) The Control Link folder appears in the navigation tree structure when a Cross‐ Comm SERCOS II (CFL01.1-Q2) module is attached to the control and the control takes part in a Control link. The window is supported for both the master and the slave controls. A cross communication module is a SERCOS 2 (fiber optic) device that allows SERCOS 2 drives to be connected to the system. This 62/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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page allows the user to configure all the necessary cross communication set‐ tings.
Fig.5-38: Control Link - Cross communication PLS Module The PLS Module folder appears in the navigation tree structure when a Prog‐ rammable Limit Switch module is attached to the IndraMotion MLC control. The PLS module provides 16 outputs that can be configured to output a signal based on a predefined axis position.
Fig.5-39: Programmable Limit Switch function module Each PLS output is configured by clicking on the relevant output row and con‐ figuring the output in the PLS configuration popup window. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 63/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-40: Configure control PLS module 5.5.3 Drive Hardware Overview The name that appears for the Drive folder (e.g., Drive1) is the device name assigned to the drive in the IndraWorks project. All data on this page is read- only. The user can obtain detailed information as to the type of hardware, firmware, modules, circuit boards and even temperature and operating hours for all hardware components in the project, including serial numbers.
Fig.5-41: Overview Drive Hardware 64/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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PLS The PLS folder is used to configure the drive's Programmable Limit Switches. A maximum of 8 position switches can be configured using the following set‐ tings: ● Reference signal - user defined drive signal whose position is used to trigger the position switches ● Switch On Threshold - signal position that sets the PLS output high ● Switch Off Threshold - signal position that sets the PLS output low ● Lead Time - duration in ms when switch is active prior to switch on/off position
Fig.5-42: Configure drive PLS Local I/O The Local I/O folder displays the drive's current local I/O configuration in the IndraWorks project for the follow I/O types: ● I/O X31/X32 ● MD X10 (digital I/O) ● Analog Input X32/4 + X32/5 ● Analog Output X32/1 + X32/2 Drive I/O configuration is editable in SERCOS phase 2 (parameter mode). Re‐ fer to the IndraWorks help system for details on all the available options for the I/O configuration of the drive.
Modify rights are assigned by the administrator within the User Management folder of the IMST. Refer to chapter 5.8 "User Man‐ agement Folder" on page 78 for details. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 65/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-43: Configure drive local I/O Motor Commutation The "Motor Commutation" selection under the Motor folder is used to set the desired commutation method.
Fig.5-44: Motor commutation 66/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Reference Motor Encoder The "Reference Motor Encoder" selection under the Motor folder is used to clear the reference for the current motor encoder or from the optional encoder configured for the system. Refer to the Rexroth IndraWorks help system for details. The following window is opened if the motor is equipped and configured with an absolute encoder.
Fig.5-45: Reference motor encoder - absolute The following window is opened if the motor is equipped and configured with an incremental encoder.
Fig.5-46: Reference motor encoder - incremental DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 67/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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5.6 Data Folder 5.6.1 Data Folder Overview The Data folder is used by authorized users and provides the following func‐ tions: ● Backup and restore control and/or drive parameters ● View and modify PLC variables ● Parameter editor support for control and drive parameters ● Custom lists and custom tables for user defined parameters 5.6.2 Archive and Restore Parameters The "Archive" selection under the Data folder is used to perform backup and restore operations for the control and all configured drives.
The archive operations require that the system be in SERCOS phase 2 (parameter mode).
The archive feature displays the current status of an archive file if it exists on the control's compact flash card. If no archive is detected, the status column
displays a red X ( ) . The following icons are also supported in the device list table:
Status Description
This icon indicates that the parameters of the device are not archived
This icon indicates that parameter changes have been detected be‐ tween the archive and the device
This icon indicates that the parameters in the archive and device match
Fig.5-47: Archive status icons Operation The following table defines the operations that can performed:
Operation Supported Device Description
Creates an archive of relevant parameters for the Backup Control and Drives device(s) selected and stores it on the control's compact flash card Loads the relevant parameters from the archive to Restore Control and Drives the selected device(s)
Fig.5-48: Archive operations During a backup operation, a status bar appears above the archive window and the lower half of the main display window shows the progress of the operation. Once complete, a green check will appear in the status column for each con‐ figured device. 68/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-49: Data archive During a restore operation, a status bar appears above the archive window and the lower half of the main display window shows the progress of the operation. Only device that do not contain a green check in the status column are restored. Archive Icons Once an archive operation is complete, the current log is displayed in the lower half of the window. Every time an archive operation is performed, the new log is appended into a log file. A HTML log file can be viewed by clicking on the
"View log" icon.
