Rexroth Indraworks 13VRS Field Buses

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R911336872 Rexroth IndraWorks 13VRS Edition 03 Field Buses

Application Description Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Title Rexroth IndraWorks 13VRS Field Buses

Type of Documentation Application Description

Document Typecode DOK-IWORKS-FB******V12-AP03-EN-P

Internal File Reference RS-500e8a12a58967ec0a6846a500811a83-2-en-US-5

Change Record Edition Release Notes Date Edition 01 2012-06 First edition Edition 02 2013-10 Sercos diagnostics, EtherNet/IP scanner Edition 03 2014-08 Feature update, PROFINET IO; Scanning for devices

Copyright © Bosch Rexroth AG 2014 This document, as well as the data, specifications and other information set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be re‐ produced or given to third parties without its consent. Liability The specified data is intended for product description purposes only and shall not be deemed to be a guaranteed characteristic unless expressly stipulated in the contract. All rights are reserved with respect to the content of this docu‐ mentation and the availability of the product. Editorial Department DC-IA/EAY2 BAn, HBu (vha/MePe) DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG I/223 Rexroth IndraWorks 13VRS Field Buses

Table of Contents Table of Contents Page 1 About this Documentation...... 7 1.1 Validity of the Documentation...... 7 1.2 Documentation Structure...... 7 1.3 Using the Safety Instructions...... 8 1.3.1 Safety Instructions – Structure...... 8 1.3.2 Explaining Signal Words and Safety Alert Symbol...... 8 1.3.3 Symbols Used...... 9 1.4 Required and Supplementing Documentations...... 9 1.5 Names and Abbreviations...... 10

2 Field Buses and Field Bus Communication, Overview...... 13

3 Terms and Abbreviations...... 17

4 Field Bus Features...... 19 4.1 Field Bus Master Features...... 19 4.2 Field bus Slave Features...... 19

5 Transfer Types...... 21

6 Rexroth I/O Components...... 23 6.1 Rexroth I/O Components, General...... 23 6.2 Enabled I/O Components...... 23

7 Field Bus Support in the PLC User Program...... 25 7.1 Field Bus Support in the PLC User Program, Overview...... 25 7.2 Function Blocks for Field Bus Diagnostics...... 25 7.3 Function Blocks for Acyclic Data Transfer (on the Master Side)...... 31 7.4 Function Blocks for the Mapping Concept (on the Slave Side)...... 34 7.5 Function Blocks for User Program Access (on the Slave Side, only the PROFIBUS DP Slave)...... 34 7.6 Function Blocks for the Parameter Channel (on the Slave Side)...... 35 7.7 Function Blocks for Access to Data Objects via the PCB Channel...... 35 7.8 Function blocks to access Inline I/O modules...... 36

8 Profibus DP...... 45 8.1 Profibus DP Master...... 45 8.1.1 Terms and Abbreviations...... 45 8.1.2 Features of the Profibus DP Master...... 45 8.2 PROFIBUS DP Slave...... 46 8.2.1 Terms and Abbreviations...... 46 8.2.2 Features of the PROFIBUS DP Slave...... 46 8.3 Configuring PROFIBUS DP...... 46 II/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Table of Contents

Page 8.3.1 Configuring PROFIBUS DP, Overview...... 46 8.3.2 Configuring the PROFIBUS DP Master...... 49 Configuring the PROFIBUS DP Master, General Information...... 49 Tab "DP parameters"...... 50 Tab "PROFIBUS DP Master Configuration"...... 52 Tab "Field Bus Diagnostics"...... 53 Tab "PROFIBUS DP Master I/O Mapping"...... 55 Tab "Status"...... 55 Tab "Information"...... 56 8.3.3 PROFIBUS DP Master, Adding Slaves...... 56 PROFIBUS DP Master, Adding Slaves, General Information...... 56 Enabling / Disabling PROFIBUS DP Slaves...... 58 PROFIBUS DP, Slave Deactivation Using UserDefs.cfg...... 59 PROFIBUS DP master, configuring slaves...... 61 Tab "DP Parameters"...... 62 Tab "PROFIBUS DP Configuration"...... 64 Tab "Status"...... 64 Tab "Information"...... 64 8.3.4 PROFIBUS DP Master, Adding Modules to the Slave...... 64 PROFIBUS DP Master, Adding Modules to the Slave, General Information...... 64 Tab "DP Parameters"...... 66 Tab "DP Module Configuration"...... 66 Tab "DP Modules I/O Mapping"...... 67 Tab "Status"...... 68 Tab "Information"...... 68 8.3.5 Configuring the Control as a PROFIBUS DP Slave...... 68 Configuring the Control as a Slave, General...... 68 Tab "DP Parameters"...... 69 Tab "PROFIBUS DP I/O Mapping"...... 70 Tab "Field Bus Mapping"...... 71 Tab "PROFIBUS DP Configuration"...... 71 Tab "Status"...... 72 Tab "Information"...... 72 8.3.6 PROFIBUS DP Slave, Adding Coupling Modules...... 72 PROFIBUS DP Slave, Coupling Modules, General Information...... 72 Tab "DP Parameters"...... 74 Tab "DP Module Configuration"...... 74 Tab "DP Modules I/O Mapping"...... 75 Tab "Status"...... 75 Tab "Information"...... 75 8.3.7 PROFIBUS DP, Master-Slave Coupling...... 76

9 PROFINET IO...... 79 9.1 Profinet I/O Controller...... 79 9.1.1 Terms and Abbreviations...... 79 9.1.2 Features of the Profinet I/O Controller...... 79 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG III/223 Rexroth IndraWorks 13VRS Field Buses

Table of Contents

Page 9.2 Control as a PROFINET IO Device...... 80 9.2.1 Terms and Abbreviations...... 80 9.2.2 Features of the PROFINET IO Device...... 80 9.3 Configuring PROFINET IO...... 81 9.3.1 Configuring PROFINET IO, Overview ...... 81 9.3.2 Meaning of Device Names in case of PROFINET IO...... 86 9.3.3 Configuring PROFINET IO Controller...... 86 Configuring PROFINET IO Controller, General Information...... 86 Tab "PNIO Master Parameters" ...... 87 Tab "PROFINET IO Controller Configuration"...... 89 Tab "Field Bus Diagnostics"...... 91 Tab "PROFINET IO Controller I/O Mapping"...... 92 Tab "Status" ...... 93 Tab "Information" ...... 93 9.3.4 PROFINET IO Controller, Adding Devices...... 93 PROFINET IO Controller, Adding Devices, General Information...... 93 Devices to Connect I/O Modules...... 94 PROFINET IO Controller, Configuring Device...... 95 Tab "PNIO Parameters"...... 96 Tab "PNIO Identification"...... 97 Tab "PNIO Configuration"...... 98 Tab "Status"...... 99 Tab "Information"...... 99 9.3.5 PROFINET IO Controller, Adding Modules to the Device...... 99 PROFINET IO Controller, Adding Modules to the Device, General Information...... 99 Tab "PNIO Parameters"...... 100 Tab "PNIO Module Configuration" ...... 101 Tab "PNIO Module I/O Mapping"...... 101 Tab "Status" ...... 102 Tab "Information" ...... 102 9.3.6 Configuring Control as PROFINET IO Device ...... 102 Configuring Control as Device, General Information...... 102 Tab "PNIO Parameters"...... 103 Tab "PNIO Identification"...... 106 Tab "Field Bus Mapping" ...... 107 Tab "PNIO Configuration"...... 107 Tab "PNIO I/O Mapping"...... 108 Tab "Status" ...... 108 Tab "Information" ...... 111 9.3.7 PROFINET IO Device, Adding Coupling Modules...... 111 PROFINET IO Device, Coupling Modules, General Information...... 111 Tab "PNIO Parameters"...... 112 Tab "PNIO Module Configuration" ...... 113 Tab "PNIO Module I/O Mapping"...... 113 Tab "Status" ...... 114 Tab "Information" ...... 114 IV/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Table of Contents

Page 9.3.8 PROFINET IO Controller, Device Coupling...... 114 PROFINET IO, Controller-Device coupling, General Information...... 114 Tab "PNIO Parameters"...... 115 Tab "PNIO Identification"...... 117 Tab "PNIO Configuration"...... 118 Tab "Status" ...... 119 Tab "Information" ...... 119 9.4 PROFINET IO Controller; Scanning for Devices...... 119 9.4.1 Scanning for Devices ...... 119 9.4.2 Configuration Adjustment...... 122 9.5 PROFINET IO, Topology and Device Exchange...... 123 9.5.1 Topology and Device Exchange, General Information...... 123 9.5.2 Exchanging I/O Device...... 123 9.5.3 Device Exchange Procedure...... 124 9.5.4 Supporting Topology and Device Exchange Function using PLC...... 125

10 EtherNet/IP...... 129 10.1 EtherNet/IP, General Information...... 129 10.2 Ethernet/IP Scanner...... 129 10.2.1 Terms and Abbreviations...... 129 10.2.2 Features of the Ethernet/IP Scanner...... 129 10.3 Ethernet/IP Adapter...... 130 10.3.1 Terms and Abbreviations...... 130 10.3.2 Features of the Ethernet/IP Adapter...... 130 10.3.3 Features of the Ethernet/IP Adapter (Engineering Port)...... 134 10.4 Configuring EtherNet/IP...... 134 10.4.1 Configuring EtherNet/IP, Overview...... 134 10.4.2 Adding EtherNet/IP Scanner...... 135 10.4.3 Configuring EtherNet/IP Scanner...... 135 10.4.4 EtherNet/IP Scanner, Adding Adapter...... 138 EtherNet/IP Scanner, Adding Adapter, General Information...... 138 EtherNet/IP Scanner, Configuring Adapter...... 138 10.4.5 Configuring the Control as an Ethernet/IP Adapter (Onboard or FM)...... 141 Configuring the Ethernet/IP Adapter, Overview...... 141 Configuring the Ethernet/IP Adapter...... 142 Tab "Adapter-settings"...... 142 Tab "EthernetIP I/O Mapping"...... 144 Tab "Field Bus Mapping" ...... 145 Tab "EthernetIP Configuration"...... 145 Tab "Status" ...... 145 Tab "Information" ...... 145 10.4.6 Configuring the Control as an Ethernet/IP Adapter (Engineering Port)...... 145 Configuring the Ethernet/IP Adapter (Engineering), Overview...... 145 Tab "Status" of the Adapter...... 147 Tab "Information" of the Adapter...... 147 Tab "Ethernet/IP I/O Mapping" for the Modules...... 148 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG V/223 Rexroth IndraWorks 13VRS Field Buses

Table of Contents

Page Tab "Information" of the Modules...... 148 10.4.7 Ethernet/IP Scanner-Adapter-Coupling...... 148 10.4.8 The "Generic Device"...... 149 10.4.9 Tips and Tricks...... 150

11 sercos III IO ...... 153 11.1 Terms and Abbreviations...... 153 11.2 Features of the sercos III IO Master...... 153 11.3 Configuring sercos III...... 154 11.3.1 Configuring sercos III, Overview...... 154 11.3.2 sercos III Master, sercos Bus Diagnostics...... 154 11.3.3 sercos III Master, Cabling and Redundancy (Example IndraLogic XLC/ IndraMotion MLC)...... 159 11.3.4 sercos III Master, Adding Slave...... 162 sercos III Master; Adding Slave, General Information...... 162 Enabling / Disabling sercos Slaves...... 164 sercos, Slave Deactivation with UserDefs.cfg...... 164 Commissioning sercos IO Devices/Modules on the sercos Bus...... 166 sercos III Master, Configuring sercos III Slave...... 166 Tab "sercos III Slave" ...... 167 Tab "sercos III Configuration"...... 168 Tab "Status"...... 169 Tab "Information"...... 169 11.3.5 sercos III Master, Adding Modules to Slave...... 170 sercos III master; Adding Modules to Slave, General Information...... 170 Tab "sercos III Module" ...... 171 Tab "Function Groups"...... 171 Special Tab "User Parameter"...... 172 Tab "sercos III Module Configuration"...... 172 Tab "sercos III Modules I/O Mapping"...... 173 Tab "Information" ...... 173

12 Inline I/Os...... 175 12.1 Features of the Inline I/O...... 175 12.2 Configuring the Inline I/Os...... 175 12.2.1 Inline Object and Inline Modules, Overview...... 175 12.2.2 Inline I/O object...... 176 Register "Inline I/O Configuration"...... 176 Register "Status"...... 177 Register "Information"...... 179 12.2.3 Adding Inline Modules...... 179 12.2.4 Enabling / Disabling Inline Modules...... 179 12.2.5 INLINE, Module Deactivation Using UserDefs.cfg...... 180 12.2.6 Configuring Inline Modules...... 181 General...... 181 Register "Inline Module I/O Mapping" ...... 182 VI/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Table of Contents

Page Register "Status"...... 182 Register "Information"...... 182

13 Onboard I/Os...... 183 13.1 Configuring the Onboard I/Os...... 183 13.2 Tab "Onboard I/O I/O Mapping" ...... 184 13.3 Tab "Status"...... 184 13.4 Tab "Information"...... 185

14 Device Database...... 187 14.1 Device Database, Overview ...... 187 14.2 Managing Devices...... 187 14.2.1 Device Database, Dialog...... 187 14.2.2 Add Devices ...... 188 14.2.3 Remove Devices ...... 190

15 Mapping the Onboard, Inline and Field bus Inputs and Outputs...... 191

16 Field Bus Mapping, Field Bus Master Access to Variables of the Field Bus Slave.... 197

17 TCP/IP and UDP Communication via Field Bus Interface...... 201

18 PLC Controls Drives via a Field Bus Connection (Field Bus Axes)...... 205 18.1 General Information...... 205 18.2 Related Documentation for IndraDrive...... 205 18.3 Creating Field Bus Axes in the Project...... 206 18.4 Drive Settings for the PLC Communication...... 208 18.4.1 General Information...... 208 18.4.2 Establishing the Communication for Drive Parameterization...... 208 18.4.3 Communication Settings for IndraDrive...... 209 18.5 Including Required Libraries...... 210 18.6 Addressing Field Bus Drives in the PLC Project...... 212 18.6.1 AXIS_REF, Axis Addresses of the Field Bus Drives...... 212 18.6.2 AxisData[], Axis Data...... 214 18.7 I/O Addressing of the Drives in the PLC Project...... 214

19 Service and Support...... 217

Index...... 219 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 7/223 Rexroth IndraWorks 13VRS Field Buses

About this Documentation 1 About this Documentation 1.1 Validity of the Documentation Target group This documentation is intended for users to inform themselves about the available field buses of IndraLogic XLC, IndraMotion MLC or IndraMotion MTX. Required qualification: Individual who is able to assess the tasks assigned and identify possible safety risks owing to qualification in the subject, knowl‐ edge and experience. The individual should also be familiar with the stand‐ ards and regulations. Application phases This documentation supports the user during the following phases: ● Configuration of field bus components in IndraWorks ● Field bus application in the PLC user program

Mounting Product Selection Engineering Commissioning Operation Decommissioning phases (assembly/installation) Presales Aftersales

Design engineer Mechanic/ electrician Programmer Programmer Technologist Commissioning engineer Target Process Technologist groups specialist Process specialist Machine operator Maintenance Mechanic/ technician electrician Service Disposal company Select Unpack Parameterize Optimize Operate Dismount Prepare Mount Program Test Maintain Dispose Activities Design Install Configure Remove faults Construct Simulate Create the NC program

Fig. 1-1: Application phases 1.2 Documentation Structure The following is described ● Field bus properties – Terms and abbreviations – Field bus features – Transmission modes ● Support of the field buses in the PLC user program – PROFIBUS DP, master und slave, – PROFINET IO, controller und device, – EtherNet/IP, scanner, adapter and adapter via the Engineering in‐ terface, – sercos III I/O, master, – Inline I/O, – Onboard I/O. ● Field bus configuration: 8/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

About this Documentation

– Configuration of existing master and slave connections, – Configuration and parameterization of field devices, – Commissioning and diagnostics, ● Device database, installation of additional devices and uninstallation of devices that are not required ● Mapping the Onboard, Inline and field bus inputs and outputs 1.3 Using the Safety Instructions 1.3.1 Safety Instructions – Structure The safety instructions are structured as follows: Safety alert symbol Consequences and Signal word source of danger CAUTION Burns and chemical burns due to wrong battery treatment! Do not open the batteries and do not heat them over 80 °C.

Avoiding danger

Fig. 1-2: Safety instructions – Structure 1.3.2 Explaining Signal Words and Safety Alert Symbol The safety instructions in this documentation contain specific signal words (danger, warning, caution, notice) and, if necessary, a safety alert symbol (according to ANSI Z535.6-2006). The signal word is meant to draw the reader's attention to the safety instruc‐ tion and signifies the degree of danger. The safety alert symbol (a triangle with an exclamation point), which pre‐ cedes the signal words danger,warning and caution is used to alert the read‐ er 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 can occur.

CAUTION In case of non-compliance with this safety instruction, minor or moderate in‐ jury could occur. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 9/223 Rexroth IndraWorks 13VRS Field Buses

About this Documentation

NOTICE In case of non-compliance with this safety instruction, property damage could occur.

1.3.3 Symbols Used Notes are displayed as follows:

This is a note.

Tips are displayed as follows:

This is a tip.

1.4 Required and Supplementing Documentations The documents listed below contain additional information regarding this sub‐ ject.

Rexroth IndraWorks 13VRS IndraLogic 2G Programming System DOK-IWORKS-IL2GPRO*V13-APxx-EN-P, R911336876 This documentation describes the PLC programming tool IndraLogic 2G and its use. It includes the basic use, first steps, visualization, menu items and editors. Rexroth IndraWorks 13VRS Field Bus Libraries DOK-IWORKS-FB*LIB**V13-LIRS-EN-P, R911337857 This manual describes the field bus libraries: RIL_ProfibusDP_02, RIL_ProfibusDPSlave, RIL_ProfinetIO, RIL_ProfinetIO‐ Device, RIL_EtherNetIPAdapter, RIL_MappingList, RIL_SERCOSIII, RIL_Inline including their diagnostics and error reac‐ tions of the function blocks. Rexroth IndraWorks 13VRS Basic Libraries IndraLogic 2G DOK-IL*2G*-BASLIB**V13-LIxx-EN-P, R911336285 This documentation describes the system-comprehensive PLC libraries, including RIL_ModBusTCP and RIL_Profi‐ busDP_Util. Rexroth IndraLogic XLC IndraMotion MLC 13VRS PLCopen Libraries DOK-XLCMLC-FUNLIB**V13-LIxx-EN-P, R911336360 This documentation describes the function blocks, functions and data types of the RIL_CommonTypes, ML_Base, ML_PLCopen and RMB_PLCopenFieldBus libraries for the IndraLogic XLC/IndraMotion MLC. It also includes the error re‐ actions of function blocks.

Automation Terminals of the Rexroth Inline Product Range DOK-CONTRL-ILSYSINS***-AW01-EN-P, R911317021 This documentation describes the automation terminals of the Rexroth Inline product range. Rexroth Inline Bus Coupler for sercos III with Digital Inputs and Outputs R-IB IL S3 BK DI8 DO4-PAC DOK-CONTRL-ILS3BKDI8DO-KB02-EN-P, R911170560 This documentation describes a bus coupler for use in a sercos III network. The bus coupler is the connection to the Inline installation system. 10/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

About this Documentation

Rexroth Inline Bus Coupler for PROFIBUS-DP with Digital Inputs and Outputs R-IL PB BK DI8 DO4-PAC DOK-CONTRL-ILPBBKDI8DO-AW02-EN-P, R911170476 This documentation describes a bus coupler used for PROFIBUS DP networks. The bus coupler is the connection to the Inline installation system. Rexroth Inline Bus Coupler for PROFINET I/O with Digital Inputs and Outputs R-IL PN BK DI8 DO4-PAC DOK-CONTRL-ILPNBKDIO**-DAxx-EN-P, R911328682 This documentation describes a bus coupler used for PROFINET I/O networks. The bus coupler is the connection to the Inline installation system.

Rexroth IndraControl S67 PROFIBUS Bus Coupler with 8 Digital Inputs 24 V DC (8 x M8) DOK-CONTRL-S67PBBKDI8*-AP01-EN-P, R911329566 Rexroth IndraControl S67 Ethernet/IP / Modbus TCP Bus Coupler with 8 Digital Inputs 24 V DC (8 x M8) DOK-CONTRL-S67ETBKDI8*-AP01-EN-P, R911329564 Rexroth IndraControl S67 PROFINET Bus Coupler with 8 Digital Inputs 24 V DC (8 x M8) DOK-CONTRL-S67PNBKDI8*-AP01-EN-P, R911329568 Rexroth IndraControl S67 Sercos III Bus Coupler with 8 Digital Inputs 24 V DC (8 x M8) DOK-CONTRL-S67S3BKDI8*-APRS-EN-P, R911338401

Rexroth IndraControl S20 Bus Coupler for PROFINET I/O Connection, Extandable with S20 Modules DOK-CONTRL-S20*PN*BK**-DARS-EN-P, R911335968 Rexroth IndraControl S20 Bus Coupler for Sercos III Connection, Extandable with S20 Modules DOK-CONTRL-S20*S3*BK**-DARS-EN-P, R911335970

1.5 Names and Abbreviations

Bus coupler

Field bus connection (slave, device, adapter), Compact ● For compact slaves, the module structure is specified. The modules below the "Slave" object node are already present. No more modules are available in the library Modular ● The module structure of the slave is variable. The modules (terminals) can be arranged individually, although according to the device place‐ ment specifications.

ENIP

EtherNet/IP

Module, Terminal

Smallest I/O unit to assemble a field bus connection and/or the Inline bus. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 11/223 Rexroth IndraWorks 13VRS Field Buses

About this Documentation

PNIO

PROFINET IO 12/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 13/223 Rexroth IndraWorks 13VRS Field Buses

Field Buses and Field Bus Communication, Overview 2 Field Buses and Field Bus Communication, Overview As platforms for the IndraLogic XLC, IndraMotion MLC and IndraMotion MTX systems, the IndraControl L25, L45 and L65 controls offer various interfaces for connecting I/O components and field bus devices. The use of the interfa‐ ces can be specified during configuration via the IndraWorks Engineering.

Fig. 2-1: IndraControl L45/65 with field bus and IO coupling

No. Function Description

1, 2 Function modules Up to four extension modules (up to two with IndraControl L25) can be connec‐ ted to the left side of the IndraControl L using the function module plug connec‐ ted there (1) CrossComm sercos III (CFL01.1-R3) function module ● sercos III cross communication (2) Function module RT-Ethernet/Profibus DP (CFL01.1-TP) ● Profinet IO controller or device, Ethernet/IP scanner or adapter ● Profibus DP master or slave 3 Display with operating keys Integral display with operating keys to display diagnostic and status information and operate and parameterize the control. Among other functions, the display can be used to make Ethernet settings for the Ethernet interface. 4 Real time- Ethernet interfa‐ Field bus port for Ethernet-based bus systems ces X7E3/X7E4 * ● Profinet IO controller or device ● EthernetI/P scanner or adapter 5 Ethernet interfaces X7E1/ Ethernet interfaces for connection of the sercos III drives and I/Os X7E2 ** 6 Onboard I/O * Eight digital inputs and eight digital outputs. The onboard inputs can be used as interrupt inputs 7 Power supply 24 V power supply for the IndraControl L and any connected Inline and function modules 14/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Buses and Field Bus Communication, Overview

No. Function Description 8 Ethernet interface X7E5 Standard Ethernet interface for a TCP/IP network. This interface can be used for the following functions: Standard Ethernet interface for a TCP/IP network with the following possible functions: ● Programming and visualization unit interface ● Ethernet/IP adapter (Engineering) Note: This interface is named X7E3 on the IndraControl L25 9 Ready contact X2R Ready contact to connect the IndraControl L to the E-Stop loop of the system 10 Slot for Compact Flash card This slot accepts the memory card with the IndraLogic XLC/ IndraMotion MLC/ IndraMotion MTX firmware. User data and programs are also stored on this card. The control cannot be operated without Compact Flash card. 11 Profibus DP interface X7P * Field bus interface for PROFIBUS DP. The interface can be configured using the application either as master or slave. 12 Rexroth Inline I/O The I/O area of the IndraControl L can be extended up to 64 bytes of inputs/ outputs (512 I/O) by adding more Rexroth Inline I/O modules. A maximum of 63 Rexroth Inline terminals can be connected. For more information on the connection of Rexroth Inline terminals, refer to the documentation"Automation Terminals of the Rexroth Inline Product Family", DOKCONTRL- ILSYSINS***-AWxx-EN-P, R911317021. xx - Edition * Optional for IndraControl L25 ** only IndraControl L with sercos III Tab. 2-1: Ports and operating elements on the IndraControl Lxx This is a brief introduction to the functionalities of field bus communication and other varieties of communication (e.g. Ethernet communication). The re‐ spective functionality consists of the following properties: ● Cyclic data traffic ● Acyclic data traffic ● Representation in the IndraWorks user interface (configuration, diagnos‐ tics, ...) ● Implementation of the PLC (function blocks and functions for diagnostics or acyclic communication) The properties are described for each field bus and/or communication. Overview The following topics will be treated: ● Profibus DP Master on page 45 A PROFIBUS DP master can be activated on the onboard interface or on a connected function module (CFL01.1-TP). ● PROFIBUS DP Slave on page 46 A PROFIBUS DP slave can be activated on the onboard interface or on a connected function module (CFL01.1-TP). ● Profinet I/O Controller on page 79 A PROFINET IO controller can be activated on the onboard interface or on a connected function module (CFL01.1-TP). ● Control as a PROFINET IO Device on page 80 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 15/223 Rexroth IndraWorks 13VRS Field Buses

Field Buses and Field Bus Communication, Overview

A PROFINET IO device can be activated on the onboard interface or on a connected function module (CFL01.1-TP). ● Ethernet/IP Scanner on page 129 An Ethernet/IP scanner can be activated on the onboard interface or on a connection function module (CFL01.1-TP). ● Ethernet/IP Adapter on page 130 An Ethernet/IP adapter can be activated on the onboard interface, on a connection function module (CFL01.1-TP) or on the engineering inter‐ face. ● sercos III IO on page 153 A sercos III master interface for I/Os or field devices is only available via the onboard sercos III interface ● Inline I/Os on page 175 Inline I/O modules can be connected to the right side of the control on the Inline bus. ● Onboard I/O on page 183 The onboard I/O modules are a direct component of the control. 16/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 17/223 Rexroth IndraWorks 13VRS Field Buses

Terms and Abbreviations 3 Terms and Abbreviations The following table shows the field bus-dependent terms for the master and slave interfaces of the field busses: Terms for field bus interfaces

Field bus Master interface Slave interface

PROFIBUS DP 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 DP/V0 DP/V1 PROFINET IO RTC (real-time cyclic) RTA (real-time acyclic) EtherNet/IP Implicit messaging (polled I/O) Explicit messaging Service channel + IP chan‐ sercos III Cyclic data nel

The local Inline bus at the control is a special feature. It is comparable with a field bus master with one field bus slave to which I/O modules can be con‐ nected.

Device description files The device description file describes the properties of the field bus device. This file contains all data significant for the engineering as well as data ex‐ change with the I/O device. The following file formats are specified for the dif‐ ferent field buses:

GSD file

This is the device description used to introduce the PROFIBUS DP slaves to

IndraWorks or another Engineering system.

GSDML file

This is the device description used to introduce the PROFINET IO to

IndraWorks or another Engineering system.

EDS file

This is the device description used to introduce the EtherNet/IP adapter to

IndraWorks or another Engineering system (EDS: Electronic Data Sheet).

