Electric Drives Linear Motion and and Controls Hydraulics Assembly Technologies Pneumatics Service Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Title Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Type of Documentation Application Manual

Document Typecode DOK-IM*ML*-FB******V11-AP01-EN-P

Internal File Reference RS-f7acbd514ebfbbb90a6846a0006e7c2d-1-en-US-5

Purpose of Documentation This documentation describes the field busses and their diagnostic function blocks for the IndraLogic XLC L25/ L45/ L65/ VEP systems and IndraMotion MLC/MLP L25/ L45/ L65/ VEP systems. It constitutes the basis for the online help.

Record of Revision Edition Release Date Notes 120-3300-B317/EN -01 11.2010 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 • 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 IndraLogic & Basis Motion Logic GLo / HBu / vha / PiGe Note This document has been printed on chlorine-free bleached paper. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG I/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Table of Contents Table of Contents Page 1 Important Instructions on Use...... 7 1.1 Appropriate Use...... 7 1.1.1 Introduction...... 7 1.1.2 Areas of Use and Application...... 7 1.2 Inappropriate Use...... 8

2 Safety Instructions for Electric Drives and Controls...... 9 2.1 Definitions of Terms...... 9 2.2 General Information...... 10 2.2.1 Using the Safety Instructions and Passing Them on to Others...... 10 2.2.2 Requirements for Safe Use...... 10 2.2.3 Hazards by Improper Use...... 11 2.3 Instructions with Regard to Specific Dangers...... 13 2.3.1 Protection Against Contact With Electrical Parts and Housings...... 13 2.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock ...... 14 2.3.3 Protection Against Dangerous Movements...... 14 2.3.4 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting...... 16 2.3.5 Protection Against Contact With Hot Parts...... 16 2.3.6 Protection During Handling and Mounting...... 17 2.3.7 Battery Safety...... 17 2.3.8 Protection Against Pressurized Systems...... 18 2.4 Explanation of Signal Words and the Safety Alert Symbol...... 18

3 Field Busses and Field Bus Communication...... 21 3.1 Field busses and Field bus Communication, Overview...... 21 3.2 Terms and Abbreviations...... 22 3.3 Field bus Features...... 23 3.3.1 Field bus Master Features...... 23 3.3.2 Field bus Slave Features...... 23 3.4 Transfer Types...... 23 3.4.1 Overview...... 23

4 Field bus Support in the User Program...... 25 4.1 Overview...... 25 4.2 Function Blocks for the Mapping Concept...... 25 4.3 Function blocks for access from the user program...... 25 4.4 Function Blocks for the Parameter Channel...... 26 4.5 Function blocks for the PCP channel of the inline bus...... 27

5 PROFIBUS DP Master...... 29 5.1 Terms and Abbreviations...... 29 5.2 Features of the PROFIBUS DP Master...... 29 5.3 PROFIBUS DP Master – Functions in the PLC Program...... 30 II/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Table of Contents

Page 6 PROFIBUS DP Slave...... 33 6.1 Terms and Abbreviations...... 33 6.2 Features of the PROFIBUS DP Slave...... 33 6.3 PROFIBUS DP Slave – Functions in the PLC Program...... 33

7 Configuring the PROFIBUS (Dialogs)...... 37 7.1 Configuring the PROFIBUS, Overview...... 37 7.2 PROFIBUS DP Master...... 38 7.2.1 Configuring the PROFIBUS DP Master, General Information...... 38 7.2.2 Register "DP parameters"...... 40 7.2.3 Register "PROFIBUS DP Master Configuration"...... 42 7.2.4 Register "PROFIBUS DP Master I/O Mapping"...... 44 7.2.5 Register "Status"...... 45 7.2.6 Register "Information"...... 45 7.3 PROFIBUS DP Master, Adding a Slave...... 45 7.3.1 PROFIBUS DP Master, Adding Slaves, General Information...... 45 7.3.2 PROFIBUS DP Master Object, Configuring Slaves...... 48 7.3.3 Register "DP Parameters"...... 49 7.3.4 Register "PROFIBUS DP Configuration"...... 51 7.3.5 Register "Status"...... 51 7.3.6 Register "Information"...... 51 7.4 PROFIBUS DP Master, Adding Modules to the Slave...... 52 7.4.1 PROFIBUS DP Master, Adding Modules to the Slave, General Information...... 52 7.4.2 Register "DP Parameters"...... 53 7.4.3 Register "DP Module Configuration"...... 54 7.4.4 Register "DP Modules I/O Mapping"...... 54 7.4.5 Register "Status"...... 55 7.4.6 Register "Information"...... 55 7.5 PROFIBUS DP Slave...... 55 7.5.1 Configuring the PROFIBUS DP Slave, General Information...... 55 7.5.2 Register "DP Parameters"...... 56 7.5.3 Register "PROFIBUS DP Configuration"...... 57 7.5.4 Register "PROFIBUS DP I/O Mapping"...... 58 7.5.5 Register "Status"...... 59 7.5.6 Register "Information"...... 59 7.6 PROFIBUS DP Slave, Adding Modules to the Slave...... 60 7.6.1 PROFIBUS DP Slave, Adding Modules to the Slave, General Information...... 60 7.6.2 Register "DP Parameters"...... 61 7.6.3 Register "DP Module Configuration"...... 61 7.6.4 Register "DP Modules I/O Mapping"...... 62 7.6.5 Register "Status"...... 63 7.6.6 Register "Information"...... 63 7.7 Coupling between PROFIBUS DP Master and Slave Control...... 63 DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG III/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Table of Contents

Page 8 PROFINET IO-Controller...... 65 8.1 Terms and Abbreviations...... 65 8.2 Features of the PROFINET IO-Controller...... 65 8.3 PROFINET IO-Controller – Functions in the PLC Program...... 66

9 PROFINET IO-Device...... 69 9.1 Terms and Abbreviations...... 69 9.2 Features of the PROFINET IO-Device...... 69 9.3 PROFINET IO-Device – Functions in the PLC Program...... 69

10 Configuring PROFINET IO (Dialogs)...... 71 10.1 Configuring PROFINET IO, Overview ...... 71 10.2 PROFINET IO-Controller...... 74 10.2.1 Configuring a PROFINET IO-Controller Object, General Information...... 74 10.2.2 Register "PNIO Controller Parameter" ...... 75 10.2.3 Register "PROFINET IO-Controller Configuration"...... 77 10.2.4 Register "PROFINET IO-Controller I/O Mapping"...... 79 10.2.5 Register "Status" ...... 80 10.2.6 Register "Information" ...... 80 10.3 PROFINET IO-Controller, Adding a PLC Coupling Module...... 80 10.3.1 PROFINET IO-Controller, Adding a PLC Coupling Module, General Information...... 80 10.3.2 Register "PNIO Parameters"...... 81 10.3.3 Register "PNIO Identification"...... 82 10.3.4 Register "PNIO Configuration"...... 83 10.3.5 Register "Status" ...... 84 10.3.6 Register "Information" ...... 84 10.4 PROFINET IO-Device ...... 84 10.4.1 Configuring a PROFINET IO Device Object, General Information...... 84 10.4.2 Register "PNIO Parameters"...... 85 10.4.3 Register "PNIO Identification"...... 88 10.4.4 Register "PNIO Configuration"...... 89 10.4.5 Register "PNIO I/O Mapping"...... 90 10.4.6 Register "Field bus Mapping" ...... 91 10.4.7 Register "Status" ...... 93 10.4.8 Register "Information" ...... 93 10.5 PROFINET IO Modules...... 93 10.5.1 PROFINET IO Modules, General Information...... 93 10.5.2 Register "PNIO Parameters"...... 95 10.5.3 Register "PNIO Module Configuration" ...... 96 10.5.4 Register "PNIO Modules I/O Mapping"...... 96 10.5.5 Register "Status" ...... 97 10.5.6 Register "Information" ...... 97 10.6 Diagnostics in the PROFINET IO...... 97 IV/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Table of Contents

Page 11 Scanning PROFINET IO-Devices ...... 99 11.1 Scanning Devices, Overview...... 99 11.2 Scanning Devices ...... 99 11.3 Reloading a Device Description File...... 101

12 EtherNet/IP Adapter...... 105 12.1 Terms and Abbreviations...... 105 12.2 Features of the EtherNet/IP adapter...... 105 12.3 EtherNet/IP Adapter – Functions in the PLC Program...... 106 12.4 EtherNet/IP Adapter (Engineering) – Functions in the PLC Program...... 106

13 Configuring the EtherNet/IP Adapter (Engineering) (Dialogs)...... 109 13.1 Configuring the EtherNet/IP Adapter (Engineering), Overview...... 109 13.2 Register "Status" for the Adapter...... 110 13.3 Register "Information" for the Adapter...... 110 13.4 Register "EtherNet_IP I/O Mapping" for the Modules...... 111 13.5 Register "Information" for the Modules...... 111

14 Modbus TCP...... 113 14.1 Modbus TCP Server...... 113 14.1.1 Terms and Abbreviations...... 113 14.1.2 Features of the Modbus TCP Server...... 113 14.1.3 Preliminary Remarks...... 114 14.1.4 Diagnostics...... 115 14.1.5 Modbus TCP Server – Function in the PLC Program (RIL_ModbusTCP.library)...... 115

15 SERCOS III IO ...... 117 15.1 Terms and Abbreviations...... 117 15.2 Features of the SERCOS III IO Masters...... 117 15.3 SERCOS III Master – Functions in the PLC Program...... 117

16 Configuring SERCOS III IO (Dialogs)...... 121 16.1 SERCOS III IO, Overview...... 121 16.2 SERCOS III IO, Adding a Slave...... 121 16.3 SERCOS III IO Slave...... 122 16.3.1 SERCOS III IO Slave, General Information...... 122 16.3.2 Register "SERCOS III Slave" ...... 123 16.3.3 Register "SERCOS III Configuration"...... 124 16.3.4 Register "Status"...... 125 16.3.5 Register "Information"...... 125 16.4 SERCOS III IO, Adding a Modules to the Slave...... 126 16.5 SERCOS III I/O Modules...... 126 16.5.1 SERCOS III IO Modules, General Information...... 126 16.5.2 Register "SERCOS III Module" ...... 127 DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG V/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Table of Contents

Page 16.5.3 Register "Function Groups"...... 127 16.5.4 Register "Information" ...... 128 16.5.5 Register "SERCOS III Modules I/O Mapping"...... 128 16.5.6 Register "SERCOS III Module Configuration"...... 128

17 Inline I/O Modules...... 131 17.1 Features of the Inline I/O...... 131 17.2 Inline I/O – Functions in the PLC Program...... 133 17.2.1 Function Blocks for the Local Inline Bus on the Control...... 133

18 Configuring the Inline I/O (Dialogs)...... 137 18.1 Inline Object and Inline Modules, Overview...... 137 18.2 Inline I/O object...... 137 18.2.1 Register "Inline I/O Configuration"...... 137 18.2.2 Register "Status"...... 139 18.2.3 Register "Information"...... 141 18.3 Adding Inline Modules...... 141 18.4 Configuring Inline Modules...... 141 18.4.1 Configuring Inline Modules, General Information...... 141 18.4.2 Register "Inline Module I/O Mapping" ...... 142 18.4.3 Register "Status"...... 142 18.4.4 Register "Information"...... 143

19 Configuring the I/O (Dialogs)...... 145 19.1 Configuring the Onboard I/O, Overview...... 145 19.2 Register "Onboard I/O I/O Mapping" ...... 146 19.3 Register "Status"...... 147 19.4 Register "Information"...... 147

20 Device Database...... 149 20.1 Device Database, Overview ...... 149 20.2 Managing Devices...... 149 20.2.1 Device Database, Dialog...... 149 20.2.2 Add Devices ...... 150 20.2.3 Remove Devices ...... 153 20.2.4 Update Device Database...... 154

21 Mapping the Onboard, Inline and Field bus Inputs and Outputs ...... 155

22 Service and Support...... 161

Index...... 163 VI/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 7/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Important Instructions on Use 1 Important Instructions on Use 1.1 Appropriate Use 1.1.1 Introduction Rexroth products represent state-of-the-art developments and manufacturing. They are tested prior to delivery to ensure operating safety and reliability. The products may only be used in the appropriate way. If they are not used in the appropriate way, situations resulting in property damage and personal injury can occur.

Bosch Rexroth as manufacturer is not liable for any damages re‐ sulting from inappropriate use. In such cases, the guarantee and the right to payment of damages resulting from inappropriate use are forfeited. The user alone carries all responsibility of the risks.

Before using Rexroth products, make sure that all the pre-requisites for an ap‐ propriate use of the products are satisfied: ● 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 Rexroth IndraWorks IndraWorks and its function modules are intended for Motion/Logic applica‐ tions.

The IndraWorks and its function modules may only be used with the accessories and mounting parts listed in this documentation. Com‐ ponents 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 hardware compo‐ nent configurations and combinations that were expressly men‐ tioned and with the software and firmware indicated and specified in the respective documentations and functional descriptions.

IndraWorks and its function modules have been developed for use in single and multi-axis drive and control tasks. For the application-specific use of the machine operating and visualization ter‐ minals, device models featuring different equipments and different interfaces are available. Typical scopes of use where IndraWorks and its function modules can be ap‐ plied are: ● [Handling and mounting systems] ● [Packaging and food machines] ● [Printing and paper-processing machines] 8/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Important Instructions on Use

● [Machine tools] Rexroth IndraWorks and the function modules must only be operated under the mounting and installation conditions, the position, and the ambient conditions (temperature, type of protection, moisture, EMC, etc.) specified in the related documentations. 1.2 Inappropriate Use The use of Rexroth IndraWorks and its function modules in applications other than those specified or described in the documentation and the technical data is considered as "improper". The Rexroth IndraWorks and its function modules may not be used if it is ● exposed to operating conditions which do not correspond to the specified ambient conditions. Operation under water, extreme temperature fluctu‐ ations or extreme maximum temperatures etc. is prohibited. ● Furthermore, the IndraWorks and its function modules must not be used in any applications not expressly approved by Bosch Rexroth. Therefore, read the statements given in the general safety instructions! DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 9/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

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, 10/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

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*-FB******V11-AP01-EN-P Bosch Rexroth AG 11/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

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! 12/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

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!

DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 13/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Safety Instructions for Electric Drives and Controls

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.

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. 14/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Safety Instructions for Electric Drives and Controls

● 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 minimum cross sec‐ tion according to the table below. With an outer conductor cross section smaller than 10 mm2 (8 AWG), the alternative connection of two equip‐ ment grounding conductors is allowed, each having the same cross section as the outer conductors.

Cross section outer con‐ Minimum cross section equipment grounding conductor ductor Leakage current ≥ 3.5 mA 1 equipment grounding 2 equipment grounding conductor conductors

1.5 mm2 (16 AWG) 2 × 1.5 mm2 (16 AWG) 2.5 mm2 (14 AWG) 2 × 2.5 mm2 (14 AWG) 4 mm2 (12 AWG) 10 mm2 (8 AWG) 2 × 4 mm2 (12 AWG) 6 mm2 (10 AWG) 2 × 6 mm2 (10 AWG) 10 mm2 (8 AWG) - 16 mm2 (6 AWG) - 25 mm2 (4 AWG) 16 mm2 (6 AWG) - 35 mm2 (2 AWG) - 50 mm2 (1/0 AWG) 25 mm2 (4 AWG) - 70 mm2 (2/0 AWG) 35 mm2 (2 AWG) - ......

Fig.2-1: Minimum Cross Section of the Equipment Grounding Connection

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: DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 15/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Safety Instructions for Electric Drives and Controls

● 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.

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. 16/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Safety Instructions for Electric Drives and Controls

● 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.

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. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 17/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Safety Instructions for Electric Drives and Controls

● 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. ● 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 falling!

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.

18/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Safety Instructions for Electric Drives and Controls

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 falling!

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. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 19/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Safety Instructions for Electric Drives and Controls

NOTICE In case of non-compliance with this safety instruction, property damage could occur. 20/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 21/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Field Busses and Field Bus Communication 3 Field Busses and Field Bus Communication 3.1 Field busses and Field bus Communication, Overview This is a brief introduction to the functionalities of field bus communication and other varieties of communication (e.g. EtherNet communication). The respec‐ tive functionality consists of the following properties: ● Cyclic data traffic ● Acyclic data traffic ● Representation in the interface (configuration, diagnostics, ...) ● Display in the PLC (FBs, FUNs for diagnostics or acyclic communication) The properties are described for each field bus and/or communication. In some cases, the properties are not available for every communication path. For ex‐ ample, for the Modbus TCP, only an illustration in the PLC as a function block is available, but no diagnostics or configuration in the IndraWorks interface. Overview The following subjects are dealt with in this chapter: ● PROFIBUS DP Master (see page 29) A PROFIBUS master can be activated on the onboard interface or on a connection function module (CFL01.1-TP). ● PROFIBUS DP Slave (see page 33) A PROFIBUS slave can be activated on the onboard interface or on a connection function module (CFL01.1-TP). ● PROFINET IO-Controller (see page 65) A PROFINET IO-Controller can be activated on the onboard interface or on a connection function module (CFL01.1-TP). ● PROFINET IO-Device (see page 69) A PROFINET IO-Device can be activated on the onboard interface or on a connection function module (CFL01.1-TP). ● EtherNet/IP Adapter (see page 105) An EtherNet/IP adapter can be activated on the onboard interface, on a connection function module (CFL01.1-TP) or on the engineering interface. ● Modbus TCP (see page 113) PLC function blocks allow Modbus/TCP to be used with all EtherNet based interfaces. ● SERCOS III IO (see page 117) A SERCOS III master interface for I/Os or field devices is only available using the onboard SERCOS III interface ● Inline I/O Modules (see page 131) Inline I/O modules can be connected to the local inline control bus and using inline field bus couplers. Furthermore, inline block modules are available from Rexroth in protection class IP20 and inline modules in pro‐ tection class IP67. ● Onboard I/O (see page 145) The onboard I/O modules are a direct component of the control. Related documentation The documents listed below contain additional information regarding this sub‐ ject. 22/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Field Busses and Field Bus Communication

Title Identification Parts number

Rexroth IndraMotion MLC 10VRS DOK-IM*ML*-TF*BASE*V10- R911327679 Technology Basic Libraries RE02-EN-P Rexroth IndraWorks 11VRS DOK-CONTRL- IndraLogic 2G PLC Programming R911332232 IL2GPRO*V11-AP01-EN-P System Rexroth IndraLogic 10VRS Modbus DOK-IL*2G*-MOD*TCP*V10- R911329577 TCP AP01-EN-P Rexroth IndraWorks 11VRS, Basic Li‐ DOK-IL*2G*-BASLIB**V11- R911332240 braries, IndraLogic 2G LI01-EN-P

3.2 Terms and Abbreviations The following table shows the field bus dependent designations for the master or slave interfaces of the field busses: Terms for the field bus interfaces

Field bus Master interface Slave interface PROFIBUS Master Slave PROFINET IO Controller Device EtherNet/IP Scanner Adapter SERCOS III Master Slave

Terms for data transfer mechanisms

Field bus Cyclic transfer Acyclic transfer PROFIBUS DP/V0 DP/V1 PROFINET IO RTC (real-time cyclic) RTA (real-time acyclic) EtherNet/IP Implicit messaging (polled I/O) Explicit messaging SERCOS III Cyclic data Service channel + IP channel The local inline bus at the control is a special feature. It is comparable with a field bus master with exactly one field bus slave to which I/O modules can be connected. GSD file This is the device description with which the PROFIBUS slaves are made known to IndraWorks or another engineering system. GSDML file This is the device description with which the PROFINET device is made known to IndraWorks or another engineering system. EDS file This is the device description with which the EtherNet/IP adapt‐ er is made known to IndraWorks or another engineering sys‐ tem (EDS: Electronic Data Sheet). SDDML file This is the device description with which the SERCOS III slaves are made known to IndraWorks or another engineering system according to an IO profile (SDDML: SERCOS Device Descrip‐ tion Markup Language). DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 23/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Field Busses and Field Bus Communication

