electric drives and controlshydraulics linear motion and assembly technologiespneumaticsservice 1...

Electric Drivesand Controls Hydraulics

Linear Motion andAssembly Technologies Pneumatics Service

1

Simple, scalable and powerful

Rexroth IndraMotion for HandlingTurnkey Automation SolutionFor All Handling Tasks

212/10/2009, DCC, SIA 2,, Domenico Livani

© Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

What is IndraMotion for Handling?What is IndraMotion for Handling?

Uniform PLC platform according IEC 61131-3

The robot control inside the PLC

based on:

Standard Motion-Control according PLCopen

The only PLC-based solution for motion systems on the market !



What supplies IndraMotion for Handling ?What supplies IndraMotion for Handling ?

Complete source-code on one CD !

PLC libraries with Motion-Interpreter

PLC templates including HMI- & Motion connection

Readymade operator interface usable for different HMI devices

Prepared drive parameterfor a quick commissioning



What performs IndraMotion for Handling?What performs IndraMotion for Handling?

Cartesian kinematics Movement in machine coordinates without

coordination transformation

Coordinated PTP movement All axis start and end at the same time

Up to 6 axis per kinematic 3 main axis 3 orientation axis




IndraMotion for Handling includes all functions needed for time optimized PTP motion with 6-axis kinematics

Blended movements Teach-in position Jogging Single step and online display Protection areas Diagnostics …

A complete range of functions




IndraMotion for Handling is the ideal solution for applications such as

Loading / unloading handlings for fully automated productionMolding machines, mounting, logistics, …

Handling in rough environmentFoundry, electroplating, …

System solution together with the CMS Palletizing Pick and Place Laboratory automation Retrofitting …

Application versatility




IndraMotion for Handling is practicable

Application versatility

Overview

Sandblast Application

Multikinematic



What provides IndraMotion for Handling …What provides IndraMotion for Handling …

Quick commissioning Simple machine configuration Fast troubleshooting

Engineering savings Turnkey solution with Integrated tested functions

… for the OEM ?

High flexibility Scalable HMI-, controller- & drive platforms Open Source – Software

Simple, scalable, powerful



What provides IndraMotion for Handling …What provides IndraMotion for Handling …

Readymade HMI user interface

Teach-in & define of point coordinates

Motion programming like a robot control

… for the end-user ?

Simple to operate, teach-in and programming

… for the OEM ?

Simple, scalable, powerful



Rexroth IndraMotion for HandlingTurnkey Automation SolutionFor the OEM

Quick commissioning by simple machine configuration

simple, powerful scalable,



4 Steps to a running machine 4 Steps to a running machine

All machine parameter are stored in the PLC described in one variable list




X Y Z

1. Activate the axis




2. Automatic mode:

X Y Z




X Y Z

3. Manual mode:




X Y Z

4. Software limit switches




High flexibility with scalable HMI-, Controller- & Drive

platforms

simple, powerful scalable,



Drive based configuration Drive based configuration

VCP 08 HandheldVCH 08

IndraMotion MLD

IndraDrive IndraDrive

Engineering PC

IndraDrive Cs

up to 6

Inline I/O

up to 4

and/or



Controller based configuration Controller based configuration

HandheldVCH 08

VCP 08 HandheldVEH 30

VEP 30VEP 40

IndraDrive Inline I/O

IndraLogic L40IndraLogic L20

Engineering PC

IndraDrive Cs



Controller based configuration Controller based configuration

Inline I/OIndraDrive

IndraMotion MLC

VCP 08 HandheldVEH 30

VEP 30VEP 40

Engineering PCHandheldVCH 08

IndraDrive MI



PC based configuration PC based configuration

Engineering PC

IndraDrive Inline I/OIndraDrive Cs

IndraLogic VEP 30IndraLogic VEP 40



Visualization platforms Visualization platforms

Controller based terminals VCP 08 and VCH 08 3,8“ display, 5 grey tones Communication via Ethernet,