SDDML file

This is the device description used to introduce the sercos III slaves to IndraWorks or another Engineering system according to an I/O profile (SDDML: sercos Device Description Markup Language). 18/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 19/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Features 4 Field Bus Features 4.1 Field Bus Master Features Features of the field bus master interfaces

PROFIBUS PROFINET EtherNet/IP sercos III Inline DP master IO Controller scanner master

Max. number of devices 125 25 / 128 1 64 2 1284 64 modules

Max. number of cyclic input data of the master 3584 bytes 5712 bytes 4096 bytes 1500 bytes 128 bytes5

Max. number of cyclic output data of the master 3584 bytes 5760 bytes 4096 bytes 1500 bytes 128 bytes5

Max. number of cyclic input data per slave 244 bytes 1440 bytes 480 bytes3 1500 bytes --

Max. number of cyclic output data per slave 244 bytes 1440 bytes 480 bytes3 1500 bytes -- Max. telegram data per acyclic telegram 240 bytes 1392 bytes 450 bytes 1500 bytes -- 1 25 at a cycle time < 4 ms, 128 at a cycle time >= 4 ms 2 If only one connection is set up for each adapter, 64 adapters are possible. Multiple connections to one adapter can also be set up. The maximum number of adapters reduces accordingly. 3 per connection. Multiple connection per adapter are possible 4 128 I/O resources are supported by the driver. This number is reduced with regard to the control hardware by individual sys‐ tem interfaces. 5 Inputs, outputs and PCP channel summed up 4.2 Field bus Slave Features Features of the field bus slave interfaces

EtherNet/IP PROFIBUS DP PROFINET IO EtherNet/IP adapter slave device adapter (Engineering)

Max. number of cyclic input data of the slave 244 bytes 1024 bytes 480 bytes 128 bytes 128 bytes + Max. number of cyclic output data of the slave 244 bytes 1024 bytes 480 bytes 4 bytes header Consistency of the cyclic data 128 bytes 128 bytes 128 bytes 128 bytes Max. telegram data per acyclic telegram 240 bytes 1392 bytes 450 bytes 20/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 21/223 Rexroth IndraWorks 13VRS Field Buses

Transfer Types 5 Transfer Types The transfer types can be divided into the following categories: ● Cyclic transfer channel ● Acyclic transfer channel

Fig. 5-1: Overview of the transfer types for the field bus master

Fig. 5-2: 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 ele‐ ment SE (8 bits), Structure instance SI (8 bits) 22/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 23/223 Rexroth IndraWorks 13VRS Field Buses

Rexroth I/O Components 6 Rexroth I/O Components 6.1 Rexroth I/O Components, General Rexroth provides various I/O systems consisting of field bus connections and I/O modules as an interface to the process periphery. The field bus parameters can be divided into 2 categories: ● Compact The module structure is specified, i.e. no further I/O modules can be added below the slave object node. ● Modular The module structure of the slave is variable, i.e. various I/O modules (terminals) can be arranged individually below the slave object node - but according to the device placement specifications. 6.2 Enabled I/O Components The following I/O components enabled by Rexroth are contained in the "Pe‐ riphery" device library after IndraWorks is installed. Inline IP20 I/O system, consisting of ● Compact field bus devices (Inline block I/O) – R-ILB * ● Modular bus couplers – R-IL xx BK * ● Inline I/O modules – R-IB IL * The Inline I/O modules can be connected to either the modular Inline bus couplers or directly to the IndraControl L series controls. For more information on the Inline I/O system, refer to: DOK-CONTRL-ILSYSINS***-AW01-EN-P, R911317017, and the documentation for the individual field bus connections and I/O mod‐ ules. Fieldline IP65/67 I/O system, consisting of ● Compact field bus devices – RF-FLS * ● Modular bus couplers – RF-FLM BK * ● Fieldline I/O modules – PD-PCB * – RF-FLM * The Fieldline I/O modules can be connected to the modular bus couplers. For more information on the Fieldline I/O system, refer to: DOK-CONTRL-FLSIBSYSPRO-AW01-EN-P, R911317946, and the documentation for the individual field bus connections and I/O mod‐ ules. 24/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Rexroth I/O Components

IndraControl S67 IP67 I/O system, consisting of ● Modular bus coupler – S67-xx-BK-* ● S67 I/O modules – S67 * The S67 I/O modules can be connected to the modular S67 bus couplers. For more information on the IndraControl S67 I/O system, refer to: DOK-CONTRL-S67SYSINS**-AP01-EN-P, R911329571, and the documentation for the individual field bus connections and I/O mod‐ ules. IndraControl S20 Fast IP20 I/O system, consisting of ● Modular bus coupler – S20-xx-BK ● S20 I/O modules – S20 * The S20 I/O modules can be connected to the S20 modular bus coupler. For more information on the IndraControl S20 I/O system, refer to: DOK-CONTRL-S20*SYS*INS-AP01-EN-P, R911335987, and the documentation for the individual field bus connections and I/O mod‐ ules. Availability of the field bus connections arranged by field buses:

Profibus DP PROFINET IO Ethernet/IP sercos III

Inline block I/O: R-ILB xx 24 DI16 DO16 Available - - - Inline block I/O: R-ILB xx 24 DI16 DIO16 - - - Available Inline block I/O: R-ILB xx AI12AO4 SSI-IN4 - - - Available Inline block I/O: R-ILB xx AI4 AO2 - - - Available Inline BK modular: R-IL xx BK DI8 DO4 Available Available - Available Inline BK modular: R-IL xx BK DI8 DO4/CN Available - - - Inline BK modular: R-IL xx BK DP/V1 (DIP8=OFF) Available - - - Inline BK modular: R-IL xx BK DP/V1 (DIP8=ON) Available - - - Fieldline compact: RF-FLS xx M12 DIO4/4 M12-2A Available - - - Fieldline compact: RF-FLS xx M12 DI8 M12 Available - - - Fieldline compact: RF-FLS xx M12 DO8 M12-2A Available - - - Fieldline compact: RF-FLS xx M12 DIO 8/8 M12 Available - - - Fieldline modular: RF-FLM BK xx M12 DI 8 M12 Available - - - S67 BK modular: S67-xx-BK-DI8-M8 Available Available Available Available S20 BK modular: S20-xx-BK-DI8-M8 - Available - Available DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 25/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program 7 Field Bus Support in the PLC User Program 7.1 Field Bus Support in the PLC User Program, Overview To support the field bus communication in the PLC user program, function li‐ braries are available for the different field buses.

Master Slave

Profibus DP RIL_ProfibusDP_02.library RIL_ProfibusDPSlave.library PROFINET IO RIL_ProfinetIO.library RIL_ProfinetIODevice.library Ethernet/IP RIL_EtherNetIP.library RIL_EtherNetIPAdapter.library Sercos III RIL_SercosIII.library Inline IO RIL_Inline.library RIL_InlineIOModules.library

Tab. 7-1: Available field bus libraries

The function blocks in the libraries can be classified as follows: 1. Function Blocks for Field Bus Diagnostics on page 25 2. Function Blocks for Acyclic Data Transfer (on the Master Side) on page 31 3. Function Blocks for the Mapping Concept (on the Slave Side) on page 34 4. Function Blocks for User Program Access (on the Slave Side, only the PROFIBUS DP Slave) on page 34 5. Function Blocks for the Parameter Channel (on the Slave Side) on page 35 6. Function Blocks for Access to Data Objects via the PCB Channel on page 35 7. Function blocks to access Inline I/O modules on page 36 For the mode of operation and the handling of the individual function blocks, refer to the manual Rexroth IndraWorks 13VRS Field Bus Libraries DOK-IWORKS-FB*LIB**V13-LIRS-EN-P, R911337857. An overview on the available function blocks is provided in the following. 7.2 Function Blocks for Field Bus Diagnostics PROFIBUS DP master The RIL_ProfibusDP_02 library contains the following function blocks for di‐ agnostic purposes ● IL_DPMasterState determines the state of a local bus master as well as of the configured slaves,

Fig. 7-1: IL_DPMasterState 26/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

● IL_DPDeviceListGet establishes a list of the currently available PROFIBUS DP masters.

Fig. 7-2: IL_DPDeviceListGet ● IL_DPDevInfoGet retrieves information about the operating state of the affected PROFIBUS DP device.

Fig. 7-3: IL_DPDevInfoGet ● IL_DPPrjSlaveListGet returns a list of configured slaves. The list con‐ tains all of the slaves contained in the master configuration file.

Fig. 7-4: IL_DPPrjSlaveListGet ● IL_DPBaudrateGet determines the baud rate of the connected field bus.

Fig. 7-5: IL_DPBaudrateGet ● IL_DPGetCFG determines the configuration of one of the slaves speci‐ fied by ID.

Fig. 7-6: IL_DPGetCFG ● IL_DPIdent combines an Ident handle from the individual components.

Fig. 7-7: IL_DPIdent DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 27/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

● IL_DPSlaveDiagListGet establishes a lit of the slaves, reporting a diag‐ nostics.

Fig. 7-8: IL_DPSlaveDiagListGet ● IL_DPReadDiag reads the diagnostic data of a slave from the PROFIBUS DP master (DPM1).

Fig. 7-9: IL_DPReadDiag PROFIBUS DP slave ### in preparation ### PROFINET IO controller The RIL_ProfinetIO library contains the following function blocks for diagnos‐ tic purposes: ● IL_PNIOControllerState for determining the basic state.

Fig. 7-10: IL_PNIOControllerState ● IL_PNIOControllerStateDetails for determining the state of the PROFINET stacks.

Fig. 7-11: IL_PNIOControllerStateDetails ● IL_PNIOGetConfigDeviceNameList reads the names of all configured PROFINETIO devices.

Fig. 7-12: IL_PNIOGetConfigDeviceNameList 28/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

● IL_PNIOGetDiagDeviceNameList reads the names of all PROFINETIO devices that deliver a diagnostic message.

Fig. 7-13: IL_PNIOGetDiagDeviceNameList

The library contains the following function blocks for remote diagnostic purpo‐ ses: ● IL_PNIORemoteDeviceState for determining the basic state of any de‐ vice.

Fig. 7-14: IL_PNIORemoteDeviceState ● IL_PNIORemoteDeviceStateDetails, for determining the state of any de‐ vice.

Fig. 7-15: IL_PNIORemoteDeviceStateDetails PROFINET IO-Device The RIL_ProfinetIODevice library contains the following diagnostic function blocks: ● IL_PNIODeviceState for determining the state of a PROFINET device.

Fig. 7-16: IL_PNIODeviceState DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 29/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

● IL_PNIODeviceStateDetails for determining the state of the PROFINET device stack.

Fig. 7-17: IL_PNIODeviceStateDetails ● IL_PNIODeviceStateDetailsXMAC, state of the PROFINET 2-port switch

Fig. 7-18: IL_PNIODeviceStateDetailsXMAC sercos III (master) ### in preparation ### Ethernet/IP scanner The RIL_EtherNetIP library includes the following function blocks for the Ethernet/IP scanner via the onboard or function module interface: ● reads the basic diagnostics of the Ethernet/IP scanner.

Fig. 7-19: IL_ENIPScannerState ● reads the detailed diagnostics of the Ethernet/IP scanner.

Fig. 7-20: IL_ENIPScannerStateDetails ● reads the basic diagnostics of the Ethernet/IP adapter at the scanner.

Fig. 7-21: IL_ENIPRemoteAdapterState Ethernet/IP adapter The RIL_EtherNetIPAdapter library includes the following function blocks for the Ethernet/IP adapter via the onboard or function module interface: ● IL_ENIPAdapterState, diagnostics: basic adapter state. 30/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-22: IL_ENIPAdapterState ● IL_ENIPAdapterStateDetails, diagnostics: detailed status of the Ethernet/IP stack of the adapter.

Fig. 7-23: IL_ENIPAdapterStateDetails

Ethernet/IP adapter at the Engi‐ The RIL_EtherNetIPAdapter library includes the following function block for neering interface the Ethernet/IP adapter via the Engineering interface: ● IL_Status, basic diagnostic message of the Ethernet/IP adapter at the Engineering interface.

Fig. 7-24: IL_Status Inline The RIL_Inline.library library contains the following function blocks for Inline bus diagnostics: ● IL_INLNState outputs the state of the local Inline IO.

Fig. 7-25: IL_INLNState ● IL_INLNStateDetails, outputs the detailed Inline IO diagnostics to allow finding the location and cause of the error. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 31/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-26: IL_INLNStateDetails ● IL_INLNModuleConfigList, determines the configured module equipment and the existing one.

Fig. 7-27: IL_INLNModuleConfigList ● IL_INLNReadCounter, determines the Inline cycle counters.

Fig. 7-28: IL_INLNReadCounter ● IL_INLNClearCounter, resets the Inline cycle counters.

Fig. 7-29: IL_INLNClearCounter 7.3 Function Blocks for Acyclic Data Transfer (on the Master Side) PROFIBUS DP master The RIL_ProfibusDP_02 library contains the following function blocks for acy‐ clic data transmission: ● IL_DPV1Read, reading V1 service 32/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-30: IL_DPV1Read ● IL_DPV1Write, writing V1 service

Fig. 7-31: IL_DPV1Write ● IL_DPSycFr, outputs control commands to synchronize inputs and out‐ puts

Fig. 7-32: PROFINET IO controller The RIL_ProfinetIO library contains the following function blocks for acyclic data transmission: ● IL_PNIOWriteRecord, acyclic writing, and

Fig. 7-33: IL_PNIOWriteRecord and ● IL_PNIOReadRecord, acyclic reading DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 33/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-34: IL_PNIOReadRecord Ethernet IP scanner The RIL_EthernetIP library contains the following function blocks for acyclic communication: ● IL_ENIPSetAttributeSingle, for writing a single attribute of a connected Ethernet/IP adapter

Fig. 7-35: IL_ENIPSetAttributeSingle ● IL_ENIPGetAttributeSingle, for reading a single attribute of a connected Ethernet/IP adapter

Fig. 7-36: IL_ENIPGetAttributeSingle sercos III (master) The RIL_SERCOSIII library contains the following function blocks for imple‐ menting the acyclic services (AcyclicCommunication): ● IL_SIIISvcWrite, writing a parameter via the sercos III service channel

Fig. 7-37: IL_SIIISvcWrite ● IL_SIIISvcRead, reading a parameter via the sercos III service channel. 34/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-38: IL_SIIISvcRead 7.4 Function Blocks for the Mapping Concept (on the Slave Side) To allow acyclic access to field bus slave data (PROFIBUS DP slave, PROFINET IO device and EtherNet/IP adapter), a mapping table has to be created in the field bus slave. A mapping to data objects of the control is stored in this mapping table to al‐ low bus-specific acyclic field bus access. This mapping (= addressing) rule is executed when an acyclic field bus ac‐ cess is made. The library RIL_MappingList contains the following function blocks for editing the mapping table: ● IL_SlaveMapListInit, initializes and deletes the mapping table.

Fig. 7-39: IL_SlaveMapListInit ● IL_SlaveMapListAddEntry, adds an entry to the mapping table.

Fig. 7-40: IL_SlaveMapListAddEntry 7.5 Function Blocks for User Program Access (on the Slave Side, only the PROFIBUS DP Slave) The functionality implements the acyclic READ and WRITE DPV1 services for Profibus DP Slaves. This allows access to data objects at slave applica‐ tion level. The RIL_ProfibusDPSlave library contains the following function blocks: ● IL_PBDPSlaveDPV1Polling, the polling FB is used to query the activity of a DPV1 service request. The call is made cyclically. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 35/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-41: IL_PBDPSlaveDPV1Polling ● IL_PBDPSlaveDPV1Response, the response FB is used to respond to an active DPV1 service request. The call is made in relation to the result of the polling FB.

Fig. 7-42: IL_PBDPSlaveDPV1Response ● IL_PBDPSlaveDPV1GetWriteData, GetWriteData is used to copy the data of a DPV1 WRITE service request to the application object.

Fig. 7-43: IL_PBDPSlaveDPV1GetWriteData 7.6 Function Blocks for the Parameter Channel (on the Slave Side) Using its function block IL_ParameterChannel, the RIL_ParameterChannel li‐ brary allows acyclic communication via the cyclic channel of a field bus con‐ nection. 7.7 Function Blocks for Access to Data Objects via the PCB Channel The RIL_Inline implements the access to data objects via the PCB channel for Inline modules. ● IL_INLNPCPRead, reading PCB service, 36/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-44: IL_INLNPCPRead ● IL_INLNPCPWrite, writing PCB service.

Fig. 7-45: IL_PCPWrite 7.8 Function blocks to access Inline I/O modules The RIL_InlineIOModules library describes the access options of the IEC pro‐ gram on Inline I/O modules. The library supports: ● Analog input terminals on page 36 ● Analog output terminals on page 39 ● Function terminals on page 40 ● Communication Modules on page 43 Analog input terminals

Analog input terminals Parts number Function block

Data sheet R-IB IL AI 2/SF-PAC R911170606 Rexroth Inline Terminal with Two Analog Input Terminal Channels R911170784 IL_AI2Sf Data sheet R-IB IL AI 2/SF-230-PAC R911170522 Rexroth Inline Terminal with Two Analog Input Terminal Channels R911170425 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 37/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-46: IL_AI2Sf

Analog input terminals Parts number Function block

Data sheet R-IB IL AI 4/EF-PAC R911170542 Rexroth Inline Terminal with Four Analog Differ‐ IL_AI4Ef Terminal ential Input Channels R911170426

Fig. 7-47: IL_AI4Ef

Analog input terminals Parts number Function block

Data sheet R-IB IL AI 4/U-PAC R911336655 Rexroth Inline terminals with four inputs to con‐ Terminal nect voltage signals R911172894 IL_AI4IU Data sheet R-IB IL AI 4/I-PAC R911336657 Rexroth Inline Terminal with Four Inputs to Con‐ Terminal nect Current Signals R911172895

Fig. 7-48: IL_AI4IU 38/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Analog input terminals Parts number Function block

Data sheet R-IB IL AI 8/SF-PAC R911170484 Rexroth Inline Terminal with Eight Analog Input Terminal Channels R911308493 IL_AI8SfIs Data sheet R-IB IL AI 8/IS-PAC R911170486 Rexroth Inline Terminal with Eight Analog Input Terminal Channels R911308494

Fig. 7-49: IL_AI8SfIs

Analog input terminals Parts number Function block

Data sheet R-IB IL SGI 2/F-PAC R911170582 IL_Sgi2f Rexroth Inline Terminal with Two Analog Inputs Terminal IL_Sgi2fOffset for Strain Gauges R911170432

Fig. 7-50: IL_Sgi2f

Fig. 7-51: IL_Sgi2fOffset

Analog input terminals Parts number Function block

Data sheet R-IB IL TEMP 2 RTD-PAC R911170604 Rexroth Inline Terminal with Two Inputs for IL_Temp2Rtd Terminal Temperature Sensors R911170785 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 39/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-52: IL_Temp2Rtd

Analog input terminals Parts number Function block

Data sheet R-IB IL TEMP 2 UTH-PAC R911170518 Rexroth Inline Terminal with Two Inputs for IL_Temp2Uth Terminal Thermocouples R911170431

Fig. 7-53: IL_Temp2Uth

Analog input terminals Parts number Function block

Data sheet R-IB IL TEMP 4/8 RTD-PAC R911170514 Rexroth Inline Terminal with Eight Resistive IL_Temp4_8Rtd Terminal Temperature Sensor Inputs R911170428

Fig. 7-54: IL_Temp4_8Rtd Analog output terminals

Analog output terminals Parts number Function block

Data sheet R-IB IL AO 1/SF-PAC R911170602 IL_AO1Sf Rexroth Inline Terminal with One Analog Output Terminal R911170787 40/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-55: IL_AO1Sf

Analog output terminals Parts number Function block

Data sheet R-IB IL AO 2/SF-PAC R911170520 Rexroth Inline Terminal with Two Analog Out‐ Terminal puts R911170436 IL_AO2SfBp Data sheet R-IB IL AO 2/U/BP-PAC Terminal R911170786

Fig. 7-56: IL_AO2SfBp Function terminals

Function terminals Parts number Function block

Data sheet IL_CntCount R-IB IL CNT-PAC R911170546 IL_CntFrequency Rexroth Inline Power Terminal Terminal IL_CntPulse R911170788 IL_CntTime

Fig. 7-57: IL_CntCount DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 41/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-58: IL_CntFrequency

Fig. 7-59: IL_CntPulse

Fig. 7-60: IL_CntTime

Function terminals Parts number Function block

R-IB IL PWM/2-PAC Data sheet IL_Pwm2Frequency Rexroth Inline Terminal for Pulse Width and R911170576 IL_Pwm2Pwm Frequency Modulation Terminal IL_Pwm2PulseDirection IL PWM 2/CC-3A R911170444 IL_Pwm2SinglePulse

Fig. 7-61: IL_Pwm2Frequency

Fig. 7-62: IL_Pwm2Pwm 42/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Fig. 7-63: IL_Pwm2PulseDirection

Fig. 7-64: IL_Pwm2SinglePulse

Function terminals Parts number Function block

Data sheet R-IB IL SSI-PAC R911318641 Rexroth Positioning Terminal for Absolute En‐ IL_Ssi Terminal coders R911308594

Fig. 7-65: IL_Ssi

Function terminals Parts number Function block

Data sheet R-IB IL SSI-IN-PAC R911170584 Rexroth Inline Terminal for Absolute Encoders IL_SsiIn Terminal with SSI Interfaces R911171514

Fig. 7-66: IL_SsiIn DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 43/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Support in the PLC User Program

Function terminals Parts number Function block

Data sheet R-IB IL INC-IN-PAC R911170488 Rexroth Inline Terminal for Incremental Encod‐ IL_IncIn Terminal ers R911308491

Fig. 7-67: IL_IncIn Communication Modules

Communication Modules Parts number Function block

Data sheet R-IB IL RS232-PRO-PAC R911170480 Rexroth Inline Terminal for Serial Data Trans‐ Terminal mission R911170440 Data sheet R-IB IL RS485/422-PRO-PAC R911170482 Rexroth Inline Terminal for Serial Data Trans‐ IL_RsCom Terminal mission R911170442 R-IB IL RS UNI-PAC Data sheet Rexroth Inline Terminal for Serial Data Trans‐ R911338451 mission Terminal One serial input and output channel in RS-485/422 or RS-232 design R911173635

Fig. 7-68: IL_RsCom 44/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 45/223 Rexroth IndraWorks 13VRS Field Buses

Profibus DP 8 Profibus DP 8.1 Profibus DP Master 8.1.1 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. 8.1.2 Features of the Profibus DP Master The current implementation of the Profibus DP master includes the following 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 ● Profibus master diagnostics via FB ● Profibus slave diagnostics via FB ● 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

Tab. 8-1: Technical data 46/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Profibus DP 8.2 PROFIBUS DP Slave 8.2.1 Terms and Abbreviations Master The PROFIBUS DP field bus master is called master. Slave The PROFIBUS DP 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. 8.2.2 Features of the PROFIBUS DP Slave The current implementation of the PROFIBUS DP slave includes the follow‐ ing functionalities: ● Slave functionality in accordance with DIN EN 50170, Part 2 ● Cyclic data traffic (DP/V0) ● Acyclic data traffic (DP/V1 class 1) ● Disabling slaves when starting up the PLC program Future extensions are planned for the following functionalities: ● PROFIBUS DP slave diagnostics via FB ● 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

Tab. 8-2: Technical data 8.3 Configuring PROFIBUS DP 8.3.1 Configuring PROFIBUS DP, Overview The following controls allow implementing PROFIBUS DP: ● 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 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 47/223 Rexroth IndraWorks 13VRS Field Buses

Profibus DP

PROFIBUS DP master / PROFIBUS DP slave, function modules The interface respectively available at the control is represented as a PROFIBUS DP object in the Project Explorer. The PROFIBUS DP object can either be configured when creating the control or via the context menu item Set device as PROFIBUS DP master or PROFIBUS DP slave. Installing and adding PROFIBUS DP devices

Fig. 8-1: IndraMotion MLC L45 with real-time Ethernet function module (CFL01.1-TP) Interface 1, Onboard Engineering, is reserved for connecting a local comput‐ er or the enterprise network. Interfaces 2 and 3 can each be operated either as a master or as a slave.

(1) PROFIBUS DP, onboard, configured as master (2) PROFIBUS DP, function module RT_Ethernet / Profibus_DP (CFL01.1-TP), configured as slave Fig. 8-2: PROFIBUS DP objects, still unassigned Configuration dialogs for PROFIBUS DP master ● DP parameters, page 50, ● Field Bus Diagnostics, page 53, ● PROFIBUS DP master configuration, page 52, this window is used for service purposes and is only visible if the option "Show generic configu‐ 48/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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ration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ De‐ vice editor. ● PROFIBUS DP Master I/O Mapping, page 55, ● Status, page 55, ● Information, page 56. Configuration dialogs for PROFIBUS DP master, adding PROFIBUS DP slaves ● Enabling/Disabling PROFIBUS DP Slaves, page 58, ● DP parameters, page 62, ● PROFIBUS DP configuration, page 64, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device edi‐ tor. ● Status, page 64, ● Information, page 64. Configuration dialogs for PROFIBUS DP master, adding modules for PROFIBUS DP slaves ● DP parameters, page 66, ● DP module configuration, page 66, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device edi‐ tor. ● DP_Module I/O mapping, page 67, ● Status, page 68, ● Information, page 68. Configuration dialogs for a control as a PROFIBUS DP slave ● DP parameters, page 69, ● PROFIBUS DP configuration, page 71, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device edi‐ tor. ● PROFIBUS DP I/O Mapping, page 70, ● Field bus mapping, page 71, ● Status, page 72, ● Information, page 72. Configuration dialogs for PROFIBUS DP slave, adding coupling modules ● DP parameters, page 74, ● DP module configuration, page 74, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device edi‐ tor. ● DP modules I/O mapping, page 75, ● Status, page 75, ● Information, page 75. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 49/223 Rexroth IndraWorks 13VRS Field Buses

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8.3.2 Configuring the PROFIBUS DP Master Configuring the PROFIBUS DP Master, General Information To open the editing window, double click on the PROFIBUS DP master ob‐ ject in the Project Explorer. The dialogs will inform you about the configuration of the entire PROFIBUS and you can modify it if necessary.

Fig. 8-3: PROFIBUS DP master object Configuration dialogs for PROFIBUS DP master ● DP parameters, page 50, ● Field Bus Diagnostics, page 53, ● PROFIBUS DP master configuration, page 52, this window is used for service purposes and is only visible if the option "Show generic configu‐ ration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ De‐ vice editor. ● PROFIBUS DP Master I/O Mapping, page 55, ● Status, page 55, ● Information, page 56. 50/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Tab "DP parameters"

Fig. 8-4: PROFIBUS DP master object: DP parameters Parameters which have to be configured for each PROFIBUS DP master. In general, they are defined via the device description file but can be modified in the DP Parameters dialog. Addresses: ● Station address: The valid range is 0 to 125. Each new devices that is added to the bus automatically has the next higher address assigned to it. Manual input is allowed; addresses are checked for duplicates. ● Highest station address: The highest station address on the bus is dis‐ played. To keep the address range for searching for new active devices small, a low address value can be entered here.

Use the lowest addresses possible. High address values de‐ crease bus performance!

Mode: ● Auto clear mode: is currently not supported. ● Automatic startup: When this option is activated, the master starts auto‐ matically; otherwise it has to be be started manually.

Whether or not the setting for the "Automatic startup" option is evaluated 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. The assignment of the slaves (see "Properties of DP Slaves", "Group assignment") to different groups can synchronize the data exchange from the master using a global control command. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 51/223 Rexroth IndraWorks 13VRS Field Buses

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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. Group names can be changed. To do this, select the name from the Group column and press the to allow editing of the charac‐ ter string. To enable the Freeze and Sync option for a group, click on the checkbox in the corresponding column. If the checkbox is ticked, i.e., contains an "x", the property is enabled. Parameters: These parameters describe the time behavior of the communi‐ cation 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 de‐ scription. The parameter values can be edited by double clicking on the respective val‐ ue 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 signals (Non Return to Zero) to other encoding (changeover time for repeater). T_SET [bits] Setup time: Time for setup 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.