3.3 Field bus Features 3.3.1 Field bus Master Features Features of the field bus master interfaces

PROFIBUS PROFINET IO SERCOS III Inline Master Controller Master

Max. number of participants 125 25 / 128 1 64 / 32 2 64 modules Max. number cyclic input data for the master 3584 bytes 3072 bytes -- 128 bytes 3 Max. number cyclic output data for the master 3584 bytes 3072 bytes -- 128 bytes 3 Max. number cyclic input data per slave 244 bytes 1024 bytes -- -- Max. number cyclic output data per slave 244 bytes 1024 bytes -- -- Max. telegram data per acyclic telegram 240 bytes 1092 bytes 1480 bytes -- 1 25 at a cycle time < 4 ms, 128 at a cycle time >= 4 ms 2 Up to 16 (L25), 32 (L45), 64 (L65) drives and 32 I/O participants 3 Inputs and outputs and PCP channel calculated together 3.3.2 Field bus Slave Features Features of the field bus slave interfaces

EtherNet/IP PROFIBUS PROFINET IO EtherNet/IP Adapter Slave Device Adapter (Engineering)

Max. number cyclic input data for the slave 244 bytes 1024 bytes 504 bytes 8 bytes 8 bytes + 4 byte Max. number cyclic output data for the slave 244 bytes 1024 bytes 504 bytes header Consistency of the cyclic data 128 bytes 128 bytes 128 bytes Max. telegram data per acyclic telegram 240 bytes 1092 bytes 450 bytes

3.4 Transfer Types 3.4.1 Overview The transfer types can be divided into the following categories: ● Cyclic transfer channel ● Acyclic transfer channel 24/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Field Busses and Field Bus Communication

Fig.3-1: Overview of the transfer types for the field bus master

Fig.3-2: Overview of the transfer types for the field bus slaves The field bus objects are described using the following elements: ● PROFIBUS: Slot (8 bits), Index (8 bits) ● PROFINET IO: Slot (16 bits), Subslot (16 bits), Index (16 bits) ● EtherNet/IP: Class (8 bits), Instance (8/16/32 bits), Attribute (16 bits) ● SERCOS III: EIDN (32 bits) with parameter number (16 bits), Structure element SE (8 bits), Structure instance SI (8 bits) DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 25/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Field bus Support in the User Program 4 Field bus Support in the User Program 4.1 Overview The following support with regard to field busses is contained within the PLC user program: 1. Function blocks for field bus diagnostics (on the master and slave sides) 2. Function blocks for acyclic data transfer (on the master side) 3. Function blocks for the mapping concept (on the slave side) 4. Function blocks for access from the user program (on the slave side, only the PROFIBUS DP slave) 5. Function blocks for the parameter channel (on the slave side) 6. Function blocks for the PCP channel of the inline bus The function blocks for field bus diagnostics and for acyclic data transfer de‐ pend on the field bus and are described in the respective chapter section. Further information about the function blocks can be found in the respective documentation regarding libraries. 4.2 Function Blocks for the Mapping Concept Library: RIL_MappingList.library IL_SlaveMapListInit This function block initializes and deletes the entire mapping table.

Fig.4-1: FB IL_SlaveMapListInit IL_SlaveMapListAddEntry This function block adds an entry to the mapping table.

Fig.4-2: FB IL_SlaveMapListAddEntry interface 4.3 Function blocks for access from the user program Library: RIL_ProfibusDPSlave.library IL_PBDPSlaveDPV1Polling The block is used to query if there is a data request via the DP/V1 channel. 26/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Field bus Support in the User Program

Fig.4-3: Function block IL_PBDPSlaveDPV1Polling IL_PBDPSlaveDPV1GetWriteData This block is used to call the data to be written when there is a write request via the DP/V1 channel.

Fig.4-4: Function block IL_PBDPSlaveDPV1GetWriteData IL_PBDPSlaveDPV1Response This block is used to report acknowledgement information when there is a data request via the DP/V1 channel or the data to be read when there is a read request.

Fig.4-5: Function block IL_PBDPSlaveDPV1Response 4.4 Function Blocks for the Parameter Channel IL_ParameterChannel The block allows an acyclic communication via the cyclic data channel. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 27/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Field bus Support in the User Program

Fig.4-6: Function block IL_ParameterChannel 4.5 Function blocks for the PCP channel of the inline bus Library: RIL_Inline.library IL_PCPRead A reading PCP access is performed with the function block IL_PCPRead.

Fig.4-7: FB IL_PCPRead IL_PCPWrite A writing PCP access is performed with the function block IL_PCPWrite.

Fig.4-8: Structure of IL_PCPWrite 28/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 29/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFIBUS DP Master 5 PROFIBUS DP Master 5.1 Terms and Abbreviations Master The PROFIBUS field bus master is called Master. Slave The PROFIBUS field bus slaves are called Slaves. Device ad‐ The criterion for addressing a slave is the device address (or dress PROFIBUS address). It can range from 1 to 125. GSD file This is the device description with which the PROFIBUS slaves are made known to IndraWorks. 5.2 Features of the PROFIBUS DP Master The current implementation of the PROFIBUS DP Masters includes the follow‐ ing functionalities: ● Bus master functionality in accordance with DIN EN 50170, Part 2 ● Cyclic data traffic (DP/V0) ● Acyclic data traffic (DP/V1 class 1) via FBs ● Acyclic data traffic (DP/V1 class 2) for FDT/DTM communication ● Device description file import into the device database ● PROFIBUS slave-related connection status in the interface ● Diagnostics of the PROFIBUS master via FBs ● Diagnostics of the PROFIBUS slaves via FBs ● Sync/Freeze ● Disabling slaves (at bus startup) Future extensions are planned for the following functionalities: ● Alarms ● Disabling slaves in the PLC program

Function/Characteristic Value

Max. number of slaves 125 Baud rate 9.6 kBit/s to 12 MBit/s Max. amount of cyclic input data 3584 bytes Max. amount of cyclic output data 3584 bytes Max. amount of cyclic input data per slave 244 bytes Max. amount of cyclic output data per slave 244 bytes Max. length of consistent data blocks 244 bytes Max. acyclic telegram data per slave / telegram 240 bytes Number of simultaneous DP/V1 class 1 services per slave 1 Number of simultaneous DP/V1 class 2 connections 1

Fig.5-1: Technical data 30/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFIBUS DP Master

5.3 PROFIBUS DP Master – Functions in the PLC Program When using the function module DP Master and the existing onboard master, there are controls available for implementing systems with several DP Masters. To do this, the RIL_ProfibusDP_02.library is created, which can differentiate multiple DP Masters. Blocks for diagnostics and acyclic communication are considered. The description of this library can be found in "Rexroth IndraWorks 11VRS, Basic Libraries, IndraLogic 2G", DOK-IL*2G*-BASLIB**V11-LI01-EN-P, R911332240. DP Master specific diagnostics with PLC FBs IL_DPDevInfoGet The FB determines information about the operating state of the respective PB device.

Fig.5-2: FB IL_DPDevInfoGet IL_DPDeviceListGet The FB indicates the active and addressable master instances on the PLC. In this way, users can also monitor whether or not an appropriate configuration was loaded and correctly recognized.

Fig.5-3: FB IL_DPDeviceListGet

DP slave specific diagnostics with PLC FBs IL_DPReadDiag A slave's diagnostics data are read from the DP Master (DPM1) with the FB.

Fig.5-4: FB IL_DPReadDiag IL_DPPrjSlaveListGet The FB supplies the list of the configured slaves. The list contains all of the slaves existing in the master configuration file. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 31/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFIBUS DP Master

Fig.5-5: FB IL_DPPrjSlaveListGet IL_DPSlaveDiagListGet The FB supplies the list of slaves that deliver a diagnostic.

Fig.5-6: FB IL_DPSlaveDiagListGet

Acyclic communication in the PLC program IL_DPV1Read A reading DPV1 access is performed with the FB. The data exchange on the PROFIBUS DP is executed acyclically.

Fig.5-7: FB IL_DPV1Read IL_DPV1Write A writing DPV1 access is performed with the FB. The data exchange on the PROFIBUS DP is executed acyclically.

Fig.5-8: Structure of IL_DPV1Write

Additional functions and function blocks IL_DPIdent The function combines an Ident handle from the individual components. 32/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFIBUS DP Master

Fig.5-9: FUN IL_DPIdent IL_DPSycFr Control commands for synchronizing inputs and outputs can be implemented with the FB. PROFIBUS DP offers an option for a master to send a so-called "Global Control Telegram“ to a group of slaves. The global control telegram contains a control command: ● With the Freeze control command, all slaves in the addressed group save the current input data simultaneously (synchronize inputs). ● With the Sync control command, all slaves in the addressed group accept the current output data simultaneously (synchronize outputs).

The Sync/Freeze functionality is only supported with the onboard master.

Fig.5-10: FB IL_DPSycFr IL_DPBaudrateGet The FB determines the baud rate of the connected field bus. The baud rate is specified in bits per second.

Fig.5-11: FB IL_DPBaudrateGet DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 33/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFIBUS DP Slave 6 PROFIBUS DP Slave 6.1 Terms and Abbreviations Master The PROFIBUS field bus master is called Master. Slave The PROFIBUS field bus slaves are called Slaves. Device ad‐ The criterion for addressing a slave is the device address (or dress PROFIBUS address). It can range from 1 to 125. GSD file This is the device description with which the PROFIBUS slaves are made known to IndraWorks. 6.2 Features of the PROFIBUS DP Slave The current implementation of the PROFIBUS DP Slave includes the following functionalities: ● Slave functionality in accordance with DIN EN 50170, Part 2 ● Cyclic data traffic (DP/V0) ● Acyclic data traffic (DP/V1 class 1) via FBs ● Disabling slaves when starting up the PLC program Future extensions are planned for the following functionalities: ● Diagnostics of the PROFIBUS slave via FBs ● Alarms ● Sync/Freeze

Function/Characteristic Value

Max. number at I/O modules 16 (8 in each direction) Baud rate 9.6 kBit/s to 12 MBit/s Max. amount of cyclic input data 244 bytes Max. amount of cyclic output data 244 bytes Max. length of consistent data blocks 128 bytes

Fig.6-1: Technical data 6.3 PROFIBUS DP Slave – Functions in the PLC Program Both diagnostics and acyclic communication can be implemented from the PLC program. The function blocks, functions and data types are contained in the RIL_Profi‐ busDPSlave.library. Acyclic communication in the PLC The functionality describe in this chapter implements the acyclic READ and program WRITE DPV1 services for PROFIBUS DP Slaves. This allows access to data objects at slave application level. 34/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFIBUS DP Slave

Fig.6-2: Cooperation of the function blocks of the RIL_ProfibusDPSlave.library Library overview: IL_PBDPSlaveDPV1Polling The DPV1 polling FB is used to poll the activity of a DPV1 service request. The FB indicates that a service request is active by output parameters Service, Slot, Index, ServiceID, and DataLength.

Fig.6-3: FB IL_PBDPSlaveDPV1Polling interface DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 35/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFIBUS DP Slave

L_PBDPSlaveDPV1Response The DPV1 Response FB is used to respond to an active DPV1 service request that was detected with IL_PBDPSlaveDPV1Polling beforehand (see above). Depending on whether or not the request is permissible, the FB is called with different parameters ValueAdr, SizeOfValue and Result.

Fig.6-4: IFB L_PBDPSlaveDPV1Response interface FB IL_PBDPSlaveDPV1GetWrite‐ The DPV1 GetWriteData FB is used to copy the user data to the appropriate Data target object in case of an active and permissible DPV1 WRITE service request that was detected with IL_PBDPSlaveDPV1Polling beforehand (see above).

Fig.6-5: FB IL_PBDPSlaveDPV1GetWriteData interface IL_FBUS_SLAVE_RESULT Serves to encode an identifier of the result of the data transfer in the V1 channel. IL_FBUS_SLAVE_SERVICE Serves to represent a service identifier of the DPV1 channel. Selecting the slave The IL_BUSSLAVE enumeration type of the RIL_FieldbusTypes.library serves to select the appropriate PROFIBUS DP Slave. 36/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 37/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs) 7 Configuring the PROFIBUS (Dialogs) 7.1 Configuring the PROFIBUS, Overview The following controls allow the implementation of the PROFIBUS DP: ● IndraLogic XLC VEP: PROFIBUS DP Master or PROFIBUS DP Slave, onboard, ● IndraMotion MLC VEP: PROFIBUS DP Master or PROFIBUS DP Slave, onboard, ● IndraLogic XLC L25 – With SERCOS III: PROFIBUS DP Master / PROFIBUS DP Slave, function modules, – Without SERCOS III: PROFIBUS DP Master / PROFIBUS DP Slave, onboard, PROFIBUS DP Master / PROFIBUS DP Slave, function modules, ● IndraMotion MLC L25: PROFIBUS DP Master / PROFIBUS DP Slave, function modules, ● IndraLogic XLC L45/L65 and IndraMotion MLC L45/L65 PROFIBUS DP Master / PROFIBUS DP Slave, onboard, PROFIBUS DP Master / PROFIBUS DP Slave, function modules, The respective existing interface on the control is represented as a PROFIBUS object in the Project Explorer. The PROFIBUS object can be configured either by creating the control or by using the context menu point Set Device as a PROFIBUS DP Master or PROFIBUS DP Slave.

(1) PROFIBUS DP, onboard, configured as a master (2) PROFIBUS DP, function module RT_EtherNet / Profibus_DP (CFL01.1- TP), configured as a slave Fig.7-1: PROFIBUS objects, still unassigned PROFIBUS DP Master ● PROFIBUS DP Master object – DP parameters, page 40, – PROFIBUS DP Master configuration, page 42, this window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. – PROFIBUS DP Master I/O mapping, page 44, – Status, page 45, 38/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

– Information, page 45. ● PROFIBUS DP Master object, adding PROFIBUS DP Slaves – DP parameters, page 49, – PROFIBUS DP configuration, page 51, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. – Status, page 51, – Information, page 51. ● PROFIBUS DP Master object, adding modules – DP parameters, page 53, – DP modules configuration, page 54, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. – DP_Module I/O mapping, page 54, – Status, page 55, – Information, page 55.

PROFIBUS DP Slave ● PROFIBUS DP Slave object – DP parameters, page 56, – PROFIBUS DP configuration, page 57, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. – PROFIBUS DP I/O mapping, page 58, – Status, page 59, – Information, page 59. ● PROFIBUS DP Slave object, adding modules – DP parameters, page 61, – DP modules configuration, page 61, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. – DP modules I/O mapping, page 62, – Status, page 63, – Information, page 63. 7.2 PROFIBUS DP Master 7.2.1 Configuring the PROFIBUS DP Master, General Information To open the editing window, in the Project Explorer, double click on the PROFIBUS DP Master object. The dialogs will inform you about the configuration of the entire PROFIBUS and you can modify it if necessary. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 39/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

Fig.7-2: PROFIBUS DP Master object Register ● DP parameters, page 40, ● PROFIBUS DP Master configuration, page 42, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● PROFIBUS DP Master I/O mapping, page 44, ● Status, page 45, ● Information, page 45. 40/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.2.2 Register "DP parameters"

Fig.7-3: PROFIBUS DP Master object: DP parameters Addresses: ● Station address: The station address "1" (master) is entered automatically. If necessary, enter another address here. Station address "126" is reserved for service and commissioning purposes and should not be used.

Use the lowest addresses possible. High address values decrease bus performance!

● Highest station address: The highest station address on the bus is displayed. To keep the address range for searching for new active devices small, a low address value can be entered here. Mode: ● Automatic startup: When this option is enabled, the master starts automatically; otherwise it must be started manually.

Whether or not the setting for the "Automatic startup" option is eval‐ uated depends on the driver.

Group properties: ● The "Groups..." button opens the 'Group Properties' dialog. The group properties refer to the slaves assigned to the master. Up to eight groups can be set up. For each group, you can set whether it is to operate in freeze mode and/or sync mode. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 41/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

The assignment of the slaves (see "Properties of DP Slaves", "Group as‐ signment") to different groups can synchronize the data exchange from the master using a global control command. With a freeze command a master causes a slave or a group to 'freeze' the inputs in the current status and to transfer this data in the following data exchange. A sync command prompts the slaves to cycle through the data received by the master in the following data exchange synchronously with the next sync command at the outputs. To switch the freeze and sync options for a group on and off, left-click on the corresponding position in the table to place/remove a check next to the desired option. In addition, you can edit the group names here.

The Sync/Freeze functionality is only supported with the onboard master.

Parameters: These parameters describe the time behavior of the communica‐ tion on the PROFIBUS. ● Baud rate [kBits/s]: The selection defined in the device description file is available here.

In the baud rate selection field, only one baud rate [KB/sec.] can be set which all slaves support.

● Use defaults: When this option is enabled, the values in the parameter table are set to the default values based on the currently set baud rate and can not be modified. For each parameter, the parameter table displays the unit and a short descrip‐ tion. The parameter values can be edited by double clicking on the respective value field (the option Preset: disabled).

Parameter [] Description T_SL [bits1) ] Slot time: Maximum amount of time that the master waits for the slave to respond after sending a request. min. T_SDR [bits] Minimum station delay responder time: Minimum response time after which a participant on the bus may respond. max. T_SDR [bits] Maximum station delay responder time: Maximum time period within which a slave must respond. T_QUI [bits] Quiet time: Quiet time to be taken into account when converting NRZ sig‐ nals (Non Return to Zero) to other encoding (changeover time for repeater). T_SET [bits] Setup time: Time for setup

1) Bit: Time unit for transferring a bit to the PROFIBUS 42/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

Parameter [] Description T_TR [bits] Target rotation time: Token command changeover time, projected time frame in which a master is to receive the token. The result taken from the sum of the token holding times for all of the masters on the bus. Gap Gap update factor: Number of bus circuits after which another newly added, ac‐ tive station is searched for in the master's gap (address range from its own bus address to the address of the next active participant). Retry limit Maximum number of times the master tries to call again if it does not receive a valid response from the slave. Slave interval [µs] Time between two bus cycles in which a slave can process the master's request (time basis 100 µs). The value entered here must match the respective specifications in the slave's device description file. Poll timeout [ms] Maximum time after which the response of a master in a mas‐ ter-master communication must be obtained from the reques‐ ter (DP_Master class 2, time basis 1 ms). Data control time [ms] Time in which the master informs the assigned slaves regard‐ ing its operating status. The master simultaneously monitors whether at least one user data exchange has occurred with the slaves within this period and updates the Data_Trans‐ fer_List.

Fig.7-4: Parameter table 7.2.3 Register "PROFIBUS DP Master Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled.