The "File transfer" icon allows the user to transfer files to and from the control. Refer to chapter 5.3.4 "File Transfer" on page 42 for details. 5.6.3 Compare Parameters An additional function supported in the Archive window is the ability to compare
control and drive parameters. Selecting the "Parameter Compare" ( ) icon opens the Parameter Compare window. Only parameters of the same type (e.g., C-Parameter, S-parameter, ...) can be compared. The source 1 drop-down selections allow the user to define the data source (Archived or File from PC), device type (control or drive) and parameter type. The source 2 drop-down selections are identical to source 1 with the exception of the data source. These data sources can be "Archived Data", "File from PC", "Actual Data" or "none". Once the same parameter types are selected, pressing the View Data button displays all the parameters for each source. The user can scroll down the list and note any differences between the two sources. Since this is a read-only function, no modifications can be made to the parameters. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 69/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-50: Parameter compare 5.6.4 Logic The Logic folder allows the user to monitor and/or modify PLC variables that have been added in the symbol configuration of the IndraWorks project and downloaded to the control. Once a symbol configuration exists in the IndraWorks project, open the IMST and select Data ▶ Logic. PLC variables are displayed by first clicking on the
browse button ( ).
The configuring of PLC variables requires the Rexroth IndraWorks Engineering suite 11VRS. 70/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-51: Variables from IndraWorks Symbol Configuration Creating a Symbol Table The following example provides an overview on creating and downloading a symbol table to the control. 1. Open the relevant project using IndraWorks Engineering suite. 2. Select "PLC objects" from the IndraWorks library, expand the General ob‐ jects folder and drag Symbol Configuration to Application.
Fig.5-52: Add Symbol Configuration to IndraWorks project 3. Select the relevant variables and data types from the "Symbol Configura‐ tion" items, rebuild the project and login. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 71/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-53: Selecting Symbol Configuration items
Variables must be used in the project in order from them to be visible in the IMST.
5.6.5 Parameter The Parameter folder contains a parameter editor used for viewing and modi‐ fying control and drive parameters. All drive types currently in the project are supported. Help for any control or drive parameter can be obtained by selecting the relevant parameter and clicking on the help icon or pressing the
To select a parameter from a list, click the "Search" toolbar icon to load all parameters of the selected type. A list of all parameters of the selected type, e.g., C Parameter, are displayed in the lower half of the page. Using the drop down list, the user can select All Parameters, Standard, List, or Command Pa‐ rameters. 72/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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The search can be filtered by selecting a data type from the All Data Types drop down list. List Invalid Operating Data
Parameters containing invalid data can be found by clicking on the "List of in‐ valid operating data" toolbar icon. A list of all invalid operating data of the selected type, e.g., C Parameter, is displayed in the lower half of the page. Select the relevant parameter and enter valid data. The following list parameters are searched for invalid parameters by selected type: ● C Parameter: C-0-0111 ● S Parameter: S-0-0423 ● A Parameter: A-0-0011 If no invalid parameters are found, a pop-up window indicating that the list is empty will open. Search with a Description A search field is provided to help finding a parameter when only a partial de‐ scription is known. When the search feature is used, the very bottom of the page displays a list of all parameters containing the search word or phrase.
Fig.5-54: Parameter editor for editing control and drive parameters Drive Parameters When a drive parameter is selected from the navigation tree structure, the user can enter the IDN number or select the parameter type (A, S and P) and click on the "Search" toolbar icon. A list of only the selected parameter type will be displayed in the lower half of the page. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 73/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-55: Selecting a drive parameter 5.6.6 Custom Overview The Custom folder is used to create user-defined groupings of parameters for variables (defined under the Variable folder), control parameters and drive pa‐ rameters. The custom grouping can be displayed as a table or a list.