1) Bit: Time unit for transferring a bit to the PROFIBUS 52/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Parameter [] Description Gap Gap update factor: Number of bus cycles after which another newly added, active 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 re‐ sponse 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 master-master communication must be obtained from the requester (DP_Master class 2, time basis 1 ms). Data control time [ms] Time in which the master informs the assigned slaves regarding its operating status. The master simultaneously monitors whether at least one user data exchange has oc‐ curred with the slaves within this period and updates the Data_Transfer_List.

Tab. 8-3: Parameter table Tab "PROFIBUS DP Master Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor.

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

Fig. 8-5: PROFIBUS DP master object: PROFIBUS DP Master Configuration This window contains information about the PROFIBUS DP master parame‐ ter set. The parameters marked in the figure are from the Tab DP parame‐ ters, page 50. Window structure ● Parameter: Parameter name from the device description file, cannot be edited. ● Type: Data type of the parameter, cannot be edited. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 53/223 Rexroth IndraWorks 13VRS Field Buses

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● 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 selec‐ ted a file opens. ● Default Value: Defined value from the device description, cannot be edi‐ ted. ● Unit: Unit for the value, e.g. "ms" for milliseconds, cannot be edited. ● Description: Short description of the parameter from the device descrip‐ tion file, cannot be edited. Tab "Field Bus Diagnostics" Based on the object node of the master, here: PROFIBUS DP master, a uni‐ form diagnostics concept has been developed for the field busses of the IndraLogic XLC and IndraMotion MLC / MTX systems. The "Field bus Diagnostics" tab shows the modules applied to the field bus node in online mode.

Fig. 8-6: Field bus diagnostics, online control, not logged in After login, the bus available at the node runs through a diagnostics cycle. The status LEDs change their color in the result of this cycle (here: green), i.e., both modules signal an error-free run. After having been selected, a device (1) is available for detailed diagnostics.

Fig. 8-7: Field bus diagnostics, online control, logged in, error-free Diagnostics in case of an error Login is repeated with an additional terminal not available at the real control. 54/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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A yellow warning triangle appears at the module in question, indicating that a diagnostic message is present. The status LED of the module in question turns red. Clicking on "Detail Diagnostics" provides "Standard diagnostics" with brief information and "Extended diagnostics" with detailed specification of the error cause. ● Project Explorer, yellow warning triangle at the bus coupler: a diagnostic message is present. ● Detail Diagnostics: module 2, module error, shows the following error. ● Detail Diagnostics: module 3, module missing, indicates the module missing in reality.

Fig. 8-8: Field bus diagnostics, online control, logged in, with error See also Tab "Status", page 55.

Confirm Diagnostics: Although there is an error, both the warning triangle and the red status LED are turned off for the selected bus device. The "Extended diagnostics" of the "Detail Diagnostics" remains in the text message. (The next diagnostic message can be processed...) Confirm Diagnostics of All Bus Participants: Although there are errors, both the warning triangle and the red status LED are turned off for all bus devices. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 55/223 Rexroth IndraWorks 13VRS Field Buses

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Tab "PROFIBUS DP Master I/O Mapping"

Fig. 8-9: 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 ex‐ change 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. Alternatively, the bus cycle can be coupled to a PLC or motion task. Tab "Status"

Fig. 8-10: PROFIBUS DP master object: Status The "Status" tab displays status information (e.g. "Running" (bus active), and "n/a" (no information available) and 56/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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specific diagnostic messages from the respective device and regarding the card used and the internal bus system.

Fig. 8-11: PROFIBUS DP master object: Status with present error (after confir‐ mation) In addition, the "Most recent diagnostic message" is displayed, which can be confirmed with "Acknowledge". Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 8.3.3 PROFIBUS DP Master, Adding Slaves 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 to the PROFIBUS DP master object. In the Project Explorer, slaves can also be added between existing slaves in this way. Optionally, slaves can be added in the context menu via Add ▶ Slave ▶ ... of the PROFIBUS DP master object. In this case, the new slave is added as the last slave under the PROFIBUS DP master object. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 57/223 Rexroth IndraWorks 13VRS Field Buses

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Fig. 8-12: PROFIBUS DP master, 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 using the main menu Tools ▶ Device database.... See also Add Devices , page 188.

Slaves for connecting I/O modules The PROFIBUS DP distinguishes 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 the Project Explorer, for compact slaves the modules below the slave object node are already present in their complete form. No other modules are in the library. 2. Modular: The module structure of the slave is variable. The modules (terminals) can be arranged individually, although accord‐ ing to the device placement specifications. Immediately after the slave is added in the Project Explorer, there are no subordinate I/O device levels for the slave. The modules have to be manually assigned for modular slaves. To add modules, see "Adding Modules", page 64.

(1) Current bus addresses for the slaves (2) Modular slave with assigned modules (3) Compact slave Fig. 8-13: Slaves with I/O modules at the PROFIBUS DP master object 58/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Overview of bus addresses... To show the complete address assignment of all bus devices, open the con‐ text menu item Bus address overview... of the PROFIBUS DP master object.

(1) Current bus addresses for the slaves (2) Modular slave with assigned modules (3) Compact slave Fig. 8-14: Slaves with I/O modules at the PROFIBUS DP master object

Fig. 8-15: Overview of bus addresses Sorting field bus devices If two or more field bus devices exist under one field bus in a project, they can be displayed in a desired order. Using the field bus context menu, the devices can be sorted according to name, type and address in ascending or descending order, respectively.

Fig. 8-16: Context menu for sorting field bus devices Enabling / Disabling PROFIBUS DP Slaves The PROFIBUS DP slaves configured at a control can be "enabled" and "dis‐ abled" in the Project Explorer. It can be achieved by selecting/deselecting the button appearing at the icon of the PROFIBUS DP slave. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 59/223 Rexroth IndraWorks 13VRS Field Buses

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Fig. 8-17: Enabling/disabling PROFIBUS DP slaves The bus device is enabled if the checkbox is ticked. It is taken into account in the diagnostics of the bus.

Fig. 8-18: PROFIBUS DP Slave as an enabled device The bus device is disabled if the checkbox is ticked. It is not taken into ac‐ count in the diagnostics of the bus.

Fig. 8-19: PROFIBUS DP Slave as a disabled device If a new PROFIBUS DP slave is created, it is enabled by default. When loading the configuration, all enabled PROFIBUS DP slaves are taken into account. Disabled PROFIBUS DP slaves are ignored.

A bus device that is enabled but not present generates an error message in the diagnostics. A bus device that is disabled and not present does not generate any error message in the diagnostics.

PROFIBUS DP, Slave Deactivation Using UserDefs.cfg Use the function to disable PROFIBUS DP slaves configured in IndraWorks. Disable them by the definition in a stored file located on the control's Flash‐ Card. This impedes diagnostic messages for slaves that are configured, but do not exist. Enabling the function The function is enabled by its existence and a valid file content "User‐ Defs.cfg", stored in the partition "\ata0b\ (USER)" of the FlashCard. Another path or file name can be defined by making entries in the 'cfg file' of a system. Example: [IOSpecialDefs] IODeactFilePath=MyFilePath IODeactFileName=MyFileName Point in Time of Slave Deactiva‐ The "UserDefs.cfg" is analyzed and the entered slaves are disabled at this tion point in time and in the context of the internal event 'PrepareUpdateConfigu‐ ration'. It becomes active with the following actions: ● Startup after power on ● Reset (warm) 60/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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● Reset (cold) ● Load program after reset (origin) Structure of the file "UserDefs.cfg" The file is structured in a single or multiple existing section(s) and the con‐ tained entries. Sections The designation of a section is written in '[' and ']'. A section ends with the begin of the next section or with the end of the file. The currently valid identifier for a section are: ProfibusDP.Master.0 First configured PROFIBUS DP master (generally the first onboard master) ProfibusDP.Master.1 Second configured PROFIBUS DP master (if onboard mas‐ ter available, PROFIBUS DP master on function module 1) ProfibusDP.Master.2 ... ProfibusDP.Master.3 ... ProfibusDP.Master.4 Fifth configured PROFIBUS DP master ProfibusDP.Master.X Section is not evaluated The digits 0..4 define the PROFIBUS DP master to be used. "0" corresponds to the first configured PROFIBUS DP master, "1" to the second PROFIBUS DP master, etc. Example:

● The onboard PROFIBUS DP master is activated and a PROFIBUS DP master function module is mounted ⇒ – "0" corresponds to the onboard master, – "1" corresponds to the master on the function module ● The onboard PROFIBUS DP master is deactivated and a PROFIBUS DP master function module is mounted ⇒ – "0" corresponds to the master on the function module ● The onboard PROFIBUS DP master is activated and two PROFIBUS DP master function modules are mounted ⇒ – "0" corresponds to the onboard master, – "1" corresponds to the master on the function module that is moun‐ ted next to the control, – "2" corresponds to the master on the PROFIBUS DP master func‐ tion module mounted furthest left from the control from a top view.

Special function: Due to the definition of character 'X' for the index instead of a character, this section is ignored in the evaluation. Several sections can be defined for the master index '0'. All their entries are assigned to the PROFIBUS DP master. Together with the 'X function described above, different slave groups can be handled easily.

Slave entry An entry to disable a PROFIBUS DP slave consists of the keyword 'Slave‐ DeactAddr', the assignment character = and the 1- to 3-digit decimal specifi‐ cation of the slave address. Example: SlaveDeactAddr = 28 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 61/223 Rexroth IndraWorks 13VRS Field Buses

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The permitted value range is '1...125'. The value '0' is also permitted but has no effect. Example:

[ProfibusDP.Master.0] ; Deactivate slaves SlaveDeactAddr = 2 SlaveDeactAddr = 19 SlaveDeactAddr = 104

; ************************* ; Master on function module ; ************************* [ProfibusDP.Master.1] SlaveDeactAddr = 64 SlaveDeactAddr = 30 SlaveDeactAddr = 112 SlaveDeactAddr = 3

; ***************************** ; This whole section is ignored ; ***************************** [ProfibusDP.Master.X] SlaveDeactAddr = 36 SlaveDeactAddr = 7 SlaveDeactAddr = 15

PROFIBUS DP master, configuring slaves To open the editing window, in the Project Explorer, double click on the de‐ sired slave. The dialogs will inform you about the configuration of the entire slave and you can modify it if necessary. 62/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Fig. 8-20: PROFIBUS DP master, configuring slaves Configuration dialogs for PROFIBUS DP master, configuring slaves ● DP parameters, page 62, ● PROFIBUS DP configuration, page 64, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device edi‐ tor. ● Status, page 64, ● Information, page 64. Tab "DP Parameters"

Fig. 8-21: 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 adjus‐ ted according to the actual bus configuration. The address "126" is re‐ served 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 descrip‐ tion file. Parameters ● T_SDR (Bit): Time Station Delay Responder. Response time which re‐ flects the earliest point at which the slave may respond to the master. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 63/223 Rexroth IndraWorks 13VRS Field Buses

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"Bit": Time unit for transferring a bit with PROFIBUS; Reciprocal value of the transfer rate; e.g., 1 bit 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 ac‐ cepted. – 3 (Unlock): Slave is released for other masters again. Watchdog ● Watchdog control When this option is enabled, the monitoring time en‐ tered 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 parameters for the DP_Master', 'Group properties', page 50). 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 checkmark. A slave device can only be assigned to groups with properties that it supports. 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 permissible values that are also defined in the device description file. Af‐ ter 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 speci‐ fied in the device description file, this option can be activated here to display these symbolic values instead of the numeric values in the "Val‐ ue" column. ● Length of the user parameters (bytes): Sum of the lengths of the user parameters defined in the device description file. ● Defaults: 64/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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This button can be used to reset the values shown in the table to the standard setting. Tab "PROFIBUS DP Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor.

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

Fig. 8-22: PROFIBUS DP, adding slaves: PROFIBUS DP Configuration The dialog displays the module parameters in detail. Tab "Status"

Fig. 8-23: PROFIBUS DP, adding slaves: Status The "Status" tab displays status information (e.g., "Running" (bus active), and "n/a" (no information available). Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 8.3.4 PROFIBUS DP Master, Adding Modules to the Slave PROFIBUS DP Master, Adding Modules to the Slave, General Information 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. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 65/223 Rexroth IndraWorks 13VRS Field Buses

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● 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 56,.

Drag the required modules out of the library into the slave object. New modules can also be added between existing modules in the Project Ex‐ plorer. Optionally, modules can be added in the context menu of the slave via Add ▶ Module ▶ .... In this case, the new module is added as the last module under the slave.

Fig. 8-24: PROFIBUS DP master, adding modules to a slave Double click the corresponding device node in the Project Explorer to display the dialog for configuring and parameterizing the respective IO module (ter‐ minal). Configuration dialog for modules on the modular Profibus slave ● DP parameters, page 66, ● DP module configuration, page 66, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device edi‐ tor. ● DP_Module I/O mapping, page 67, ● Status, page 68, ● Information, page 68. 66/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Tab "DP Parameters"

Fig. 8-25: PROFIBUS DP master, I/O modules: DP parameters Module information ● The "Module information" panel of the "DP Parameters" tab of an input and output module in a PROFIBUS DP configuration describes the set‐ tings for the configuration (module description according to PROFIBUS DP standard) 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 (GSD file). User parameters ● User parameters are, in addition to the basic DP parameters (see above), individual parameters of an I/O module that are displayed here if they are defined in the device description file of the bus coupler. For each parameter, the parameter table displays the parameter name, the real or the symbolic value (see below, "Symbolic value") and the permissible values that are also defined in the device description file. Af‐ ter 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 speci‐ fied in the device description 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 parame‐ ters specifies the total length of all user parameters from the device de‐ scription. After using the mouse to click on the respective field in the "Value" column, a parameter value can be edited. ● 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.

Tab "DP Module Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 67/223 Rexroth IndraWorks 13VRS Field Buses

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

Fig. 8-26: PROFIBUS DP master, slave modules: Configuration The dialog contains information on the position and size of the parameters. Tab "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 191,.

Fig. 8-27: 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 55, no matter whether they are used or not and whether they are mapped to an input or an output channel. 68/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Tab "Status"

Fig. 8-28: 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)"). Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 8.3.5 Configuring the Control as a PROFIBUS DP Slave Configuring the Control as a Slave, General A control can be configured as a Profibus DP slave either when it is created or via the context menu item Set Device at its onboard Profibus DP interface or at an RT_Ethernet_Profibus_DP_CFL01_1_TP function module. The coupling between the master control and the slave occurs in the map‐ ping memory, the contents of which are replaced (see PROFIBUS DP, Mas‐ ter-Slave Coupling, page 76).

To open the editor 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. 8-29: Configuring the PROFIBUS DP slave object Configuration dialog for a PROFIBUS DP slave ● DP parameters, page 69, ● PROFIBUS DP I/O Mapping, page 70, ● Field bus mapping, page 71, DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 69/223 Rexroth IndraWorks 13VRS Field Buses

Profibus DP

● PROFIBUS DP configuration, page 71, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device edi‐ tor. ● Status, page 72, ● Information, page 72. Tab "DP Parameters"

Fig. 8-30: 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 adjus‐ ted according to the actual bus configuration. The number selected is to be identical to the number of the slave object to be coupled to 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 descrip‐ tion file. Parameters ● T_SDR (Bit): Time Station Delay Responder. Response time which re‐ flects the earliest point at which the slave may respond to the master. Bit: Time unit for transferring a bit with PROFIBUS; Reciprocal value of the transfer rate; e.g., 1 bit 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 ac‐ cepted. – 3 (Unlock): Slave is released for other masters again. Watchdog ● Watchdog control: When this option is enabled, the monitoring time en‐ tered applies. If the slave is not addressed by the master within this time period, it returns to initialization status. 70/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Profibus DP

● Time (ms): Monitoring time, relevant in the case that the "Watchdog control" option is active. Groups: ### projected ### 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 permissible values that are also defined in the device description file. Af‐ ter 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 speci‐ fied in the device description file, this option can be activated here to display these symbolic values instead of the numeric values in the "Val‐ ue" column. ● Length of the user parameters (bytes): Sum of the lengths of the user parameters defined in the device description file. ● Defaults: This button can be used to reset the values shown in the table to the standard setting. Tab "PROFIBUS DP I/O Mapping"

Fig. 8-31: PROFIBUS DP slave object: PROFIBUS DP I/O Mapping Channels: The "Channels" panels for the PROFIBUS DP slave object is emp‐ ty 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_1 (PROFIBUS DP slave object with number 1) of type IoDrvCIFXProfibusSlave.

Bus cycle task: By selecting a bus cycle task, the cycle of the mapping ex‐ change 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" DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 71/223 Rexroth IndraWorks 13VRS Field Buses

Profibus DP

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. Tab "Field Bus Mapping" Field bus mapping enables access to control variables from a parent field bus master. 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 ad‐ dress to access the control data using acyclic services. The control must be configured as a respective field bus slave in order to use the field bus mapping. For details, see chapter 16 "Field Bus Mapping, Field Bus Master Access to Variables of the Field Bus Slave" on page 197. Tab "PROFIBUS DP Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor.

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

Fig. 8-32: PROFIBUS DP slave object: PROFIBUS DP Configuration

When the bus is running, modified parameters can be transferred by clicking button "Write parameter". 72/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Profibus DP

Tab "Status"

Fig. 8-33: 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 respective device and regarding the card used and the internal bus system. Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 8.3.6 PROFIBUS DP Slave, Adding Coupling Modules PROFIBUS DP Slave, Coupling Modules, General Information 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. The coupling area for data exchange with the PROFIBUS DP master is specified as input and output modules at the PROFIBUS DP slave object. To do this, add the respective input and output modules using the context menu of the PROFIBUS DP slave objects via Add ▶ Module ▶ .... The mod‐ ules in the figure are available. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 73/223 Rexroth IndraWorks 13VRS Field Buses

Profibus DP

Fig. 8-34: PROFIBUS DP slave object: adding modules

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.

To open the dialogs for configuring the modules added below the PROFIBUS slave object, double click the respective module object. Alternatively, open the dialogs using Open in the context menu of the mod‐ ule. The following tabs are contained in the configuration dialog of the PROFIBUS DP slave coupling module: Tab ● DP parameters, page 74, ● DP module configuration, page 74, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device edi‐ tor. ● DP modules I/O mapping, page 75, ● Status, page 75, ● Information, page 75. 74/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Profibus DP

Tab "DP Parameters"

Fig. 8-35: PROFIBUS DP slave, slave modules: DP parameters Module information ● The "Module information" panel of the "DP Parameters" tab of an input and output module in a PROFIBUS DP configuration describes the set‐ tings for the configuration (module description according to PROFIBUS DP standard) 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 (GSD file).

User parameters: None. Tab "DP Module Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor.

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

Fig. 8-36: PROFIBUS DP slave, slave modules: Configuration The dialog contains information on the position and size of the parameters. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 75/223 Rexroth IndraWorks 13VRS Field Buses

Profibus DP

Tab "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 191,.

Fig. 8-37: 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 55,, no matter whether they are used or not and whether they are mapped to an input or an output channel. Tab "Status"

Fig. 8-38: PROFIBUS DP slave, slave modules: Status "DP modules": In online mode, the DP-Module area displays status information from the con‐ trol (e.g. "Running", "Not running (n/a)"). Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 76/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Profibus DP

8.3.7 PROFIBUS DP, Master-Slave Coupling To couple a control used as PROFIBUS DP slave, three PLC coupling mod‐ ules are available under Library ▶ Periphery ▶ ProfibusDP ▶ PLC that allow coupling of the following 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 module is added in the Project Explorer, a firmware component is enabled in the PROFIBUS DP master for connection to a PROFIBUS DP slave control via PROFIBUS. Each of these PLC coupling modules has a selection of modules in the de‐ vice library that release input and output variables in the mapping memory of the master 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. 8-39: Slave with memory modules for coupling a PROFIBUS DP slave con‐ trol The figure below shows the coupling between two controls based on PROFIBUS DP. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 77/223 Rexroth IndraWorks 13VRS Field Buses

Profibus DP

Fig. 8-40: Computer coupling via PROFIBUS DP 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. 78/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 79/223 Rexroth IndraWorks 13VRS Field Buses

PROFINET IO 9 PROFINET IO 9.1 Profinet I/O Controller 9.1.1 Terms and Abbreviations Controller The Profinet I/O field bus master is called controller. Device The Profinet I/O 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 I/O devi‐ ces are made known to IndraWorks. 9.1.2 Features of the Profinet I/O Controller The current implementation of the Profinet I/O controller includes the follow‐ ing functionalities: ● Cyclic data traffic ● GSDML file import into the device database ● Bus scan of Profinet I/O devices ● Profinet I/O device-related connection status in the interface ● Diagnostics of the Profinet I/O controller via FB ● Supported protocols – RTC (real-time cyclic) class 1 – RTA (real-time acyclic) – DCP (discovery and configuration) Future extensions are planned for the following functionalities ● Profinet I/O device-related status via FB ● DHCP, SNMP

Function/Characteristic Value

Max. number of devices, cycle time < 4 ms 25 Max. number of devices, cycle time >= 4 ms 128 Max. amount of modules per device 64 Max. number of submodules 32 Baud rate 100 Mbit/s Auto negotiation/ autocrossing Yes Min. cycle time 1 ms

Max. amount of cyclic input data 5712 bytes 1)

Max. amount of cyclic output data 5760 bytes 1)

Max. amount of cyclic input data per device 1440 bytes 1)

Max. amount of cyclic output data per device 1440 bytes 1) 80/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Function/Characteristic Value Max. acyclic telegram data per device / telegram 1392 bytes Max. acyclic telegram data per device / request 4096 bytes 1) Including IOxS status bytes (= number of modules + 4) Tab. 9-1: Technical Data 9.2 Control as a PROFINET IO Device 9.2.1 Terms and Abbreviations Controller The PROFINET IO field bus master is called controller. Device The PROFINET IO 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 IO devices are made known to IndraWorks. 9.2.2 Features of the PROFINET IO Device The current implementation of the PROFINET IO device includes the follow‐ ing functionalities: ● Cyclic data traffic ● Acyclic data traffic ● PROFINET IO device-related connection status in the interface ● Diagnostics of the PROFINET IO device via FB ● Supported protocols: – RTC (real-time cyclic) class 1 – RTA (real-time acyclic) – DCP (discovery and configuration) ● MRP / Redundancy class 1 (optional) (Ring redundancy with a switching time of 200 ms in preparation) Future extensions are planned for the following functionalities: ● Alarms ● DHCP, SNMP

Function/Characteristic Value

16 slots (independ‐ Max. number at I/O modules ent of direction) 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

Tab. 9-2: Technical Data DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 81/223 Rexroth IndraWorks 13VRS Field Buses

PROFINET IO 9.3 Configuring PROFINET IO 9.3.1 Configuring PROFINET IO, Overview The following controls allow implementing PROFINET IO: ● 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 interface available on the control is represented as PROFINET IO object in the Project Explorer. The PROFINET IO object can either be configured when creating the control or via the context menu item Set Sevice as PROFINET IO controller or PROFINET IO device. Installing and adding PROFINET IO devices

Fig. 9-1: IndraMotion MLC L45 with real-time Ethernet function module (CFL01.1-TP) Interface 1, Onboard Engineering; reserved to connect a local computer or the enterprise network. Interfaces 2 and 3 can each be operated either as controller or device. Both connections of each interface are equivalent (switch functionality).

The control contains the simplest topology as PROFINET IO controller with I/O blocks and PROFINET IO drives. 82/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

PROFINET IO

Ensure that a ring is only closed by a "redundancy manager" when PROFINET devices are wired. If there is no such manager in a closed ring, there will be a "broadcast storm". Subsequently, the field bus fails and diagnos‐ tic messages, if any are present, are not useful.

Fig. 9-2: IndraMotion L65 as PROFINET IO controller with I/Os and drives

Fig. 9-3: Example: PROFINET IO configuration in the Project Explorer (without drive)

The following topology shows a system consisting of a PROFINET IO control‐ ler and a PROFNET IO device, each with local drives and I/O blocks. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 83/223 Rexroth IndraWorks 13VRS Field Buses

PROFINET IO

The left controller is an Onboard controller with respect to its I/O blocks and via the controller function module with regard to the second (and other possi‐ ble) control(s). The right control is an Onboard controller with respect to its I/O blocks and via the device function module with regard to the left control.

Fig. 9-4: System with PROFINET IO controller and PROFINET IO device, each with local drives and I/O blocks 84/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

PROFINET IO

Fig. 9-5: Example: PROFINET IO configuration with two MLCs in the Project Explorer (without drive)

Implementing the topology into the IndraWorks project is possible after the controls have been created with the periphery (context menu Set Device) ei‐ ther ● manually via drag&drop from the device library or via the context menu Add or ● if the control system is already available, online via Scan for Devices. Refer to ● Scan for devices, page 119, (scanning). ● Reload device description file, page 187.

Double-click on a PROFINET IO object in the project tree to open the device editor for the PROFINET IO configuration. Configuration dialogs for the PROFINET IO controller ● PNIO master parameters, page 87 ● Field bus diagnostics, page 91, ● PROFINET IO controller configuration, page 89, this window is used for service purposes and is only visible if the option "Show generic con‐ figuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor. ● PROFINET IO controller I/O mapping, page 92 ● Status, page 93 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 85/223 Rexroth IndraWorks 13VRS Field Buses

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● Information, page 93. Configuration dialogs for PROFINET IO devices ● PNIO parameters, page 96, ● PNIO identification, page 97, ● PNIO configuration, page 98. This window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor. ● PNIO status, page 97, ● PNIO information, page 97, Configuration dialogs for modules at the PROFINET IO device ● PNIO parameters, page 100 ● PNIO module configuration, page 101, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Ed‐ itor. ● PNIO modules I/O mapping, page 101 ● Status, page 102 ● Information, page 102 Configuration dialogs for a control as PROFINET IO device ● PNIO parameters, page 103 ● PNIO identification, page 106 ● PNIO configuration, page 107, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor. ● PNIO I/O mapping, page 108 ● Field bus mapping, page 107 ● Diagnostics in the PROFINET IO, page 108. ● Information, page 111 Configuration dialogs for coupling modules of a PROFINET IO device to cou‐ ple to a PROFINET IO controller ● PNIO parameters, page 112 ● PNIO configuration, page 113, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor. ● PNIO IO mapping, page 113 ● Status, page 114 ● Information, page 114. Configuration dialog PROFINET IO, controller-device coupling ● PNIO parameters, page 115 ● PNIO identification, page 117 ● PNIO configuration, page 118, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor. ● Status, page 119 ● Information, page 119. 86/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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9.3.2 Meaning of Device Names in case of PROFINET IO Name-based device addressing: In case of PROFINET, a logic, individual and unique device name (device name, station name, IdentStr) is assigned to each device (I/O device). The PROFINET IO controller uses this device name to assign the configured IP address to the I/O devices. In the following, the actual PROFINET data traffic takes place via this IP ad‐ dress and thus the MAC address. When configuring the PROFINET IO controller, note that the station name is set as to be used with the I/O devices. I/O devices are most commonly named as follows: 1. The station name can be edited or configured on the device. Example: An XLC65 is configured as I/O device. A station name is de‐ termined during configuration and loaded with the application. 2. The device name can be set directly on the device. Example: S67-PN-BK 3. The device name is manually set and stored (named) on the device. Therefore, go to the dialog PROFINET IO Controller ▶ Scan for Devi‐ ces ▶ Name in IndraWorks Engineering.

The station name is used to address the PROFINET IO device. Missing or deviating IP address settings at the device are ignored.

The station name may consist of the following characters: ● Lower case letters without umlauts "a" to "z" ● Digits ‚ "0 to "9" and the ● special hyphen character "-". Upper case letters "A" to "Z" are allowed, but internally converted into lower case letters. The station names are not case sensitive. 9.3.3 Configuring PROFINET IO Controller Configuring PROFINET IO Controller, General Information To open the editor window in the Project Explorer, double click on the PROFINET IO controller object. The dialogs provides information on the configuration of the entire PROFINET IO bus. Required modifications can be made. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 87/223 Rexroth IndraWorks 13VRS Field Buses

PROFINET IO

Fig. 9-6: PROFINET IO controller object Configuration dialogs for the PROFINET IO controller ● PNIO master parameters, page 87 ● Field bus diagnostics, page 91, ● PROFINET IO controller configuration, page 89, this window is used for service purposes and is only visible if the option "Show generic con‐ figuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor. ● PROFINET IO controller I/O mapping, page 92 ● Status, page 93 ● Information, page 93. Tab "PNIO Master Parameters" A "PROFINET IO controller" is identified by an IP address and a subnet mask (the gateway address is optional). In addition, a station name has to be speci‐ fied and a watchdog control can be defined.