Please clarify any possible modifications to the parameters that can be edited with the service team. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 43/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

Fig.7-5: PROFIBUS DP Master object: PROFIBUS DP Master configuration This window contains information about the PROFIBUS DP Master parameter set. The parameters marked in the figure are from the Register DP parame‐ ters, page 40. Window structure ● Parameters: Parameter name from the device description file, cannot be edited. ● Type: Data type of the parameter, cannot be edited. ● Value: First, the standard value of the parameter is displayed, directly or as a specification of the corresponding symbolic name. If the parameter can be edited (this depends on the device description; parameters that cannot be edited are displayed in light gray), an input field or a selection list can be opened by double-clicking on the table field (or pressing the in a previously selected field) where the value can be changed. Values are accepted with . If the value is related to a file specification, the standard dialog for selected a file opens. ● Default Value: Defined value from the device description, cannot be edited. ● Unit: Unit for the value, e.g. "ms" for milliseconds, cannot be edited. ● Description: Short description of the parameter from the device description file, cannot be edited. 44/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.2.4 Register "PROFIBUS DP Master I/O Mapping"

Fig.7-6: PROFIBUS DP Master object: I/O mapping Channels: The "channels" area for the PROFIBUS DP Master object is empty because it does not have any inputs/outputs to be mapped.

IEC objects: The data that belongs to the actual bus object can be addressed as a (global project) variable Profibus_DP_Master_4 (PROFIBUS DP Master object with the number 4) of type IoDrvCIFXProfibusWrapper.

Bus cycle task: By selecting a bus cycle task, the cycle of the mapping exchange for the PROFIBUS DP Master can be connected to a particular task. In this task, it is useful to process the IO data of the master as well. Default setting: "Use parent bus cycle setting" With this setting, the task setting made in "Bus cycle options" for the control (double click on the actual control in the Project Explorer, PLC settings) is ac‐ cepted for the actual bus.

Please check this because with controls that have SERCOS III busses, the "MlcTask" can stop at this position and the PROFIBUS DP would be overextended. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 45/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.2.5 Register "Status"

Fig.7-7: PROFIBUS DP Master object: Status The "Status" tab displays status information (e.g. "Running" (bus active), and "n/a" (no information available) and specific diagnostic messages from the respective device and regarding the card used and the internal bus system. In addition, the "Most recent diagnostic message" is displayed, which can be confirmed with "Acknowledge". 7.2.6 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 7.3 PROFIBUS DP Master, Adding a Slave 7.3.1 PROFIBUS DP Master, Adding Slaves, General Information The slaves are located in the "Periphery" library in the "ProfibusDP" folder. Drag the required slaves from the library onto the PROFIBUS DP Master object. In Project Explorer, slaves can also be added between existing slaves in this way. Alternatively, you can add slaves in the context menu using Add ▶ Slave ▶ ... for the PROFIBUS DP Master object. In this case, the new slave is added as the last slave under the PROFIBUS DP Master object. 46/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

Fig.7-8: PROFIBUS, adding a slave

If a required slave is not present in the library by default, it can be integrated into the library by importing its device description file us‐ ing the main menu Tools ▶ Device Database... . See also Reloading a Device Description File, page 101.

Slaves for connecting I/O modules The PROFIBUS DP differentiates two types of slaves for connecting I/O mod‐ ules: 1. Compact: For compact slaves, the module structure is specified. After a slave has been added in Project Explorer, for compact slaves the modules below the slave object node are already present in their complete form. The terminals are not visible in the library. 2. Modular: The module structure of the slave is variable. The modules (terminals) can be arranged individually, although according to the device placement specifications. Immediately after the slave is add‐ ed in Project Explorer, there are no subordinate I/O device levels for the slave. The modules must be manually assigned for modular slaves. To add modules, see "Adding modules", page 52.

(1) Current bus addresses for the slaves (2) Modular slave with assigned modules (3) Compact slave Fig.7-9: Slaves with I/O modules on the PROFIBUS DP Master object DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 47/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

Slaves (PLC coupling modules) for For coupling a control that is to operate as a PROFIBUS DP Slave, in the connecting slave controls Library ▶ Periphery ▶ ProfibusDP ▶ PLC there are three PLC coupling modules available which allow the connection of adjacent controls: ● L20 DPV1 Slave for the IndraLogic L20 DP control, ● L40 DPV1 Slave for the IndraLogic L40 DP control, ● Lx5 DPV1 Slave for the IndraLogic XLC L25/L45/L65 and IndraMotion MLC L25/L45/L65 controls. When a PLC coupling modules is added in the Project Explorer, a firmware component is enabled in the PROFIBUS DP Master for a connection with a PROFIBUS DP Slave control via the PROFIBUS. Each of these PLC coupling modules has a selection of modules in the device library that release input and output variables in the master's mapping memory for data exchange between the PROFIBUS DP Master control and the PROFIBUS DP Slave control.

(1) PROFIBUS DP Master object (2) Slave for coupling onto a L25/L45/L65 control (3) Memory modules for data exchanged between the controls Fig.7-10: Slave with memory modules for coupling a PROFIBUS DP Slave control Overview of bus address... To display all of the address assignments for all bus participants, open the context menu point Overview of bus address... for the PROFIBUS DP Master object.

(1) Current bus addresses for the slaves (2) Modular slave with assigned modules (3) Compact slave Fig.7-11: Slaves with I/O modules on the PROFIBUS DP Master object 48/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

Fig.7-12: Overview of bus addresses 7.3.2 PROFIBUS DP Master Object, Configuring Slaves To open the editing window, in the Project Explorer, double click on the desired slave. The dialogs will inform you about the configuration of the entire slave and you can modify it if necessary.

Fig.7-13: PROFIBUS DP Master Object, configuring slaves Register ● DP parameters, page 49, ● PROFIBUS DP configuration, page 51, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● Status, page 51, ● Information, page 51. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 49/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.3.3 Register "DP Parameters"

Fig.7-14: PROFIBUS DP, adding slaves: DP parameters In contrast to the DP parameters of a DP Master, those of a DP Slave are not a standard set, but are instead described individually for each device in the device description. The user can modify them in the DP parameters dialog. Identification ● Station address: The address is entered automatically. It is to be adjusted according to the actual bus configuration. The address "126" is reserved for service and commissioning and should not be used. ● Ident number: A unique number that was assigned to this device type from the PNO (PROFIBUS user organization). This allows for a unique reference to exist between the DP Slave and the related device description file. Parameters ● TSDR (tBit): Time Station Delay Responder. Response time which reflects the earliest point at which the slave may respond to the master. "tBit": Time unit for transferring a bit with PROFIBUS; Reciprocal value of the transfer rate; e.g. 1 tBit at 12 MBaud=1/12.000.000 Bit/sec=83 ns. ● Lock/Unlock: Slave is blocked or released for other masters. Select one of the following options from the selection list: – 0 (TSDR unlock): Min. TSDR and slave-specific parameters may be overwritten. – 1 (Will be unlocked): Slave is released for other masters: – 2 (Lock): Slave is blocked for other masters; all parameters are accepted. – 3 (Unlock): 50/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

Slave is released for other masters again. Watchdog ● Watchdog control When this option is enabled, the monitoring time entered applies. If the slave is not addressed by the master within this time period, it returns to initialization status. ● Time (ms): Monitoring time, relevant in the case that the "Watchdog control" option is active. Groups ● The "Groups..." button opens the 'Group Properties' dialog. This dialog is used for assigning the slave to one or more of the eight possible groups. In contrast, the general group properties (sync mode and/or freeze mode) are defined when the master properties are configured (see 'DP parame‐ ters for the DP_Master', 'Group properties', page 40).

The Sync/Freeze functionality is only supported with the onboard master.

You can also use the "Global Group Properties" button to access this di‐ alog. The group(s) to which the slave was assigned are selected with a check‐ mark. A slave device can only be assigned to groups with properties that it sup‐ ports. The related properties of the respective slave (sync mode / freeze mode) are displayed above the table. The modes supported by the device are selected with a checkmark. User parameters: ● User parameters are, in addition to the basic DP parameters (see above), individual parameters of a DP Slave that are displayed here if they are defined in the device description file. For each parameter, the parameter table displays the parameter name, the real or the symbolic value (see below, "Symbolic value") and the per‐ missible values that are also defined in the device description file. After using the mouse to click on the corresponding field, the parameter values can be edited in the "Value" column. ● Symbolic values: If symbolic names for the parameters are also specified in the device de‐ scription file, this option can be activated here to display these symbolic values instead of the numeric values in the "Value" column. ● Length of the user parameters (bytes): Sum of the lengths of the user parameters defined in the device descrip‐ tion file. ● Defaults: This button can be used to reset the values shown in the table to the standard setting. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 51/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.3.4 Register "PROFIBUS DP Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled.

Please clarify any possible modifications to the parameters that can be edited with the service team.

Fig.7-15: PROFIBUS DP, adding slaves: PROFIBUS DP configuration The dialog displays the module parameters in detail. 7.3.5 Register "Status"

Fig.7-16: PROFIBUS DP, adding slaves: Status The "Status" tab displays status information (e.g. "Running" (bus active) and "n/a" (no information available)) and specific diagnostic messages from the re‐ spective device and regarding the card used and the internal bus system. 7.3.6 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 52/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.4 PROFIBUS DP Master, Adding Modules to the Slave 7.4.1 PROFIBUS DP Master, Adding Modules to the Slave, General Infor‐ mation The modules that work with the respective slave are located in the "Peripher‐ als" library in the "ProfibusDP" folder under the respective slave. ● I/O: I/O modules for modular slaves. ● PLC: Declaration of commonly used memory space for data exchange between the participating controls.

I/O modules can only be added in modular structured slaves, page 45,.

Drag the required modules out of the library into the slave object. New modules can also be added between existing modules in Project Explorer. Alternatively, you can add modules in the context menu using Add ▶ Mod‐ ules ▶ ... for the slave. In this case, the new module is added as the last module under the slave.

Fig.7-17: PROFIBUS DP Master, adding modules to a slave Register ● DP parameters, page 53, ● DP modules configuration, page 54, this window is used for service pur‐ poses and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● DP_Module I/O mapping, page 54, ● Status, page 55, ● Information, page 55. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 53/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.4.2 Register "DP Parameters"

Fig.7-18: PROFIBUS DP Master, slave modules: DP parameters Module information ● In the DP parameter dialog for an input and output module in a PROFIBUS configuration, the section Module Information describes the settings for the configuration (module description according to the PROFIBUS stand‐ ard) and the length of the input and output data (input length and output length) in bytes as they are defined in the device description file. User parameters ● User parameters are, in addition to the basic DP parameters (see above), individual parameters of a DP Slave that are displayed here if they are defined in the device description file. For each parameter, the parameter table displays the parameter name, the real or the symbolic value (see below, "Symbolic value") and the per‐ missible values that are also defined in the device description file. After using the mouse to click on the corresponding field, the parameter values can be edited in the "Value" column. ● Symbolic values: If symbolic names for the parameters are also specified in the device de‐ scription file, this option can be activated here to display these symbolic values instead of the real values in the "Value" column. ● Length of the user parameters (bytes): The length of the user parameters specifies the total length of all user parameters from the device description. After using the mouse to click on the respective field in the "Value" column, a parameter value can be edi‐ ted. ● Defaults: This button can be used to reset the values shown in the table to the standard setting.

Detailed information about the individual parameters can be found in the respective module description. 54/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.4.3 Register "DP Module Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled.

Please clarify any possible modifications to the parameters that can be edited with the service team.

Fig.7-19: PROFIBUS DP Master, slave modules: configuration The dialog contains information on the position and size of the parameters. 7.4.4 Register "DP Modules I/O Mapping" The window is used to assign inline module inputs and outputs to variables that can be used as local or global variables in the individual POUs. The current value of the variables is displayed in online mode. This assignment is described in Mapping the Onboard, Inline and Field bus Inputs and Outputs , page 155,.

Fig.7-20: PROFIBUS DP Master, slave modules: I/O mapping

Reset mapping Deletes the assignment made in the editor. Always update variables If this option is enabled, all variables are updated in each cycle of the bus cycle task, page 44, whether they are used or not no matter if they are mapped on an input or an output channel. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 55/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.4.5 Register "Status"

Fig.7-21: PROFIBUS DP Master, slave modules: status ● "DP modules": In online mode, the DP-Module area displays status information from the control (e.g. "Running", "Not running (n/a)"). 7.4.6 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 7.5 PROFIBUS DP Slave 7.5.1 Configuring the PROFIBUS DP Slave, General Information To open the editing window, in the Project Explorer, double click on the PROFIBUS DP Slave object. The dialogs will inform you about the configuration of the entire slave, i.e the control itself as a slave, and you can modify it if necessary.

Fig.7-22: Configuring the PROFIBUS DP Slave object Register ● DP parameters, page 56, ● PROFIBUS DP configuration, page 57, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● PROFIBUS DP I/O mapping, page 58, ● Status, page 59, ● Information, page 59. 56/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.5.2 Register "DP Parameters"

Fig.7-23: PROFIBUS DP Slave object: DP parameters In contrast to the DP parameters of a DP Master, those of a DP Slave are not a standard set, but are instead described individually for each device in the device description. The user can modify them in the DP parameters dialog. Identification ● Station address: The address is entered automatically. It is to be adjusted according to the actual bus configuration. The address "126" is reserved for service and commissioning and should not be used. The number selected is to be identical to the number of the slave object intended for coupling onto the PROFIBUS DP Master. ● Ident number: A unique number that was assigned to this device type from the PNO (PROFIBUS user organization). This allows for a unique reference to exist between the DP Slave and the related device description file. Parameters ● TSDR (tBit): Time Station Delay Responder. Response time which reflects the earliest point at which the slave may respond to the master. "tBit": Time unit for transferring a bit with PROFIBUS; Reciprocal value of the transfer rate; e.g. 1 tBit at 12 MBaud=1/12.000.000 Bit/sec=83 ns. ● Lock/Unlock: Slave is blocked or released for other masters. Select one of the following options from the selection list: – 0 (T_SDR unlock): Min. TSDR and slave-specific parameters may be overwritten. – 1 (Will be unlocked): Slave is released for other masters: – 2 (Lock): Slave is blocked for other masters; all parameters are accepted. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 57/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

– 3 (Unlock): Slave is released for other masters again. Watchdog ● Watchdog control When this option is enabled, the monitoring time entered applies. If the slave is not addressed by the master within this time period, it returns to initialization status. ● Time (ms): Monitoring time, relevant in the case that the "Watchdog control" option is active.

Groups: --- In preparation ---

User parameters: ● User parameters are, in addition to the basic DP parameters (see above), individual parameters of a DP Slave that are displayed here if they are defined in the device description file. For each parameter, the parameter table displays the parameter name, the real or the symbolic value (see below, "Symbolic value") and the per‐ missible values that are also defined in the device description file. After using the mouse to click on the corresponding field, the parameter values can be edited in the "Value" column. ● Symbolic values: If symbolic names for the parameters are also specified in the device de‐ scription file, this option can be activated here to display these symbolic values instead of the numeric values in the "Value" column. ● Length of the user parameters (bytes): Sum of the lengths of the user parameters defined in the device descrip‐ tion file. ● Defaults: This button can be used to reset the values shown in the table to the standard setting. 7.5.3 Register "PROFIBUS DP Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled.

Please clarify any possible modifications to the parameters that can be edited with the service team. 58/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

Fig.7-24: PROFIBUS DP Slave object: PROFIBUS DP configuration

When the bus is running, modified parameters can be transferred by using "Write parameter".

7.5.4 Register "PROFIBUS DP I/O Mapping"

Fig.7-25: PROFIBUS DP Slave object: PROFIBUS DP I/O mapping Channels: The "channels" area for the PROFIBUS DP Slave object is empty because it does not have any inputs/outputs to be mapped. The "IEC Objects" area displays information on the PROFIBUS master driver, which you can call up in the statement section.

IEC objects: The data that belongs to the actual bus object can be addressed as a (global project) variable Profibus_DP_Slave_2 (PROFIBUS DP Slave object with the number 1) of type IoDrvCIFXProfibusSlave.

Bus cycle task: DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 59/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

By selecting a bus cycle task, the cycle of the mapping exchange for the PROFIBUS DP Slave can be connected to a particular task. In this task, it is useful to process the IO data of the slave as well. Default setting: "Use parent bus cycle setting" With this setting, the task setting made in "Bus cycle options" for the control (double click on the actual control in the Project Explorer, PLC settings) is ac‐ cepted for the actual bus.

Please check this because with controls that have SERCOS III busses, the "MlcTask" can stop at this position and the PROFIBUS DP would be overextended.

7.5.5 Register "Status"

Fig.7-26: PROFIBUS DP Slave object: status The "Status" tab displays status information (e.g. "Running" (bus active) and "n/a" (no information available)) and specific diagnostic messages from the re‐ spective device and regarding the card used and the internal bus system. 7.5.6 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 60/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.6 PROFIBUS DP Slave, Adding Modules to the Slave 7.6.1 PROFIBUS DP Slave, Adding Modules to the Slave, General Informa‐ tion

Fig.7-27: PROFIBUS DP Slave object: adding modules The interface between a PROFIBUS DP Slave and PROFIBUS DP Master is implemented as a common memory space. Its size can differ based on re‐ quirements. For this reason, the various modules above are available.

Inputs to the PROFIBUS DP Master side become outputs on the PROFIBUS DP Slave side and vice versa. The station numbers at the coupling point are the same.

Register ● DP parameters, page 61, ● DP modules configuration, page 61, this window is used for service pur‐ poses and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● DP modules I/O mapping, page 62, ● Status, page 63, ● Information, page 63. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 61/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.6.2 Register "DP Parameters"

Fig.7-28: PROFIBUS DP Slave, slave modules: DP parameters Module information ● In the DP parameter dialog for an input and output module in a PROFIBUS configuration, the section Module Information describes the settings for the configuration (module description according to the PROFIBUS stand‐ ard) and the length of the input and output data (input length and output length) in bytes as they are defined in the device description file.

User parameters: None.

Detailed information about the individual parameters can be found in the respective module description.

7.6.3 Register "DP Module Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled.

Please clarify any possible modifications to the parameters that can be edited with the service team. 62/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

Fig.7-29: PROFIBUS DP Slave, slave modules: configuration The dialog contains information on the position and size of the parameters. 7.6.4 Register "DP Modules I/O Mapping" The window is used to assign module inputs and outputs to variables that can be used as local or global variables in the individual POUs. The current value of the variables is displayed in online mode. This assignment is described in Mapping the Onboard, Inline and Field bus Inputs and Outputs , page 155,.

Fig.7-30: PROFIBUS DP Slave, slave modules: I/O mapping

Reset mapping Deletes the assignment made in the editor. Always update variables If this option is enabled, all variables are updated in each cycle of the bus cycle task, page 44, whether they are used or not no matter if they are mapped on an input or an output channel. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 63/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the PROFIBUS (Dialogs)

7.6.5 Register "Status"

Fig.7-31: PROFIBUS DP Slave, slave modules: Status "DP modules": In online mode, the DP-Module area displays status information from the control (e.g. "Running", "Not running (n/a)"). 7.6.6 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 7.7 Coupling between PROFIBUS DP Master and Slave Control The figure below shows the configuration of the coupling between two controls based on PROFIBUS DP.