Only users with Modify rights to the Custom folder can create cus‐ tom groupings. Users can be granted View and/or Modify rights to each list or table group individually.
Custom groups can be created for the following data types: PLC Variables When selecting a PLC Variable data type, only PLC variables that have been defined in the IndraWorks project for the Symbol Configuration will be available for selection. Refer to chapter 5.6.4 "Logic" on page 69 for details. The PLC Variable data type does not have any additional drop down list se‐ lections. C Parameters When selecting a C Parameter (control), a Parameter Type drop down list ap‐ pears to the far right. This drop down list filters the number of parameters that are displayed. The user can display all parameters, list parameters or command parameters. M Parameters M Parameters are used to parameterize control touch probes. The control sup‐ ports a maximum of 100 touch probes that can be parameterized. When selecting M Parameters (touch probe), a Device List and Parameter Type drop down list appear to the right. The device list is used to display the parameters for the selected touch probe. The list of available parameters can be filtered by using the Parameter Type drop down list. N Parameters N Parameters are used to parameterize control PLS modules. The control sup‐ ports a maximum of 4 modules. When selecting N Parameters (PLS), a Device List and Parameter Type drop down list appears to the right. The device list is used to display the parameters for the selected PLS module. The list of avail‐ able parameters can be filtered by using the Parameter Type drop down list. O Parameters O Parameters are used to parameterize control's oscilloscope. The oscillo‐ scope can support up to 16 channels. When selecting O Parameters (Oscillo‐ scope), a Device List and Parameter Type drop down list appears to the right. The device list is used to display the parameters for the selected Oscilloscope 74/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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channel. The list of available parameters can be filtered by using the Parameter Type drop down list. A, S and P Parameters A, S or P parameters are all drive parameters. When selecting A, S or P pa‐ rameters (Drive), a Device List and Parameter Type drop down list appears to the right. The device list is used to display the parameters for the selected drive. The list of available parameters can be filtered by using the Parameter Type drop down list. Creating a Custom Group List or Table Use the following steps to create a Custom group list or table: 1. Right click on the Custom folder and select Add New Data Group or click
on the icon:
Fig.5-56: Custom Edit page 2. From the Edit window, enter a name for the group. 3. Select the format as either a List or a Table. A list is typically used for non-listed parameters. This format allows a quick overview of parameter attributes. Parameter data is displayed horizontal‐ ly. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 75/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-57: Custom Data list A table is typically used to display list parameters. This format allows for all elements of a list parameter to be displayed down the column.
Fig.5-58: Custom Data table 4. Select the Data type to display parameters. 5. Parameters are selected from the Available Data section by double click‐ ing on the relevant parameter or highlighting the parameter and clicking on the directional arrow buttons (>>, <<). Parameters can be ordered in the Selected Data section by means of the up (↑) and down (↓) arrow buttons. 6. Once all parameter are selected, click on the OK button. The new list of table name will appear under the Custom folder. Modifying a Custom List or Table An existing custom list or table can be modified by right clicking on the list or table name in the navigation tree structure or by right clicking in the displayed list or table. 76/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-59: Modify Custom List data Custom Data Icons The options that appear as popup windows when right clicking are also avail‐ able in the header section just above the list or table. The options that are available are as follows:
Icon Function
Opens the custom data Edit window showing the current configura‐ tion of the selected list or table
Deletes the currently selected list or table
Opens a new Edit window for creating a new list or table
Access help for the selected parameter. Help system must be instal‐ led on the PC
Saves the contents of the currently selected list or table as an HTML table
Fig.5-60: Icons for Custom Data Editing Custom Data Parameter Value By default, a list or table that is created by an authorized user is granted view rights but not modify rights under the User Management folder. In order to edit parameter values from within a list or table, the current user must have Modify rights granted.
If the current user does not have access rights to the User Man‐ agement folder, contact the system's administrator so that Modify rights can be added to the user's list or table.