The station name may consist of the following characters: Lower case letters 'a’ to 'z’, digits '0’ to '9’ and the special , hy‐ phen '-’ character. Upper case letters "A" to "Z" are allowed, but internally converted into lower case letters. The station names are not case sensitive. 88/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Fig. 9-7: PROFINET IO controller: PNIO master parameters Identification The following addresses have to be configured according to the current envi‐ ronment to identify the controller. ● IP address: default setting "192.168.2.1"

In this section, to prevent doubled assignments when adjusting the IP address, note the current address settings for devices (see Address settings for devices, page 89) added to the configura‐ tion during a scan.

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

Each device has to have a unique station name in the subnet, as it is required for certain functionalities in network mode. Example: IP addresses after scan‐ ning

Fig. 9-8: IP addresses after scanning the controller The control is located in three independent networks: ● Green (top): Enterprise network (Engineering interface) ● Blue (middle): PNIO, with its own I/O blocks ● Red (bottom): PNIO, to the devices DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 89/223 Rexroth IndraWorks 13VRS Field Buses

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Although the networks of the two controllers are independent of each other, used a different subnet, e.g., 192.168.3.1. on the sec‐ ond controller to avoid possible problems. Watchdog ● When the "Watchdog" option is enabled, the monitoring time entered applies. That means, when this period elapses without the master being active, a device-specific reaction results, e.g. an error message. ● Time (ms): Monitoring time, relevant if the "Watchdog control" option is active. Possible values: 0 to 65535. The defaults for the watchdog monitoring are taken from the device descrip‐ tion. Address settings for devices The address settings for devices are only used if devices found while scan‐ ning the hardware (Project ▶ Search for Devices..) are mapped to the Project Explorer and no address definitions were selected in the scan dialog. The values defined in this dialog are automatically transferred to the devices added (see PNIO identification, page 106) and for the IP address, the next free address in the defined range is set. The defaults are taken from the de‐ vice description file. They can be edited by setting the cursor in the respec‐ tive input field:

To prevent doubled assignments when adjusting these address‐ es, note the current IP address for the controller.

● First IP address: Default setting "192.168.2.2" ● Last IP address: Default setting "192.168.2.254" ● Subnet Mask: Default setting "255.255.255.0" ● Default gateway: Default gateway "0.0.0.0" Tab "PROFINET IO Controller Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor.

Please clarify any possible modifications to the parameters that can be edited with the service team. 90/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

PROFINET IO

Fig. 9-9: PROFINET IO controller: PROFINET IO Controller Configuration (on‐ line) This window contains information on the PROFINET IO controller parameter set.

"Write Parameters" buttons are only available in online mode.

Window structure ● Parameter: 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 selec‐ ted a file opens. ● Default Value: Defined value from the device description, cannot be edi‐ ted. ● Unit: Unit for the value, e.g. "ms" for milliseconds, cannot be edited. ● Description: Short description of the parameter from the device descrip‐ tion file, cannot be edited. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 91/223 Rexroth IndraWorks 13VRS Field Buses

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Tab "Field Bus Diagnostics" Based on the object node of the master (here: PROFINET IO controller), a uniform diagnostic concept was designed for the field buses of the IndraLogic XLC, IndraMotion MLC and MTX systems. The "Field bus Diagnostics" tab shows the modules applied to the field bus node in online mode.

Fig. 9-10: Field bus diagnostics, online control, not logged in The terminal (1) is disabled and excluded from the diagnostics via Proper‐ ties ▶ Compile ▶ Exclude from Compilation. After login, the bus available at the node runs through a diagnostic cycle. The status LEDs change their color as a result of this cycle (here: green), i.e., the module signals an error-free run. After selecting a module (click on the line) a detailed diagnostics is available.

Fig. 9-11: Field bus diagnostics, online control, logged in, error-free Login is repeated with an additional coupler not available at the real control. A yellow warning triangle appears at the module in question, indicating that a diagnostic message is present. The status LED of the module in question turns red. Clicking on "Detail Diagnostics" provides a "Standard Diagnostics" with brief information and "Advanced Diagnostics" with detailed specification of the error cause.

Fig. 9-12: Field bus diagnostics, online control, logged in, with error (2) The bus coupler with existing terminals or terminals "excluded from com‐ pilation" (1) works without errors. 92/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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(3) Bus coupler does not exist and generates an error message.

Confirm Diagnostics: Although there is an error, the warning triangle and the red status LED are turned off for the selected module. The "Advanced Diag‐ nostics" of the "Detail Diagnostics" remains in the text. (The next diagnostic message can be processed...) Confirm Diagnostics of All Bus Participants: Although there are errors, the warning triangle and the red status LED are turned off for all modules. Tab "PROFINET IO Controller I/O Mapping"

Fig. 9-13: PROFINET IO controller: PROFINET IO Controller I/O Mapping

Channels: The upper section of the dialog is not used, as I/O mapping is done in I/O blocks. See PNIO modules I/O mapping, page 101

IEC objects: When the PROFINET IO controller is defined, the libraries "IoDrvCIFXPROFINETDCIA.library" or RIL_ProfinetIO.library are automatical‐ ly included. Thus, the memory space to implement the PROFINET IO control‐ ler can be defined.

Bus cycle options Bus cycle task: By selecting a bus cycle task, the cycle of the mapping ex‐ change for the PROFINET IO controller can be connected to a particular task. In this task, it is useful to process I/O data of the master as well. Default setting: "Use parent bus cycle setting" With this setting, the task setting made in "Bus cycle options" of the control (double click on the actual control in the Project Explorer, PLC settings) is ap‐ plied for the actual bus. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 93/223 Rexroth IndraWorks 13VRS Field Buses

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Tab "Status"

Fig. 9-14: 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 de‐ vice. In addition, the diagnostic messages in the status flags are displayed in "Diag". The output is a hexadecimal value determined by the set status flags (refer to the document "Protocol Interface Manual" for PROFINET IO). See Diagnostics in the PROFINET IO, page 108. Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 9.3.4 PROFINET IO Controller, Adding Devices PROFINET IO Controller, Adding Devices, General Information The available PROFINET IO devices are located in the "Periphery" library in the "PROFINET IO" folder. Drag the required devices out of the library into the PROFINET object. In the Project Explorer, devices can thus also be inserted between existing devices. Optionally, add devices in the context menu via Add ▶ ... of the PROFINET object. In this case, the new device is added as last module under the PROFINET object. 94/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Fig. 9-15: PROFINET IO Controller, adding devices

If a required PROFINET IO device is not in the library by default, it can be added by importing its GSDML file via the main menu Tools ▶ Device Database ▶ Add Devices. See also Device Data‐ base, page 187.

Devices to Connect I/O Modules PROFINET IO distinguishes two types of I/O devices: 1. Compact: For a compact device, the module structure is specified. After adding a compact PROFINET IO device to the Project Explorer, the modules below the bus coupler already exist. The modules are not visible in the device library. 2. Modular: The module structure is variable. Based on a bus coupler (with its own existing I/Os, if required), modules can be arranged individually - but according to the device placement specifications. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 95/223 Rexroth IndraWorks 13VRS Field Buses

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(1) Compact PROFINET IO device with a specified module struc‐ ture (2) Modular PROFINET IO device with inputs and outputs belong‐ ing to the bus terminal (3) Terminal assigned individually Fig. 9-16: I/O module at the PROFINET IO device PROFINET IO Controller, Configuring Device Double-click on the "Device" object to open its dialogs for configuration and parameterization of the PROFINET IO device. The dialogs can also be opened via the context menu of the PROFINET IO device.

Fig. 9-17: PROFINET IO controller, configuring I/O device Configuration dialogs for PROFINET IO devices ● PNIO parameters, page 96, ● PNIO identification, page 97, ● PNIO configuration, page 98. This window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Op‐ tions ▶ IndraLogic 2G ▶ Device Editor. ● PNIO status, page 97, ● PNIO information, page 97, 96/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Tab "PNIO Parameters" For all settings in the dialog applies that it depends on the device description whether the settings can be edited and which values are specified and possi‐ ble.

Fig. 9-18: "PNIO Parameters" tab Parameters Time response of the communication on the PROFINET is described. They are set by the PROFINET IO controller while the connection is established. From the two parameters Reduction Ratio and Send clock the actual cycle time results (t = Reduction Ratio * Send clock ), based upon which the device transmits data: ● Send clock (ms), transmission period time in milliseconds. ● Reduction ratio, factor to calculate the cycle time from the transmission period. ● RT Class: The IO controller currently supports only real-time (RT) class 1. This field is intended for future extensions. ● VLAN Priority: This field is intended for future extensions. ● VLAN ID: This field is intended for future extensions Watchdog This field is intended for future extensions. Module information ● Module IdentNumber: Module ident number from DAP (DeviceAccessPoint) of the selected I/O device. This entry is from the device description file and helps to identify the I/O device. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 97/223 Rexroth IndraWorks 13VRS Field Buses

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User parameters Interfaces "User parameters" (only active when online) ● Set all default values: Click this button to replace all changed settings with the default settings from the GSDML file. ● Read all values: This command reads the current values from the de‐ vice and updates the values in the editor. ● Write all values: This command writes the current editor values to the slave. Not all slaves support a parameter update during "Run" mode. In this case, an error message is displayed. ● Symbolic values: a symbolic value representation can be activated. When it is deactivated, the numeric values are displayed. Parameter table In the parameter table, double-click on the respective value to edit this value. Depending on the parameter, this is performed via a selection list or by di‐ rectly entering a value. ● Parameter: Parameter name or parameter category (without value as‐ signment) ● Value: Current parameter value ● Data type: Data type of parameter, e.g. "Bit" ● Byte offset: The parameters defined by the user are saved in the Varia‐ ble Record Data (array of bytes). The byte offset specifies the first valid byte. ● Bit offset: The parameters defined by the user are saved in the Variable Record Data (array of bytes). The bit offset specifies the first valid bit, the byte identified by the byte offset. ● Bit length: Length of the information saved in the Variable Record Data (array of bytes) containing the user-defined parameters. ● Default value: Default value of the parameter. ● Value range: Specifies what may be entered in the 'Value' column. Syntax: () . Example: "BitArea (4-5) 0 0-2" means: This is a bit combination stored in the bits 4 and 5 of the configuration byte. The basic value is 0; the value can be between 0 and 2. Tab "PNIO Identification"

Fig. 9-19: Tab: PNIO Identification 98/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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The fields "IP address", "Subnet mask" and "Default gateway" contain default entries derived from the settings of the I/O controller. These values can be adapted with network knowledge. However, it is recommended not to change these values. The field "Station name" has to be adapted in most of the cases. The station name is used within PROFINET to address I/O devices. It has to be unique within the PROFINET subnet. When creating the I/O device, the default name from the device description file is given. See also Meaning of Device Names in case of PROFINET IO, page 86. The "MAC address" is only used for information purpose and is only set if ● the I/O device was applied from the "Scan for Devices" menu. ● the address was transferred from the "Scan for Devices" menu

the station name is used to address the PROFINET IO device Missing or deviating IP address settings at the device are ignored.

Tab "PNIO Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor.

Please clarify any possible modifications made to the parameters with the service team.

Fig. 9-20: Tab "PNIO Configuration"

When the bus is running, modified parameters can be transferred using the "Write parameter" button (invisible if offline). DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 99/223 Rexroth IndraWorks 13VRS Field Buses

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Tab "Status" The "Status" tab page in the "PROFINET IO Device Editor" displays status in‐ formation (e.g. "Running", "Stopped") and specific diagnostic messages from the device. In addition, the diagnostic messages in the status flags are displayed in "Di‐ ag". The output is a hexadecimal value determined by the set status flags (re‐ fer to the document "Protocol Interface Manual" for PROFINET IO). Also refer to Diagnostics in the PROFINET IO, page 108 Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 9.3.5 PROFINET IO Controller, Adding Modules to the Device PROFINET IO Controller, Adding Modules to the Device, General Information This section contains basic information on the configuration and parameteri‐ zation of I/O modules (terminals) at the modular PROFINET IO device. The modules for the respective PROFINET IO device are located in the folder "Profinet IO" below the respective PROFINET IO device in the library "Pe‐ riphery". Drag the required modules out of the library into the PROFINET IO device. I/O modules can also be inserted like this between existing modules in the Project Explorer. The modules can also be added via the context menu of the PROFINET IO device via Add ▶ Modules ▶ .... The new module is inserted as last module below the PROFINET IO device.

Fig. 9-21: PROFINET IO controller, adding modules to IO device Double-click on the module object to open the configuration dialog of the modules inserted below the PROFINET IO device object. The dialogs can al‐ so be opened via the context menu of the module "Open". There are the fol‐ lowing tabs in the configuration dialog of the modules: Configuration dialogs for modules at the PROFINET IO device ● PNIO parameters, page 100 ● PNIO module configuration, page 101, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Ed‐ itor. ● PNIO modules I/O mapping, page 101 ● Status, page 102 100/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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● Information, page 102 Tab "PNIO Parameters"

Fig. 9-22: PROFINET IO modules: PNIO Parameters Module information ● ID number: Module ID from device description. ● Slot number: Module position below the device, starts with "1" for the first module and increases for each other module resulting automatically from the current structure in the device tree. User parameters Depending on the device, there are either no or multiple setting options for the user-specific parameters: ● Symbolic values: The "Symbolic values" option enables the symbolic value representation. When it is disabled, numeric values are displayed. ● Length of the user parameters: The total length of all user parameters is displayed in bytes. In the parameter table, double-click on the values to edit them. Depending on the parameter, this is performed via a selection list or by directly entering a value. ● Parameter: Parameter name or parameter category (without value as‐ signment). ● Value: Current parameter value ● Data type: Type of parameter data, e.g. "bit" ● Byte offset: The parameters defined by the user are saved in the "Re‐ cord 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 identified by the byte offset. ● Bit length: Length of the information saved in the "Record Data" (array of bytes) variables containing user-defined parameters. ● Default value: Default value of the parameter. ● Permissible values: Specifies what may be entered into the "Value" col‐ umn. Syntax: DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 101/223 Rexroth IndraWorks 13VRS Field Buses

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() . Example: "BitArea (4-5) 0 0-2" means: This is a bit combination stored in the bits 4 and 5 of the configuration byte. The basic value is 0; the value can be between 0 and 2. ● Interfaces "User parameters" (only active online) – Set all default values: Click this button to replace all changed set‐ tings with the default settings from the GSDML file. – Read all values: Reading the current values of the device. – Write all values: Writing the current values from the following table to the device. Tab "PNIO Module Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor.

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

Fig. 9-23: PROFINET IO modules: PNIO module configuration The dialog provides information on position and size of parameters. Tab "PNIO Module 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. 102/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Fig. 9-24: PROFINET IO modules: PNIO Module I/O Mapping This assignment is described in Mapping the Onboard, Inline and Field bus Inputs and Outputs, page 191,. Tab "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 108. Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 9.3.6 Configuring Control as PROFINET IO Device Configuring Control as Device, General Information A control can either be configured when creating the control or via the context menu item Set device at the onboard PROFINET IO interface controller or at an RT_Ethernet_Profibus_DP_CFL01_1_TP function module as PROFINET IO device. A coupling between the controller control and the device is performed via the mapping memory whose content is exchanged (see PROFINET IO Control‐ ler, Device Coupling, page 114).

To open the editor window in the Project Explorer, double-click on the PROFINET IO device object. The dialogs provides information on the device configuration of the PROFINET IO bus. Modifications can be made. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 103/223 Rexroth IndraWorks 13VRS Field Buses

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Fig. 9-25: PROFINET IO device object Configuration dialogs for a control as PROFINET IO device ● PNIO parameters, page 103 ● PNIO identification, page 106 ● PNIO configuration, page 107, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor. ● PNIO I/O mapping, page 108 ● Field bus mapping, page 107 ● Diagnostics in the PROFINET IO, page 108. ● Information, page 111 Tab "PNIO Parameters" All settings in this dialog depend on the device description in terms of wheth‐ er they can be edited here and which values are specified or possible.

Fig. 9-26: PROFINET IO device: PNIO Parameters Parameters These parameters describe the time response of the communication on the PROFINET. They are set by the PROFINET IO controller while the connec‐ tion is established. From the two parameters 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), transmission period time in milliseconds. 104/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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● Reduction ratio, factor to calculate the cycle time from the transmission period. ● RT Class: Select the class (Real-time communication, page 105). Currently, RT_Class_1 is supported. ● VLAN priority, priority of the device in "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 receive any more signals from the control‐ ler within this time period, a device-specific response occurs, e.g., error mes‐ sage. ● Time (ms), monitoring time, relevant if 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 Depending on the device, there are either no or multiple setting options for the user-specific parameters: ● Symbolic values: The "Symbolic values" option enables the symbolic value representa‐ tion. When it is disabled, numeric values are displayed. ● Length of the user parameters: The total length of all user parameters is displayed in bytes. In the parameter table, double-click on the values to edit them. Depending on the parameter, this is performed via a selection list or by directly entering a value. ● Parameter: Parameter name or parameter category (without value as‐ signment). ● Value: Current parameter value ● Data type: Type of parameter data, e.g. "bit" ● Byte offset: The parameters defined by the user are saved in the "Re‐ cord 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 identified by the byte offset. ● Bit length: Length of the information saved in the "Record Data" (array of bytes) variables containing user-defined parameters. ● Default value: Default value of the parameter. ● Permissible values: Specifies what may be entered into the "Value" col‐ umn. Syntax: () . Example: DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 105/223 Rexroth IndraWorks 13VRS Field Buses

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"BitArea (4-5) 0 0-2" means: This is a bit combination stored in the bits 4 and 5 of the configuration byte. The basic value is 0; the value can be between 0 and 2. ● Interfaces "User parameters" (only active online) – Set all default values: Click this button to replace all changed set‐ tings with the default settings from the GSDML file. – Read all values: Reading the current values of the device. – Write all values: Writing the current values from the following table to the device. Real-time classes, PROFINET IO To provide better scaling for the communication options and therefore the de‐ terminism in PROFINET IO, real-time classes were defined for data ex‐ change. From the user perspective, this means unsynchronized and synchronized communication. The details are taken care of automatically in the field devices. Real-time in PROFINET means that the priority with regard to the UDP/IP frames is increased. This is necessary 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 in determinism. RT_CLASS_1: Unsynchronized RT communication within a subnet. No special addressing information is necessary for this communication. The target device can only be identified using "Dest.Addr“. In PROFINET IO, unsynchronized communication within a subnet is the usu‐ al type of data transfer. If the RT data traffic can be limited on a subnet (same network ID), this var‐ iant is the simplest one. 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 purposefully not provided. RT frames received are identified upon reception using Ether type (16#8892) and are then forwarded to the RT path for processing. Indus‐ trial-suited standard switches can be used in this RT class. RT_CLASS_2: RT_CLASS_2 frames can be transferred synchronously or asynchronously. The asynchronous communication is considered to be as the RT_CLASS_1 communication. In synchronized communication, the start of a bus cycle is defined for all devi‐ ces. This determines exactly when the field devices are allowed to transmit. This is always at the start of the bus cycle for all field devices in RT_CLASS_2 involved in the communication. Switches suitable for PROFINET have support this synchronization during this communication. For this data transfer designed for performance, special provisions have to be made for hardware (EtherNet controller/switch with support for isochronicity). RT_CLASS_3: Synchronized communication within a subnet. In synchronized RT_CLASS _3 communication, process data is transmitted with high precision according to an exact sequence determined when the equipment is engineered (maximum 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). There is no waiting time in RT_CLASS_3. To take advantage of this data transfer procedure designed for high performance, special provisions have to be made for the hardware (Ethernet controller with support for isochronicity). 106/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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RT_CLASS_UDP: The unsynchronized subnet-comprehensive communica‐ tion requires addressing information from the target network (IP address). This variant is also known as RT_CLASS_UDP. Standard switches can be used in this RT class. For RT frames, it is sufficient to achieve data cycles of 5 ms at 100 Mb/s in full duplex operation with VLAN. This RT communication can be performed with all available standard network components. (Quotation: PROFINET Technology and Application, version April 2009, PROFIBUS User Organization e.V. (incorporated society), PROFIBUS & PROFINET International Support Center) Tab "PNIO Identification"

Fig. 9-27: 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 device cannot be scanned. It has to be identified by a device name that is unique throughout the subnet. The entries into these fields have to be synchronized manually with the asso‐ ciated module for coupling a PROFINET IO device of the PROFINET IO con‐ troller as shown in the figure below. The station name is the decisive factor.

In the "MAC address" field, the MAC address is displayed following a network scan. This field cannot be edited. Example DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 107/223 Rexroth IndraWorks 13VRS Field Buses

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Fig. 9-28: Transferring the name for identification from the controller to the de‐ vice

Data between the controller and the device is exchanged using common memory ranges. The outputs of one are the inputs of the other and vice versa. A check is mandatory and, if necessary, manually adjust the de‐ vice to the module to couple a PROFINET IO device of the con‐ troller.

Also refer to "Scanning for Devices", page 119. Tab "Field Bus Mapping" Field bus mapping enables the access to control variables from a parent field bus master. To access a control variable from a parent master, assign an address to these variables first (mapping). The parent master can use this address to access the control data using acyclic services. To use the field bus mapping, the control has to be configured as corre‐ sponding field bus slave. For details, refer to chapter 16 "Field Bus Mapping, Field Bus Master Access to Variables of the Field Bus Slave" on page 197. Tab "PNIO Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor.

Please clarify any possible modifications to the parameters that can be edited with the service team. 108/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Fig. 9-29: PROFINET IO devices: PNIO configuration Tab "PNIO I/O Mapping"

Fig. 9-30: PROFINET IO devices: PNIO I/O Mapping

Channels: The upper section of the dialog is not used, as the I/O mapping is done in the I/O blocks. See PNIO modules I/O mapping, page 101 IEC objects: When the PROFINET IO controller is defined, the libraries "IoDrvCIFXPNDevice.library" and RIL_PROFINETIODevice.library are auto‐ matically applied. The memory space required to implement the PROFINET IO device can now be defined. Bus cycle options: By selecting a bus cycle task, the cycle of the mapping ex‐ change for the PROFINET IO controller can be connected to a particular task. In this task, it is useful to process the I/O data of the controller as well. Tab "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). Diagnostics - IndraWorks (inter‐ In PROFINET IO, diagnostics is supported by the IndraWorks interface as face) long as the bus is reached online. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 109/223 Rexroth IndraWorks 13VRS Field Buses

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This starts as soon as the PROFINET IO devices are scanned:

Fig. 9-31: Diagnostic messages in PROFINET (PNIO controller) A recognized device that functions without error has the usual icon in the Project Explorer. A device that is not recognized, recognized only partially or missing also features a yellow triangle with an exclamation point. ● SlaveState: 2 - with error ● NumConfigSlaves: 2 - number of configured devices ● NumActiveSlaves: 1 - number of active devices ● NumDiagSlaves: 1 - number of devices with diagnostic reports The upper bus coupler was recognized, its terminals work correctly or are ex‐ cluded from the compilation (and thus also from the diagnostics).

Fig. 9-32: Bus coupler with diagnostics is "running", the upper 3 terminals are al‐ so running, others are not under Diagnostics The status of the bus terminal BK_DI8 shows error-free work.

Fig. 9-33: Bus terminal BK_DI8 shows error-free work 110/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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The status of the bus terminal R_IL_PWM_2_PAC cannot provide information because the diagnostics is switched off.

Fig. 9-34: Bus terminal R_IL_PWM_2_PAC, disabled Continuing with the bus coupler that displays a diagnostic:

Fig. 9-35: Diagnostic messages in PROFINET (PNIO bus terminal) If there is a faulty terminal, an error number that should be contained in the following table is output as diagnostic information at the error location itself.

BitNr Value Meaning

0 1 The device does not exist or does not respond to DCP ident requests. 1 2 The device is not ready 2 4 The device has a configuration error (e.g. its station name or IP address 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, Connect_Request or Write_Record is re‐ jected 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. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 111/223 Rexroth IndraWorks 13VRS Field Buses

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BitNr Value Meaning 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.

Tab. 9-3: Error table, PROFINET IO Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 9.3.7 PROFINET IO Device, Adding Coupling Modules PROFINET IO Device, Coupling Modules, General Information The interface from a PROFINET IO device to the PROFINET IO controller is designed as common memory space. Its size can differ based on require‐ ments. The coupling area to exchange data with the PROFINET IO controller is de‐ termined with input and output modules at the PROFINET IO device object. Add the corresponding input and output modules in the context menu of the PROFINET IO device object via Add ▶ Module ▶ .... The modules shown in the figure are available.

Fig. 9-36: PROFINET IO device: Adding modules 112/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Data between the controller and the device is exchanged using common memory ranges. The outputs of one are the inputs of the other and vice versa. A check is required and if necessary, the device has to be man‐ ually adjusted to the modules of the controller.

(1) PROFINET IO device (2) Coupling modules for data exchange between the controls. Fig. 9-37: PROFINET IO device with memory modules to couple a PROFINET IO controller via a function module Double-click on the module object to open the configuration dialog of the cou‐ pling modules inserted below the PROFINET IO device object. The dialogs can also be opened via the context menu of the module Open. The following tabs are provided in the configuration dialog of the PROFINET IO device coupling modules: Configuration dialogs for coupling modules of a PROFINET IO device to cou‐ ple a PROFINET IO controller ● PNIO parameters, page 112 ● PNIO configuration, page 113, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor. ● PNIO IO mapping, page 113 ● Status, page 114 ● Information, page 114. Tab "PNIO Parameters"

Fig. 9-38: PROFINET IO coupling modules: PNIO Parameters DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 113/223 Rexroth IndraWorks 13VRS Field Buses

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Module information ● Ident number: Module ID from device description. ● Slot number: Module position below the device, starts with "1" for the first module and increases for each other module resulting automatically from the current structure in the device tree. User parameters None. Tab "PNIO Module Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor.

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

Fig. 9-39: PROFINET IO coupling modules: PNIO module configuration The dialog provides information on position and size of parameters. Tab "PNIO Module 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.

Fig. 9-40: PROFINET IO coupling modules: PNIO Module I/O Mapping 114/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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This assignment is described in Mapping the Onboard, Inline and Field bus Inputs and Outputs, page 191,. Tab "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 108. Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 9.3.8 PROFINET IO Controller, Device Coupling PROFINET IO, Controller-Device coupling, General Information To couple a control used as PROFINET IO device, a device is available un‐ der Library ▶ Periphery ▶ PROFINETIO ▶ PLC that allows to couple the fol‐ lowing controls:

Fig. 9-41: PROFINET IO controller: selecting the module to couple a PROFINET IO device control ● L25 PN device, ..., L85 PN device for controls L25 ... L85, coupling via their onboard interfaces ● Lx5 PN device FM CFL011.1-TP for the controls L25 ... L85, coupling via a function module "RT-Ethernet / Profibus DP (CFL01.1-TP)" When adding the module to couple a PROFINET IO device control to the Project Explorer, a firmware component in the controller is activated to con‐ nect to a PROFINET IO device via PROFINET. Each of these modules has a selection of (sub)modules in the device library that activates input and output variables in the mapping memory of the con‐ DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 115/223 Rexroth IndraWorks 13VRS Field Buses

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troller to exchange data between the PROFINET IO controller and the PROFINET IO device control. (Also refer to PROFINET IO Controller, Adding Devices, page 93.)

(1) PROFINET IO Controller (2) Module for coupling (3) Memory modules to exchange date between controls. Fig. 9-42: PROFINET IO controller with module to couple a PROFINET IO de‐ vice via a function module Configuration dialog PROFINET IO, controller-device coupling ● PNIO parameters, page 115 ● PNIO identification, page 117 ● PNIO configuration, page 118, this window is used for service purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor. ● Status, page 119 ● Information, page 119. Tab "PNIO Parameters" To open the editor window in the Project Explorer, double-click on the PROFINET IO module to couple a PROFINET IO device. All settings in this dialog depend on the device description in terms of wheth‐ er they can be edited here and which values are specified or possible.