Fig.7-32: Computer coupling via PROFIBUS DP 64/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 65/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFINET IO-Controller 8 PROFINET IO-Controller 8.1 Terms and Abbreviations Controller The PROFINET field bus master is called Controller. Device The PROFINET field bus slaves are called Devices. Station name The criterion for addressing a device is the device name (= station name). GSDML file This is the device description with which the PROFINET devi‐ ces are made known to IndraWorks. 8.2 Features of the PROFINET IO-Controller The current implementation of the PROFINET IO-Controller includes the fol‐ lowing functionalities: ● Cyclic data traffic ● GSDML file import into the device database ● Bus scan of PROFINET devices ● PROFINET device-related connection status in the interface ● Diagnostics of the PROFINET controller via FBs ● Supported protocols – RTC (real-time cyclic) class 1 – RTA (real-time acyclic) – DCP (discovery and configuration) – CL-RPC (connectionless RPC) Future extensions are planned for the following functionalities ● PROFINET device-related status via FBs ● Alarms ● Sync/Freeze ● DHCP, SNMP

Function/Characteristic Value

Max. number of devices, cycle time < 4 ms 25 Max. number of devices, cycle time >= 4 ms 128 Baud rate 100 Mbit/s Auto negotiation/ autocrossing Yes Min. cycle time 1 ms Max. amount of cyclic input data 3072 bytes Max. amount of cyclic output data 3072 bytes Max. amount of cyclic input data per device 1024 bytes Max. amount of cyclic output data per device 1024 bytes Max. acyclic telegram data per device / telegram 1392 bytes Max. acyclic telegram data per device / request 4096 bytes

Fig.8-1: Technical data 66/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFINET IO-Controller

8.3 PROFINET IO-Controller – Functions in the PLC Program Both diagnostics and acyclic communication can be implemented from the PLC program. The function blocks, functions and data types are contained in the RIL_Profi‐ netIO.library. The description of this library can be found in "Rexroth IndraWorks 11VRS, Basic Libraries, IndraLogic 2G", DOK-IL*2G*-BASLIB**V11-LI01-EN-P, R911332240. Controller specific diagnostics with PLC FBs IL_PNIOControllerState This function block returns a basic diagnosis of the PROFINET IO-Controller. If a diagnostic message is present, details on the diagnoses can be read via additional FBs (e.g., IL_PNIOControllerStateDetails and IL_PNIORemoteDe‐ viceState, respectively).

Fig.8-2: FB IL_PNIOControllerState IL_PNIOControllerStateDetails This function block determines the detailed state of the PROFINET controller stack. It provides information on ● the state of the communication stack, ● the state of the bus communication, ● error counters, ● an overview of configured and active slaves and slaves that send a diag‐ nostic message.

Fig.8-3: FB IL_PNIOControllerStateDetails interface

Acyclic communication in the PLC program IL_PNIOWriteRecord This function block writes acyclic data to devices. The devices are addressed via their "ProfinetName". DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 67/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFINET IO-Controller

Fig.8-4: FB IL_PNIOWriteRecord IL_PNIOReadRecord This function block reads acyclic data from devices. The devices are addressed via their "ProfinetName".

Fig.8-5: FB IL_PNIOReadRecord 68/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 69/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFINET IO-Device 9 PROFINET IO-Device 9.1 Terms and Abbreviations Controller The PROFINET field bus master is called Controller. Device The PROFINET field bus slaves are called Devices. Station name The criterion for addressing a device is the device name (= station name). GSDML file This is the device description with which the PROFINET devi‐ ces are made known to IndraWorks. 9.2 Features of the PROFINET IO-Device The current implementation of the PROFINET IO-Device includes the following functionalities: ● Cyclic data traffic ● PROFINET device-related connection status in the interface ● Diagnostics of the PROFINET device via FBs ● Supported protocols: – RTC (real-time cyclic) class 1 – RTA (real-time acyclic) – DCP (discovery and configuration) – CL-RPC (connectionless RPC) ● MRP / Redundancy class 1 (optional) (Ring redundancy with a switching time of 200 ms) Future extensions are planned for the following functionalities: ● Alarms ● DHCP, SNMP

Function/Characteristic Value

16 (8 in each direc‐ Max. number at I/O modules tion) Max. number of submodules 1 Baud rate 100 Mbit/s Auto negotiation/ autocrossing Yes Min. cycle time 1 ms Max. amount of cyclic input data 1024 bytes Max. amount of cyclic output data 1024 bytes Max. length of consistent data blocks 128 bytes

Fig.9-1: Technical data 9.3 PROFINET IO-Device – Functions in the PLC Program Both diagnostics and acyclic communication can be implemented from the PLC program. 70/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

PROFINET IO-Device

The function blocks, functions and data types are contained in the RIL_Profi‐ busIODevice.library. The description of this library can be found in "Rexroth IndraWorks 11VRS, Basic Libraries, IndraLogic 2G", DOK-IL*2G*-BASLIB**V11-LI01-EN-P, R911332240.

Device specific diagnostics with PLC FBs IL_PNIODeviceState This function block returns a basic diagnosis of the PROFINET IO-Device. If a diagnostic message is present, details on the diagnoses can be read via addi‐ tional FBs (e.g., IL_PNIODeviceStateDetails).

Fig.9-2: FB IL_PNIODeviceState IL_PNIODeviceStateDetails This function block determines the detailed state of the PROFINET device stack. It provides information on ● the state of the communication stack, ● the state of the bus communication, ● the previous error values.

Fig.9-3: FB IL_PNIODeviceStateDetails IL_PNIOGetDeviceXMACState This function block determines the detailed status of the PROFINET Switch on the NetX© communication controller. It provides information on each Ethernet port about ● the connections and ● the statistics counter of that port

Fig.9-4: IL_PNIOGetDeviceXMACState DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 71/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs) 10 Configuring PROFINET IO (Dialogs) 10.1 Configuring PROFINET IO, Overview The following controls allow the implementation of the PROFINET IO: ● IndraLogic XLC VEP: PROFINET IO-Controller or PROFINET IO-Device, onboard, ● IndraMotion MLC VEP: PROFINET IO-Controller or PROFINET IO-De‐ vice, onboard, ● IndraLogic XLC L25 – With SERCOS III: PROFINET IO-Controller / PROFINET IO-Device, function modules, – Without SERCOS III: PROFINET IO-Controller / PROFINET IO-Device, onboard, PROFINET IO-Controller / PROFINET IO-Device, function modules, ● IndraMotion MLC L25: PROFINET IO-Controller / PROFINET IO-Device, function modules, ● IndraLogic XLC L45/L65 and IndraMotion MLC L45/L65 PROFINET IO-Controller / PROFINET IO-Device, onboard, PROFINET IO-Controller / PROFINET IO-Device, function modules, The respective existing interface on the control is represented as a PROFINET IO object in the Project Explorer. The PROFINET IO object can be configured either by creating the control or by using the context menu point Set Device as a PROFINET IO-Controller or PROFINET IO-Device. Installing and adding PROFINET IO-Device

Fig.10-1: IndraMotion MLC L65 with real-time EtherNet function module (CFL01.1-TP) Interface 1, Onboard Engineering, is reserved for connecting a local computer or the enterprise network. Interfaces 2 and 3 can each be operated either as a controller or as a device. Both connections for each interface are equivalent (switch functionality). 72/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

As a PNIO controller with I/O blocks and PNIO drives, the control contains the simplest topology. (PNIO drivers and ring closing in preparation.)

Fig.10-2: IndraMotion L65 as a PROFINET IO-Controller with I/Os and drives

Fig.10-3: Example: PROFINET IO configuration in Project Explorer (without drive)

The following topology shows a system consisting of a PNIO controller and PNIO device, each with local drives and I/O blocks. The left controller is an onboard controller with respect to its I/O blocks and via the controller function module relative to the second (and other possible) con‐ trol(s). The right control is an onboard controller with respect to its I/O blocks and via the device function module relative to the left control. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 73/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

Fig.10-4: System with PNIO controller and PNIO device, each with local drives and I/O blocks

Fig.10-5: Example: PROFINET IO configuration with 2 MLC in the Project Ex‐ plorer

The desired topology can be transferred into the IndraWorks project after the required controls have been created with the desired periphery (context menu Set Device) either ● manually, using drag and drop from the device library or using the context menu Add or ● if the control system is already available, the online PNIO controller for controllers with Scanning for devices . To do this, see ● Scanning for devices, page 99, (scanning). 74/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

● Reload device description file, page 101.

The device editor for the PROFINET IO configuration can be opened by double- clicking on a PROFINET IO object in the project tree. PROFINET I/O Controller ● PNIO Master Parameters, page 75 ● PROFINET IO-Controller configuration, page 77, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● PROFINET IO-Controller I/O mapping, page 79 ● Status, page 80 ● Information, page 80 PROFINET IO, PLC coupling module ● PNIO Parameters, page 81 ● PNIO Identification, page 82 ● PNIO configuration, page 83, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● Status, page 84 ● Information, page 84. PROFINET I/O Device ● PNIO Parameters, page 85 ● PNIO Identification, page 88 ● PNIO configuration, page 88, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● PNIO I/O Mapping, page 90 ● Field bus mapping, page 91 ● Status, page 93 ● Information, page 93 PROFINET IO modules ● PNIO Parameters, page 95 ● PNIO module configuration, page 96, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● PNIO Modules I/O Mapping, page 96 ● Status, page 97 ● Information, page 97 10.2 PROFINET IO-Controller 10.2.1 Configuring a PROFINET IO-Controller Object, General Information To open the editing window, in the Project Explorer, double click on the PROFINET IO-Controller object. The dialogs will inform you about the configuration of the entire PROFINET IO bus and you can modify it if necessary. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 75/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

Fig.10-6: PROFINET IO-Controller object To a PROFINET IO-Controller, the following can be assigned: ● I/O modules, page 93, and/or ● PLC coupling modules, page 80 . When a PLC coupling module is added in the Project Explorer, a firmware component is enabled in the controller for a connection with a PROFINET IO- Device via the PROFINET. Register (PROFINET IO-Controller) ● PNIO Master Parameters, page 75 ● PROFINET IO-Controller configuration, page 77, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● PROFINET IO-Controller I/O mapping, page 79 ● Status, page 80 ● Information, page 80. 10.2.2 Register "PNIO Controller Parameter" A "PROFINET IO-Controller" is identified by an IP address, a subnet mask and a gateway address. In addition, a station name must be specified and a watch‐ dog control can be defined.

The station name may consist of the following characters: Lower case letters without umlaut characters 'a’ to 'z’, digits '0’ to '9’ and the special character, hyphen '-’. Upper case letters without umlaut characters 'A' to 'Z' are permis‐ sible, but are transformed into lower case letters internally. The station names are not case sensitive. 76/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

Fig.10-7: PROFINET IO-Controller: PNIO master parameters Identification The following addresses must be configured in accordance with the current environment to identify the controller. ● IP address: Default "192.168.0.1"

In this section, to prevent doubled assignments when adjusting the IP address, also note the current address settings for devices (see Address settings for devices, page 77) that are added to the con‐ figuration in a scan procedure!

● Subnet Mask: Default "255.255.255.0" ● Default gateway: Default gateway "0.0.0.0" ● Station name: Default "controller"

Each device must have a station name because it is required for certain functionalities in network operation! Example: IP addresses in accord‐ ance with scanning

Fig.10-8: IP addresses in accordance with scanning the controller The control is located in three networks that are independent of each other: DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 77/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

● Green (top): Enterprise network (Engineering interface), ● Blue (middle): PNIO, with its own I/O blocks, ● Red (bottom): PNIO, to the devices Because the networks are independent of each other, the same addresses can be assigned. Watchdog ● When the "Watchdog" option is enabled, the monitoring time entered ap‐ plies. That means, when this time has run out and the master was not active, a device-specific reaction results, e.g. an error message. ● Time (ms): Monitoring time, relevant in the case that the "Watchdog con‐ trol" option is active. Possible values: 0 to 65535. The defaults for the watchdog control are taken from the device description. Address settings for devices The address settings for devices are only used if devices found when scanning the hardware (Project ▶ Scanning for Devices), are displayed in Project Ex‐ plorer and were not already used in the scan dialog address definitions. The values defined in this dialog are automatically transferred to the devices added (see PNIO identification, page 88) and for the IP address the next respective free address in the defined range is set. The defaults are taken from the device description file. They can be edited by setting the cursor in the re‐ spective input field:

To prevent doubled assignments, when adjusting these addresses note the current IP address for the controller!

● First IP address: Default "192.168.0.2" ● Last IP address: Default "192.168.0.254" ● Subnet Mask: Default "255.255.255.0" ● Default gateway: Default gateway "0.0.0.0" 10.2.3 Register "PROFINET IO-Controller Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled.

Please clarify any possible modifications to the parameters that can be edited with the service team. 78/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

Fig.10-9: PROFINET IO-Controller: PROFINET IO-Controller configuration (on‐ line) This window contains information about the PROFINET IO-Controller param‐ eter set. Window structure ● Parameters: Parameter name from the device description file, cannot be edited. ● Type: Data type of the parameter, cannot be edited. ● Value: First, the standard value of the parameter is displayed, directly or as a specification of the corresponding symbolic name. If the parameter can be edited (this depends on the device description; parameters that cannot be edited are displayed in light gray), an input field or a selection list can be opened by double-clicking on the table field (or pressing the in a previously selected field) where the value can be changed. Values are accepted with . If the value is related to a file specification, the standard dialog for selected a file opens. ● Default Value: Defined value from the device description, cannot be edited. ● Unit: Unit for the value, e.g. "ms" for milliseconds, cannot be edited. ● Description: Short description of the parameter from the device description file, cannot be edited. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 79/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

10.2.4 Register "PROFINET IO-Controller I/O Mapping"

Fig.10-10: PROFINET IO-Controller: PROFINET IO-Controller I/O mapping

Channels The upper section of the dialog is not used because the IO mapping is done in the I/O blocks. See PNIO modules I/O mapping, page 96

IEC Objects When the PNIO controller is defined, the libraries "IoDrvCIFXProfinet.library" and/or RIL_ProfinetIO.library are automatically applied. In this way, the memory space required to implement the PNIO controller can be defined.

Bus cycle options Bus cycle task: By selecting a bus cycle task, the cycle of the mapping exchange for the PROFINET IO-Controller can be connected to a particular task. In this task, it is useful to process the IO data of the master as well. Default setting: "Use parent bus cycle setting" With this setting, the task setting made in "Bus cycle options" for the control (double click on the actual control in the Project Explorer, PLC settings) is ac‐ cepted for the actual bus.

Please check this because with controls that have SERCOS III busses, the "MlcTask" can stop at this position and the PROFINET IO would be overextended. 80/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

10.2.5 Register "Status"

Fig.10-11: PROFINET IO-Controller: Status The "Status" tab in the "PROFINET IO editor" displays status information (e.g. "Running", "Stopped") and specific diagnostic messages from the device. In addition, the diagnostic messages contained in the status flags are displayed in "Diag". The output is a hexadecimal value determined by the set status flags (see the "Protocol Interface Manual" for the PROFINET IO). See Diagnostics in the PROFINET IO, page 97. 10.2.6 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 10.3 PROFINET IO-Controller, Adding a PLC Coupling Module 10.3.1 PROFINET IO-Controller, Adding a PLC Coupling Module, General In‐ formation For coupling a control that is to operate as a PROFINET IO-Device, in the Library ▶ Periphery ▶ ProfinetIO ▶ PLC there is a PLC coupling module that allows the connection of adjacent controls: ● Lx5_PNIO_Device_L65 for the IndraLogic XLC L25/L45/L65 and IndraMotion MLC L25/L45/L65 controls. When a PLC coupling module is added in the Project Explorer, a firmware component is enabled in the controller for a connection with a PROFINET IO- Device via the PROFINET. Each of these PLC coupling modules has a selection of modules in the device library that release input and output variables in the controller's mapping mem‐ ory for data exchange between the PROFINET controller and the PROFINET device control. (Also refer to PROFINET IO Modules, page 93.) DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 81/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

(1) PROFINET I/O Controller (2) PLC coupling module (3) Memory modules for data exchanged between the controls Fig.10-12: PROFINET IO-Controller with PLC coupling module for connecting a PROFINET IO-Device Register (PLC coupling module) ● PNIO Parameters, page 81 ● PNIO Identification, page 82 ● PNIO configuration, page 83, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● Status, page 84 ● Information, page 84. 10.3.2 Register "PNIO Parameters" To open the editing window, in the Project Explorer, double click on the PROFINET IO PLC coupling module object. All settings in the dialog are dependent on the device description in terms of whether the settings can be edited here and which values are specified or pos‐ sible.

Fig.10-13: PROFINET IO PLC coupling module: PNIO parameters Parameters These parameters describe the time response of the communication on the PROFINET bus. From the two parameters Reduction Ratio and Send clock, the actual cycle time is calculated 82/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

(t = Reduction Ratio * Send clock ) based upon which the device transmits data: ● Send clock (ms), sending time in milliseconds. ● Reduction ratio, factor for calculating the cycle time from the sending time. ● RT Class: Select the desired class (real-time communication, page 87). Currently, RT_Class_1 is supported. ● VLAN priority, priority of the device in the "Virtual Local Area Network" (0 to 7, if available). ● VLAN ID, enter a value between 0 and 4095 for the VLAN type 802.1Q. For VLAN type ISL enter a value between 0 and 32767, if available. Watchdog If the "Watchdog" option is enabled, the monitoring time entered applies. If the module does not obtain any more signals from the device within this time period, a device-specific response occurs, e.g. error message. ● Time (ms): Monitoring time, relevant in the case that the "Watchdog control" option is active. Possible values: 0 to 65535. Module information The ID number returns the identifier of the PROFINET IO-Device type. User parameters Based on the device, there are either no setting possibilities or there are several setting possibilities for the user-specific parameters: ● Symbolic values: You can use the "Symbolic values" option to enable symbolic value dis‐ play. When it is deactivated, the numeric values are displayed. ● Length of the user parameters: The total length of all user parameters is displayed in bytes, here "0". 10.3.3 Register "PNIO Identification"

Fig.10-14: PROFINET IO PLC coupling module: PNIO identification The fields for "IP address", "Subnet mask", "Default gateway", "Station name" and if required "MAC address" contain default entries derived from the con‐ troller setting. The entries in these fields must match those in the related PROFINET IO-De‐ vice. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 83/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

The station name may consist of the following characters: Lower case letters without umlaut characters 'a’ to 'z’, digits '0’ to '9’ and the special character, hyphen '-’. Upper case letters without umlaut characters 'A' to 'Z' are permissible, but are transformed into lower case letters internally. The station names are not case sensitive.

See also "Scan functionality", page 99. In the "MAC address" field, the MAC address is displayed following a network scan. This field cannot be edited. If the PROFINET IO-Device was not added using the "scan functionality", the address and name settings of the related PLC coupling module must be trans‐ ferred as shown in the figure below. Example

Fig.10-15: Transferring the data for identifying the controller for the device

The data exchange between the controller and the device is performed using common memory ranges, where the outputs of one are inputs of the other and vice versa.

A check, in an emergency manually comparing the device with the controller's PLC coupling module, is required. 10.3.4 Register "PNIO Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. 84/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

Please clarify any possible modifications to the parameters that can be edited with the service team.

Fig.10-16: PROFINET IO PLC coupling module: PNIO configuration

When the bus is running, modified parameters can be transferred by using "Write parameter".

10.3.5 Register "Status" The "Status" tab in the "PROFINET IO-Device editor" displays status informa‐ tion (e.g. "Running", "Stopped") and specific diagnostic messages from the device. In addition, the diagnostic messages contained in the status flags are displayed in "Diag". The output is a hexadecimal value determined by the set status flags (see the "Protocol Interface Manual" for the PROFINET IO). See Diagnostics in the PROFINET IO, page 97. 10.3.6 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 10.4 PROFINET IO-Device 10.4.1 Configuring a PROFINET IO Device Object, General Information To open the editing window, in the Project Explorer, double click on the PROFINET IO-Device object. The dialogs will inform you about the configuration of the device page of the PROFINET IO bus and you can modify it if necessary. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 85/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

Fig.10-17: PROFINET IO-Device object To a PROFINET IO-Device, the following can be assigned: ● Memory modules, page 93, .