Parameters within a custom list or table are modified by clicking in the Value field of the relevant parameter and changing its current value to a new value. The selected value is bolded, indicating that it can be modified in the current SERCOS phase. Read-only parameters or parameters that cannot be modified in the current SERCOS phase are grayed out. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 77/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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Fig.5-61: Modify a parameter from a Custom List Hiding/Displaying Column Headings for List The various heading columns for a list of parameters can be hidden by right clicking on any column heading and unchecking a heading name. To display the column again, repeat the process and check the heading name again.
Fig.5-62: Hiding and displaying column headings 5.7 User Documentation The User Documentation folder is only visible in the navigation tree structure if files were transferred to the control using file transfer. Refer to chapter 5.3.4 "File Transfer" on page 42 for details. Files are opened by clicking on the relevant file listed in the documentation section.
Fig.5-63: User Documentation folder 78/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
5.8 User Management Folder 5.8.1 Overview The User Management folder is used to create and manage user accounts for the IMST. It requires access rights before it can be displayed in the navigation tree structure. Each user in the system can be granted View and/or Modify rights by selecting the relevant checkbox from each page in the IMST. Pages that contain read-only data will have the Modify checkbox grayed out. For areas that can only be modified, the "View" checkbox is grayed out.
Although any user can be setup to have rights to every area of the IMST. It is recommended that an administrator be defined to man‐ age all the accounts. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 79/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
Fig.5-64: User Management folder By default, the following user accounts have been created as an example. The administrator can choose to use these accounts and modify them or delete them and create new ones. All user account information is stored in the control.
User Name Password Access Rights
administrator rexroth View and modify rights for all areas of IMST View and modify rights for all areas, except User service service Management 80/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
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User Name Password Access Rights View rights for all Diagnostics and Hardware fold‐ user user ers no password View rights for Diagnostics and Hardware overview guest required folders only
Fig.5-65: Default User Accounts 5.8.2 Create a User Account User accounts can only be created if the user has Modify rights to the User Management folder. Log into the IMST using the default administrator user name and password and use the following steps to create a user account: 1. Expand the User Management folder. 2. Right click on the administrator user account and select Add User.
This can also be done by clicking on the "Add User" icon . 3. Enter a User Name, Password and Confirm Password. User Name and Password have a 20 character limitation. 4. Once the new user window opens, define the View and Modify rights for the user by checking or unchecking the various areas of the IMST. Se‐ lecting only Modify rights automatically checks the View right. 5. Save the new user account by clicking on the "Save" icon that appears in the center of the header section.
Fig.5-66: Creating a new user account DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 81/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
User accounts can be modified by selecting the user account, mod‐ ifying the existing rights and saving the changes.
5.8.3 Delete a User Account The "Delete User" functionality (icon and right click menu selection) is only available when a user other than the currently logged on user is selected from the navigation tree structure.
Fig.5-67: Deleting a user account Once selected, the user must acknowledge the deletion of the selected user account. 5.8.4 Changing a User Account Password Any user that is currently logged on and has View rights to the User Manage‐ ment folder can change their password whether or not the user has Modify rights. Of course, if the user does not have View rights to the User Manage‐ ment folder, then none of the user account options are available. 1. Right click on the user account and select Change Password.
This can also be done by clicking on the "Change Password" icon . 2. Enter the Old Password, New Password and Confirm New Password. The Password field has a 20 character limitation. 82/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Using the IndraMotion Service Tool
Fig.5-68: Change user password Once the OK button is pressed, an acknowledgment or error window ap‐ pears. DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 83/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Service and Support 6 Service and Support Our service helpdesk at our headquarters in Lohr, Germany and our worldwide service will assist you with all kinds of enquiries. You can reach us around the clock - even on weekend and on holidays.
Service Hotline Helpdesk Worldwide Phone +49 (0) 9352 40 50 60 Outwith Germany please con‐ tact our sales/service office in Fax +49 (0) 9352 40 49 41 your area first. For hotline numbers refer to E-mail [email protected] the sales office addresses on the Internet. http://www.boschrexroth.com Internet You will also find additional notes regarding service, mainte‐ nance (e.g. delivery addresses) and training.