Fig. 9-43: Tab: PNIO Parameters Parameters These parameters describe the time response of the communication on the PROFINET. The product of the two parameters 116/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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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): Transmission period in milliseconds. ● Reduction ratio: Factor for calculating the cycle time from the transmis‐ sion period. ● RT Class: Select the class (Real-time communication, page105). 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 ● Monitoring: Monitoring control. If this option is active, the monitoring time entered applies (watchdog). If the slave does not obtain any signal from the master within this time period anymore, a device-specific re‐ sponse occurs, e.g. error message. ● Time (ms): Monitoring time, relevant in case the "Watchdog control" op‐ tion is enabled. Possible values: 0 to 65535. Module information Ident number: This entry is in the device description file and helps to identify the device. User parameters ● Set all default values: This command resets all selected settings to the default settings (see "Default value" column) of the GSDML file. ● Read all values: This command reads the current values from the de‐ vice and updates the values in the editor. ● Write all values: This command writes the current editor values to the slave. Not all slaves support a parameter update during "Run" mode. In this case, an error message is displayed. ● Symbolic values: a symbolic value representation can be activated. When it is deactivated, the numeric values are displayed. Parameter table In the parameter table, double-click on the respective value to edit this value. Depending on the parameter, this is performed via a selection list or by di‐ rectly entering a value. ● Parameters: Parameter name or parameter category (without value as‐ signment) ● Value: Current parameter value ● Data type: Data type of parameter, e.g. "Bit" ● Byte offset: The parameters defined by the user are saved in the Varia‐ ble Record Data (array of bytes). The byte offset specifies the first valid byte. ● Bit offset: The parameters defined by the user are saved in the Variable Record Data (array of bytes). The bit offset specifies the first valid bit, the byte identified by the byte offset. ● Bit length: Length of the information saved in the Variable Record Data (array of bytes) containing the user-defined parameters. ● Default Value: Default value of the parameter. ● Value range: Specifies what may be entered in the 'Value' column. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 117/223 Rexroth IndraWorks 13VRS Field Buses

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Syntax: (). Example: "BitArea (4-5) 0 0-2" means: This is a bit combination stored in the bits 4 and 5 of the configuration byte. The basic value is 0; the value can be between 0 and 2. ● Interfaces "User parameters" (only active online) – Set all default values: Click this button to replace all changed set‐ tings with the default settings from the GSDML file. – Read all values: Reading the current values of the device. – Write all values: Writing the current values from the following table to the device. Tab "PNIO Identification"

Fig. 9-44: Tab: 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 station name is used to select the Profinet IO device. Missing or deviating settings at the device are ignored.

The station name may consist of the following characters: Lower case letters 'a’ to 'z’, digits '0’ to '9’ and the special , hyphen '-’ character. Upper case letters "A" to "Z" are allowed, but internally converted into lower case letters. The station names are not case sensitive.

The device cannot be scanned. It has to be identified by a device name that is unique throughout the subnet. Name and address settings of the associated module to couple a PROFINET IO device have to be applied as shown in the following figure. In the "MAC address" field, the MAC address is displayed following a network scan. This field cannot be edited. If the PROFINET IO device has not been inserted via the "Scan functionality", the data of the associated module to couple a PROFINET IO device has to be applied as shown in the following figure. The name is the decisive factor. Example 118/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Fig. 9-45: Transferring the name for identification from the controller to the de‐ vice

Data between the controller and the device is exchanged using common memory ranges. The outputs of one are the inputs of the other and vice versa. Checking and maybe manually comparing the device with the controller's module is required.

Also refer to "Scanning for Devices", page 119. Tab "PNIO Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor.

Please clarify any possible modifications to the parameters that can be edited with the service team. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 119/223 Rexroth IndraWorks 13VRS Field Buses

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Fig. 9-46: Tab: PNIO configuration

When the bus is running, modified parameters can be transferred via the "Write parameter" button.

Tab "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 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 108. Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 9.4 PROFINET IO Controller; Scanning for Devices 9.4.1 Scanning for Devices The command to scan devices is provided to determine the hardware envi‐ ronment connected to the control. Before executing the command "Scan for devices", the PROFINET IO driver for the corresponding interface has to be loaded into the control. Log into the control with a PLC project whose corresponding field bus interface is config‐ ured as PROFINET IO controller. 120/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Procedure to determine the connected devices: ● Switch the control to online ● Highlight the field bus on board or at the function module ● The command to scan for devices is located in the project menu and in the menu item of the field bus. ● A device can only be properly detected if its device description file (con‐ taining manufacturer, device name, parameters) exists in field-bus-spe‐ cific format (PROFINET IO: GSDML file). If this file is missing for the actual device, scanning can only be partially performed. The device description file has to be reloaded and the scanning repea‐ ted (Reload device description file, page 187). Menu item Scan for Devices This command is only available when logged in. 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 provide it for application to the device tree in the project. In either case, to execute scan functions, a connection to the control is auto‐ matically established and then closed again. The PLC gateway has to be configured and the control has to run as well. If the implementation of the scan functionality is implemented in the PLC, it can be scanned immediately. If it is located in a library, log in once to load the library. If not yet performed, a request is sent when trying to scan. The command refers to the control connected to the project and currently se‐ lected in the device tree. An already inserted PROFINET IO controller can be selected. This command is used to determine the assigned I/O devices and I/O modules.

Fig. 9-47: Dialog "Scan for Devices" for PROFINET IO The scanning functionality in a PROFINET IO bus system can scan devices as well as modules. The following functions are available in addition to the general functions: ● "Device name", "Device type" as well as "Station name" are displayed in the "Scan Devices" window. Other columns also display "MAC address", "IP address" and "Subnet mask" Depending on the device type, station address, identification number and status can be displayed. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 121/223 Rexroth IndraWorks 13VRS Field Buses

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NOTICE Each device has to have a station name! If this name is missing, only limited functionalities can be executed in network mode.

Start a new search via the button: ● Only display stations without name: If this option is enabled, only devi‐ ces without station name are listed. ● The "station name" can be changed in the dialog (double-click to edit field). Use the button when the device entry is selected to inform the bus system on the new name. ● The entries for "Device name", "IP address" and "Subnet mask" can al‐ so be edited or created in the dialog before the device settings are ap‐ plied to the configuration in the project. If the device is accepted with no addresses defined, the default settings defined in the "PNIO Controller Parameters" dialog of the device editor are used (Tab PNIO Master Parameters , page 87). The final address can still be defined subsequently for each device in its configuration dialog (Tab PNIO Identification, page 106). ● To identify a device in the hardware listed in the 'Scanned Devices' win‐ dow, select the entry in the dialog and click on . The device should react with a blinking signal. ● The module "Ident number" is only displayed in the list if 1. it is provided by the I/O device 2. if I/O device and controller are part of the same logic network and 3. if IP address and network mask of the I/O device are set correctly. If the ID number is not present, an I/O device can still be "copied" to the project if it can be identified using other information. Auto-IP: If the IP address of the device is not valid within the network (net‐ work settings of the master), this function creates a valid IP address and as‐ signs it to the device.

Note the option to adjust the configuration settings of a PROFINET IO device with those of the corresponding hardware device.

Show differences to project:If the option is enabled, only devices not yet map‐ ped in the device tree in the project are displayed. Copy all: This button applies the devices selected in the window. If nothing is selected, all scanned devices are applied as entries in the device tree in the project.

Depending on the selected node, only a single element, a com‐ plete I/O station or all newly scanned devices is/are copied to the project. 122/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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If values are changed in the list of available devices (e.g. IP ad‐ dress change), the corresponding value is displayed in italics. This new value is only changed in the editor, but not in the device. After loading the value to the device, it is displayed normally. Values displaying differences between project and available devi‐ ces are displayed in orange.

Menu item "Scan Devices", Show Show differences to project: This option opens a dialog in which the found differences to project devices and modules are compared to the configured devices.

Fig. 9-48: Dialog ''Show differences to project'' The devices highlighted in green are identical, whereas the devices highligh‐ ted in red are only listed in the overview of found or configured devices. ● Use "Copy before" and "Copy after", to copy the highlighted devices to the configured devices before and after the selected device. ● A configured device cannot be replaced by a scanned device with "Change to". For this action, the concerned devices are highlighted. I&M:This command retrieves the I&M data (Identification and Maintenance) from the device and displays them in a dialog Auto IP: This command automatically sets a valid IP address if the address scanned by the device is invalid. <-- Assign online device: The settings of the configured device are assigned to the scanned device using this command. --> Assign configured device: The settings of the configured device are as‐ signed to the scanned device using this command Reset: Resetting the device settings to the default settings. 9.4.2 Configuration Adjustment

Please not that this functionality is only available for PROFINET IO bus systems!

By using this command, the configuration settings of a PROFINET IO slave device defined in the project can be easily synchronized with the settings of a DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 123/223 Rexroth IndraWorks 13VRS Field Buses

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device (same device and manufacturer ID) in the connected hardware. Con‐ sequently, the local settings are overwritten with the hardware settings. Execute the following steps: ● Set communication settings. ● Select the device object in the device tree in offline mode and the com‐ mand "Configuration adjustment" in the context menu. ● The dialog "Scan for devices" is opened and the search for matching devices in the hardware is started. The found devices are listed. The de‐ vices already used in the project (identified by means of the station name) can be hidden with "Hide used devices". ● Scanning can be restarted using the "Scan device" button. To overwrite the device configuration settings in the project with the settings of the hardware device, select the device from the list and click on "Copy to project". Subdevice objects are not removed. 9.5 PROFINET IO, Topology and Device Exchange 9.5.1 Topology and Device Exchange, General Information Overview: As with other field buses, it has to be possible to exchange the slaves - in case of PROFINET the I/O devices - without Engineering system (e.g. IndraWorks). Thus, the network and device structure of the PROFINET device design is determined and stored using the PROFINET topology identification function‐ ality. Based on this data, exchanged I/O devices at the PROFINET field bus of a Bosch Rexroth control, can be commissioned again. Name-based device addressing: In case of PROFINET, a logic, individual and unique device name (device name, station name, IdentStr) is assigned to each device (I/O device). The PROFINET IO controller uses this device name to assign the configured IP address to the I/O devices. In the following, the actual PROFINET data traffic takes place via this IP address and thus the MAC address. IP addresses and device names are accessed with the DCP available by de‐ fault with every PROFINET device. (DCP=Discovery and Configuration Pro‐ tocol) Neighboring device identification: Neighboring devices can use LLDP (Link Layer Discovery Protocol) to ex‐ change information. Each device sends information cyclically. The neighbor‐ ing device saves this information for each of its network ports. Topology identification: LLDP information of all configured devices is read by the PROFINET IO con‐ troller, added as topology list, saved as XML and stored on the CF card of the control. 9.5.2 Exchanging I/O Device To replace an I/O device in a system, apply the name of the I/O device to the spare device. The PROFINET IO controller detects the I/O device via this de‐ vice name. The correct IP-address is assigned and data traffic is continued. Options to exchange an I/O de‐ vice: There are different procedures to apply the device name to the spare device: 1. The device name is saved on a storage medium. The storage medium is transferred from the original device to the spare device. PROFINET does not require any special activity. 124/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Example: XLC65 is exchanged as I/O device and the CF of the "defec‐ tive" control remains used. 2. The device name can be set on the device. Same settings are made for the spare device. PROFINET does not require any special activity. Example: S67-PN-BK 3. The device name is manually transferred from an Engineering system to the spare device (named). Therefore, go to the dialog PROFINETScan for Devices ▶ Name in IndraWorks Engineering. 4. The PROFINET IO controller determines and saves its network topolo‐ gy. The device name is automatically transferred if the device fails or a new compatible device is present. These steps are described in more detail below. 5. An HMI application copies the procedure of the Engineering system. Not yet planned. Prerequisite to exchange the de‐ ● To completely determine the device topology, all PROFINET devices vice: have to support LLDP. If switches are used, they have to be configured as PROFINET IO device in the Engineering system. ● The PROFINET IO controller can only completely understand the topol‐ ogy if the PROFINET configuration is free of errors. ● Requirements on the spare device: – Design as original device – Installation at same location in the network – Use of the same port – If device name is still available, it may not occur in the network. Ideally, the device should be reset to factory default 9.5.3 Device Exchange Procedure Creating topology data: New topology information is generated after each project download. The PROFINET driver waits until the field bus has started completely and without errors. If there is no diagnostics for all configured devices, the topology infor‐ mation of the configured devices is created using Livelist data and LLDP data of the I/O devices and then stored in an xml file. Name and file path of the XML file can be specified via the configuration file. The PROFINET driver extends the name with the instance number of the PROFINET IO controller. (Default is /ata0b/PNTOPO_n.xml; n – instance number Profinet) The xml file is read in again after switching on and off the control. The XML file is discarded at a PLC project download. Topology data can also be generated again in the PLC at any time using the function block IL_PNIOStoreTopology. Exchanging a device: It is checked whether an I/O device cannot be reached anymore. If this is the case, the neighbors of the missing device - if reachable - are monitored to check whether a different I/O device is detected in the connection of the missing I/O device. This new I/O device is checked for compatibility with regard to the original de‐ vice using VendorID and DeviceID. If there is compatibility, the device name of the original device is given to the spare device. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 125/223 Rexroth IndraWorks 13VRS Field Buses

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The PROFINET IO controller detects that a new I/O device with a fitting name exists and includes that I/O device into the real data traffic. Same procedure applies to other I/O devices that cannot be reached. 9.5.4 Supporting Topology and Device Exchange Function using PLC To support topology and device exchange functions, there are new function blocks in the RIL_PROFINETIO.library IL_PNIOGetLiveList

Fig. 9-49: IL_PNIOGetLiveList The function block returns a list of the currently reachable PROFINET devi‐ ces.

IL_PNIOAssignName

Fig. 9-50: IL_PNIOAssignName The function block assigns the device name (=Identstring) to a PROFINET I/O device. The MAC address of the I/O device is used for addressing. This also referred to as "Naming". The MAC address can only be taken from the IL_PNIOGetLiveList function block.

IL_PNIODeviceSetIP

Fig. 9-51: IL_PNIODeviceSetIP 126/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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The function block sets the IP settings of a PROFINET I/O device. The I/O device is addressed via its MAC address. The MAC address can only be tak‐ en from the IL_PNIOGetLiveList function block.

IL_PNIODeviceResetToDefault

Fig. 9-52: IL_PNIODeviceResetToDefault The function block resets a PROFINET I/O device to the factory default. The MAC address of the I/O device is used for addressing. The MAC address can only be taken from the IL_PNIOGetLiveList function block. Background information This call can reset an already used I/O device to factory default. Depending on the manufacturer and I/O device, different methods can also be used.

IL_PNIOStoreTopology

Fig. 9-53: IL_PNIOStoreTopology The function blocks starts the generation of the current network topology data basis if all configured I/O devices are available without diagnostics. The topology is saved in an XML file.

IL_PNIOGetLogMsg

Fig. 9-54: IL_PNIOGetLogMsg The function block gets a logger text for device exchange from the PROFINET I/O controller. The oldest message is taken. Each message can only be taken once. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 127/223 Rexroth IndraWorks 13VRS Field Buses

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Logger message structure: These logger messages can occur in the Engineering system as well as at the IL_PNIOGetLogMsg function block.

Each logger message consists of three parts: 1. the "PN_Topology" term 2. Instance number of the controller 0..5 3. Message text

Message text Explanation

new topology file stored A new XML file with topology information was generated new topology list generated New topology information computed topology file deleted Topology information was deleted, e.g. when deleting the project on the control read topology file error No file with topology information could be read. fragmentary; DEVNAME not configured The device named DEVNAME is available in the system hierarchy, but not in the configuration of the Engineering system. As a result, the spare part cannot be "named" depending on the net structure and the device exchanged. device DEVNAME not in XML The configured device DEVNAME is missing in the topology file missing device in config DEVNAME The device DEVNAME from the topology is missing in the configuration. check device for DEVNAME Another device was found for the missing device. This is now checked for com‐ patibility. not fitting device Type : DEVICETYPE Compatibility check resulted in an unsuitable DeviceType string not fitting VendorID : XXX-YYY Compatibility check resulted in an unsuitable vendor ID XXX. ID YYY is expec‐ ted not fitting DeviceID : XXX-YYY Compatibility check resulted in an unsuitable device ID XXX. ID YYY is expec‐ ted Success naming DEVNAME A device was successfully named with DEVNAME Error naming DEVNAME Naming the device DEVNAME was not successful

Tab. 9-4: Logger messages Example: PN_Topology 0: new topology file stored

Restrictions: ● Changes made at network cabling are not automatically detected. If an existing network has to be restructured, the project has to be loaded again or determining the topology has to be started again via RIL_PRO‐ FINETIO.library, IL_PNIOStoreTopology. ● The DAP (DeviceAccessPoint) module ident number in the device (De‐ viceID) is currently not checked. This spare device value can only be determined after the device has been completely started at the PROFINET IO. ● The I/O extension of modular devices is not part of the topology data. This values can also only be determined after the device has been com‐ pletely started at PROFINET. 128/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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● If a device is missing, it is searched for a reachable neighboring device of this device. If this neighboring device found a suitable device in its LLDP information, it is "named". The result is that this device can also be connected "incorrectly" at its other port, but it is still "named".

Fig. 9-55: Possible problems when naming a device DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 129/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP 10 EtherNet/IP 10.1 EtherNet/IP, General Information The field bus "EtherNet/IP" is based on Ethernet. The application protocol "Common Industrial Protocol (CIP) on Ethernet was realized and provided as open industry standard with the help of the Control-Net International (CI), the Open DeviceNet Vendor Association (ODVA) as well as the Industrial Ethernet Association (IEA). Based on the standard TCP and UDP, EtherNet/IP allows the communication between the office network and the system to be controlled. Most of the EtherNet/IP end devices support DHCP and BootP when specify‐ ing the IP address. As each standard-compliant Ethernet, EtherNet/IP is also not suitable for high level real-time applications (<1ms) such as the control of servo motors. The typical cycle time of an EtherNet/IP network is around 10ms. 10.2 Ethernet/IP Scanner 10.2.1 Terms and Abbreviations

Term Explanation

"Ethernet Industrial Protocol": Implementation of the application protocol "Common Industrial Protocol" Ethernet/IP (CIP) on standard Ethernet (TCP/IP, UDP/IP). Ethernet/IP and CIP are administered by the ODVA ("Open DeviceNet Vendor Association", www.odva.org) ENIP, EIP Abbreviations for Ethernet/IP Scanner The Ethernet/IP field bus master is called Scanner. Adapter The Ethernet/IP field bus slaves are called Adapters. Originator The device that established the connection is called Originator. Target The device to which the connection is established is a Target. O→T Data direction from Originator to Target T→O Data direction from Target to Originator RPI "Requested Packet Interval": Cycle time for the cyclical I/O data telegrams Assembly Data is defined as assembly objects (e.g. cyclic input/output data or configuration data). "Electronic Data Sheet": Device description file for Ethernet/IP adapter with which the adapter devices EDS file are made known to IndraWorks. "Bootstrap Protocol": Predecessor to DHCP ("Dynamic Host Configuration Protocol"); used to assign de‐ BootP vices an IP address.

Tab. 10-1: Terms and abbreviations, Ethernet/IP field bus 10.2.2 Features of the Ethernet/IP Scanner The current implementation of the scanner includes the following functionali‐ ties: ● Cyclic communication ("implicit messaging") ● Acyclic communication ("explicit messaging") ● EDS file import to the device database (Note: modular EDS files are not supported) 130/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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● Adapter-related state via cyclic data ● Adapter-related diagnostics via FBs ● Detailed diagnostics in the engineering software for all adapters ● BootP or DHCP mechanism for IP address assignment

Function/Characteristic Value

Maximum number of connections ("implicit messaging") 64 Baud rate 100 Mbit/s Auto negotiation/ autocrossing Yes Min. cycle time 2 ms Max. amount of cyclic input data 4096 bytes Max. amount of cyclic output data 4096 bytes Max. amount of cyclic input data per adapter device, correspond‐ 480 bytes ing with adapter devices Max. amount of cyclic output data per adapter device, corre‐ 480 bytes sponding with adapter devices

Tab. 10-2: Technical Data 10.3 Ethernet/IP Adapter 10.3.1 Terms and Abbreviations

Term Explanation

Tab. 10-3: Terms and abbreviations, Ethernet/IP field bus 10.3.2 Features of the Ethernet/IP Adapter The current implementation of the Ethernet/IP adapter (at the real-time Ethernet interfaces) includes the following functionalities: DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 131/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

● Cyclic communication ("implicit messaging") ● Diagnostic of the adapter ● Acyclic communication 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, correspond‐ 480 bytes 1) ing with scanner devices Max. amount of output data, correspond‐ 480 bytes 1) ing with scanner devices IO connection 1 "explicit owner", up to 2 "listeners" IO connection type Cyclic, min. 2 ms CIP standard services: ● Set_Attribute_Single ● Get_Attribute_Single Explicit messages Rockwell-specific services: ● ReadDataTable ● WriteDataTable 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 1) Per connection Tab. 10-4: Technical Data Supported CIP classes CIP classes are contained in the CIP specification of the ODVA. They describe the properties of the objects, irrespective of the physical inter‐ face, e.g., Ethernet, CAN (volume 1). The physical interface is described in another specification. This is volume 2 for Ethernet/IP, which describes how Ethernet/IP is adapted to CIP. Classes 1, 2, 4, which are described in volume 1 ("Common Industrial Proto‐ col"), are supported. The classes 16#F5 and 16#F6 of volume 2 ("Ethernet/IP adaptation of CIP") are supported. A "Vendor Specific Object" class 16#C7 is defined for acyclic data communi‐ cation. Below is a detailed description of the classes listed in the following table. 132/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

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Class Name

16#01 Identity Object 16#02 Message Router Object 16#04 Assembly Object 16#F5 TCP/IP Interface Object 16#F6 Ethernet Link Object 16#C7 Vendor Specific Object

Tab. 10-5: Supported CIP classes Indentity Object (16#01) The Identity class serves to provide general adapter information uniquely identifying the adapter.

Fig. 10-1: "Identity Object" class: Class attribute (instance = 0) and instance at‐ tribute (instance = 1) Message Router Object (16#02) The "Message Router Object" provides connection points in the form of classes or instances, which a client can use to address services (read, write). These messages can be sent from the client to the adapter both based on the connection (connected) and without connection (unconnected). No services are supported for the Message Router Object (Predefined Stand‐ ard Object 16#02). A "Vendor Specific Object" 16#C7 is defined on the Message Router for acy‐ clic communication. This object supports the Get/Set_Attribute_Single serv‐ ices. Various "Vendor Specific Services" can be defined for this object (e.g., the Read/Write DataTable, Read/Write Fragmented Data services). DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 133/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-2: Class "Vendor Specific Object (16#C7)": Only instance attribute (in‐ stance = 1, 2, 3, …, 16#FFFF) Assembly Object (16#04) The Assembly class can be used to combine several objects, even if they are different. Such objects can, e.g., be input and output data. The manufacturer- specific instances are used to provide these objects in various arrangements. This results in an efficient way of exchanging process data.

Fig. 10-3: Class "Assembly Object": Class attribute (instance = 0) and instance attribute (instance = 1) TCP/IP Interface Object (16#F5) The "TCP/IP Interface Object" provides the setup for configuring the TCP/IP network interface of an adapter. Examples of configurable objects are IP address, network screen and gate‐ way address of the adapter.

Fig. 10-4: Class "TCP/IP Interface Object": Class attribute (instance = 0) and in‐ stance attribute (instance = 1) Ethernet Link Object (16#F6) The "Ethernet Link Object" contains link-specific counter and state informa‐ tion for a communication interface of the Ethernet type. 134/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-5: Class "Ethernet Link Object": Class attribute (instance = 0) and in‐ stance attribute (instance = 1) 10.3.3 Features of the Ethernet/IP Adapter (Engineering Port) The current implementation of the Ethernet/IP adapter (Standard Ethernet in‐ terfaces(Engineering port) includes the following functionalities: ● Cyclic communication ("implicit messaging") ● Diagnostic of the adapter

Function/Characteristic Value

Max. amount of input data 128 bytes1) Max. amount of output data 128 bytes IO connection 1 explicit owner, 1 listener IO connection type Cyclic, min. 5 ms Get_Attribute Explicit messages Set_Attribute UCMM Supported Max. number of user-specific objects - Max. number of connections 1 explicit and 1 implicit connection DCHP - BOOTP - Baud rate 10 and 100 Mbit/s

Tab. 10-6: Technical Data 10.4 Configuring EtherNet/IP 10.4.1 Configuring EtherNet/IP, Overview The EtherNet/IP configuration editor provides dialogs for the configuration of EtherNet/IP scanner and adapter devices displayed in the device editor in ad‐ dition to the standard dialogs.

1) The data width of the coupling area is preset to 8 bytes input data and 8 bytes out‐ put data plus a 4 byte Run Header. It can be changed via the Set Device context menu. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 135/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

To insert EtherNet/IP devices as objects into the device tree and to configure them, install the corresponding device description files (*eds files of the adapter devices) in the device database.

Fig. 10-6: Device database 10.4.2 Adding EtherNet/IP Scanner An EtherNet/IP scanner can be applied to the Project Explorer with "Set De‐ vice". Inserting an EtherNet/IP scanner into the device tree automatically inte‐ grates the corresponding device-specific library into the library manager.

Fig. 10-7: Inserting scanner 10.4.3 Configuring EtherNet/IP Scanner IP address, subnet mask and gateway address can be set for the EtherNet/IP scanner. The IP address of the scanner can also be retrieved by a parent control via BootP or DHCP. Therefore, use the respective button. Additionally, the network settings for direction and velocity can also be speci‐ fied. 136/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-8: Dialog EtherNet/IP Scanner; "Scanner Settings" Set IP address, subnet mask and gateway address in this window. If the ra‐ dio button "Obtain IP address automatically:" is enabled, the scanner re‐ ceives its address from a superordinate control or a BootP/DHCP server. The MAC address of the scanner is on the device.

Fig. 10-9: Dialog EtherNet/IP Scanner; Configuration All configuration data from the configuration file as well as set by the system can be seen in this window. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 137/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-10: Dialog EtherNet/IP Scanner; I/O Image This window shows the mapped variables.

Fig. 10-11: Dialog EtherNet/IP Scanner; Status, no errors This window displays the current status of the EtherNet/IP scanner.

Fig. 10-12: Dialog EtherNet/IP Scanner; Status, with diagnostic message 138/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-13: Dialog EtherNet/IP Scanner; Information This window displays information on the installed EtherNet/IP scanner. 10.4.4 EtherNet/IP Scanner, Adding Adapter EtherNet/IP Scanner, Adding Adapter, General Information One or multiple EtherNet/IP adapters can be added to the scanner. Drag&drop them from the device library, via the menu item Ethernet_IP_Scanner ▶ Add ▶ ... or via "Add" in the context menu of the scanner.

Fig. 10-14: Adding adapter EtherNet/IP Scanner, Configuring Adapter When configuring an adapter, enter target settings and connections. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 139/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-15: Dialog "Target Settings" This window shows the first dialog: "Target Settings". If the adapter is already provided with a fixed IP address, enter the IP ad‐ dress here. If the adapter is not provided with an IP address, enable the"BootP" checkbox. Enter the MAC address of the adapter and the config‐ ured IP address is automatically assigned to the adapter at system startup. An EtherNet/IP device is uniquely identified with "Electronic Key". These val‐ ues are applied from the device description (EDS file) of the adapter. It can be selected which attributes are checked when establishing the connection. That means there has to be an identical value in the adapter.

It is recommended to check the "Electronic Key" attributes, the "Minor Revision" can be ignored.