Register (PROFINET IO-Device) ● PNIO parameters, page 85 ● PNIO identification, page 88 ● PNIO configuration, page 89, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● PNIO I/O Mapping, page 90 ● Field bus mapping, page 91 ● Status, page 93 ● Information, page 93 10.4.2 Register "PNIO Parameters" All settings in the dialog are dependent on the device description in terms of whether the settings can be edited here and which values are specified or pos‐ sible.

Fig.10-18: PROFINET IO-Device: PNIO parameters Parameters These parameters describe the time response of the communication on the PROFINET bus. From the two parameters 86/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

Reduction Ratio and Send clock, the actual cycle time is calculated (t = Reduction Ratio * Send clock ) based upon which the device transmits data: ● Send clock (ms), sending time in milliseconds. ● Reduction ratio, factor for calculating the cycle time from the sending time. ● RT Class: Select the desired class (real-time communication, page 87). Currently, RT_Class_1 is supported. ● VLAN priority, priority of the device in the "Virtual Local Area Network" (0 to 7, if available). ● VLAN ID, enter a value between 0 and 4095 for the VLAN type 802.1Q. For VLAN type ISL enter a value between 0 and 32767, if available. Watchdog If the "Watchdog" option is enabled, the monitoring time entered applies. If the PROFINET IO-Device does not obtain any more signals from the the controller within this time period, a device-specific response occurs, e.g. error message. ● Time (ms), monitoring time, relevant in the case that the "Watchdog con‐ trol" option is active. Possible values: 0 to 65535. Module information The ID number returns the identifier of the PROFINET IO-Device type. User parameters Based on the device, there are either no setting possibilities or there are several setting possibilities for the user-specific parameters: ● Symbolic values: You can use the "Symbolic values" option to enable symbolic value dis‐ play. When it is deactivated, the numeric values are displayed. ● Length of the user parameters: The total length of all user parameters is displayed in bytes. In the parameter table you can edit the values by double-clicking on them. De‐ pending on the parameter this occurs with a selection list or by directly entering a value. ● Parameters: Name of the parameter of the parameter category (without value assign‐ ment). ● Value: Current parameter value ● Type of data: Type of parameter data, e.g. "bit" ● Byte offset: The parameters defined by the user are saved in the "Record Data" (array of bytes) variables. The byte offset specifies the first valid byte. ● Bit offset: The parameters defined by the user are saved in the "Record Data" (array of bytes) variables. The bit offset specifies the first valid bit, the byte iden‐ tified by the byte offset. ● Bit length: DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 87/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

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Length of the information saved in the "Record Data" (array of bytes) var‐ iables which contain the parameters defined by the user. ● Default Value: Default value of the parameter. ● Permissible values: Specification as to what may be entered in the "Value" column. Syntax: () . Example: "BitArea (4-5) 0 0-2" means: This is a bit combination stored in bits 4 and 5 of the configuration byte. The base value is 0; the value can lie between 0 and 2. ● Default Values: Clicking this button replaces all the changed settings with the default set‐ tings from the GSDML file. Real-time classes in PROFINET IO In order to provide better scaling for the communication options and therefore the determinism in PROFINET IO, real-time classes were defined for data ex‐ change. From the user perspective, this means both unsynchronized and synchronized communication. The details are taken care of automatically in the field devices. Real-time in PROFINET means that the priority of UDP/IP frames is reduced. This is necessary in order to prioritize the data flow in the switches so that RT frames are not delayed by UDP/IP frames. PROFINET IO differentiates the following classes in RT communication, al‐ though the difference is not in performance, but instead, in determinism. RT_CLASS_1: Unsynchronized RT communication within a subnet. No special addressing information is necessary for this communication. The goal participants are identified using "Dest. Addr“ only. In PROFINET IO, unsynchronized communication within a subnet is the usual type of data transfer. If the RT data traffic on a subnet (same network ID) can be limited, this version is the simplest. This communication path is standardized in parallel with UDP/ IP communication and is implemented in every PROFINET IO field device. The management information from UDP/IP and RPC is purposely not provided here. RT frames that are received are identified upon reception using the Ethertype (0x8892) and are then forwarded to the RT path for immediate processing. In‐ dustrial-strength standard switches can be used in this RT class. RT_CLASS_2: RT_CLASS_2 frames can be transferred synchronously or un‐ synchronously. The unsynchronous communication is considered to be the same here as RT_CLASS_1 communication. In synchronized communication, the start of a bus cycle is defined for all par‐ ticipants. This determines exactly the time period in which field devices are allowed to transmit. For all of the field devices in RT_CLASS_2 that are involved in the communication, this is always at the start of the bus cycle. Switches suitable for PROFINET must support this synchronization during this commu‐ nication. For this data transfer, which is designed for performance, special provisions for hardware must be made (EtherNet controller/switch with support for isochronicity). RT_CLASS_3: Synchronized RT communication within a subnet. 88/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

In synchronized RT_CLASS _3 communication, the process data is transmitted with high precision according to an exact sequence determined when the equipment is engineered (maximum allowed deviation from the start of a bus cycle is 1 µs). This data transfer functionality, optimized with the topology, is also known as IRT functionality (isochronous real time). In RT_CLASS_3 com‐ munication there is no waiting time. To take advantage of this data transfer procedure, designed for high performance, special provisions for hardware must be made (EtherNet controller/switch with support for isochronicity). RT_CLASS_UDP: The unsynchronized communication across and among a variety of subnets requires addressing information from the target network (IP address). This version is also known as RT_CLASS_UDP. Standard switches can be used in this RT class. For RT frames, achieving data cycles of 5 ms at 100 Mb/ sec. in full duplex operation with VLAN tag is sufficient. This RT communication can be realized with all available standard network components. (Citation: PROFINET Technologie und Anwendung [Technology and Applica‐ tion], Version April 2009, PROFIBUS Nutzerorganisation e.V., PROFIBUS & PROFINET International Support Center) 10.4.3 Register "PNIO Identification"

Fig.10-19: PROFINET IO-Devices: PNIO identification The fields for "IP address", "Subnet mask", "Default gateway", "Station name" and if required "MAC address" contain default entries or are empty. The entries in theses fields must be synchronized either manually or by scan‐ ning the bus participants with the related PLC coupling module of the PROFINET IO-Controller.

The station name may consist of the following characters: Lower case letters without umlaut characters 'a’ to 'z’, digits '0’ to '9’ and the special character, hyphen '-’. Upper case letters without umlaut characters 'A' to 'Z' are permis‐ sible, but are transformed into lower case letters internally. The station names are not case sensitive.

If the device was added using the "scan functionality", page 99 in the config‐ uration tree, the definitions of the address and station names are displayed in this dialog. In the "MAC address" field, the MAC address is displayed following a network scan. This field cannot be edited. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 89/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

If the device was not added using the "scan functionality", the address and name settings of the related PLC coupling module must be accepted as shown in the figure below. Example

Fig.10-20: Transferring the data for identifying the controller for the device

The data exchange between the controller and the device is performed using common memory ranges, where the outputs of one are inputs of the other and vice versa.

A check, in an emergency manually comparing the device with the controller's PLC coupling module, is required. 10.4.4 Register "PNIO Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled.

Please clarify any possible modifications to the parameters that can be edited with the service team. 90/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

Fig.10-21: PROFINET IO-Devices: PNIO configuration

When the bus is running, modified parameters can be transferred by using "Write parameter".

10.4.5 Register "PNIO I/O Mapping"

Fig.10-22: PROFINET IO-Devices: PNIO I/O mapping

Channels: The upper section of the dialog is not used because the IO mapping is done in the I/O blocks. See PNIO modules I/O mapping, page 96

IEC objects: When the PNIO controller is defined, the libraries "IoDrvCIFXPNDevice.li‐ brary" and/or RIL_ProfinetIODevice.library are automatically applied. In this way, the memory space required to implement the PNIO device can be defined. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 91/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

Bus cycle options: By selecting a bus cycle task, the cycle of the mapping exchange for the PROFINET IO-Controller can be connected to a particular task. In this task, it is useful to process the IO data of the controller as well. 10.4.6 Register "Field bus Mapping" Field bus mapping Field bus mapping enables access to control variables from a parent field bus master. The following field busses are supported here: ● PROFINET IO, ● EtherNet/IP. To access a control variable from a parent master, an address must first be assigned to these variables (mapping). The parent master can use this address to access the control data using acyclic services. To use field bus mapping, the control must be configured accordingly as a bus participant, e.g. as a PROFINET IO-Device. Configuration The "Field bus mapping" tab is located in the device editor of the respective device connection. Addresses can be assigned to individual variables here in a table.

Fig.10-23: PROFINET IO-Devices: Field bus mapping Creating new mapping A new entry can be added using the "New mapping" button. A dialog opens fro selecting a variable. Variables declared within the application can be selected: 92/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

Fig.10-24: PROFINET IO-Devices: field bus mapping, selecting variables If the selection is confirmed with "OK", a new entry is created in the table for the selected variable. In addition, the variable is added to the symbol configuration. The variable section only contains variables that were present at the most re‐ cent compilation. If new variables have been added to the PLC program since that time, they are only visible after a new compilation is performed. This can be performed with the "Update" button. Address, variable and access can be changed afterward by clicking on the cor‐ responding table cell. Gray columns cannot be edited.

Fig.10-25: PROFINET IO-Devices: field bus mapping, variables accepted The address can be specified in the first columns in the table, but the values in the grayed out fields cannot be changed. For PROFINET IO the address consists of slot, subslot and index. Here slot is always 0 and subslot is always 1. Index must be in the range from 49 to 32767. The Variable column displays the variables' instance path. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 93/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

The Type column displays the variables' data type. The Access column displays the access rights for the variables. Reset mapping The "Reset Mapping" button can be used to delete all of the table entries. Import/Export To save an existing mapping in a file, use the "Export…" button. It can be read out later using the "Import…" button. This file is a simple text file. For this reason, this file can be created manually without a previous export. The export file contains the name for the field bus ("EtherNet IP", "PROFINET IO") and a table (see program listings). The address is divided into several columns and consists of the following: ● ProfinetIO: Slot, Subslot, Index, ● EtherNet IP: Class, Instance, Attribute. This table also includes the variable name, the data type and the access rights of the mapped variables.

Fig.10-26: Excerpt from the export file, separator TAB: 10.4.7 Register "Status" The "Status" tab in the "PROFINET IO-Device editor" displays status informa‐ tion (e.g. "Running", "Stopped") and specific diagnostic messages from the device. In addition, the diagnostic messages contained in the status flags are displayed in "Diag". The output is a hexadecimal value determined by the set status flags (see the "Protocol Interface Manual" for the PROFINET IO). See Diagnostics in the PROFINET IO, page 97. 10.4.8 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 10.5 PROFINET IO Modules 10.5.1 PROFINET IO Modules, General Information The modules are located in the "Periphery" library in the "ProfibusIO" folder. Drag the required modules out of the library into the PROFINET object. Modules can also be added between existing modules in Project Explorer in this way. Alternatively, you can add modules in the context menu using Add ▶ ... in the PROFINET object. In this case, the new module is added as the last module under the PROFINET object. The dialog regarding the respective module appears after you double click on the module in the Project Explorer. 94/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

In PROFINET IO, two types of modules are used: ● Modules that provide memory space for data exchange in the mapping memory of the PROFINET IO-Controller or PROFINET IO-Device. See also: PROFINET IO-Controller, PLC coupling module, page 80 See also: PROFINET IO-Device, page 89. ● I/O modules that accept the communication with the controlled object. PROFINET IO differentiates two types of I/O modules: 1. Compact: For a compact module, the module structure is specified. After a module has been added in Project Explorer, the modules be‐ low the module are already present in their complete, compact form. The terminals are not visible in the library. 2. Modular: The module structure is variable. Based on a bus terminal (with its own existing I/Os, if required), ter‐ minals can be arranged individually - but according to the device placement specifications.

( 1 ) Compact module with fixed module structure ( 2 ) Module with inputs/outputs associated with the bus terminal ( 3 ) Terminals that were assigned individually Fig.10-27: I/O modules on the PROFINET IO-Controller PROFINET IO modules ● PNIO Parameters, page 95 ● PNIO module configuration, page 96, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● PNIO modules I/O Mapping, page 96 ● Status, page 97 ● Information, page 97 DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 95/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

10.5.2 Register "PNIO Parameters"

Fig.10-28: PROFINET IO modules: PNIO parameters Module information ● ID number: Identification of the module from the device description. ● Slot number: Position of the module under the device, starts with "1" for the first module and increases for each other module, resulting automatically from the cur‐ rent structure in the device tree. User parameters Based on the device, there are either no setting possibilities or there are several setting possibilities for the user-specific parameters: ● Symbolic values: You can use the "Symbolic values" option to enable symbolic value dis‐ play. When it is deactivated, the numeric values are displayed. ● Length of the user parameters: The total length of all user parameters is displayed in bytes. In the parameter table you can edit the values by double-clicking on them. De‐ pending on the parameter this occurs with a selection list or by directly entering a value. ● Parameters: Name of the parameter of the parameter category (without value assign‐ ment). ● Value: Current parameter value ● Type of data: Type of parameter data, e.g. "bit" ● Byte offset: The parameters defined by the user are saved in the "Record Data" (array of bytes) variables. The byte offset specifies the first valid byte. ● Bit offset: 96/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

The parameters defined by the user are saved in the "Record Data" (array of bytes) variables. The bit offset specifies the first valid bit, the byte iden‐ tified by the byte offset. ● Bit length: Length of the information saved in the "Record Data" (array of bytes) var‐ iables which contain the parameters defined by the user. ● Default Value: Default value of the parameter. ● Permissible values: Specification as to what may be entered in the "Value" column. Syntax: () . Example: "BitArea (4-5) 0 0-2" means: This is a bit combination stored in bits 4 and 5 of the configuration byte. The base value is 0; the value can lie between 0 and 2. ● Default Values: Clicking this button replaces all the changed settings with the default set‐ tings from the GSDML file. 10.5.3 Register "PNIO Module Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled.

Please clarify any possible modifications to the parameters that can be edited with the service team.

Fig.10-29: PROFINET IO modules: PNIO module configuration The dialog contains information on the position and size of the parameters. 10.5.4 Register "PNIO Modules I/O Mapping" The window is used to assign module inputs and outputs to variables that can be used as local or global variables in the individual POUs. The current value of the variables is displayed in online mode. This assignment is described in Mapping the Onboard, Inline and Field bus Inputs and Outputs , page 155,. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 97/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

10.5.5 Register "Status" The "Status" tab in the "PROFINET IO-Device editor" displays status informa‐ tion (e.g. "Running", "Stopped") and specific diagnostic messages from the device. See Diagnostics in the PROFINET IO, page 97. 10.5.6 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 10.6 Diagnostics in the PROFINET IO Diagnostics - IndraWorks (inter‐ In the PROFINET IO, the diagnostics are supported by the IndraWorks interface face) as long as the bus is reached online. This starts as soon as the PNIO devices are scanned:

Fig.10-30: Diagnostic messages in the PNIO (PNIO controller) A recognized device that functions without error has the usual icon in the Project Explorer. A device that is not recognized or recognized only partially also fea‐ tures a yellow triangle with an exclamation point. The diagnostics are inherited from the cause "upwards" to the controller, i.e. the analysis should begin from the controller: ● SlaveState: 2 - with error ● NumConfigSlaves: 3 - number of configured devices ● NumActiveSlaves: 2 - number of active devices ● NumDiagSlaves: 1 - number of devices with diagnostic reports Continuing with the bus terminal that displays a diagnostic:

Fig.10-31: Diagnostic messages in the PNIO (PNIO bus terminal) 98/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring PROFINET IO (Dialogs)

At the error location itself an error number that should be contained in the fol‐ lowing table in output as diagnostic information.

BitNr Value Meaning

0 1 The device does not exist or does not respond to DCP ident re‐ quests. 1 2 The device is not ready 2 4 The device has a configuration error (e.g. its station name or IP ad‐ dress is used more than once in the network). 3 8 The device sends invalid responses (invalid response), e.g. DCP Set IP was not successful. 4 16 The device has a parameterization error (e.g. at bus startup, Con‐ nect_Request or Write_Record is rejected with an error code. 5 32 The device has been deactivated (by the user). 6 64 Diagnostic data are present. 7 128 The device sends the alarm "Diagnostic disappeared alarm". 8 256 The controller buffer for the diagnostic data was too small for the amount of diagnostic data sent by the device. 9 512 The controller buffer for diagnostic data was overwritten with new diagnostic data before the previous diagnostic data were read out from the controller. 10 1024 The diagnostic data requirement telegram is too small to accept the device's diagnostic data. 11 2048 The device reports the error ModuleDiffBlock while the connection is being established.

Fig.10-32: Error table, PROFINET IO

When the bus terminal is scanned in, the I/O terminals are not actually accepted into the Project Explorer. They can be added manually.

Fig.10-33: Bus terminals with (manually) added I/O terminals

DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 99/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Scanning PROFINET IO-Devices 11 Scanning PROFINET IO-Devices 11.1 Scanning Devices, Overview The scanning command is provided to scan the hardware environment currently connected with the project. Example: Determining the devices connected to a field bus. ● Switch the control online. ● Highlight the field bus onboard or on the function module. ● The command for scanning, page 99, is contained in the project menu and the in the field bus menu point. ● A prerequisite for properly recognizing a device is the presence of its de‐ vice description file (it contains manufacturer, device name, parameters) in field bus specific format (Profibus/M: device description file, PROFINET_IO: GSDML file, EtherNet/IP: EDS file, etc.). Device descrip‐ tion file, PROFINET_IO: GSDML file, EtherNet/IP: EDS file, etc.). If this file is missing for the actual participant, scanning can only be partially performed. The device description file must be reloaded and the scanning repeated (Reload device description file, page 101. 11.2 Scanning Devices This command is used to scan the hardware that is currently controlled, i.e. to determine its structure, to display it in a dialog and to make it available to the user for transfer into the Project Explorer. The scan functionality is created differently for different network types: Its implementation can be fixed in the control (in a dialog of the wizard for cre‐ ating the control) or it can be provided as a field bus menu point (onboard or function module). In either case, to execute scan functions, a connection to the control is auto‐ matically established and then closed again. The PLC gateway must also be configured and the control must be running.

Fig.11-1: Highlighting the field bus to be scanned (online) The scanning procedure can be started with Project ▶ Scanning for devices or ▶ Scanning for devices . The dialog lists the devices found in the current search and the related modules in the Available devices window. Which information on the devices is displayed and which options are available in the dialog depends on the respective network type. 100/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Scanning PROFINET IO-Devices

Fig.11-2: Scan results; the device description file is missing for the middle device In this case, the missing device description file must be reloaded (Reload device description file, page 101).

Fig.11-3: Scan results complete (one participant selected)

The following functions are available in any case: ● The Device name and Device type for the devices found are displayed in the 'Available devices' window. ● The button can be used to start a new search. If the option Show only differences to the project is selected, the only devices shown are those that are not yet displayed in the device tree in the project. ● The button can be used to accept the devices selected in the window, or if nothing is selected, all of the devices found, as entries in the device tree in the project. Functions for PROFINET IO devi‐ ● For each device, the station name, MAC address, IP address and subnet ces: mask are also displayed in other columns in the 'Available devices' win‐ dow.

Each device must have a station name because it is required for certain functionalities in network operation!

● If the filter Show only unnamed stations is selected, the only devices listed are those that do not yet have a station name. ● If the station name (station name) is to be changed, click it to make it editable. The modified name is accepted by clicking . DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 101/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Scanning PROFINET IO-Devices

After modifying the scanned data and clicking the fol‐ lowing query appears: The bus must be switched off. After the naming procedure, a new bus configuration is necessary (reset or download the application). Do you want to save ?