Preparing Information For quick and efficient help please have the following information ready: ● Detailed description of the fault and the circumstances ● Information on the type plate of the affected products, especially type co‐ des and serial numbers ● Your phone, fax numbers and e-mail address so we can contact you in case of questions. 84/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 85/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Index Index A I Appropriate use...... 5 Important instructions on use...... 5 IMST functionality...... 19 Diagnostic overview ...... 20 B Hardware overview ...... 23 Browser settings Help for diagnostics ...... 30 Enabling security settings ...... 31 IMST toolbar icons ...... 27 Right-click and tooltip functionality ...... 28 C User management overview ...... 25 Clear error...... 44 IMST toolbar icons Configure signals...... 49 Error or warning icons ...... 44 Control folder PLC state icon ...... 44 Control link ...... 61 Save icon ...... 41 Ethernet ...... 60 Tree icon ...... 40 PLS module ...... 62 Inappropriate use...... 6 Sercos ...... 61 Inappropriate Use Control link...... 61 Consequences, Exclusion of Liability ...... 5 Cross communication...... 46, 61 IndraMotion service tool Custom list or table...... 73 Integrated safety technology overview ...... 21 Oscilloscope overview ...... 22 IndraMotion Service Tool D General ...... 17 Data folder IndraMotion Service Tool – Overview...... 17 Archive and restore parameters ...... 24, 67 Intended Use Custom ...... 73 State of the art ...... 5 Logic ...... 69 Intended use Parameter ...... 71 Scope of application ...... 5 Default user accounts...... 39 Diagnostics folder Control link ...... 46 M Oscilloscope functionality ...... 47 MD X10 Digital I/O...... 64 Drive folder Drive local I/O ...... 64 O Drive PLS module ...... 64 Oscilloscope functionality Motor commutation ...... 65 Active measurement ...... 49 Reference motor encoder ...... 66 Capture traces ...... 52 Drive parameters...... 72 Color ...... 58 Drive system...... 7 Configure measurement ...... 50 Curve display ...... 56 E Display area ...... 48 Electric drive system...... 7 Measured signal traces ...... 53 Scale Y ...... 54 Show cursors ...... 55 G Signal trigger ...... 51 Getting started...... 31 Zoom x ...... 54 Browser settings ...... 31 Oscilloscope trigger...... 51 Logging on for the first time ...... 33 Logging on for the first time, setting up user accounts ...... 34 P Parameter editor...... 71 Password...... 34 H PELV...... 11 Hardware folder Protective extra-low voltage...... 11 Control hardware ...... 59 Drive hardware ...... 63 86/87 Bosch Rexroth AG DOK-IM*ML*-IMST****V11-RE01-EN-P Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Index
S U Safety instructions for electric drives and con‐ User management folder trols...... 7 Changing a user account password ...... 81 Save system information...... 41 Create a user account ...... 80 Sercos 2 communication...... 61 Delete a user account ...... 81 Standard IMST toolbar icons Using the IndraMotion service tool...... 39 Changing the operation mode ...... 44 Data folder ...... 67 File transfer ...... 42 Diagnostics folder ...... 45 Hide and display tree Structure ...... 40 Hardware folder ...... 59 Standard IMST toolbar Icons Standard IMST toolbar icons ...... 40 Saving diagnostic log and hardware details . 41 User documentation ...... 77 Support User login ...... 39 see Service Hotline ...... 83 User management folder ...... 78 Symbol configuration...... 70 System requirements Firmware ...... 18 X Hardware ...... 18 X31/X32 I/O...... 64 Internet explorer security settings ...... 19 Software ...... 19
U User management...... 36 DOK-IM*ML*-IMST****V11-RE01-EN-P Bosch Rexroth AG 87/87 Rexroth IndraMotion MLC/MLP/XLC 11VRS IndraMotion Service Tool
Notes
Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Tel. +49 (0)93 52-40-0 Fax +49 (0)93 52-48 85 www.boschrexroth.com
Printed in Germany R911331940 DOK-IM*ML*-IMST****V11-RE01-EN-P