Fig. 10-16: "Connections" dialog The connections are configured in this window. The example shows an es‐ tablished "Class1 Exclusive Owner" connection with 6-byte scanner output data (O->T) and 8-byte scanner input data (T->O). 140/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-17: Adding connection; Dialog "New connection" A generic connection can be created. All connection parameters are freely configurable (only for experts). It is recommended to use the predefined con‐ nections from the device description (EDS file). Multiple connection proper‐ ties are already specified (and cannot be edited) and editing the parameter is limited to the permitted value range.

Some adapter devices cyclically send manufacturer-specific "sta‐ tus data" to the scanner. The input data length of the scanner "T→O Size" has to be increased by the length of the sent "status data". For more information, refer to Tips and Tricks on page 150

The connection parameters "Trigger Type", "RPI" and "Timeout Multiplier" are mostly provided with "reasonable" default values. For "Mode" (connection type) "Point to Point" is recommended.

Fig. 10-18: Delete connection dialog Confirm whether the connection should really be deleted. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 141/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-19: "Edit connection" dialog The previously set values can be changed again. Describing connection parameters:

The trigger is only "cyclically" supported in the current version. Trigger type Adapter devices can also support the triggers "Status change" and "Application" "Exclusive Owner" (input and output data) or Transport Type "Input Only" (only scanner input data) or "Listen Only" (only scanner input data) "Requested Packet Interval", cycle time of the cyclic I/O com‐ RPI munication Timeout Multiplier Number of telegrams that may be lost O→T Size Data length from originator to target (scanner output data) T→O Size Data length from target to originator (scanner input data) Config#1 Size Amount of configuration data to target Config#2 size Amount of configuration data to target Mode "Connection type": Point-to-Point, Multicast or Null Type "Length Format": Fix or variable data length Transfer Format Only data, with Run/Idle header or heartbeat Delay period to be present at least between two cyclic I/O tele‐ Inhibit Time grams (only relevant for trigger "Status Change" or "Applica‐ tion"; no function if "cyclic")

10.4.5 Configuring the Control as an Ethernet/IP Adapter (Onboard or FM) Configuring the Ethernet/IP Adapter, Overview An Ethernet/IP adapter can be used in the following controls: ● IndraLogic XLC L25 – With sercos III: Ethernet/IP adapter, function modules 142/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

– Without sercos III: Ethernet/IP adapter, onboard Ethernet/IP adapter, function modules ● IndraMotion MLC L25: Ethernet/IP adapter, function modules ● IndraLogic XLC L45/L65 and IndraMotion MLC L45/L65 Ethernet/IP adapter, onboard Ethernet/IP adapter, function modules The engineering software available at the control is represented as an Ethernet/IP adapter object in the Project Explorer. The object can either be configured as an Ethernet/IP adapter when creating the control or via the context menu item Set device. For information about the situation of the interfaces, see Field Buses and Field Bus Communication, Overview, page 13. When an "Ethernet/IP adapter" is selected, the IoDrvCIFXEIPAdapter library is automatically applied.

(1) Ethernet/IP adapter, onboard (2) Ethernet/IP adapter, function module (3) Ethernet/IP adapter, Engineering interface, see Configuring the Control as an Ethernet/IP Adapter (Engineering Port), page 145 Fig. 10-20: Ethernet/IP adapter objects, still unassigned Ethernet/IP adapter ● Adapter settings, page 142, ● EthernetIP Mapping, page 144, ● Field bus mapping, page 145 ● EthernetIP configuration, page 145, this window is used for service pur‐ poses and is only visible if the option "Show generic configuration edi‐ tors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor. ● Status, page 145, ● Information, page 145. Configuring the Ethernet/IP Adapter Tab "Adapter-settings" In the Adapter Settings tab, the target system settings of the Ethernet/IP adapters are selected. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 143/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-21: Configuring the Ethernet/IP adapter IP address The IP-address of the Ethernet/IP adapters can be automatically obtained: ● DHCP - Get IP configuration of a DHCP server automatically. ● BOOTP - Get IP configuration of a BOOTP server automatically. Optionally, the IP address can be specified manually via "Use the following IP address". The values for IP address, subnet mask and gateway address have to manually selected. The MAC address of the Ethernet/IP adapter is automatically read and is only displayed. Ethernet settings The velocity and the duplex of the Ethernet interface can be set under "Speed and Duplex". Possible values are: ● Auto-negotiation ● 10 MBits/half duplex ● 10 MBits/full duplex ● 100 Mbit / half duplex ● 100 Mbit / full duplex

MAC address of netX interface: Initial "00:00:00:00:00:00", the real MAC ad‐ dress is only displayed when the user is logged in. The MAC address is emp‐ ty again after the user logged out. I/O connection configuration In the Ethernet/IP, the input/output assembly instances have to be defined as follows, according to the scanner (originator): ● Adapter input size (O -> T) - Length of input data in bytes ● Adapter output size (T -> O) - Length of output data in bytes ● Output assembly instance (O -> T) - Display of output assembly in‐ stance ● Input assembly instance (T -> O) - Display of input assembly instance 144/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

The specified length of the input and output data influences the setting op‐ tions in the "EthernetIP I/O Mapping" tab. Header Run/idle header (4 Byte) from adapter to scanner.

This option has to be selected (Run/idle header active) if the scanner configuration has to be selected in the EDS file. Tab "EthernetIP I/O Mapping" The tab permits mapping of variables for data exchange with the scanner.

Fig. 10-22: Ethernet/IP adapter EthernetIP I/O mapping, subsequent to establish‐ ing the connection

Channels: The upper part of the dialog provides the inputs and outputs for communication between scanner and adapter that are specified in the config‐ uration of the connection. 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 191,.

IEC objects: When the Ethernet/IP adapter is defined, libraries "IoDrvCIFXEI‐ PAdapter.library" and/or RIL_EtherNetIPAdapter.library are automatically ap‐ plied. In this way, the memory space required to implement the Ethernet/IP adapter can be defined.

Bus cycle options: By selecting a bus cycle task, the cycle of the mapping ex‐ change for the Ethernet/IP adapter can be connected to a particular task. In this task, it is useful to process the IO data of the adapter as well. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 145/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Tab "Field Bus Mapping" Field bus mapping enables access to control variables from a parent field bus master. 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 ad‐ dress to access the control data using acyclic services. The control must be configured as a respective field bus slave in order to use the field bus mapping. For details, refer to Field Bus Mapping, Field Bus Master Access to Variables of the Field Bus Slave, page 197. Tab "EthernetIP Configuration" The "EthernetIP Configuration" tab displays the communication parameters of the Ethernet/IP adapter. Some of the parameters (in black) can be changed at this point. This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor.

Please clarify any other modifications that might possibly be made in the parameters that can be edited with the Service team.

Tab "Status" The "Status" tab in the "Ethernet/IP adapter device editor" displays status in‐ formation (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". Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 10.4.6 Configuring the Control as an Ethernet/IP Adapter (Engineering Port) Configuring the Ethernet/IP Adapter (Engineering), Overview The Ethernet/IP adapter can be used on the Engineering port for the follow‐ ing controls: ● IndraLogic XLC L25/L45/L65 ● IndraMotion MLC L25/L45/L65 When the control is created in the Project Explorer, the respective Ethernet Engineering interface available at the control is configured such that it as‐ sumes the double function of engineering software and Ethernet/IP adapter interface. The IP address / gateway setting is accepted. The required port configuration is made without any action on the user's part. 146/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-23: Dialog: configuration of the control, IP address / PLC gateway

Fig. 10-24: Dialog: configuration of the control, enabling of the Ethernet/IP adapt‐ er (engineering) functionality DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 147/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

After the control configuration is successfully enabled and complete, the preconfigured folder appears in the Project Explorer.

Fig. 10-25: Ethernet/IP adapter (Engineering) The interface between an Ethernet/IP adapter (Engineering port) and the Ethernet/IP scanner is executed as common memory space. This space is preconfigured with 8 bytes inputs and 8 bytes outputs plus a 4 byte header.

Fig. 10-26: Ethernet/IP adapter (Engineering port) , changing the size of the cou‐ pling area

1. Inputs on the Ethernet/IP scanner side become outputs on the Ethernet/IP adapter side and vice versa. 2. If the input and output ranges are set to 0 bytes, cyclic com‐ munication is not possible.

Ethernet/IP adapter (Engineering port) ● Ethernet/IP adapter (Engineering port), object – Status, page 147, – Information, page 147. ● Ethernet/IP adapter (Engineering port), module – Ethernet/IP I/O mapping, page 148, – Information, page 148. Tab "Status" of the Adapter The "Status" tab in the "Ethernet/IP adapter device editor" displays status in‐ formation (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". Tab "Information" of the Adapter The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 148/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Tab "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 191,.

Fig. 10-27: Ethernet/IP adapter (Engineering port) 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), no matter whether they are used or not and whether they are mapped to an input or an output channel. Tab "Information" of the Modules The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 10.4.7 Ethernet/IP Scanner-Adapter-Coupling XLC/MLC can be configured as either an Ethernet/IP scanner or an adapter. The following shows the coupling of two controls on an Ethernet/IP basis. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 149/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-28: Ethernet/IP coupling IP address Precisely the same control that was itself configured as an Ethernet/IP adapt‐ er is to be added to the Ethernet/IP scanner as an adapter device (an "L65" in this example). When configuring the adapter device below the scanner, the same IP address configuration is to be set as that for the control with the adapter functionality.

Fig. 10-29: Ethernet/IP coupling O <-> T size If a control is used as an Ethernet/IP adapter, the setting for the size of the input/output data is variable. In this case, in the Ethernet/IP scanner the identical sizes must be set when configuring the connection, i.e. the adapter output data is the corresponding scanner input data (T -> O Size) or the adapter input data is the scanner out‐ put data (O -> T Size). 10.4.8 The "Generic Device" If no EDS file is present for an adapter device, a "Generic Device" can be created in the configurator of the scanner (which is already present in the De‐ vice Library). In this case, however, all of the required configuration parame‐ ters have to be entered manually, i.e. in addition to the IP address and, if necessary, the MAC address, the values of the "Electronic Key" have to be entered. 150/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-30: Dialog "Generic Device" All of the necessary data for establishing the connection can be entered in this window. The "Generic Device" does not have a predefined connection; instead, an en‐ tirely new connection has to be set up manually. Doing so requires specific knowledge regarding the adapter device (e.g. assembly instances for the connection path); in addition, even with the connection parameters an adapt‐ er only supports a limited range of values, respectively. 10.4.9 Tips and Tricks The Ethernet/IP adapters (bus couplers) that can currently be obtained on the market can vary greatly with regard to their behavior or configuration. There are adapter devices that send additional status information of varying lengths in the data sent to the scanner (scanner input data). This status data can be situated at the beginning or at the end of the scanner input data. These status data are to be taken into consideration when configuring a con‐ nection, i.e. the T ->O size (scanner input data length) is to be increased by the length of this status data. A connection with an invalid data length causes an error when the connection is established (no communication possible). DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 151/223 Rexroth IndraWorks 13VRS Field Buses

EtherNet/IP

Fig. 10-31: Input data, variant 1

Fig. 10-32: Input data, variant 2 Some adapters force an even number ( 2, 4, 6, …) of input and/or output data without which, they will not accept a connection. For modular bus couplers that can be extended with plug-in modules, the in‐ dividual modules are combined to reach the respective total of bytes. For example, a 2 bit output module cannot be addressed with one byte.

Fig. 10-33: Byte limits for modular bus couplers With "older" bus couplers, the connection path might have to be described in "detail", i.e. the usual brief notation was not yet supported here, e.g. 20 04 24 03 2C 64 2C 65 in comparison with 20 04 2C 66 2C 69 … .

As necessary, the specification or user documentation of the adapter has to be used or the manufacturer of the adapter device has to be contacted. 152/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 153/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO 11 sercos III IO 11.1 Terms and Abbreviations Master The sercos III field bus master is called master. Slave The sercos III field bus slaves are called slaves. sercos ad‐ The criterion for addressing a slave is the sercos address. dress SDDML file This is the device description with which the sercos III slaves (typically with an I/O profile) are made known to IndraWorks. 11.2 Features of the sercos III IO Master The current implementation of the sercos III IO master includes the following functionalities: ● Cyclic data traffic ● SDDML file import into the device database ● Bus scan of sercos III slaves ● Remote address allocation ● Automatic configuration of the devices in the device tree (offline/online adjustment of the devices in the project) ● sercos III slave related connection state in the interface ● Diagnostics for the sercos III master and slaves via FB ● Acyclic data transfer (service channel or IP channel) via FB

Function/Characteristic Value

Max. number at I/O slaves, driver side1) 128 Baud rate 100 Mbit/s Auto negotiation/ autocrossing Yes L65: 250 µs Min. cycle time L45: 500 µs L25, VEP: 1 ms Max. amount of cyclic input data 1500 bytes Max. amount of cyclic output data 1500 bytes Max. amount of cyclic input data per slave 1500 bytes Max. amount of cyclic output data per slave 1500 bytes Max. amount of modules per slave 61 Max. acyclic telegram data per slave / telegram 1500 bytes (MTU)

Tab. 11-1: Technical Data

1) 128 I/O resources are supported on the driver side. This amount is reduced by the individual system interfaces, depending on the control hardware. 154/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO 11.3 Configuring sercos III 11.3.1 Configuring sercos III, Overview sercos III is an IEC-compliant, open universal bus for Ethernet-based real- time communication. As a universal bus, sercos III has communication chan‐ nels and device profiles for all established automation applications. sercos III devices can be used with all controls supporting the master func‐ tionality. In IndraWorks, these controls are provided with the sercos object (onboard) node (function of a sercos master). The master can be extended with slaves and modules so that they can be configured later with regard to the device description file. sercos III master ● Bus diagnostics, page 154 ● sercos III Master, Cabling and Redundancy (Example IndraLogic XLC/ IndraMotion MLC), page 159 ● sercos settings, page 161 sercos III master; adding slave ● sercos III Master; Adding Slave, General Information, page 162 ● Enabling / Disabling sercos Slaves, page 164 ● sercos, Slave Deactivation with UserDefs.cfg, page 164 only IndraMotion MTX ● sercos III slave, page 167, ● sercos III configuration, page 168, this window is used for service pur‐ poses and is only visible if the option "Show generic configuration edi‐ tors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor. ● Status, page 169 ● Information, page 169 sercos III master; adding modules to slave ● sercos III master; Adding Modules to Slave, General Information, page 170 ● sercos III module, page 171, ● Function groups, page 171, ● Special tab User-defined parameters, page 172, ● sercos III module configuration, page 172, this window is used for serv‐ ice purposes and is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Ed‐ itor. ● sercos III modules I/O mapping, page 173, ● Information, page 173 11.3.2 sercos III Master, sercos Bus Diagnostics Double-click on the sercos master node in the Project Explorer to open the diagnostic window for the sercos bus. With regard to this diagnostics, all sercos devices, IndraDrive as well as sercos IOs show a similar behavior: For diagnostic purposes, sercos devices are provided with: ● S-0-0390, Diagnostic message number DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 155/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO

● S-0-0095, Diagnostic message Class 1 errors can be acknowledged by executing the command S-0-0099, C0500 Reset class 1 diagnostics. sercos IO devices have an additional IO-specific diagnostic message (S-0-1500.x.32, IO Diagnostic Message). It shows detailed diagnostics from the reporting sercos IO device. For more information, refer to the device documentation. For details, refer to "sercos IO status code" on page 157. The display of the sercos III diagnostic window is optimized with regard to the use case of the respective Bosch Rexroth control system. Thus, there are dif‐ ferences in details due to the respective control system used (IndraLogic XLC, IndraMotion MLC, IndraMotion MTX...). In the following, the essential diagnostic steps are exemplarily shown using an IndraMotion MLC. 1. In IndraWorks Engineering, open the tab "I/O Diagnostics" at the Sercos node in the respective project (double-click on the sercos symbol in the IndraWorks project tree). 2. Log in with the IndraLogic application (prerequisite for the next steps is a logged in PLC). 3. Select the sercos I/O device reporting the error 4. Click on Advanced device status, Device identification or Device com‐ munication. Selection guide 4.1 Advanced device status: Displays all general diagnostics and provides a good start 4.2 Device identification: Displays diagnostics of device/hardware design. This dialog includes important information on the initial commissioning or the remedy of module failures. 4.3 Device communication: Displays all sercos connection-relevant diagnostics 5. Advanced device status ▶ Diagnostic number Error type, error class and status code can be displayed by extending/ collapsing the elements. The status code is interpreted as text and provides basic information. 156/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO

Fig. 11-1: Advanced device status, Status Code 6. Advanced device status ▶ IO Diagnostic Message supplements the Di‐ agnostic number. Information on the diagnostics relevant for the I/O de‐ vice such as slot and channel number are provided. This identifies the module and its channel at a modular sercos device.

Fig. 11-2: Advanced device status, Module/channel identification 7. Device identification is interesting if the modules are configured or plug‐ ged in incorrectly or if they are defective. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 157/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO

Code (hex) Description Code (hex) Description

0 No error 7000 Add-on module(s) faulty 1000 General error 7100 Power 1800...1FFF General error (manufacturer-specific) 7200 Measuring circuit 2000 Current 7300 Sensor 2100 Current on the device input side 7400 Computer circuit 2110 Short circuit/ground fault 7500 Communication 2120 Ground fault 7600 Data memory 2130 Short circuit 7700 Open circuit cable error 2136 Short circuit to VCC 8000 Monitoring 2137 Short circuit to Ground 8100 Communication 2200 Current inside the device 8110 Process data monitoring 2300 Current on the device output side 8120 Host monitoring 2310 Continuous over current 8200 Closed-loop control System deviation high (desired actual, manu‐ 2320 Short circuit/ground fault 8210 facturer specific) - (deviation present longer than a specified period of time) 2330 Ground fault 8211 Maximum manipulated variable reached System deviation (desired actual, manufac‐ 2340 Short circuit 8220 turer specific) - (deviation present longer than a specified period of time) 2344 Output overload 8221 Maximum manipulated variable reached 158/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO

Code (hex) Description Code (hex) Description 2345 Sensor supply overload 8900 Sensors 2346 Short circuit to VCC 8910 Measured value overrange 2347 Short circuit to Ground 8920 Measured value underrange 2350 Open circuit 8A00 Actuators Preventive maintenance required (condition 2360 Wire break 8B00 monitoring) 3000 Voltage 9000 External error Mains voltage (Voltage on the device input 3100 A000 Sub bus slave side -power supply) 3110 Mains surge voltage A001 Sub bus slave missing 3120 Mains undervoltage A002 Incorrect Sub bus slave present Compatible replacement (the expected Sub 3134 Phase sequence A003 bus slave was replaced by a compatible one) Sub bus devices amount error (too many de‐ 3140 Mains frequency A004 vices) 3200 Voltage inside the device A010 Device Errors 3210 Surge voltage inside the device A012 Application on the Sub bus slave not ready 3220 Undervoltage inside the device A013 Sub bus device reset Output voltage (Voltage on the device output 3300 side e.g. supply or working voltage for exter‐ A020 Communication errors nal parts) 3310 Output surge voltage A021 Sub bus error - timeout (Break) 3320 Output undervoltage A022 Multiple transmission error on Sub bus 3400 Supply voltage A023 Sub bus I/O data communication error Sub bus management data communication 3410 Sensor supply A024 error 3420 Actuator supply A030 Sub bus configuration error 4000 Temperature A031 I/O data configuration double mapped 4100 Ambient temperature A040 Common Errors 4200 Device temperature A041 Sub bus hardware error 4300 External temperature (e.g. drive) A042 Sub bus firmware error Sub bus is running asynchronous (in relation 4400 Supply temperature A043 to the sercos bus cycle) Device hardware (only inside the device 5000 B000 Local bus (Systembus of the modular station) housing) 5010 Component error B001 Local bus slave missing 5100 Supply B002 Incorrect local bus slave present Supply low voltage (for all internal voltages Compatible replacement (the expected local 5110 B003 24V, 5V, 3.3V, 3.0V, 2.5V, 1.8V) bus slave was replaced by a compatible one) DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 159/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO

Code (hex) Description Code (hex) Description Local bus devices amount error (too much 5120 Supply for air B004 devices) Supply for initiator (Error of the supply for an 5150 external sensor supplied from inside the de‐ B010 Device Errors vice) Supply for peripheral devices (Error of the 5160 supply for external peripherals supplied from B012 Application on the local bus slave not ready inside the device) 5200 Control system B013 Local bus device reset 5210 Measuring circuits B020 Communication errors 5220 Computer circuits B021 Local bus error - timeout (Break) 5230 Communication (inside the device) B022 Multiple transmission error on local bus 5300 Operating and display unit B023 Local bus I/O data communication error Local bus management data communication 5400 Power section B024 error 5410 Output stages B030 Local bus configuration error 5420 Choppers B031 I/O data configuration double mapped 5430 Input stages B040 Common Errors 5440 Contactors B041 Local bus hardware error 5450 Fuses B042 Local bus firmware error Local bus is running asynchronous (in rela‐ 5500 Communication with add-on module B043 tion to the sercos bus cycle) 6000 Device software F000 Additional functions 6010 Software reset (watchdog) 6100 Internal software (firmware) 6200 Application software 6300 Data record not OK 6310 Parameter missing 6320 Parameter error 6330 Parameter not yet initialized

Tab. 11-2: sercos IO status code 11.3.3 sercos III Master, Cabling and Redundancy (Example IndraLogic XLC/ IndraMotion MLC) To increase the fault tolerance with regard to EMC tolerance and defective cables, use ring topology. This creates a redundant sercos communication with all sercos devices. If the ring is interrupted, connection data directly ex‐ changed between the individual sercos devices, is copied via the master. Connection data from the master to the sercos devices and vice versa are not affected. 160/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO

Fig. 11-4: Wiring a ring topology ● Ring topology: Wiring the cables 1 and 2 and the optional cable 3, a re‐ dundant ring topology is created. ● Line topology: only cable 1 and 2. No redundancy present. ● Double line topology: only cable 1 and 3. No redundancy present. Diagnostics: Ring interruption In basic state, the XLC/MLC sercos master expects a ring topology. If the ring topology is not detected in the sercos phase startup or interrupted at runtime due to malfunctions, the warning "E00B0179, sercos III: redundancy loss" is output. The ring interruption is displayed in the "Sercos Bus Diagnostics" dia‐ log.

Fig. 11-5: Bus diagnostics in case of double line topology (figure above: Cable 2 missing) The "Reset Error Counters" button deletes the displayed error counters of all devices. The "Error Counter" column displays the parameter S-0-1035.0.0 "Error counter port 1 and port 2" for Sercos devices. Error counter Port2 is on the left and error counter Port1 on the right of the semicolon. The low word of the parameter C-0-0535 "Sercos master, error counter for Port1 and Port2" is displayed in the Control port X7E1 line and the high word of C-0-0535 in the line Control port X7E2. To logically close the ring after the interruption, press the "Recover Ring" but‐ ton. Press "Scan" and the sercos bus is switched from CP0 in CP2 and scanned again. This is only required if new devices were added after latest switching from CP0 to CP2. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 161/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO

If a line or double line topology is to be used, the warning can be disabled in the "Settings" dialog. The "Settings" dialog is only enabled if switched to on‐ line.

Fig. 11-6: sercos settings sercos redundancy settings ● No redundancy detection: The warning "E00B0179, sercos III: redundancy loss" is not output. The status information is continued and the ring can be recovered by the user. ● Redundancy detection on (default): The warning "E00B0179, sercos III: redundancy loss" is not output at ring interruption. Ring can be recov‐ ered by the user. ● Redundancy detection with ring recovery: The warning "E00B0179, sercos III: redundancy loss" is not output at ring interruption. It is tried to recover the ring every 30 seconds. Ring recovery If line end(s) were physically correctly connected to the free master port, the sercos topology still has to be closed logically to ensure that the communica‐ tion remains established when there is an interruption at another location. Ring recovery can be started via the "Sercos Bus Diagnostics" dialog, the Recover Ring button or with a rising edge at ControlData[LOCAL_CNTRL].arSercos[ML_LO- CAL_SERCOS_IFC].REBUILD_RING from the PLC. The ring is successfully recovered if ControlData[LOCAL_CNTRL].arSercos[ML_LO- CAL_SERCOS_IFC].ERROR_RED becomes 0 again. The error message "F00B0173, Ring topology could not be established" is output if ring recovery is impossible.

Cause Solution:

Cables between the devices reported in the parameter "C-0-0517, sercos master, addresses ring break sercos master, ring interruption addresses" is either not availa‐ Check cabling ble or incorrect. A port of the devices reported in "C-0-0517, sercos master, addresses ring break" is Exchange device defective The communication phase is lower than CP2 Switch at least to CP2 At least one device did not apply the specified topology Check diagnostics of the devices 162/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO

Cause Solution: New ring delay could not be transferred to all Sercos devices Check diagnostics of the devices The last slaves of the lines reported an incorrect topology. There is either no telegram Check diagnostics of the devices or a wrong telegram at the disabled port

PLC interface ● PLC input ControlData[LOCAL_CNTRL].arSercos[ML_LO- CAL_SERCOS_IFC].ERROR_PORT1: Malfunction at X7E1 of the con‐ trol. ● PLC input ControlData[LOCAL_CNTRL].arSercos[ML_LO- CAL_SERCOS_IFC].ERROR_PORT2: Malfunction at X7E2 of the con‐ trol. ● PLC input ControlData[LOCAL_CNTRL].arSercos[ML_LO- CAL_SERCOS_IFC].ERROR_RED: No redundancy. ● PLC output ControlData[LOCAL_CNTRL].arSercos[ML_LO- CAL_SERCOS_IFC].REBUILD_RING: Trigger ring recovery at rising edge. Parameters involved ● C-0-0506, sercos Master, sercos III, configuration of function modes (bit 7 and bit 8) ● C-0-0507, sercos master, allowed telegram losses ● C-0-0511, sercos master, binary inputs, command values (bit 4) ● C-0-0514, sercos master, status (bits 1 to 3) ● C-0-0517, sercos master, addresses ring break ● C-0-0518, sercos master, position ring break 11.3.4 sercos III Master, Adding Slave sercos III Master; Adding Slave, General Information The slaves are located in the "Periphery" library in the "sercos" folder. Drag the required slaves from the library to the sercos object. In the Project Explorer, slaves can thus also be inserted between existing slaves. Slaves can also be added in the context menu via Add ▶ ... of the sercos ob‐ ject. In this case, the new device is added as last module under the sercos object. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 163/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO

Fig. 11-7: sercos master, adding slaves

If a required slave is not in the library by default, it can be integra‐ ted into the library by importing its device description file using the main menu Tools ▶ Device database....

The sercos III differentiates two types of slaves to connect I/O modules: 1. Compact: For compact slaves, the module structure is specified. In case of compact design, the modules below the "Slave" object node are already present after adding a slave to the Project Explorer. The modules are not visible in the library. 2. Modular: The module structure of the slave is variable. In addition to a fixed part, 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 as desired, but taking the fitting specifica‐ tion into account. To add modules, see Add modules, page 170.

(1) Current bus addresses of slaves (2) Modular slave with assigned modules (3) Compact slave Fig. 11-8: Slaves with I/O modules on the sercos III master object 164/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO

Overview on sercos addresses

Fig. 11-9: Overview on sercos addresses Enabling / Disabling sercos Slaves The sercos slaves configured at a control can be "enabled" and "disabled" in the Project Explorer. To do this, select/deselect the button at the icon of the sercos slave.

Fig. 11-10: Enabling/disabling sercos slaves The bus device is enabled if the checkbox is ticked. It is taken into account in the diagnostics of the bus.

Fig. 11-11: sercos slave as enabled device The bus device is disabled if the checkbox is not ticked. It is not taken into account in the diagnostics of the bus.

Fig. 11-12: sercos slave as disabled device If a new sercos slave is created, it is enabled by default. When loading the configuration, all enabled sercos slaves are taken into ac‐ count. Disabled sercos slaves are ignored.