● The entries for IP address and subnet mask can also be edited in the dialog or created in this way before the device is accepted into the con‐ figuration in the project with these settings. When the device is accepted with no defined addresses, the default set‐ tings defined in the PNIO master parameters dialog in the device editor for such cases will be used. The final definition of the addresses can still be made afterward for each device in its configuration dialog. ● To identify a device in the hardware listed in the 'Available devices' window yourself, select the entry in the dialog and click on the button. The device should react with a blinking signal. 11.3 Reloading a Device Description File The user can extend the existing group of device description files if modules are used that are not among the standard scope. An example is the following scan result.

Fig.11-4: Scan results; the device description file is missing for the middle device To add devices in IndraWorks, please carry out the following steps: 1. In the main menu, click on Tools ▶ Device Database...to open the "Device Database" dialog. 2. In the "Device database" dialog, click on the "Add devices" button. The "Install device description" file selection dialog opens: 102/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Scanning PROFINET IO-Devices

Fig.11-5: Device Database, add device

3. Select the desired device descriptions that you wish to install. Make sure that the correct file type is listed in the "File type" selection field.

Fig.11-6: Install Device Descriptions dialog 4. Start the installation procedure by clicking on "Open". After the installation procedure is complete, a confirmation appears indi‐ cating that all device description files were imported. The imported devices appear below "Available devices" and are highlighted there:

5. Confirm the "Install Device Descriptions" message with "OK". 6. Close the "Device database" dialog with "Close". DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 103/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

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The newly installed devices are also displayed in the library:

Fig.11-7: Imported devices displayed in the library 104/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 105/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

EtherNet/IP Adapter 12 EtherNet/IP Adapter 12.1 Terms and Abbreviations Scanner The EtherNet/IP field bus master is called Scanner. Adapter The EtherNet/IP field bus slaves are called Adapters. Originator The device that establishes the connection (usually the scan‐ ner) is called the Originator. Target The device to which the connection is established is a Target. O→T Means Originator to Target. T→O Means Target to Originator. RPI RPI is the "requested packet interval“. This value designates the send or response cycle time for a connection. Typically identical RPIs are selected for all connections. EDS file This is the device description with which the EtherNet/IP adapt‐ er is made known to IndraWorks (EDS: Electronic Data Sheet). ODVA Open DeviceNet Vendor Association www.odva.org CIP Common Industrial Protocol 12.2 Features of the EtherNet/IP adapter The current implementation of the adapter includes the following functionalities: ● Cycle data traffic (implicit messaging) ● Diagnostic of the adapter ● Acyclic data traffic in accordance with the mapping concept Future extensions are planned for the following functionalities: ● CIP sync services ● TAGs

Function/Characteristic Value

Max. amount of input data 504 bytes Max. amount of output data 504 bytes IO connection 1 explicit owner, up to 2 listeners IO connection type Cyclic, min. 2 ms Get_Attribute Explicit messages Set_Attribute UCMM Supported Max. number of user-specific objects 20 Max. number of connections 8 explicit and implicit connections DCHP Supported BOOTP Supported Baud rate 10 and 100 Mbit/s

Fig.12-1: Technical data 106/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

EtherNet/IP Adapter

12.3 EtherNet/IP Adapter – Functions in the PLC Program Diagnostic functions can be used from the PLC program using FBs. Adapter specific diagnostics with The existing function blocks and functions will only be introduced briefly here. PLC FBs For further information, see the documentation in the library RIL_EtherNetIPA‐ dapter. IL_ENIPAdapterState This function block determines a basic diagnosis of the EtherNet/IP adapter.

Fig.12-2: Function block IL_ENIPAdapterState

The block reads the state of the EtherNet/IP adapter within a cycle and for this reason it appear that the output "Done" is always TRUE as soon as the block has been enabled. If the output "Done"= TRUE, the data at the 'BusSlaveState' output are valid. IL_ENIPAdapterStateDetails This function block determines the detailed status of the EtherNet/IP adapter stack. It provides information on ● the state of the communication stack, ● the state of the bus communication, ● the previous error values.

Fig.12-3: Function block IL_ENIPAdapterStateDetails 12.4 EtherNet/IP Adapter (Engineering) – Functions in the PLC Pro‐ gram Diagnostic functions can be used from the PLC program using FBs. Adapter specific diagnostics with The existing function block will only be introduced briefly here. For further in‐ PLC FBs formation, see the documentation in the library RIL_EtherNetIP. IL_Status The FB IL_Status is used for diagnostics of the cyclic communication ("Implicit Messaging"). DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 107/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

EtherNet/IP Adapter

Fig.12-4: Function block IL_Status 108/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 109/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the EtherNet/IP Adapter (Engineering) (Dialogs) 13 Configuring the EtherNet/IP Adapter (Engineering) (Di‐ alogs) 13.1 Configuring the EtherNet/IP Adapter (Engineering), Overview EtherNet adapters provide dialogs for configuring an EtherNet link ("EtherNet Adapter") for a TCP/IP network using the control's engineering interface. The following controls allow the implementation of the EtherNet adapter (En‐ gineering): ● IndraLogic XLC L25/L45/L65, ● IndraMotion MLC L25/L45/L65. When the control is created in the Project Explorer, the respective EtherNet engineering interface existing on the control is configured such that it takes over the double function engineering interface and EtherNet adapter interface. The IP address / gateway setting is accepted. The required port configuration is made without any action on the user's part.

Fig.13-1: Dialog: configuration of the control, IP address / PLC gateway

Fig.13-2: Dialog: configuration of the control, enabling of the EtherNet/IP adapter (engineering) functionality After the control configuration is successfully enabled and complete, the fully configured folder appears in the Project Explorer. 110/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the EtherNet/IP Adapter (Engineering) (Dialogs)

Fig.13-3: EtherNet IP adapter (engineering) The interface between an EtherNet/IP adapter (engineering) and the EtherNet/ IP scanner is executed as common memory space. This space is preconfigured with 8 bytes of inputs and 8 bytes of outputs plus a byte header (users cannot modify this).

Inputs to the EtherNet/IP scanner side become outputs on the EtherNet/IP adapter side and vice versa.

EtherNet IP adapter (engineering) ● EtherNet IP adapter (engineering) object – Status, page 110, – Information, page 110. ● EtherNet IP adapter (engineering), modules – EtherNet/IP I/O mapping, page 111, – Information, page 111. 13.2 Register "Status" for the Adapter

Fig.13-4: EtherNet IP adapter (engineering): adapter status "DP modules": In online mode, the DP-Module area displays status information from the control (e.g. "Running", "Not running (n/a)"). 13.3 Register "Information" for the Adapter The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 111/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the EtherNet/IP Adapter (Engineering) (Dialogs)

13.4 Register "EtherNet_IP I/O Mapping" for the Modules The window is used to assign module inputs and outputs to variables that can be used as local or global variables in the individual POUs. The current value of the variables is displayed in online mode. This assignment is described in Mapping the Onboard, Inline and Field bus Inputs and Outputs , page 155,.

Fig.13-5: EtherNet IP adapter (engineering): I/O mapping

Reset mapping Deletes the assignment made in the editor. Always update variables If this option is enabled, all variables are updated in each cycle (see bus cycle options, bus cycle task of the control), whether they are used or not no matter if they are mapped on an input or an output channel. 13.5 Register "Information" for the Modules The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 112/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 113/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Modbus TCP 14 Modbus TCP 14.1 Modbus TCP Server 14.1.1 Terms and Abbreviations Modbus TCP is an EtherNet-TCP/IP based communication protocol organized according to the client-server principle. The Modbus TCP Server is also called Modbus TCP Slave. The Modbus TCP Client is also called Modbus TCP Master. 14.1.2 Features of the Modbus TCP Server The current implementation of the Modbus TCP server features the following functionalities: ● Connection with up to 16 clients ● Support of 4 data areas (in accordance with Modbus specifications) - users can freely define the data areas

Modbus data areas Data type Access

1 bit (array 0 - max. 8191 Discrete inputs Bit access, read only bytes) 1 bit (array 0 - max. 8191 Coils Bit access, read and write bytes) 16 bit (array 0 - max. 65535 Input registers Word access, read only of word) 16 bit (array 0 - max. 65535 Holding registers Word access, read and write of word)

Fig.14-1: Modbus data areas ● Support for the following function codes (in accordance with Modbus specifications)

Function Name Description code Reads a number of bits from "Coils" 1 Read Coils starting from an initial address Reads a number of bits from "Dis‐ 2 Read Discrete Inputs crete Inputs" starting from an initial address Reads a number of registers from 3 Read Holding Registers "Holding Registers" starting from an initial address Reads a number of registers from 4 Read Input Registers "Input Registers" starting from an in‐ itial address Writes a bit into "Coils" starting from 5 Write Single Coil an initial address Writes a register into "Holding Reg‐ 6 Write Single Register isters" starting from an initial address 114/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Modbus TCP

Writes a number of bits into "Coils" 15 Write Multiple Coils starting from an initial address Writes a number of registers into 16 Write Multiple Registers "Holding Registers" starting from an initial address Executes a combined read / write op‐ 23 Read/Write Multiple Registers eration on "Holding Registers" Reads the default device information of the Modbus TCP server: ● VendorName: "Bosch Rexroth" 43/14 Read Device Identification ● ProductCode: "IL_Mod‐ busTCPServer" ● MajorMinorRevision: "Version number of the block"

Fig.14-2: Supported Modbus function codes 14.1.3 Preliminary Remarks The Modbus TCP is used for the data exchange between EtherNet devices supporting the Modbus protocol. The Modbus slave (server) is the control used for the Modbus masters (clients) to connect.

Modbus TCP is an EtherNet-TCP/IP based communication proto‐ col. In contrast to other field busses the communication cannot occur in real time.

The typical application of Modbus TCP is for communication connections be‐ tween visualization devices (clients) and a control (server).

Fig.14-3: Connecting several Modbus clients to a Modbus server Provision The Modbus TCP server is provided by the PLC library "RIL_ModbusTCP.li‐ brary" in the form of a function block. Mode of operation The function block implements a Modbus TCP server on which up to 16 Modbus TCP clients can be connected. The server is passive during the data exchange. Being passive means that the client specifies which data is read and which data is written. When the request telegram is sent out, the client initiates a service call to which the server responds with a response telegram. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 115/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Modbus TCP

14.1.4 Diagnostics General Because the Modbus TCP server is provided as a PLC function block, the di‐ agnostics are output at the corresponding outputs of the function block. Block diagnostics If an error occurs while processing the FB, the output "Error" is set. "ErrorID" and "ErrorIdent" contain detailed information on the error. The processing of the FB is paused. The error outputs are only set if errors occur while processing the function block. Details for possible block diagnostics can be found in the documentation of the respective function block. Modbus exceptions Errors caused by the Modbus TCP protocol do not generate any output at the error outputs. The "NumExceptions" element in the "Stats" output is used for that purpose. The returned exceptions are counted using this output. Modbus exceptions are sent from the server to the client if its request telegram contains an error. Possible causes for an erroneous request telegrams include the following: ● Function code that is not supported ● Invalid address range ● Amount of required data is too large 14.1.5 Modbus TCP Server – Function in the PLC Program (RIL_Mod‐ busTCP.library) The functionality of the Modbus TCP server is exclusively implemented using the PLC function blocks "IL_ModbusTCPServer" or "IL_ModbusTCPServer‐ Type02". The existing PLC function blocks and functions will only be introduced briefly here. For further information, see the documentation in the library "RIL_Mod‐ busTCP.library". IL_ModbusTCPServer

Fig.14-4: The IL_ModbusTCPServer FB The input "BitData" combines the Modbus data areas "Discrete Inputs" and "Coils". The input "RegisterData" combines the Modbus data areas "Input Register" and "Holding Register". 116/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Modbus TCP

IL_ModbusTCPServerType02

Fig.14-5: The IL_ModbusTCPServerType02 FB The function block IL_ModbusTCPServerType02 offers the possibility to define all 4 Modbus data areas separately.

The functions blocks "IL_ModBusTCPServer" and "IL_ModBusTC‐ PServerType02" differ in the following: In contrast to the Modbus specification, the data areas for "Coil Da‐ ta" and "Discrete Input Data" are summarized under "BitData", the "Holding Register" and "Input Register" are summarized under "RegisterData" in the "IL_ModBusTCPServer" FB. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 117/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

SERCOS III IO 15 SERCOS III IO 15.1 Terms and Abbreviations Master The SERCOS III field bus master is called Master. Slave The SERCOS III field bus slave is called Slave. SERCOS ad‐ The SERCOS address is the criteria for addressing a slave. dress SDDML file This is the device description. Using the description, IndraWorks can publish SERCOS III slaves (typically with IO profile). 15.2 Features of the SERCOS III IO Masters The current implementation of the SERCOS III IO master contains the following functions: ● cyclic data transfer ● SDDML file import to device database ● Bus scan of SERCOS III slaves ● Remote address assignment ● Automatic configuration of the devices in the device tree (offline/online synchronization of the devices in the project) ● SERCOS III slave-related connection status in interface ● Diagnostics of the SERCOS III masters and the slaves via the FBs ● acyclic data transfer (service channel or IP channel) via the FBs

Function / Property Value

Max. number of I/O slaves 32 Baud rate 100 Mbit/s Auto negotiation/ autocrossing Yes Min. cycle time 500 µs Max. number of cyclic input data 1500 bytes Max. number of cyclic output data 1500 bytes Max. number of cyclic input data per slave 1500 bytes Max. number of cyclic output data per slave 1500 bytes Max. number of modules per slave 20 Max. number of acyclic telegram data per slave / telegram (MTU) 1500 bytes

Fig.15-1: Technical data 15.3 SERCOS III Master – Functions in the PLC Program Diagnostic functions as well as functions can be used for acyclic communication via FBs or FUNs in the PLC program. Diagnostic functions in the PLC Device-specific diagnostics with PLC FBs program The function blocks and functions are are not described in detail. For more information, please refer to the library documentationRIL_SERCOSIII.library. 118/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

SERCOS III IO

IL_S3IO_GetStatus This function provides a quick and simple diagnostics of a SERCOS III slaves.

Fig.15-2: Function IL_S3IO_GetStatus Acyclic communikation in the PLC Read/write functons program The functions blocks and functions are not described in detail here. For more information, please refer to the library documentation RIL_SERCOSIII_IO.li‐ brary.

IL_SIIISvcRead Parameters can be read from a slave participant using the IL_SIIISvcRead function block via the SERCOS III service channel.

Fig.15-3: L_SIIISvcRead function block IL_SIIISvcWrite Parameters can be written from a slave participant using the IL_SIIISvcWrite function block via the SERCOS III service channel.

Fig.15-4: IL_SIIISvcWrite function block

Additional functions

IL_SIIIElementsToIdn The IL_SIIIElementsToIdn functions summarizes the individual elements of an IDN in a MB_IDN value. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 119/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

SERCOS III IO

Fig.15-5: IL_SIIIElementsToIdn function The functions blocks and functions are not described in detail here. For more information, please refer to the library documentation RIL_SERCOSIII.library. 120/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 121/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring SERCOS III IO (Dialogs) 16 Configuring SERCOS III IO (Dialogs) 16.1 SERCOS III IO, Overview SERCOS III is an IEC-compliant, open system universal bus for EtherNet- based real-time communication. As a universal bus, SERCOS III has commu‐ nication channels and device profiles for all established automation applica‐ tions. SERCOS III IOs can be used in all controls that are used with the SERCOS object (onboard), which represents the function of a SERCOS master. The master can be extended with slaves and modules so that they can be con‐ figured later, depending on the device description file. SERCOS III IO slave ● SERCOS III slave, page 123, ● SERCOS III configuration, page 124, this window is used for service pur‐ poses and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● Status, page 125, ● Information, page 125. SERCOS III IO modules ● SERCOS III module, page 127, ● Function groups, page 127, ● Information, page 128. ● SERCOS III modules I/O mapping, page 128, ● SERCOS III module configuration, page 128, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. 16.2 SERCOS III IO, Adding a Slave The slaves are located in the "Periphery" library in the "SERCOS III" folder. Drag the required slaves out of the library into the SERCOS object. In Project Explorer, slaves can also be added between existing slaves in this way.

If a required slave is not present in the library by default, it can be integrated into the library by importing its SDDML file using the main menu Tools ▶ Device Database... .

Slaves for connecting I/O modules The SERCOS III IO differentiates two types of slaves for connecting I/O mod‐ ules: 1. Compact: For compact slaves, the module structure is specified. After a slave has been added in Project Explorer, for compact slaves the modules below the slave object node are already present in their complete form. The modules are not visible in the library. 2. Modular: 122/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring SERCOS III IO (Dialogs)

The module structure of the slave is variable. In addition to a fixed portion, in the figure below "BK_DI8_DO4_1" with 8 digital inputs and 4 digital outputs, further modules can be added. The modules can be arranged individually, although according to the de‐ vice placement specifications. To add modules, see Adding modules, page 126.

(1) Current bus addresses for the slaves (2) Modular slave with assigned modules (3) Compact slave Fig.16-1: Slaves with I/O modules on the SERCOS III master object Overview of SERCOS addresses... To display all of the address assignments for all bus participants, open the context menu point Configuration of SERCOS participants... of the SERCOS master object.

(1) Current bus addresses for the slaves (2) Modular slave with assigned modules (3) Compact slave Fig.16-2: Slaves with I/O modules on the SERCOS III master object

Fig.16-3: Overview of SERCOS addresses 16.3 SERCOS III IO Slave 16.3.1 SERCOS III IO Slave, General Information To open the editing window, in the Project Explorer, double click on the PROFIBUS DP Slave object. The dialogs will inform you about the configuration of the entire slave and you can modify it if necessary. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 123/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring SERCOS III IO (Dialogs)

Fig.16-4: Configuring a SERCOS III slave object Register (SERCOS III IO Slave) ● SERCOS III slave, page 123, ● SERCOS III configuration, page 124, this window is used for service pur‐ poses and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● Status, page 125, ● Information, page 125. 16.3.2 Register "SERCOS III Slave" All settings in this dialog are dependent on the device description in terms of whether they can be edited here and which values are specified or possible.

Fig.16-5: SERCOS III Slave: SERCOS III Slave Identification In the "Identification" section you will find specific information regarding the SERCOS III slave, which uniquely identifies the slave.

SERCOS address: Bus-specific address of the SERCOS III slave. Device number: Logical address of the SERCOS III slave. Topological Topological address of the SERCOS III slave. SERCOS address: List position in "Configuration of SERCOS partici‐ pants", column "#" 124/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring SERCOS III IO (Dialogs)

Vendor code Vendor number of the SERCOS III slave. (Vendor Code): Vendor Name Vendor name of the SERCOS III slave, e.g. Rexroth. (Vendor Name): Device ID Identification number for the SERCOS III slave specified (Vendor Device ID): by the vendor. Device name: Description of the SERCOS III slave by the vendor. FSP Type: This number defines the device-specific functions of the SERCOS III slave, e.g. device properties.

16.3.3 Register "SERCOS III Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled.

Please clarify any possible modifications to the parameters that can be edited with the service team.

Fig.16-6: SERCOS III slave: SERCOS III configuration (online)

When the bus is running, modified parameters can be transferred by using "Write parameter". DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 125/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring SERCOS III IO (Dialogs)

16.3.4 Register "Status"

Fig.16-7: SERCOS III slave: Status (online) The "Status" tab displays status information (e.g. "Running" (bus active) and "n/a" (no information available)) and specific diagnostic messages from the re‐ spective device and regarding the card used and the internal bus system.

Modifications in the bus are only offline Prerequisites for the SERCOS III bus to go online are: 1. Configuration of the SERCOS participants in the project and control match with respect to type, sequence and SERCOS address. 2. All modules run without errors. This can be determined for the actual slave in the "Status" window by clicking on "Device identification" and "Extended device identification". 3. SERCOS state: P4

Slaves for which there are errors (starting with the first one) appear in the project tree with a yellow warning triangle and an error tool tip.

( 1 ) Slaves with errors ( 2) Module is only in the project, not on the control Fig.16-8: SERCOS III bus, error message in the Project Explorer 16.3.5 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 126/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring SERCOS III IO (Dialogs)

16.4 SERCOS III IO, Adding a Modules to the Slave The modules that work with the respective slave are located in the "Peripher‐ als" library in the "SERCOS III" folder under the respective slave.

I/O modules can only be added in modular structured slaves, page 121,.

Drag the required modules out of the library into the slave object. New modules can also be added between existing modules in Project Explorer. Alternatively, you can add modules in the context menu using Add ▶ Mod‐ ules ▶ ... for the slave. In this case, the new module is added as the last module under the slave.

Fig.16-9: SERCOS III, adding modules to the slave 16.5 SERCOS III I/O Modules 16.5.1 SERCOS III IO Modules, General Information To open the editing window, in the Project Explorer, double click on the desired module. The dialogs will inform you about the configuration of the module and you can modify it if necessary. The settings in all registers of the dialog are specified by the module's device description file. In this file, the value with which the setting is preset is deter‐ mined and whether or not it can be edited. Register (SERCOS III IO modules) ● SERCOS III module, page 127, ● Function groups, page 127, ● Information, page 128. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 127/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring SERCOS III IO (Dialogs)

● SERCOS III modules I/O mapping, page 128, ● SERCOS III module configuration, page 128, this window is used for service purposes and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. 16.5.2 Register "SERCOS III Module"

Fig.16-10: SERCOS III module: SERCOS III Module Module information Module type code: Each module has a unique module type identification from the respective vendor. Depending on the vendor, this number can be a hexadecimal number or an order number. Input length/Bytes: It specifies the input length of the module in bytes. Output length/Bytes: It specifies the output length of the module in bytes.

16.5.3 Register "Function Groups" The "Function Groups" tab provides information on the inputs and outputs of the function group. None of the settings in this dialog can be edited.

Fig.16-11: SERCOS III module: Function Groups

Name: Name of the channel, cannot be edited. Number of channels: Number of supported channels for this module. Width of channel (Bits): Bit size of the individual channels, cannot be edited. Type: Number of structure elements (SE) of the IO function groups. Depends on the IO functions. IDN.SI.SE: ● IDN Identification number, e.g. 15xx 128/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring SERCOS III IO (Dialogs)

● SI (Structure Instance) The SI number is identical to the module's slide-in num‐ ber. Module 1 has SI number 1. For fixed modules, module 1 has SI number 0. ● SE (Structure Element) Number of structure elements (SE) of the IO function groups. Depends on the IO functions.

16.5.4 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 16.5.5 Register "SERCOS III Modules I/O Mapping" The window is used to assign SERCOS III module inputs and outputs to vari‐ ables that can be used as local or global variables in the individual POUs. The current value of the variables is displayed in online mode. This assignment is described in Mapping the Onboard, Inline and Field bus Inputs and Outputs , page 155,.

Fig.16-12: SERCOS III module: SERCOS III Module I/O Mapping

Reset mapping Deletes the assignment made in the editor. Always update variables If this option is enabled, all variables are updated in each bus cycle, whether they are used or not no matter if they are mapped on an input or an output channel. 16.5.6 Register "SERCOS III Module Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 129/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring SERCOS III IO (Dialogs)

Please clarify any possible modifications to the parameters that can be edited with the service team.

Fig.16-13: SERCOS III module: SERCOS III module configuration 130/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 131/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Inline I/O Modules 17 Inline I/O Modules 17.1 Features of the Inline I/O The inline I/Os are classified into the following groups: ● Bus couplers for inline modules ● Inline modules ● Inline block modules Bus couplers for inline modules The following bus couplers are available for the inline modules: ● Inline modules on the PROFIBUS bus coupler (R-IL PB BK DI8 DO4-PAC) ● Inline modules on the ProfiNet IO bus coupler (R_IL PN BK DI8 DO4-PAC) ● Inline modules on the SERCOS III bus coupler (R-IL S3 BK DI8 DO4-PAC) Inline modules The inline I/O modules can be connected the following couplers. ● Local inline bus on the control ● Inline modules on the bus couplers The following I/O types are available: ● Digital input modules ● Digital output modules ● Analog input modules ● Analog output modules ● Relay modules ● Modules for temperature measurement ● Counter modules ● Modules with incremental encoder inputs ● Modules with SSI encoder inputs ● PWM modules ● Modules for serial communication (RS232, RS422, RS485) Inline block modules In addition to the bus couplers in connection with inline modules, the so-called block modules are also available. These contain a bus coupler and a few I/Os in a particularly compact and low-priced form. Block modules are available for the following busses: ● PROFIBUS Digital I/O ● SERCOS III Digital I/O ● SERCOS III Analog I/O Related documentation The documents listed below contain additional information regarding this sub‐ ject.

Title Identification

Automation Terminals of the Rexroth Inline Product Family DOK-CONTRL-ILSYSINS***-AW01-EN-P Rexroth Inline Bus Coupler for SERCOS III With Digital Inputs and Outputs DOK-CONTRL-ILS3BKDI8DO-KB02-EN-P Rexroth Inline Bus Coupler for PROFIBUS-DP With Digital Inputs and Out‐ DOK-CONTRL-ILPBBKDI8DO-AW02-EN-P puts Rexroth Inline Terminals with 2 Digital Inputs DOK-CONTRL-ILDI2******-KB01-EN-P 132/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Inline I/O Modules

Title Identification Rexroth Inline Terminals with 2 Digital Inputs, Non-switching DOK-CONTRL-ILDI2*NPN**-KB01-EN-P Rexroth Inline Terminals with 2 Digital Inputs and DESINA Diagnostics DOK-CONTRL-ILEDI2*DES*-KB01-EN-P Rexroth Inline Terminals with 4 Digital Inputs DOK-CONTRL-ILDI4******-KB01-EN-P Rexroth Inline Terminals with 8 Digital Inputs DOK-CONTRL-ILDI8******-KB01-EN-P Rexroth Inline Terminals with 16 Digital Inputs DOK-CONTRL-ILDI16*****-KB01-EN-P Rexroth Inline Terminals with 16 Digital Inputs, Non-switching DOK-CONTRL-ILDI16*NPN*-KB01-EN-P Rexroth Inline Terminals with 32 Digital Inputs DOK-CONTRL-ILDI32/HD**-KB01-EN-P Rexroth Inline Terminals with 32 Digital Inputs, Non-switching DOK-CONTRL-ILDI32*NPN*-KB01-EN-P Rexroth Inline Terminals with 2 Digital Outputs DOK-CONTRL-ILDO2*2A***-KB01-EN-P Rexroth Inline Terminals with 2 Digital Outputs, Non-switching DOK-CONTRL-ILDO2*NPN**-KB01-EN-P Rexroth Inline Terminals with 4 Digital Outputs DOK-CONTRL-ILDO4******-KB01-EN-P Rexroth Inline Terminals with 8 Digital Outputs DOK-CONTRL-ILDO8******-KB01-EN-P Rexroth Inline Terminals with 8 Digital Outputs, Non-switching DOK-CONTRL-ILDO8*NPN**-KB01-EN-P Rexroth Inline Terminals with 8 Digital Outputs DOK-CONTRL-ILDO8*2A***-KB01-EN-P Rexroth Inline Terminals with 16 Digital Outputs DOK-CONTRL-ILDO16*****-KB01-EN-P Rexroth Inline Terminals with 32 Digital Outputs DOK-CONTRL-ILDO32/HD**-KB01-EN-P Rexroth Inline Terminals with 32 Digital Outputs, Non-switching DOK-CONTRL-ILDO32*NPN*-KB01-EN-P Rexroth Inline Terminals with 2 Analog Input Channels DOK-CONTRL-ILAI2/SF***-KB01-EN-P Rexroth Inline Terminals with 2 Analog Input Channels DOK-CONTRL-ILAI2/SF230-KB01-EN-P Rexroth Inline Terminals with 8 Analog Input Channels DOK-CONTRL-ILAI8/IS***-KB02-EN-P Rexroth Inline Terminals with 8 Analog Input Channels DOK-CONTRL-ILAI8/SF***-KB02-EN-P Rexroth Inline Terminals with 4 Analog Difference Input Channels DOK-CONTRL-ILAI4/EF***-KB01-EN-P Rexroth Inline Terminals with 2 Inputs for Thermoelements DOK-CONTRL-ILTEMP2UTH*-KB01-EN-P Rexroth Inline Terminals with 2 Inputs for Temperature Sensors DOK-CONTRL-ILTEMP2RTD*-KB01-EN-P Rexroth Inline Terminals with 2 Analog Inputs for Strain Gauges DOK-CONTRL-ILSGI2/F***-KB01-EN-P Rexroth Inline Terminals with 1 Analog Output DOK-CONTRL-ILAO1/SF***-KB01-EN-P Rexroth Inline Terminals with 2 Analog Outputs DOK-CONTRL-ILAO2/SF***-KB01-EN-P Rexroth Inline Terminals with 2 Analog Voltage Outputs DOK-CONTRL-ILAO2/U/BP*-KB01-EN-P Rexroth Inline Terminals with a Relay Changeover Contact DOK-CONTRL-ILDOR1/W***-KB01-EN-P Rexroth Inline Terminals with 4 Relay Changeover Contacts DOK-CONTRL-ILDOR4/W***-KB01-EN-P Rexroth Inline Terminals for Absolute Encoders with SSI Interfaces DOK-CONTRL-ILSSIIN****-KB01-EN-P Rexroth Positioning Terminals for Absolute Encoders DOK-CONTRL-ILSSI******-AW01-EN-P Rexroth Inline Terminals for Incremental Encoders DOK-CONTRL-ILINC*IN***-KB02-EN-P Rexroth Inline Counter Terminals DOK-CONTRL-ILCNT******-KB01-EN-P Rexroth Inline Terminals for Pulse Width and Frequency Modulation DOK-CONTRL-ILPWM/2****-KB01-EN-P Rexroth Inline Terminals for Serial Data Transfer DOK-CONTRL-ILRS232*P**-KB01-EN-P DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 133/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Inline I/O Modules

Title Identification Rexroth Inline Terminals for Serial Data Transfer DOK-CONTRL-ILRS485*P**-KB02-EN-P Rexroth Inline Extension Terminals for Extending the Inline Local Bus DOK-CONTRL-ILLSKIP****-KB01-EN-P Rexroth Inline Branch Terminals for Fieldline Modular Coupling DOK-CONTRL-ILFLM******-KB01-EN-P Rexroth Inline Power Supply Terminals for Supplying the Logic Voltage DOK-CONTRL-ILPWRIN/R**-KB01-EN-P Rexroth Inline Power Supply Terminals DOK-CONTRL-ILPWRIN/2F*-KB01-EN-P Rexroth Inline Power Supply Terminals DOK-CONTRL-ILPWRIN****-KB01-EN-P Rexroth Inline Segment Terminals DOK-CONTRL-ILSEG/*****-KB01-EN-P Rexroth Inline Segment Terminals DOK-CONTRL-ILSEG/F****-KB01-EN-P Rexroth Inline Segment Terminals DOK-CONTRL-ILSEG/F*D**-KB01-EN-P

Fig.17-1: Inline modules

Not every I/O module can be used on every bus coupler or on the inline bus.

17.2 Inline I/O – Functions in the PLC Program 17.2.1 Function Blocks for the Local Inline Bus on the Control Both diagnostic functions and functions for acyclic communication can be used from the PLC program using FBs or FUNs. Diagnostic functions in the PLC Inline-specific diagnostics with PLC FBs Program The existing FBs and functions will only be introduced briefly here. For further information, see the documentation in the library RIL_Inline.library. IL_InlineCfgDiagData The system configuration can be determined with the function block "IL_Inli‐ neCfgDiagData". The return parameters indicate the configured / scanned / compared modules. In addition, the module IDs of the configured / scanned modules are located in a field.

Fig.17-2: Function block IL_InlineCfgDiagData IL_InlineDiagCfgChk The system configuration is checked for errors with the function block "IL_Inli‐ neDiagCfgChk" and the information is prepared as a diagnostic. 134/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Inline I/O Modules

Fig.17-3: Function block IL_InlineDiagCfgChk IL_InlineDiagGlobalStatus The function block "IL_InlineDiagGlobalStatus" is used to determine if a diag‐ nostic is to be executed in the system. The returned counters provide the respective number of active and total diagnostics.

Fig.17-4: Function block IL_InlineDiagGlobalStatus IL_InlineDiagMasterBus The function block "IL_InlineDiagMasterBus" is used to determine if a bus error is present.

Fig.17-5: Function block IL_InlineDiagMasterBus IL_InlineDiagMasterFatal The function block "IL_InlineDiagMasterFatal" returns an existing system error from the stack error list.

Fig.17-6: Function block IL_InlineDiagMasterFatal IL_InlineDiagModulImage The function block "IL_InlineDiagModulImage" is used to determine if a module in the inline system is returning a diagnostic. In the returned bit string, every bit is assigned by position to a module in the system and indicates if this module is returning a diagnostic. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 135/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Inline I/O Modules

Fig.17-7: Function block IL_InlineDiagModulImage IL_InlineDiagModulNext The function block "IL_InlineDiagModulNext" is used to determine the next module with a diagnostic request.

Fig.17-8: Function block IL_InlineDiagModulNext IL_InlineDiagModulPosi The function block "IL_InlineDiagModulPosi" is used to check a module at a specified position for diagnostics.

Fig.17-9: Function block IL_InlineDiagModulPosi Acyclic communication in the PLC Read-write functions (PCP channel of the inline bus) program The existing FBs and functions will only be introduced briefly here. For further information, see the documentation in the library RIL_Inline.library. IL_PCPRead A reading PCP access is performed with the function block IL_PCPRead. The data exchange on the inline bus is executed acyclically. Using pointer ad‐ dressing (POINTER) a target area must be defined for the parameter data to be read.

Fig.17-10: Function block IL_PCPRead 136/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Inline I/O Modules

IL_PCPWrite A writing PCP access is performed with the function block IL_PCPWrite. The data exchange on the inline bus is executed acyclically. The process date to be written are transfer using pointer addressing (a POINT‐ ER).

Fig.17-11: Function block IL_PCPWrite DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 137/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the Inline I/O (Dialogs) 18 Configuring the Inline I/O (Dialogs) 18.1 Inline Object and Inline Modules, Overview The controls ● IndraLogic XLC L25/L45/L65 and ● IndraMotion MLC L25/L45/L65 allow the locally available I/O units to be extended by arranging inline modules on the right side of the control. The inline I/O object is to be extended in the Project Explorer with the desired inline modules. Inline I/O Object ● Inline I/O configuration, page 137, this window is used for service purpo‐ ses and is only visible if in Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled. ● Status, page 139 and ● Information, page 141. Inline I/O modules added to the "inline I/O object" (example) ● Adding inline modules, page141, ● Inline modules I/O mapping, page 142, ● Status, page 142 and ● Information, page 143. 18.2 Inline I/O object 18.2.1 Register "Inline I/O Configuration" This window is used for service purposes and is only visible if in Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor the option "Display Generic Configuration Views" was enabled.

Please clarify any possible modifications to the parameters that can be edited with the service team. 138/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the Inline I/O (Dialogs)

Fig.18-1: Inline object: inline I/O configuration The window contains information regarding the inline cycle counters and the diagnostics of the inline bus. Window structure ● Parameters: Parameter name from the device description file, cannot be edited. ● Type: Data type of the parameter, cannot be edited. ● Value: First, the standard value of the parameter is displayed, directly or as a specification of the corresponding symbolic name. If the parameter can be edited (this depends on the device description; parameters that cannot be edited are displayed in light gray), an input field or a selection list can be opened by double-clicking on the table field (or pressing the in a previously selected field) where the value can be changed. Values are accepted with . If the value is related to a file specification, the standard dialog for selected a file opens. ● Default Value: Defined value from the device description, cannot be edited. ● Unit: Unit for the value, e.g. "ms" for milliseconds, cannot be edited. ● Description: Short description of the parameter from the device description file, cannot be edited. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 139/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the Inline I/O (Dialogs)

18.2.2 Register "Status"

Fig.18-2: Inline object: Status The window displays the status of the entire inline bus. Offline: n/a Online: "Running", "Not running (n/a)" In addition, the "Most recent diagnostic message" is displayed, which can be confirmed with "Acknowledge". In case of an error, a detailed diagnostic is transmitted:

Fig.18-3: Detailed error message in the I/O inline bus 1. Configuration error: 140/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the Inline I/O (Dialogs)

In this case of error, the configuration of the modules in the project does not match with the modules that are physically present on the bus. Pos‐ sible messages are: ● Configuration has no errors ● Too many modules loaded i.e. there are more modules on the bus than there are configured in the project. The modules that exceed the number are shown in the project tree with a yellow warning triangle. ● Too few modules loaded i.e. there are fewer modules on the bus than there are configured in the project. ● Modules loaded improperly i.e. there are other modules on the bus than those configured in the project. The modules that are improperly configured are shown in the project tree with a yellow warning triangle. ● Other configuration errors Additionally, further information is provided: ● Number of errors ● Position of the first and final improperly configured module ● Number of configured modules in the project ● Number of modules present on the bus ● For the first improperly configured module: – Identification of the module in the project – Identification of the module on the bus 1. Master errors: These are internal errors associated with the inline master. Possible messages are: ● Master has no errors ● General master error A error number is delivered here as additional information. 1. Bus errors: If these errors occur, the bus is not running, e.g. because a module has failed. Possible messages are: ● The bus has no errors ● General bus error The module position at which the error occurred and the number of modules on the bus are indicated. Starting with the module at this position, all of the modules are shown in the project tree with a yellow warning triangle. 1. Module error: At least one module reports an error (e.g. short circuit). The bus continues to run. Possible messages are: ● Modules have no errors ● Module specific error DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 141/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the Inline I/O (Dialogs)

The position of the first module with an error is indicated. Modules for which there are errors also appear in the project tree with a yellow warning triangle and an error tool tip.

Fig.18-4: I/O inline bus, error message in the Project Explorer 18.2.3 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 18.3 Adding Inline Modules All of the inline modules available for the respective control are located in the "Periphery" library in the "Inline" folder. Drag the required inline modules out of the library into the respective "Inline I/ O" object. New inline modules can also be added between existing inline mod‐ ules in Project Explorer. Alternatively, you can add I/O modules in the context menu using Add ▶ Mod‐ ule ▶ for the "Inline I/O" object. The new module is added as the last module below "Inline I/O".

Fig.18-5: Inline object with two modules (example) 18.4 Configuring Inline Modules 18.4.1 Configuring Inline Modules, General Information In Project Explorer double-click on the inline module that you wish to configure. The inline module editor contains three tabs that you can open by clicking on them. 142/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the Inline I/O (Dialogs)

Register: ● Inline I/O mapping, page 142 ● Status, page 142 and ● Information, page 143. 18.4.2 Register "Inline Module I/O Mapping"

Fig.18-6: Inline module: Inline , module I/O mapping The window is used to assign inline module inputs and outputs to variables that can be used as local or global variables in the individual POUs. The current value of the variables is displayed in online mode. This assignment is described in Mapping the Onboard, Inline and Field bus Inputs and Outputs , page 155,.