If a bus device is enabled but not yet present, the bus is preven‐ ted from switching into P4; the device configuration is adjusted. Refer to sercos III Master, sercos Bus Diagnostics on page 154. A bus device that is disabled and not present does not generate any error message in the diagnostics. sercos, Slave Deactivation with UserDefs.cfg Use this function to disable sercos IO slaves configured in IndraWorks. Disa‐ ble them by the definition in a stored file located on the Flash card of the con‐ trol. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 165/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO

This impedes diagnostic messages for slaves that are configured, but do not exist.

Currently, this option can only be used for sercos IOs of an IndraMotion MTX.

Enabling the function The function is enabled via a valid "UserDefs.cfg“ file in the partition "\ata0b\ (USER)" of the Flash card. Another path or file name can be defined by making entries in the cfg file of a system. Example: [IOSpecialDefs] IODeactFilePath=MyFilePath IODeactFileName=MyFileName Point in time of slave deactivation The UserDefs.cfg is analyzed and the entered slaves are disabled at this point in time and in the context of the internal event PrepareUpdateConfigu‐ ration. It becomes active with the following actions: ● Startup after power on ● Reset (warm) ● Reset (cold) ● Load program after reset (origin) Structure of the "UserDefs.cfg“ file The file is structured in a single or multiple existing sections and the con‐ tained entries: ● Sections: The denomination of a section is written in '[ and ]'. A section ends with the beginning of the next section or with the end of the file. The name consists of a symbol sercosIO.Master. and the constant index 0 (due to the compatibility to the Profibus slave deactivation). Example: [SercosIO.Master.0] ● Special function: Due to the definition of character 'X' for the index in‐ stead of a character, this section is ignored in the evaluation. Several sections can be defined for the master index '0'. All their entries are assigned to the sercos master. Together with the 'X function' described above, different slave groups can be handled easily ● Slave entry: An entry to disable a sercos module consists of the key‐ word SlaveDeactAddr, the assignment character '=' and the 1- or 2-digit decimal specification of the slave address. Example: SlaveDeactAddr = 28 The valid value range is '1 - 255'. The value '0' is also valid, but ineffec‐ tive. ● Comments: A semicolon (';') is defined as comment character. The text is not analyzed from the position of the semicolon up to the end of the line. Size of the "UserDefs.cfg“ file The memory allocated for evaluation of the file corresponds with its specified size. For this reason, the size permitted is practically unlimited. Example of the "UserDefs.cfg“ file ;------Master.0 ------[SercosIO.Master.0] SlaveDeactAddr = 20 SlaveDeactAddr = 32 166/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO

SlaveDeactAddr = 35 SlaveDeactAddr = 56 ;------

Commissioning sercos IO Devices/Modules on the sercos Bus Reparameterizing of sercos IO devices/modules is, in part, only possible in the sercos phase CP2 and requires that the PLC be recompiled and reloa‐ ded. Changes or adjustments to sercos IO devices/modules requires the following steps (recommended): ● Switch the sercos bus into phase CP2 (caution: this works only via CP0!) ● Take the control offline. ● Log out with the PLC. ● Make the change/adjustment to the sercos IO device/module ● Go back online with the control (if necessary, perform a configuration adjustment) ● Compile and log in with the PLC. ● Switch sercos into phase CP4. sercos III Master, Configuring sercos III Slave To open the editing window in the Project Explorer, double-click on the sercos III object. The dialogs provide information on the configuration of the entire slave. Modi‐ fications can be made if necessary.

Change the address of a sercos III slave via the context menu item Configuration sercos Devices of the sercos III node.

Fig. 11-13: Configuring a sercos III slave object sercos III master; adding slave ● Enabling / Disabling sercos Slaves, page 164, ● sercos, Slave Deactivation with UserDefs.cfg, page 164, ● sercos III slave, page 167, ● sercos III configuration, page 168, this window is used for service pur‐ poses and is only visible if the option "Show generic configuration edi‐ tors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 167/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO

● Status, page 169, ● Information, page 169, Tab "sercos III Slave" All settings in this dialog depend on the device description in terms of wheth‐ er they can be edited and which values are specified or possible.

Fig. 11-14: sercos III slave: sercos III slave Identification In the "Identification" section, specific information on the sercos III slave uniquely identifying the slave is given.

sercos address: Bus-specific address of the sercos III slave Device number: Logic address of the sercos III slave Topological Topological address of the sercos III slave sercos address: List position in "Configuration of sercos devices", col‐ umn "#" 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 specified for the sercos III slave (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.

Parameters The "Parameter" section provides setting options affecting the configuration or the behavior of the slaves. These are settings which should only be made by sercos experts. The settings can be changed when the checkbox (Default) is disabled. 168/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO

Configuration with: Select whether the sercos connection of a slave is takes place via length or IDN. This option is only available for devices supporting the I/O profile and a varia‐ ble connection configuration. Check labels The following setting options will likely be omitted in future IndraLogic ver‐ sions.

Check vendor code: Checks the vendor code in the device description file (*XML) against the vendor code of the physical device. In case of deviations, an error message is displayed. Check device ID: Checks the device ID in the device description file (*XML) against the device ID of the physical device. In case of deviations, an error message is displayed.

Tab "sercos III Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Editor.

Please clarify any possible modifications made to the parameters with the service team.

Fig. 11-15: sercos III slave: sercos III configuration (online)

When the bus is running, click the Write parameter button to ap‐ ply the modified parameters. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 169/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO

Tab "Status"

Fig. 11-16: 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 respective device and regarding the card used and the internal bus system.

Modifications in the bus only offline Prerequisites for the sercos III bus to go online: 1. Configuration of the sercos devices 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 "Advanced device identification". 3. sercos state: P4

Slaves with errors (starting with the first) appear in the project tree with a yel‐ low warning triangle and an error tool tip.

( 1 ) Slaves with errors ( 2) Module is only in the project, not on the control Fig. 11-17: sercos III bus, error message in the Project Explorer Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 170/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO

11.3.5 sercos III Master, Adding Modules to Slave sercos III master; Adding Modules to Slave, General Information The modules suitable for the respective slave are located in the "Peripherals" library in the "sercos III" below under the respective slave.

I/O modules can only be added to modularly structured slaves, page 163,.

Drag the required modules from the library to the "Slave" object. New modules can also be inserted between existing modules in the Project Explorer. Optionally, modules can be added to the context menu via Add ▶ Slave ▶ ... of the slave. In this case, the new module is added as last module below the slave.

Fig. 11-18: sercos III, adding modules to the slave To open the editor window in the Project Explorer, double-click on the mod‐ ule. The dialogs provide information on the configuration of the entire slave. Modi‐ fications can be made if necessary. The settings in all dialog tabs are specified by the module's device descrip‐ tion file. This file defines the preset value and whether it can be edited. sercos III master; adding modules to slave ● sercos III module, page 171, ● Function groups, page 171, ● Special tab User-defined parameters, page 172, ● sercos III module configuration, page 172, this window is used for serv‐ ice purposes and is only visible if the option "Show generic configuration DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 171/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO

editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device Ed‐ itor. ● sercos III modules I/O mapping, page 173, ● Information, page 173 Tab "sercos III Module"

Fig. 11-19: sercos III module: sercos III module Module information Module type code: Each module has a unique module type ID from the respective vendor. Depending on the vendor, this number can be a hexadecimal number or an order number. Input length/bytes: Specifies the input length of the module in bytes Output length/bytes: Specifies the output length of the module in bytes

Tab "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. 11-20: sercos III module: Function groups

Name: Channel name, cannot be edited. Number of channels: Number of supported channels for this module. Channel width (bits): Bit size of the individual channels, cannot be edited Type: Number of structure elements (SE) of the I/O function groups. Depends on the I/O functions IDN.SI.SE: ● IDN Identification number, e.g. 15xx ● SI (Structure Instance) The SI number is identical with the slide-in number of the module. 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 I/O function groups. Depends on the I/O functions 172/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO

Function groups (for I/O devices), drive inputs and outputs (for drives): The "Drive inputs and outputs" tab shows the those sercos pa‐ rameters that are configured in the cyclic connection of a drive. The "Add" and "Edit" buttons open a dialog to add parameters to the configuration or to edit them. The "Input configuration" or "Output configuration" dialog can specify the parameters to be added to the configuration. Confirm the selection with OK and the parameter is added to the input or output configuration.

Special Tab "User Parameter" This tab is used to preset parameters of the module and is only displayed for those modules which require or allow this presetting.

Fig. 11-21: sercos III module: User-defined parameters Module configuration The example shows a module with four analog inputs and two analog out‐ puts. The value range of the expected input information is selected for the analog input AI4. A drop-down menu based on the enumeration data type is provided for each "Value". Symbolic values: defines whether the value is displayed in plain text (0 to 10 V) or as integer (0). Default: resets all parameters to their initial value. Tab "sercos III Module Configuration" This window is used for service purposes is only visible if the option "Show generic configuration editors" is enabled under Tools ▶ Options ▶ IndraLogic 2G ▶ Device editor. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 173/223 Rexroth IndraWorks 13VRS Field Buses

sercos III IO

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

Fig. 11-22: sercos III module: sercos III module configuration Tab "sercos III Modules I/O Mapping" The window is used to assign sercos III module inputs and outputs to varia‐ bles 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 191,.

Fig. 11-23: 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 irrespective of whether they are used or are mapped on an input or output channel. Tab "Information" The window displays some general information from the device description file: 174/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses sercos III IO

Name, Vendor, Categories, Version, Order number, Description, Image, if available. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 175/223 Rexroth IndraWorks 13VRS Field Buses

Inline I/Os 12 Inline I/Os 12.1 Features of the Inline I/O I/O terminals (modules) are referred to as Inline I/O which can be connected both directly to the controls based on the IndraControl-L platforms (IndraControl-L25, -L45, -L65, -L85) and to the modular Inline bus coupler R- IL yy BK DI8DO4-PAC. The placeholder "yy" stands for the respective bus system here. The appropriate bus couplers are available for sercos III, PROFIBUS DP and PROFINET IO. 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)

Title Identification

DOK-CONTRL-ILSYSINS***-AWxx-EN-P1) Automation Terminals of the Rexroth Inline Product Range R911317021 DOK-CONTRL-ILS3BKDI8DO-KBxx-EN-P Rexroth Inline Bus Coupler for sercos III with Digital Inputs and Outputs R911170560

Rexroth Inline Bus Coupler for PROFIBUS-DP with Digital Inputs and Out‐ DOK-CONTRL-ILPBBKDI8DO-AWxx-EN-P puts R911170476 DOK-CONTRL-ILPNBKDIO**-DAxx-EN-P Rexroth Inline Bus Coupler for PROFINET IO with Digital Inputs and Outputs R911328682

Tab. 12-1: Related documentation 12.2 Configuring the Inline I/Os 12.2.1 Inline Object and Inline Modules, Overview The controls ● IndraLogic XLC L25/L45/L65 ● IndraMotion MLC L25/L45/L65 allow the locally available I/O units to be extended by arranging Inline mod‐ ules on the right side of the control.

1) xx - Edition 176/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Inline I/Os

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 176 ● Status, page 177 and ● Information, page 179 Inline I/O modules added to the "Inline I/O object" (example) ● Adding Inline modules, page179, ● Inline modules I/O mapping, page 182, ● Status, page 182 and ● Information, page 182 12.2.2 Inline I/O object Register "Inline I/O Configuration"

Fig. 12-1: Inline object: Inline I/O configuration, Online The window contains information regarding the Inline cycle counters and the diagnostics of the Inline bus. Window structure ● Parameter: 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 selec‐ ted a file opens. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 177/223 Rexroth IndraWorks 13VRS Field Buses

Inline I/Os

● Default Value: Defined value from the device description, cannot be edi‐ ted. ● Unit: Unit for the value, e.g. "ms" for milliseconds, cannot be edited. ● Description: Short description of the parameter from the device descrip‐ tion file, cannot be edited. Register "Status"

Fig. 12-2: Inline object: Status (online) 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". Diagnostics in case of an error In case of an error, a detailed diagnostic is transmitted. Here, the third mod‐ ule is missing at the real control.

Fig. 12-3: Detailed error message in the I/O Inline bus 1. Configuration error: 178/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Inline I/Os

In case an error occurs, the configuration of the modules in the project does not match with the modules that are physically present on the bus. Possible messages are: ● Configuration has no errors ● Equipped with too many modules i.e. there are more modules on the bus than there are configured in the project. ● Equipped with insufficient number of modules I.e., there are less modules on the bus than there are configured in the project. The modules that are not fitted are shown with a yellow warning triangle in the project tree. ● Modules incorrectly equipped 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 error Additionally, further information is provided: ● Number of errors ● Position of first incorrect module ● Number of configured modules ● Number of activated modules, see also Enabling / Disabling Inline Mod‐ ules, page 179 ● Number of scanned modules ● Configured module ID of first incorrect module: – Identification of the module in the project – Identification of the module on the bus 1. Master errors: Internal errors of the Inline master. Possible messages are: ● Master has no errors ● General master error An error number is displayed 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 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. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 179/223 Rexroth IndraWorks 13VRS Field Buses

Inline I/Os

Fig. 12-4: I/O Inline bus, error message in the Project Explorer Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 12.2.3 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 modules in Project Explorer. Alternatively, Inline I/O modules can be added in the context menu with Add ▶ Module ▶ of the "Inline I/O" object. The new module is added as the last module below "Inline I/O".

Fig. 12-5: Inline object with two modules (example) 12.2.4 Enabling / Disabling Inline Modules "Enable" or "disable" the Inline modules configured on a control in the Project Explorer. To do this, select/deselect the button appearing at the icon of the Inline module.

Fig. 12-6: Enabling/disabling Inline modules The module is enabled if the checkbox is ticked. It is taken into account in the diagnostics of the bus.

Fig. 12-7: Inline bus with enabled modules The module is disabled if the checkbox is unticked. It is not taken into ac‐ count in the diagnostics of the bus. 180/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Inline I/Os

Fig. 12-8: Inline bus with a disabled module If a new Inline module is created, it is enabled by default. When loading the configuration, all enabled Inline modules are taken into ac‐ count. Disabled Inline modules are ignored.

A module that is enabled but not present generates an error mes‐ sage in the diagnostics. A module that is disabled and not present does not generate any error message in the diagnostics. 12.2.5 INLINE, Module Deactivation Using UserDefs.cfg Use the function to disable Inline IO modules configured in IndraWorks. Disa‐ ble them by the definition in a stored file located on the control's FlashCard. This impedes diagnostic messages for modules that are configured, but do not exist. Enabling the function The function is enabled by the existence and a valid file content "User‐ Defs.cfg", stored in the partition "\ata0b\ (USER)" of the FlashCard. Another path or file name can be defined by making entries in the 'cfg file' of a system. Example: [IOSpecialDefs] IODeactFilePath=MyFilePath IODeactFileName=MyFileName Point in time of module deactiva‐ The "UserDefs.cfg" is analyzed and the entered modules are disabled at this tion point in time and in the context of the internal event 'PrepareUpdateConfigu‐ ration'. It becomes active with the following actions: ● Startup after power on ● Reset (warm) ● Reset (cold) ● Load program after reset (origin) Structure of the file "UserDefs.cfg" The file is structured in a single or multiple existing section(s) and the con‐ tained entries. Sections The designation of a section is written in '[' and ']'. A section ends with the begin of the next section or with the end of the file. The designation consists of a symbol 'InlineIO.Master.' and the constant in‐ dex '0' (due to the compatibility to the Profibus slave deactivation). Example: [InlineIO.Master.0]

Special function: Due to the definition of character 'X' for the index instead of a digit, this section is ignored in the evaluation. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 181/223 Rexroth IndraWorks 13VRS Field Buses

Inline I/Os

Several sections can be defined for the master index '0'. All their entries are assigned to the Inline master. Together with the 'X function described above, different module groups can be handled easily.

Module entry An entry to disable an Inline module consists of the keyword 'ModuleDeact‐ Posi', the assignment character = and the 1- or 2-digit decimal specification of the module position. Example: ModuleDeactPosi = 3

The permitted value range is '1...64'. The value '0' is also permitted but has no effect.

Comments A semicolon (';') is defined as comment character. The text is not analyzed from the position of the semicolon up to the end of the line. Size of the file "UserDefs.cfg" Memory is assigned to a file's evaluation depending on the given size of the file. The permitted size is therefore practically unlimited. Example of the file "UserDefs.cfg" ;------Master.0 ------[InlineIO.Master.0] ModuleDeactPosi = 3 ModuleDeactPosi = 7 ModuleDeactPosi = 15 ModuleDeactPosi = 16 ;------12.2.6 Configuring Inline Modules General In Project Explorer double-click on the Inline module that you wish to config‐ ure. The Inline module editor contains three tabs that you can open by clicking on them. Register: ● Inline Module I/O Mapping, page 182 ● Status, page 182 and ● Information, page 182 182/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Inline I/Os

Fig. 12-9: 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 191,.

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 con‐ trol in the Project Explorer, PLC settings), no matter whether they are used or not and whether they are mapped on an input or an output channel. Register "Status"

Fig. 12-10: Inline module: Status The window displays the status of the entire actual module. Offline: n/a Online: "Running", "Not running (n/a)" Register "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 183/223 Rexroth IndraWorks 13VRS Field Buses

Onboard I/Os 13 Onboard I/Os 13.1 Configuring the Onboard I/Os The IndraLogic XLC L45/L65 and IndraMotion MLC L45/L65 controls each feature eight fast interruptible digital inputs and outputs.

For information on the interrupt capability, please refer to the de‐ scription of the Task Editor in documentation "Rexroth IndraWorks 13VRSVRS IndraLogic 2G, PLC Programming Sys‐ tem", DOK-CONTRL-IL2GPRO*V13VRS-APxx-EN-P.

① Inputs ② Outputs Fig. 13-1: Example: IndraLogic XLC L65 control The inputs and outputs available from left to right in positions 1 to 4 are as‐ signed 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 Module Terminal connection 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 (Signal) Terminal connection 1.2 2.2 1.3 2.3 1.2 2.2 1.3 2.3 ------(24 V) Terminal connection ------1.2 2.2 1.3 2.3 1.2 2.2 1.3 2.3 (last ground)

Tab. 13-1: Default address assignment for inputs and outputs 184/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Onboard I/Os

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. Tab: ● Onboard I/O I/O mapping, page 184 ● Status, page 184 and ● Information, page 185 13.2 Tab "Onboard I/O I/O Mapping"

Fig. 13-2: 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 cy‐ cle task, whether they are used or not no matter if they are mapped on an input or an output channel. 13.3 Tab "Status"

Fig. 13-3: Onboard I/O: Status The window displays the bus state. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 185/223 Rexroth IndraWorks 13VRS Field Buses

Onboard I/Os

Offline: n/a Online: "Running", "Not running (n/a)" 13.4 Tab "Information" The window displays some general information from the device description file: Name, Vendor, Categories, Version, Order number, Description, Image, if available. 186/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 187/223 Rexroth IndraWorks 13VRS Field Buses

Device Database 14 Device Database 14.1 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 lo‐ cal system to make them available for projects in IndraWorks. Properties (e.g. parameters, vendor, device name, etc.) for the respective device(s) are stored in the device description files. There are different formats for different devices: ● PROFIBUS DP: *.gs?, ● PROFINET IO: GSDML*.xml, ● EtherNet/IP: EDS*.xml, ● sercos III IO: SDDML-Datei, *.xml. 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. 14.2 Managing Devices 14.2.1 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:

Fig. 14-1: Device database Available devices In the "Available devices" area, the currently installed devices are listed. The devices have a hierarchical order, i.e., controls are arranged in the top‐ most level, followed by function modules, integrated interfaces, etc., in the levels underneath. 188/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Device Database

The list can be limited by selected filter "Vendor". In addition, devices can be added and removed in the "Available devices" panel. Usually, the devices shown match your IndraWorks version. However, it is al‐ so possible to display a complete overview by activating the "Display all ver‐ sion" checkbox. After having selected a device, click on "Details" to obtain additional informa‐ tion. 14.2.2 Add Devices To add devices in IndraWorks, please carry out the following steps: 1. Click on Tools ▶ Device database... in the main menu to open the "De‐ vice database" dialog. 2. In the "Device database" dialog, click on the "Add devices" button. The "Install device description" file selection dialog opens:

Fig. 14-2: 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" se‐ lection field. 4. Start the installation procedure by clicking on "Open". After completed installation, the imported devices appear under "Availa‐ ble devices" and are highlighted there: DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 189/223 Rexroth IndraWorks 13VRS Field Buses

Device Database

Fig. 14-3: Device descriptions installed

5. Select the desired device and click on "Details" to obtain additional infor‐ mation.

Fig. 14-4: Details on the device description file installed 6. Close the "Device database" dialog with "Close". The newly installed devices are also displayed in the library:

Fig. 14-5: Imported device displayed in the library 190/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Device Database

14.2.3 Remove Devices To remove devices from IndraWorks, please carry out the following steps: 1. Click on Tools ▶ Device database... in the main menu to open the "De‐ vice 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:

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". DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 191/223 Rexroth IndraWorks 13VRS Field Buses

Mapping the Onboard, Inline and Field bus Inputs and Outputs 15 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. 15-1: 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 module 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. 192/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Mapping the Onboard, Inline and Field bus Inputs and Outputs

Fig. 15-2: Modified basic address

With multiple mapping, there is a risk that the address ranges could overlap. This is not detected until the code is generated. The error message contains only the second assigned position....

Fig. 15-3: 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. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 193/223 Rexroth IndraWorks 13VRS Field Buses

Mapping the Onboard, Inline and Field bus Inputs and Outputs

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 (dou‐ ble-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 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 (dou‐ ble-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. 194/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Mapping the Onboard, Inline and Field bus Inputs and Outputs

The variable is entered as VAR_GLOBAL in the "IoConfig_Glob‐ als_Mapping" 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.

Fig. 15-4: 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!).

DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 195/223 Rexroth IndraWorks 13VRS Field Buses

Mapping the Onboard, Inline and Field bus Inputs and Outputs

If you declare a local variable of the same name, as with the glob‐ al list the local variable will be used! Example: x_out_4.

Fig. 15-5: 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 cy‐ cle task, whether they are used or not no matter if they are mapped on an input or an output channel. 196/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 197/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Mapping, Field Bus Master Access to Variables of the Field Bus Slave 16 Field Bus Mapping, Field Bus Master Access to Varia‐ bles of the Field Bus Slave Basic principles Field bus mapping enables access to control variables from a parent field bus master. The following field buses are supported: ● PROFIBUS DP ● 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 ad‐ dress to access the control data using acyclic services. Variables can be mapped using the "Field Bus Mapping" tab in the field bus- slave dialog or the function blocks in the RIL_MappingList.library library. The configurator dialog "Field Bus Mapping" is described here. The control must be configured as a field bus slave in order to use the field bus mapping. The individual steps are shown based on the PROFIBUS DP. They are the same for the other buses. 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. 16-1: PROFIBUS DP slave: 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: 198/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Field Bus Mapping, Field Bus Master Access to Variables of the Field Bus Slave

Fig. 16-2: PROFIBUS DP slave: 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 corresponding table cell. Gray columns cannot be edited.

Fig. 16-3: PROFIBUS DP slave: 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. ● The address of the PROFIBUS DP consists of slot and index. The slot is always 0. The index has to be within the range from 49 to 254. ● The address of the PROFIBUS IO 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. ● For Ethernet/IP the address consists of class, instance and attribute. In this case, the class is always 199; the instance must be within a range from 2 to 65535; and the attribute is always 1. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 199/223 Rexroth IndraWorks 13VRS Field Buses

Field Bus Mapping, Field Bus Master Access to Variables of the Field Bus Slave

The Variable column displays the variables' instance path. 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 in 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", "ProfinetIO“, "ProfibusDP" (notation corresponds with export file) and a table (see below). The address is divided into several columns and consists of the following: ● ProfibusDP: Slot, index, ● ProfinetIO: Slot, Subslot, Index, ● EthernetIP: Class, Instance, Attribute. This table also includes the variable name, the data type and the access rights of the mapped variables.

Fig. 16-4: Excerpt from the export file PROFIBUS DP, separator TAB:

Fig. 16-5: Excerpt from the export file PROFIBUS IO, separator TAB:

Fig. 16-6: Excerpt from the export file Ethernet/IP, separator TAB: PLC support Function Blocks for the Mapping Concept (on the Slave Side) (see page 34). 200/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 201/223 Rexroth IndraWorks 13VRS Field Buses

TCP/IP and UDP Communication via Field Bus Interface 17 TCP/IP and UDP Communication via Field Bus Inter‐ face An IP channel is provided at the netX interfaces of the Lx5 controls via which standard Ethernet communication (TCP, UDP) can be moved alongside the field bus protocols (PROFINET, EtherNet/IP). Thus it is possible to connect various Ethernet-based devices, such as SLC control, I/O or HMI devices, via the field bus interfaces of the control or to car‐ ry out TCP-Socket communication. The IP channel is available on both the Onboard-netX interface (X7E3/X7E4) of the control and on the NetX interfaces of the connected function modules (X7E1/X7E2).

BL Board Location Fig. 17-1: Communication via field bus interfaces The interface in the operating system is determined by "netX(BL-1)".

Use cases: 1. Connection of a HMI device

Fig. 17-2: Connection of a HMI device The communication between the HMI device and the control (operating, visualizing) takes place via the IP channel. 2. Socket communication 202/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

TCP/IP and UDP Communication via Field Bus Interface

Fig. 17-3: Socket communication Socket communication between the controls takes place via the IP channel. 3. Configuring a safety control (SLc)

( 1 ) Engineering interface ( 2 ) Ethernet-based field buses (PROFINET IO, EtherNetI/P), sercos III Fig. 17-4: Configuring a safety control (SLc) The routing table on the standard control is created automatically. For the SafeLogic compact (SLc), the engineering tool can be routed via the netX interface of the control or function modules. 4. Project planning / configuration of field bus devices

( 1 ) Engineering interface ( 2 ) Ethernet-based field buses (PROFINET IO, EtherNetI/P), sercos III ( 3 ) Bus coupler Fig. 17-5: Project planning / configuration of field bus devices The routing table on the standard control is created automatically. Communication between the engineering PC and the I/O device can be routed via the netX interface (e.g. configuration of the I/O device via web server in the bus coupler). DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 203/223 Rexroth IndraWorks 13VRS Field Buses

TCP/IP and UDP Communication via Field Bus Interface

Configuring the IP channel: In use cases 1 and 2, no special settings are required. The communicating devices only have to be in the same subnet. In use cases 3 and 4, the Ethernet connection of the engineering PC is rout‐ ed to the subnet of the field bus via the engineering port of the control.

If the field bus device has several Ethernet interfaces, for error- free routing no interface may be in the subnet of the engineering PC.

For this purpose, the following settings have to be made: 1. Settings in the field bus device: Set the IP address of the NetX interface of the control as a Gateway address in the field bus devices (SLc, I/O device, ...). Example:

netX Field bus device (Control) (Slc, I/O device, …) IP address 172.16.0.254 172.16.0.1 Subnet mask 255.255.255.0 255.255.255.0 Gateway address 0.0.0.0 172.16.0.254

Tab. 17-1: IP settings for netX interface of control and field bus device: 2. Settings in the engineering PC: Enter the IP address engineering control port X7E5 (for L25: X7E3) into the routing table of the engineering PC. The routing entry can be made via the console command "route ADD". Example:

> route ADD 170.16.0.0 MASK 255.255.255.0 10.0.0.2 ^ ^ Target network Gateway

Tab. 17-2: Routing entry via the console command "route ADD"

If a netX-OnBoard interface and a / several netX FM-interfaces are run on a control at the same time, the IP channel of this inter‐ face has to be initialized in various subnets.

If the IP channels for all netX interfaces are in the same subnet, the IP chan‐ nels of the following netX interfaces no longer function when removing the first configured (instantiation) netX interface because in this case all Ethernet telegrams are routed on the first instantiated netX interface. For this reason, the IP settings in the engineering for netX OnBoard-interface and FM-interfa‐ ces are not permitted in the same subnet.

Example for the setting when using several netX interfaces: 204/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

TCP/IP and UDP Communication via Field Bus Interface

IP Subnet mask Gateway

netX-OnBoard: 192.168.2.1 255.255.255.0 0.0.0.0 netX-FM0: 192.168.3.1 255.255.255.0 0.0.0.0 netX-FM1: 192.168.4.1 255.255.255.0 0.0.0.0 netX-FM2: 192.168.5.1 255.255.255.0 0.0.0.0 netX-FM3: 192.168.6.1 255.255.255.0 0.0.0.0

Tab. 17-3: Setting when using several netX interfaces DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 205/223 Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes) 18 PLC Controls Drives via a Field Bus Connection (Field Bus Axes) 18.1 General Information Drives (IndraDrive from MPx2) can be controlled by a Rexroth IndraLogic XLC or IndraMotion MLC depending on their interfaces via the respective field bus.

The drives are connected to the control via a PROFIBUS. The coupling via a sercos II or sercos III bus is not included in the description.

The activation is executed from the PLC program using MotionLogic function blocks according to the PLCopen concept. Before operating such a field bus axis at the PROFIBUS, ● an IndraWorks project has to be created, ● the desired PLC has to be applied to the project from the device library, ● a PROFIBUS interface (onboard or function module) has to be activated as PROFIBUS DP master, ● Making field bus axes of the PLC known, page 206, and ● communication-required drive settings, page 208 have to be made. The PLC programs use MotionLogic function blocks, functions and data types summarized in several Libraries, page 210,. These libraries are integrated together with the PLC program(s) in the IndraWorks project. Additionally to the control of the field bus drive via the PLC program, it is re‐ quired to exchange values with the drive saved in its parameters. For IndraDrive, this can be executed via the PLCopen function blocks (MB_ReadParameter, MB_ReadRealParameter, MB_WriteParameter, MB_WriteRealParameter...) of the RMB_PLCopenFieldBus.library. 18.2 Related Documentation for IndraDrive

Title Kind of documentation Document typecode1) Part number Rexroth IndraDrive ... DOK-INDRV*-… R911…

MPx-17 Application Manual MP*-17VRS**-APxx-EN-P 331236 Functions MPx-16 Application Manual MP*-16VRS**-APxx-EN-P 326767 Functions Firmware for Drive Controllers Functional Description MP*-08VRS**-APxx-EN-P 332643 MPH-08, MPB-08, MPD-08, MPC-08 Firmware for Drive Controllers Functional Description MP*-07VRS**-FKxx-EN-P 328670 MPH-07, MPB-07, MPD-07, MPC-07 Firmware for Drive Controllers Functional Description MP*-06VRS**-FKxx-EN-P 326766 MPH-06, MPB-06, MPD-06, MPC-06 206/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes)

Title Kind of documentation Document typecode1) Part number Rexroth IndraDrive ... DOK-INDRV*-… R911… Firmware for Drive Controllers Functional Description MP*-05VRS**-FKxx-EN-P 320182 MPH-05, MPB-05, MPD-05 Firmware for Drive Controllers Functional Description MP*-04VRS**-FKxx-EN-P 315485 MPH-04, MPB-04, MPD-04 Firmware for Drive Controllers Functional Description MP*-03VRS**-FKxx-EN-P 308329 MPH-03, MPB-03, MPD-03 Firmware for Drive Controllers Functional Description MP*-02VRS**-FKxx-EN-P 299223 MPH-02, MPB-02, MPD-02 MPx-16 and MPx-17 Reference Book GEN1-PARA**-RExx-EN-P 328651 Parameters Drive Controllers Parameter Description GEN-**VRS**-PAxx-EN-P 297317 MPx-02 to MPx-08 MPx-16 and MPx-17 Reference Book GEN1-DIAG**-RExx-EN-P 326738 Diagnostic Messages MPx-02 to MPx-08 Troubleshooting Guide GEN-**VRS**-WAxx-EN-P 297319 and HMV 1) In the document typecodes, "xx" is a wild card for the current edition of the documentation (example: RE02 is the second ed‐ ition of a Reference Book) Tab. 18-1: Documentations – Firmware 18.3 Creating Field Bus Axes in the Project System and drive settings are required in the IndraWorks project at the PLC in order to ensure a correct communication between the drives and the PLC. The field bus axes are ordinary field bus participants at the PROFIBUS. The description files for possible IndraDrives are included in the IndraWorks device library:

Fig. 18-1: Description files of the drive in the IndraWorks library Drag the required drives from the library onto the PROFIBUS DP master ob‐ ject. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 207/223 Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes)

In the Project Explorer, drives can thus also be inserted between existing drives. Optionally, slaves can be added in the context menu via Add ▶ Slave ▶ Drives of the PROFIBUS DP master object. In this case, the new drive is added as last drive below the PROFIBUS DP master object.

Fig. 18-2: Entering IndraDrive as PROFIBUS participant The drive can be renamed: Context menu Rename F2, e.g. "Drive_X" instead of "IndraDrive_RX05". The drive can receive a new station address: Double-clicking on the object; changing the station address for example to "11" instead of "3".

Fig. 18-3: Renaming IndraDrive as PROFIBUS participant The PROFIBUS device is provided with several subdevices whose content is specified by the device description file.

At IndraDrive, the following settings are required: ● ParamCh_5_Words, ● F-Module_not_used, (if the module is not used) ● Input_8_Words, ● Output_10_Words.

The drives (device files) in original state are not provided with the required settings to communicate together with the PLCopen function blocks from the RMB_PLCopenFieldBus.Library via the PROFIBUS. First, the settings given in the note have to be made by "Setting device" of the subdevices.

Fig. 18-4: IndraDrive, setting the subdevices Even the drives are not configured in their original state for such a communi‐ cation with a PLC via a PROFIBUS. 208/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes)

Therefore, drive settings have to be made for the PLC communication. 18.4 Drive Settings for the PLC Communication 18.4.1 General Information To activate field bus drives with the PLCopen function blocks, some basic settings are required regarding the communication of the PLCopen functions blocks with the field bus drives.

The settings described do only refer to the communication be‐ tween the drive and the PLC and do NOT describe the general drive commissioning.

The required settings can be made via the "IndraWorks Engineering" desktop or via "IndraWorks DS".

Currently, it cannot be parameterized via the PROFIBUS connec‐ tion of the PLC. From the PC, on which the IndraWorks Engineering desktop is started, the communication has to be established via RS232 seri‐ al or via the existing PROFIBUS DP master for the parameteriza‐ tion.

In the following, the parameterization is described via serial communication. 18.4.2 Establishing the Communication for Drive Parameterization Using the function Project ▶ Search for Devices in the IndraWorks Engineer‐ ing Desktop, the parameterization communication to the drive can be estab‐ lished.

Fig. 18-5: Establishing an IndraWorks parameterization communication to the drive DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 209/223 Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes)

If the connection to the drive has been established, the settings can be made.

Fig. 18-6: Example: IndraWorks dialog to parameterize an IndraDrive up to MPx05 18.4.3 Communication Settings for IndraDrive General information In the following, the settings required to communicate with an IndraDrive are described. Setting the bus device address The bus device address of the drive has to be selected in the node "Master communication", depending on the set station address. Length of the parameter channel Via direct input of the parameter P-0-4083 with the parameter editor, the length of the parameter channel is set to 10 bytes. A newer IndraDrive firmware (from MPH-03VRS) automatically sets the op‐ tion 5 words (ParamCH_5_Words). Setting process data and profile The profile type "Freely configurable mode" and the parameters of the cyclic type data exchange with the PLC are set here: Process data inputs (AT) ● P-0-4078, Field bus status word ● S-0-0051, Actual position value encoder 1 ● S-0-0040, Actual velocity value ● S-0-0390, Diagnostic number ● S-0-0144, Signal status word Process data outputs (MDT) ● P-0-4077, Field bus control word ● S-0-0282, Positioning command value ● S-0-0259, Positioning velocity ● S-0-0260, Positioning velocity ● S-0-0359, Positioning deceleration ● S-0-0145, Signal control word Signal control word Bit 0: S-0-0346: Positioning control word, bit number 4 Signal status word Bit 0: S-0-0343: Message interpolator stopped, bit number 0 Operation mode settings As main operation mode, the operating mode "Drive-controlled positioning" must be set. The first secondary operation mode assigned must be "Velocity control". 210/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes)

The second and following secondary operation mode is not relevant. These modes are not selected by the PLCopen function blocks.

The MB_Home function block only references if the drive is para‐ meterized for referencing. 18.5 Including Required Libraries The PLCopen concept was implemented for IndraWorks Engineering for two field bus types and is supported by the following libraries: sercos II and sercos III ● ML_PLCopen.library, function blocks of PLCopen for sercos drives. ● RIL_CommonTypes.library, system-comprehensive data types, address‐ ing, error management. ● ML_Base_xxx_yyy.library1) , supplementing data types to the ML* sys‐ tem, ● supplementing libraries, e.g. RIL_Utilities.library. PROFIBUS DP ● RMB_PLCopenFieldBus.library, function blocks and data types of the PLCopen for PROFIBUS drives. ● RIL_CommonTypes.library, error management. ● supplementing libraries, e.g. RIL_Utilities.library. It was tried to maintain a uniform concept for both field bus types. This also affects identical names for functionally identical function blocks and data types. Except the RMB_PLCopenFieldBus.library, all libraries are part of the default installation of IndraWorks Engineering. They are also initialized during the in‐ stallation and do not require namespace specifications. RMB_PLCopenFieldBus.Library The RMB_PLCopenFieldBus.library is not initialized by default. If it is required, it has to be postinstalled via the library manager Add library.... The menu item opens a selection window in which the library can be found under IndraLogic ▶ Base.

1) xxx: MLC or XLC; yyy: L25, L45; L65, VEP DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 211/223 Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes)

Fig. 18-7: Example: Library Manager The RMB_PLCopenFieldBus.library can run on all IndraWorks target sys‐ tems. The elements of the RMB_PLCopenFieldBus.library are always to be used with a specification of the namespace "FieldBusDrives.". If field bus axes and sercos axes should be operated together, both libraries (RMB_PLCopenFieldBus.library and ML_PLCopen.library) have to be con‐ tained in the project. With the namespace specification, the function blocks and the axis reference (AXIS_REF) are distinguished. Namespace specification "Field‐ The namespace specification "FieldBusDrives." for a field bus drive has to be BusDrives" in front. The following figure shows the usage of the usage of the namespace. The declaration of an axis reference (AXIS_REF) is always required by speci‐ fying the namespace. The specification of the namespace during the declaration of a PLCopen function blocks is only required if the library (ML_PLCopen) is available with PLCopen function blocks in the project. 212/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes)

(1) AXIS_REF originates from the RMB_PLCopenFieldBus.library not from the RIL_CommonTypes.library (2) MC_Power originates from the RMB_PLCopenFieldBus.library not from the ML_PLCopen.library (declaration and implementa‐ tion) (3) ERROR_STRUCT originates from the RIL_CommonTypes.li‐ brary (4) Drive_X originates from the Global Variable List "GVL_Field‐ BusDrives" Fig. 18-8: Examples for the namespace specifications 18.6 Addressing Field Bus Drives in the PLC Project 18.6.1 AXIS_REF, Axis Addresses of the Field Bus Drives The structure AXIS_REF (RIL_CommonTypes) contains address information on the desired control and on the object controlled by this control (axis num‐ ber). In contrast to the AXIS_REF structure (RIL_CommonTypes) supporting the addressing of SERCOS-based IndraDrives, the AXIS_REF structure (RMB_PLCopenFieldbus) is extended by two additional elements (MP_Drive and MP_DriveParameter). These two elements are only used by the system. The axis number can differ from the station number set at the drive. DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 213/223 Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes)

The global variable list "MLCVarGlobal" with all SERCOS-based axes is au‐ tomatically created and maintained for SERCOS-based axes. The global variable list "GVL_FieldBusDrives" with all field bus drives has to be manually created and maintained for the field bus drives. The two first elements of each drive "CntrlNo" and "AxisNo" are preassigned in this list. The elements "MP_Drive" and "MP_DriveParameter" remain un‐ changed. Therefore, they do not have to be included in the list. Global variable list "GVL_FieldBusDrives", example

VAR GLOBAL Drive_X: FieldBusDrives.AXIS_REF := (CntrlNo:=LOCAL_CNTRL, AxisNo:=FieldBusAxis_11); // IndraDrive X - example Drive_Y: FieldBusDrives.AXIS_REF := (CntrlNo:=LOCAL_CNTRL, AxisNo:=FieldBusAxis_12); // IndraDrive Y - example Drive_Z: FieldBusDrives.AXIS_REF := (CntrlNo:=LOCAL_CNTRL, AxisNo:=FieldBusAxis_13); // IndraDrive Z - example Drive_n: FieldBusDrives.AXIS_REF := (CntrlNo:=LOCAL_CNTRL, AxisNo:=FieldBusAxis_14); // IndraDrive n - example END_VAR

Namespace specification: FieldBusDrives The namespace specification "FieldBusDrives." for a field bus drive has to be in front.

Declaration: AXIS_REF Drive_A: FieldBusDrives.AXIS_REF: = The data types are in the RMB_PLCopenFieldBus.library, folder "Datatypes", element "AXIS_REF".

Assignment: CntrlNo (CntrlNo: = LOCAL_CNTRL The enumeration value LOCAL_CNTRL is in the RIL_CommonTypes.lib, fold‐ er "Datatypes of logical addresses", CONTROLS. The field bus function blocks always refer to the local PLC, that is LO‐ CAL_CNTRL.

Assignment: AxisNo AxisNo: = FieldBusAxis_1); The enumeration value FieldBusAxis_1 is in the RIL_CommonTypes.lib, fold‐ er "Datatypes of logical addresses", OBJECTS. To avoid ambiguities, there is an individual number range stored for field bus axes FieldBusAxis_1 (6001) up to FieldBusAxis_99 (6099) . For field bus drives, specifications on the control and the axis number are used for the error output (ErrorIdent). A functionality is not combined with the assignment of the axis number. 214/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes)

It is reasonable to compare the PROFIBUS station number and the axis number. 18.6.2 AxisData[], Axis Data The AxisData array, known from the sercos axes, is not supported for field bus axes. 18.7 I/O Addressing of the Drives in the PLC Project General information On the PROFIBUS, the field bus drives appear as ordinary I/O modules. An I/O address has to be assigned. In order to facilitate the I/O address assignment, it is directly executed as var‐ iable mapping on the PROFIBUS module of the IndraDrive. I/O address assignment: The parameter communication, the F-module (safety technology) and the cy‐ IndraDrive clic communication at IndraDrive are always individual submodules of the participant. The communication "Drive to the PLC" consists of the following: ● Subdevice (ParamCh_5_Words), 5 words for acyclic communication, ● Subdevice (F-module), optional use; not used here, ● Subdevices of the cyclic data exchange (8 words input or 10 word out‐ put) Addresses are mapped at the respective subdevice channels of the drive.

Fig. 18-9: Example: I/O mapping for an IndraDrive field bus drive DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 215/223 Rexroth IndraWorks 13VRS Field Buses

PLC Controls Drives via a Field Bus Connection (Field Bus Axes)

Fig. 18-10: Example: Input help for the mapping to select the drive In AXIS_REF, the field bus drives are distinguished for the cyclic parameter exchange and "IndraDriveParameter" for the acyclic parameter exchange ac‐ cording to "IndraDrive"

Fig. 18-11: Example: Mapping for the parameter exchange

Fig. 18-12: Example: Example for the inputs of the parameter exchange By direct mapping, the initial addresses for the parameter communication, the cyclic data exchange and - if available - an F-module with regard to the drive do not have to be considered. 216/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 217/223 Rexroth IndraWorks 13VRS Field Buses

Service and Support 19 Service and Support Our worldwide service network provides an optimized and efficient support. Our experts offer you advice and assistance should you have any queries. You can contact us 24/7. Service Germany Our technology-oriented Competence Center in Lohr, Germany, is responsi‐ ble for all your service-related queries for electric drive and controls. Contact the Service Helpdesk & Hotline under:

Phone: +49 9352 40 5060 Fax: +49 9352 18 4941 E-mail: [email protected] Internet: http://www.boschrexroth.com

Additional information on service, repair (e.g. delivery addresses) and training can be found on our internet sites. Service worldwide Outside Germany, please contact your local service office first. For hotline numbers, refer to the sales office addresses on the internet. Preparing information To be able to help you more quickly and efficiently, please have the following information ready: ● Detailed description of malfunction and circumstances resulting in the malfunction ● Type plate name of the affected products, in particular type codes and serial numbers ● Your contact data (phone and fax number as well as your email ad‐ dress) 218/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 219/223 Rexroth IndraWorks 13VRS Field Buses

Index Index A Inline modules...... 179 Abbreviations...... 10 PROFIBUS DP slaves...... 58 About this documentation...... 7 sercos slaves...... 164 Validity of the documentation...... 7 Engineering Port...... 14 AXIS_REF ENIP...... 10 Application of field bus drive...... 212 Error tables AxisData[], PROFINET IO bus...... 111 Application of the field bus drive...... 214 Ethernet/IP Generic device...... 149 B Scanner-adapter coupling...... 148 Bus coupler...... 10 EtherNet/IP Add scanner...... 135 C Configure scanner...... 135 Scanner, add adapter...... 138 Cabling and redundancy Scanner, configure adapter...... 138 sercos III master...... 159 Ethernet/IP adapter Change sercos address...... 164, 166 General dialogs...... 141 Change sercos slave address...... 166 Tab, Adapter settings...... 142 Communication and field buses Ethernet/IP Adapter EtherNet/IP...... 129 Terms...... 130 Ethernet/IP scanner...... 129 Ethernet/IP adapter Field bus features...... 19 Ethernet/IP configuration...... 145 Inline I/Os...... 175 Features...... 130 Onboard I/Os...... 183 Tab, Information...... 145 Profibus DP...... 45 Tab, Status...... 145 Profibus DP Master...... 45 Ethernet/IP Adapter PROFIBUS DP Slave...... 46 Tab, Field bus mapping...... 145 Profinet I/O controller...... 79 Ethernet/IP adapter (engineering) PROFINET IO...... 79 General dialogs...... 145 sercos III IO...... 153 Ethernet/IP adapter (Engineering) Terms and abbreviations...... 17 Tab, Information...... 147 Communication and Field buses Tab, Status...... 147 Ethernet/IP adapter...... 130 Ethernet/IP adapter (Engineering) Communication and field busses Features...... 134 PROFINET IO device...... 80 Ethernet/IP adapter modules Communication via field bus interface Tab, Information...... 148 TCP/IP and UDP...... 201 EthernetIP adapter Configuration adjustment Tab, ENIP I/O mapping...... 144 PROFINET IO...... 122 Exchange I/O device...... 123 Configuring onboard Overview...... 183 F D Field bus diagnostics sercos III ...... 154 Device database Field bus drive Add devices...... 188 Acyclic parameter communication...... 214 Device database dialog...... 187 AXIS_REF...... 212 Device database overview...... 187 AxisData[]...... 214 Managing the device database...... 187 Bus device address...... 209 Remove devices...... 190 Communication settings for IndraDrive...... 209 Diagnostics Communication-required settings...... 208 Inline I/O...... 177 Create in the project...... 206 sercos III...... 169 Cyclic data exchange...... 214 Documentation structure...... 7 Drive in original state...... 207 I/O addressing...... 214 E Include libraries...... 210 Enable/disable 220/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Index

Length of the parameter channel...... 209 Inline modules...... 14 Operation mode settings...... 209 Adding Inline modules...... 179 PLC program, required declaration...... 212 Configuring the Inline modules...... 181 Process data and profile type...... 209 Enable / disable...... 179 Reference drive...... 210 Register, information...... 182 Signal control word...... 209 Register, Inline module I/O mapping...... 182 Signal status word...... 209 Register, status...... 182 Field bus mapping Inline object and Inline modules Ethernet/IP adapter...... 197 General dialogs...... 175 Ethernet/IP Adapter...... 145 Inline terminals...... 14 PROFIBUS DP slave...... 71, 197 INLINE, Module deactivation PROFINET IO device...... 107, 197 UserDefs.cfg...... 180 Field buses and field bus communication Overview...... 13 L Freeze mode Length of the parameter channel, IndraDrive... 209 PROFIBUS DP master...... 50 PROFIBUS DP master, slaves...... 62 M PROFIBUS DP slave...... 69 Mapping...... 191 Ethernet/IP adapter modules...... 148 G PROFIBUS DP modules...... 67, 75 Group properties sercos III modules...... 173 PROFIBUS DP master...... 50 Modify basic address PROFIBUS DP slave...... 69 Ethernet/IP adapter modules...... 148 Slaves...... 62 Inline modules...... 182 GVL_FieldBusDrives...... 213 Onboard IO...... 184 PROFIBUS DP modules...... 67, 75 I sercos III modules...... 173 I/O address assignment of the field bus drives. 214 Module...... 10 I/O components...... 23 I/O mapping...... 191 N Ethernet/IP adapter modules...... 148 Namespace...... 211 Global variables...... 193 netX interface...... 201 Local variables...... 193 PROFIBUS DP modules...... 75 O PROFIBUS modules...... 67 Onboard I/O sercos III modules...... 173 Tab onboard I/O I/O mapping...... 184 I/O Mapping Tab, information...... 185 Address blocks...... 191 Tab, status...... 184 IndraDrive Onboard RT Ethernet...... 13 Bus device address...... 209 Length of the parameter channel...... 209 P Setting process data and profile type...... 209 PLC controls drives via field bus connection.... 205 Signal control word...... 209 PNIO...... 11 Signal status word...... 209 PROFIBUS DP IndraWorks DS General dialogs...... 46 Settings of field bus drives...... 208 Master-slave coupling...... 76 IndraWorks Engineering desktop Profibus DP master Settings of field bus drives...... 208 Features...... 45 Information representation PROFIBUS DP master...... 49 Names and abbreviations...... 10 Terms...... 45 Inline I/O PROFIBUS DP master object Features...... 175 Tab DP parameter...... 50 Inline I/O object Tab Field Bus Diagnostics...... 53 Register, information...... 179 Tab Information...... 56 Register, Inline I/O configuration...... 176 Tab PROFIBUS DP master configuration...... 52 Register, status...... 177 Tab PROFIBUS DP Master I/O Mapping...... 55 Inline IO diagnostics...... 177 Tab Status...... 55 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 221/223 Rexroth IndraWorks 13VRS Field Buses

Index

PROFIBUS DP master object Tab Field Bus Diagnostics...... 91 Adding modules to the slave...... 64 Tab Information...... 93 PROFIBUS DP master object, adding slaves Tab parameters...... 87 Tab DP Parameter...... 62 Tab PROFINET IO Controller Configuration.. 89 PROFIBUS DP master, adding modules to Tab PROFINET IO Controller I/O Mapping.... 92 the slave Tab Status...... 93 Tab DP Module Configuration...... 66 Watchdog...... 87 Tab DP Modules I/O Mapping...... 67 Watchdog control...... 87 Tab DP Parameters...... 66 PROFINET IO device ...... 102 Tab Information...... 68 Exchange...... 123 Tab Status...... 68 Features...... 80 PROFIBUS DP master, adding slaves Tab "Field Bus Mapping"...... 107 Tab Information...... 64 Tab "Information"...... 111 Tab PROFIBUS DP Configuration...... 64 Tab "PNIO Configuration"...... 107 Tab Status...... 64 Tab "PNIO I/O Mapping"...... 108 PROFIBUS DP slave...... 68 Tab "PNIO Identification"...... 106 Features...... 46 Tab "PNIO Parameters"...... 103 PROFIBUS DP slave Tab Status...... 108 Terms...... 46 Terms...... 80 PROFIBUS DP slave object Watchdog...... 103 Add coupling modules...... 72 PROFINET IO device coupling modules Tab DP Parameters...... 69 Tab "Information"...... 114 Tab Field Bus Mapping...... 71 Tab "Status"...... 113, 114 Tab Information...... 72 Tab PNIO Module I/O Mapping...... 113 Tab PROFIBUS DP Configuration...... 71 PROFINET IO devicer Tab Status...... 72 Add coupling modules...... 111 PROFIBUS DP Slave object PROFINET IO devices Tab PROFIBUS DP I/O Mapping...... 70 Tab "PNIO Configuration"...... 98 PROFIBUS DP slave, adding modules Tab "PNIO Identification"...... 97 Tab DP Module Configuration...... 74 Tab Information...... 99 Tab DP Modules I/O Mapping...... 75 Tab Status...... 99 Tab DP Parameters...... 74 PROFINET IO devices coupling module Tab Information...... 75 Tab "PNIO parameters"...... 112 Tab Status...... 75 PROFINET IO devicess PROFIBUS DP slaves Tab PNIO parameters...... 96 Enable/disable...... 58 PROFINET IO module for coupling a PROFIBUS DP, slave deactivation PROFINET IO device UserDefs.cfg...... 59 Tab "Information"...... 119 Profinet I/O controller Tab "PNIO Configuration"...... 118 Features...... 79 Tab "PNIO Identification"...... 117 Terms...... 79 Tab "PNIO Parameters"...... 115 PROFINET IO Watchdog...... 115 Configuration adjustment...... 122 PROFINET IO module to couple a Controller device coupling...... 114 PROFINET IO device Device description file...... 81 Tab "Status"...... 119 Device exchange...... 123 PROFINET IO modules Device names...... 86 Tab "PNIO Module I/O Mapping"...... 101 GSDML file...... 81 Tab "PNIO Parameters"...... 100 PROFINET IO device editor...... 81 Tab "Status"...... 101, 102 Scan for devices...... 119 Tab Information...... 102 Topology and device exchange...... 123 User parameters...... 104 R PROFINET IO controller...... 86 Redundancy Add devices...... 93 sercos III master...... 159 Address range for devices...... 87 Rexroth I/O components...... 23 Configure devices...... 95 RMB_PLCopenFieldBus.library Devices to connect I/O modules...... 94 Application...... 210 MAC address...... 87 222/223 Bosch Rexroth AG DOK-IWORKS-FB******V12-AP03-EN-P Rexroth IndraWorks 13VRS Field Buses

Index

RT_CLASS_1 Transfer types PROFINET IO...... 105 Field bus master...... 21 Field bus slaves...... 21 S Safety alert symbol...... 8 U Safety instructions...... 8 User parameters Scan for devices PROFINET IO...... 104 PROFINET IO...... 119 UserDefs.cfg sercos III...... 154 INLINE, Module deactivation...... 180 Add slave...... 162 PROFIBUS DP, slave deactivation...... 59 Change slave address...... 162 sercos, slave deactivation...... 164 Commissioning sercos IO devices/modules 166 Tab "sercos III module"...... 171 sercos III IO Add modules to slave...... 170 sercos III IO master Features...... 153 Terms...... 153 sercos III IO slave Tab "Status"...... 169 sercos III master Cabling and redundancy...... 159 Field bus diagnostics...... 154 sercos III module Tab "Function Groups"...... 171 Tab "Information"...... 173 Tab "sercos III Module Configuration"...... 172 Tab "sercos III Modules I/O Mapping"...... 173 Tab "User Parameter"...... 172 sercos III slave Tab "Information"...... 169 Tab "sercos III configuration"...... 168 Tab "sercos III Slave"...... 167 sercos IO status code...... 157 sercos slaves Enabling / disabling...... 164 sercos, slave deactivation UserDefs.cfg...... 164 Signal words...... 8 Support See service hotline...... 217 Symbol configuration Field bus mapping...... 197 Symbols...... 9 Sync mode PROFIBUS DP master...... 50 PROFIBUS DP master, slaves...... 62 PROFIBUS DP slave...... 69

T Task Ethernet/IP adapter...... 144 PROFIBUS DP master...... 55 PROFIBUS DP slave...... 70 PROFINET IO controller...... 92 PROFINET IO device...... 108 Terminal...... 10 DOK-IWORKS-FB******V12-AP03-EN-P Bosch Rexroth AG 223/223 Rexroth IndraWorks 13VRS Field Buses

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 9352 18 0 Fax +49 9352 18 8400 www.boschrexroth.com/electrics

DOK-IWORKS-FB******V13-AP03-EN-P