Reset mapping Deletes the assignment made in the editor. Always update variables If this option is enabled, all variables are updated in each cycle of the bus cycle task of the control (double click on the actual control in the Project Explorer, PLC settings), whether they are used or not no matter if they are mapped on an input or an output channel. 18.4.3 Register "Status"

Fig.18-7: Inline module: status The window displays the status of the entire actual module. Offline: n/a DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 143/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the Inline I/O (Dialogs)

Online: "Running", "Not running (n/a)" 18.4.4 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 144/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 145/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the I/O (Dialogs) 19 Configuring the I/O (Dialogs) 19.1 Configuring the Onboard I/O, Overview The controls ● IndraLogic XLC L45/L65 and ● IndraMotion MLC L45/L65 each have eight fast, interruptible digital inputs and outputs.

For information regarding the interrupt capability, please note the description in the task editor (IndraLogic 2G, PLC programming system, DOK-CONTRL-IL2GPRO*V11-AP01-EN-P).

① Inputs ② Outputs Fig.19-1: Example: IndraLogic XLC L65 control The inputs and outputs available from left to right in positions 1 to 4 are assigned to the LEDs and bit addresses according to the following table:

Inputs Outputs

Slot 1 2 3 4 Status LED 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 Byte-Bit view Byte IX0.0 – 0.7 (default) QX0.0 – 0.7 (default) Bit 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 146/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the I/O (Dialogs)

Inputs Outputs Module Terminal con‐ 1.1 2.1 1.4 2.4 1.1 2.1 1.4 2.4 1.1 2.1 1.4 2.4 1.1 2.1 1.4 2.4 nection (Signal) Terminal con‐ 1.2 2.2 1.3 2.3 1.2 2.2 1.3 2.3 ------nection (24 V) Terminal con‐ ------1.2 2.2 1.3 2.3 1.2 2.2 1.3 2.3 nection (last ground)

Fig.19-2: Default address assignment for inputs and outputs These inputs and outputs are configured using the onboard editor. To do this, in the Project Explorer, double click on the "Onboard I/O" object. The onboard editor contains three tabs that you can open by clicking on them. Register: ● Onboard I/O I/O mapping, page 146 ● Status, page 147 and ● Information, page 147 19.2 Register "Onboard I/O I/O Mapping"

Fig.19-3: Onboard I/O: Onboard I/O I/O mapping: The window is used to assign onboard inputs and outputs to variables that can be used as local or global variables in the individual POUs. The current value of the variables is displayed in online mode. Reset mapping Deletes the assignment made in the editor. Always update variables If this option is enabled, all variables are updated in each cycle of the bus cycle task, whether they are used or not no matter if they are mapped on an input or an output channel. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 147/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Configuring the I/O (Dialogs)

19.3 Register "Status"

Fig.19-4: Onboard I/O: status The window displays the bus state. Offline: n/a Online: "Running", "Not running (n/a)" 19.4 Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 148/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 149/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Device Database 20 Device Database 20.1 Device Database, Overview The device database is an extension of the device library (IndraWorks, right side). The device database is a database for device descriptions installed on the local system to make them available for projects in IndraWorks. Properties (e.g. pa‐ rameters, vendor, device name, etc.) for the respective device(s) are stored in the device description files. A variety of formats (e.g. *.gsd for PROFIBUS, *.eds for DeviceNet) exist for different devices. The device database is installed along with the IndraWorks installation. Installing additional devices and deinstalling unneeded devices can be done in the device database itself. 20.2 Managing Devices 20.2.1 Device Database, Dialog Icon: The "Device database" command can be used to install and deinstall device description files. In the main menu, click on Tools ▶ Device Database...to open the "Device Database" dialog: 150/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Device Database

Fig.20-1: Device database Available devices In the "Available devices" area, the currently installed devices are listed. The devices are arranged hierarchically, i.e. controls appear on the top level, then function modules, integrated interfaces, etc. Furthermore, in the "Available de‐ vices" area you can add devices, remove devices or update the device data‐ base. Information The "Information" area displays general information for the currently selected device in the device tree. The information is stored in the device description file (e.g. vendor, categories, version). 20.2.2 Add Devices To add devices in IndraWorks, please carry out the following steps: 1. In the main menu, click on Tools ▶ Device Database...to open the "Device Database" dialog. 2. In the "Device database" dialog, click on the "Add devices" button. The "Install device description" file selection dialog opens: DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 151/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Device Database

Fig.20-2: Installing device descriptions

3. Select the desired device descriptions that you wish to install.

Make sure that the correct file type is listed in the "File type" selec‐ tion field. 4. Start the installation procedure by clicking on "Open". After the installation procedure is complete, a confirmation appears indi‐ cating that all device description files were imported. The imported devices appear below "Available devices" and are highlighted there: 152/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Device Database

Fig.20-3: Device descriptions installed

5. Confirm the "Install Device Descriptions" message with "OK". 6. Close the "Device database" dialog with "Close". The newly installed devices are also displayed in the library: DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 153/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Device Database

Fig.20-4: Imported device displayed in the library

20.2.3 Remove Devices To remove devices from IndraWorks, please carry out the following steps: 1. In the main menu, click on Tools ▶ Device Database...to open the "Device Database" dialog. 2. In the device tree, highlight the devices that you wish to remove. 3. Click on the "Remove devices" button. The "Confirm Device Removal" dialog opens:

Fig.20-5: Confirming Device Removal

4. Click"Yes" to remove the highlighted device. The device is removed from the device database and from the library.

5. Close the "Device database" dialog with "Close". 154/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Device Database

20.2.4 Update Device Database In rare cases it may happen that the library and the device database do not share the same status. In this case, the library can be updated. To update the library, please carry out the following steps: 1. In the main menu, click on Tools ▶ Device Database...to open the "Device Database" dialog. 2. Click on "Update" to start the procedure. The device library is tested for consistency.

3. After the test for consistency is complete, close the "Device database" dialog. The library was updated. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 155/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Mapping the Onboard, Inline and Field bus Inputs and Outputs 21 Mapping the Onboard, Inline and Field bus Inputs and Outputs These explanations apply equally to the following bus systems: OnBoard, Inline, Profibus DP, PROFINET IO, Ethernet/IP, SERCOS III IO.

The module (the onboard bus, if present) starts with the address "%IB0" or "%IW0" for the inputs and analog "%QB0" or "%QW0" for the outputs. The other modules follow accordingly, even if they already belong to the sub‐ sequent bus in the Project Explorer.

Fig.21-1: Address assignment beyond the bus limit

However, users can still assign the addresses as desired. Clicking in the respective address field allows the address for the current mod‐ ule to be edited. The others follow suit. An address modified in this way is identified by the white "M" on a blue back‐ ground. The other modules follow accordingly, even if they already belong to the sub‐ sequent bus in the Project Explorer.

Fig.21-2: Modified basic address

156/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Mapping the Onboard, Inline and Field bus Inputs and Outputs

With multiple mapping, there is a risk that the address ranges could overlap. This will only be recognized during coding. The error message contains only the second assigned position....

Fig.21-3: Mapping contains an error, addresses used more than once

I/O modules of the same type on the same respective slot in the same sequence are required for automatic address generation that yields the same assignment and therefore the connection of the correct inputs and outputs. Please check this carefully in case the control is switched.

Mapping local variables: ● Variables: This column displays the input or output module. The plus and minus symbols allow you to switch between bit and byte display. For each absolute address, a symbolic address can be assigned (double- click on the respective field). For Map to existing variable the complete path must be entered, i.e. . Example (figure below): Application.MotionProg.x_in_1, Application.MotionProg.x_in_2 or DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 157/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Mapping the Onboard, Inline and Field bus Inputs and Outputs

Application.MotionProg.x_out_1, Application.MotionProg.x_out_2. ● Mapping: The icon is displayed in the Mapping column. Then the address value is displayed with a strike through, i.e. the %Qx.x-/ or %Ix.x address. ● Type: Byte address are identified with "BYTE" and bit address with "BOOL". ● Current value: Physical status of the input/output. The status is displayed only in the di‐ agnostic mode for communication between IndraWorks and the control. ● Unit: Unit for the parameter value, e.g. "ms" for milliseconds. ● Description: Enter a comment regarding an address here.

Mapping global variables: ● Variables: This column displays the input or output module. The plus and minus symbols allow you to switch between bit and byte display. For each absolute address, a symbolic address can be assigned (double- click on the respective field). When mapping, only the name of the variable can be entered, i.e. . Example (figure below): x_in_3 or x_out_3, x_out_4. ● Mapping: The icon is displayed in the Mapping column. The variable is entered as VAR_GLOBAL in the "IoConfig_Globals_Map‐ ping" list. ● Type: Byte address are identified with "BYTE" and bit address with "BOOL". ● Current value: Physical status of the input/output. The status is displayed only in the di‐ agnostic mode for communication between IndraWorks and the control. ● Unit: Unit for the parameter value, e.g. "ms" for milliseconds. ● Description: Enter a comment regarding an address here.

158/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Mapping the Onboard, Inline and Field bus Inputs and Outputs

Fig.21-4: IO mapping, variable declaration and example program (offline)

The declaration section of the POU "MotionProg" contains ● the local POU variables, ● the variables that are to be mapped as inputs and outputs (without AT construction!).

If you declare a local variable of the same name, as with the global list the local variable will be used! Example: x_out_4. DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 159/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Mapping the Onboard, Inline and Field bus Inputs and Outputs

Fig.21-5: IO mapping, variable declaration and example program (online)

Always update variables: If this option is enabled, all variables are updated in each cycle of the bus cycle task, whether they are used or not no matter if they are mapped on an input or an output channel. 160/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 161/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Service and Support 22 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. 162/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 163/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Index Index A E Appropriate use ...EtherNet/IP adapter (engineering): Use cases ...... 7 Status tab ...... 110 Appropriate Use EtherNet/IP adapter modules Introduction ...... 7 Register, information ...... 111

B F Bus cycle task Features of the inline I/O...... 131 PROFIBUS DP Master ...... 44 Field bus mapping PROFIBUS DP Slave ...... 58 PROFINET IO ...... 91 PROFINET IO-Controller ...... 79 Field busses and field bus communication PROFINET IO-Device ...... 90 Overview ...... 21 Freeze mode PROFIBUS DP Master ...... 40 C PROFIBUS DP Master, slaves ...... 49 Communication and field busses PROFIBUS DP Slave ...... 56 Field bus features ...... 23 Functions in the PLC program PROFIBUS DP Master ...... 29 EtherNet/IP adapter ...... 106 PROFIBUS DP Slave ...... 33 EtherNet/IP adapter (engineering) ...... 106 PROFINET IO-Controller ...... 65 Inline I/O ...... 133 PROFINET IO-Device ...... 69 PROFIBUS DP Master ...... 30 Terms and abbreviations ...... 22 PROFIBUS DP Slave ...... 33 Communication and Field busses PROFINET IO-Device ...... 69 EtherNet/IP adapter ...... 105 Functions in the PLC Program Inline I/O modules ...... 131 Modbus TCP server ...... 115 Modbus TCP ...... 113 Functions in the PLC- program Modbus TCP server ...... 113 PROFINET IO-Controller ...... 66 Configuring onboard Funktions in the PLC program Overview ...... 145 SERCOS III IO ...... 117 Coupling between PROFIBUS DP Master and Slave control...... 63 G Group properties D PROFIBUS DP Master ...... 40 Device database PROFIBUS DP Slave ...... 56 Add devices ...... 150 Slaves ...... 49 Device database dialog ...... 149 Device database overview ...... 149 Managing the device database ...... 149 I Remove devices ...... 153 I/O mapping...... 155 Update device database ...... 154 EtherNet/IP adapter modules ...... 111 Diagnostics Global variables ...... 157 Inline I/O ...... 139 Local variables ...... 156 PROFINET IO ...... 97 PROFIBUS modules ...... 54, 62 SERCOS III IO ...... 125 SERCOS III modules ...... 128 Drive system...... 9 I/O Mapping Adrdess blocks ...... 155 IL_DPBaudrateGet...... 32 E IL_DPDeviceListGet...... 30 Electric drive system...... 9 IL_DPDevInfoGet...... 30 Error tables IL_DPIdent...... 31 PROFINET IO bus ...... 98 IL_DPPrjSlaveListGet...... 30 EtherNet/IP adapter (engineering) IL_DPReadDiag...... 30 General dialogs ...... 109 IL_DPSlaveDiagListGet...... 31 EtherNet/IP adapter (engineering): IL_DPSycFr...... 32 Register, information ...... 110 IL_DPV1Read...... 31 164/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Index

I M IL_DPV1Write...... 31 Mapping...... 155 IL_ENIPAdapterState...... 106 EtherNet/IP adapter modules ...... 111 IL_ENIPAdapterStateDetails...... 106 PROFIBUS modules ...... 54, 62 IL_InlineCfgDiagData...... 133 SERCOS III modules ...... 128 IL_InlineDiagCfgChk...... 133 Modify basic address IL_InlineDiagGlobalStatus...... 134 EtherNet/IP adapter modules ...... 111 IL_InlineDiagMasterBus...... 134 Inline modules ...... 142 IL_InlineDiagMasterFatal...... 134 Onboard IO ...... 146 IL_InlineDiagModulImage...... 134 PROFIBUS modules ...... 54, 62 IL_InlineDiagModulNext...... 135 SERCOS III modules ...... 128 IL_InlineDiagModulPosi...... 135 IL_ModbusTCPServer...... 115 IL_ModbusTCPServerType02...... 116 O IL_ParameterChannel...... 26 Onboard I/O IL_PBDPSlaveDPV1GetWriteData...... 26, 35 Register, information ...... 147 IL_PBDPSlaveDPV1Polling...... 25, 34 Register, status ...... 147 IL_PBDPSlaveDPV1Response...... 26, 35 Register onboard I/O I/O mapping ...... 146 IL_PCPRead...... 27, 135 IL_PCPWrite...... 27, 136 P IL_PNIOControllerState...... 66 PELV...... 14 IL_PNIOControllerStateDetails...... 66 PROFIBUS DP IL_PNIODeviceState...... 70 General dialogs ...... 37 IL_PNIODeviceStateDetails...... 70 PROFIBUS DP Master...... 38 IL_PNIOGetDeviceXMACState...... 70 PROFIBUS DP Master, adding modules to IL_PNIOReadRecord...... 67 the slave IL_PNIOWriteRecord...... 66 Register, DP module configuration ...... 54 IL_S3IO_GetStatus...... 118 Register, DP modules I/O mapping ...... 54 IL_SIIIElementsToIdn...... 118 Register, DP parameters ...... 53 IL_SIIISvcRead...... 118 Register, information ...... 55 IL_SIIISvcWrite...... 118 Register, status ...... 55 IL_SlaveMapListAddEntry...... 25 PROFIBUS DP Master, adding slaves IL_SlaveMapListInit...... 25 Register, information ...... 51 IL_Status...... 106 Register, status ...... 51 Improper use...... 8 Register for PROFIBUS DP configuration .... 51 Inappropriate Use PROFIBUS DP Master object Consequences, Exclusion of Liability ...... 7 DP parameter register ...... 40 Inline I/O object Register, information ...... 45 Register, information ...... 141 Register, status ...... 45 Register, inline I/O configuration ...... 137 Register for PROFIBUS DP Master con‐ Register, status ...... 139 figuration ...... 42 Inline IO diagnostics...... 139 Register for PROFIBUS DP Master I/O Inline modules mapping ...... 44 Adding inline modules ...... 141 PROFIBUS DP Master object Configuring inline modules ...... 141 Adding modules to the slave ...... 52 Register, information ...... 143 PROFIBUS DP Master object, adding slaves Register, inline module I/O mapping ...... 142 DP parameter register ...... 49 Register, status ...... 142 PROFIBUS DP Slave...... 55 Inline object and inline modules PROFIBUS DP Slave, adding modules General dialogs ...... 137 Register, DP module configuration ...... 61 Register, DP modules I/O mapping ...... 62 K Register, DP parameters ...... 61 Kommunikation und Feldbusse Register, information ...... 63 SERCOS III IO ...... 117 Register, status ...... 63 PROFIBUS DP Slave object DP parameter register ...... 56 Register, information ...... 59 DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 165/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

Index

P R ...PROFIBUS DP Slave object RIL_Inline.library...... 133 Register, status ...... 59 RT_CLASS_1 Register for PROFIBUS DP configuration .... 57 PROFINET IO ...... 87 Register for PROFIBUS DP I/O mapping ..... 58 PROFIBUS DP Slave object Adding modules to the slave ...... 60 S PROFINET Safety instructions for electric drives and con‐ Device description file ...... 71 trols...... 9 GSDML file ...... 71 Scanning devices PROFINET IO device editor ...... 71 PROFINET IO ...... 99 PROFINET IO modules ...... 93 SERCOS III IO...... 121 PROFINET IO Adding a slave ...... 121 Reload device description file ...... 101 Adding modules to the slave ...... 126 Scanning devices ...... 99 Modules ...... 126 User parameters ...... 86 Register, SERCOS III module ...... 127 PROFINET IO-Controller...... 74 SERCOS III-IO Adding a PLC coupling module ...... 80 Slave ...... 122 Address range for devices ...... 75 SERCOS III IO module MAC addresses ...... 75 Register, function groups ...... 127 PROFINET IO-Controller configuration ...... 77 Register, information ...... 128 Register, information ...... 80 Register, SERCOS III module configura‐ Register, parameters ...... 75 tion ...... 128 Register, status ...... 80 Register, SERCOS III modules I/O map‐ Register PROFINET IO-Controller I/O ping ...... 128 mapping ...... 79 SERCOS III IO slave Watchdog ...... 75 Register, information ...... 125 Watchdog control ...... 75 Register, SERCOS III configuration ...... 124 PROFINET IO-Device ...... 84 Register, SERCOS III slave ...... 123 Register, field bus mapping ...... 91 Register, status ...... 125 Register, information ...... 93 Support Register, PNIO configuration ...... 89 see Service Hotline ...... 161 Register, PNIO identification ...... 88 Symbol configuration Register, PNIO parameters ...... 85 Field bus mapping, PROFINET IO ...... 91 Register, status ...... 93 Sync mode Register PNIO I/O mapping ...... 90 PROFIBUS DP Master ...... 40 Watchdog ...... 85 PROFIBUS DP Master, slaves ...... 49 PROFINET IO modules PROFIBUS DP Slave ...... 56 Register, information ...... 97 Register, PNIO modules I/O mapping ...... 96 T Register, PNIO parameters ...... 95 Task Register, status ...... 96, 97 PROFIBUS DP Master ...... 44 PROFINET IO PLC coupling module...... 80 PROFIBUS DP Slave ...... 58 Register, information ...... 84 Transfer types Register, PNIO configuration ...... 83 Field bus master ...... 23 Register, PNIO identification ...... 82 Field bus slaves ...... 23 Register, PNIO parameters ...... 81 Register, status ...... 84 Watchdog ...... 81 U Protective extra-low voltage...... 14 User parameters PROFINET IO ...... 86 R Reloading a device description file...... 101 166/167 Bosch Rexroth AG DOK-IM*ML*-FB******V11-AP01-EN-P Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses DOK-IM*ML*-FB******V11-AP01-EN-P Bosch Rexroth AG 167/167 Rexroth IndraMotion MLC/MLP IndraLogic XLC 11VRS Field Busses

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/electrics

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