Profibus DP or serial interface Engineering with VI-Composer

PC based terminals Windows CE 8,4‘‘ or 12,1“ SVGA display Resolution 800 x 600 Engineering with WinStudio

Readymade user interface Open Source – variable for

customer modifications



Handheld VCH08 Handheld VCH08

3,8“ display, 5 grey tones Communication via Ethernet Engineering by VI-Composer

Hand wheel to jog axis Override potentiometer

Safety technology according category 3 Machine-Stop-Key, black 3 position confirmation key

Hot-Plug with connection unit VAC 30 Integrated emergency stop bridging

in the plug Storage of the Ethernet configuration



Handheld VEH30 Handheld VEH30

8,4‘‘ SVGA Display Communication via Ethernet Engineering by WinStudio

Keyboard communication by separate communication channel

Safety technology according category 3 Machine-Stop-Key, black 3 position confirmation key

Hot-Plug with connection unit VAC 30 Integrated emergency stop bridging

in the plug Storage of the Ethernet configuration

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IndraMotion MLD

IndraDrive IndraDrive IndraDrive Cs

up to 6



Without HMI Without HMI

VCP 08 HandheldVCH 08

Inline I/O

up to 4

START STOP RESET

and/or



Without HMI Without HMI

Motion programming in the PLC

Library with complete motion instruction set

Defining of the motion program in PLC

No program modification by HMI

Signal exchange

in the PLC Simple connection of the

command signals Access to all point coordinates

and the fully data structure



Offline programming Offline programming

SMC-EditorSequential Motion Control

Motion programming with engineering PC

‚Intellisense‘ support during programming

Program download to the PLC Program printout for

documentation




Engineering savings with integrated tested functions

Simple, powerful scalable,



Integrated tested functions Integrated tested functions

Cycle time optimized movements Considering the individual

axis parameter for velocity and acceleration

Coordinated Point-to-Point movements with up to 6 axis All axis start and end at the same time

Minimum inaccuracies from the ideal line are possible




Path optimized movement Harmonizing of the

acceleration and deceleration phases

Coordinated Point-to-Point movements with up to 6 axis All axis start and end at the same time

The inaccuracies from the ideal line are reduced to minimum




Blended movement Time optimizing of the sequence Treat the mechanic with care

Manual mode Continuous jogging

with two speed level Incremental jogging Jogging with hand wheel

at the VCH08




Scaling / measuring units Rotary axis

in degree absolute or modulo format

Linear axis metric or in inch

Protection areas Collision prevention in automatic

mode Up to 4 protection areas per

kinematic can be activated Range is free configurable




Drive integrated safety technology

Certificated up to SIL2 according IEC 61508 / EN 62061 / 61800-5-2as well as up to category 3 and PL d according EN ISO 13849-1

Simple configuration by preconfigured templates for e. g. safe stop, safe motion

HMI, controller and drive build up a completely rounded safety concept




HandheldVCH 08

IndraMotion MLC

IndraLogic VEP

HandheldVCH 08

IndraLogic L40

MultikinematicEconomical multi machine mode

One controller One HMI Up to 4 machines Base:

- IndraMotion MLC - IndraLogic VEP - IndraLogic L40



Rexroth IndraMotion for HandlingTurnkey Automation SolutionFor the end-user

Readymade HMI user interface




Readymade HMI user interface Readymade HMI user interface

Teach-in, define Point coordinates can be

manipulated by HMI

Speed override Speed can be manipulated by

HMI at any time




User management with PIN protection

3 security level are predefined

Program management All needed functions are

implemented, e.g. rename, copy save, load delete




Diagnosis system Information as clear text messages

from Motion-Interpreter from drive

Expandable for customer messages

Single step and online display For a simple commissioning of

the automatic cycle



Rexroth IndraMotion for HandlingTurnkey Automation SolutionFor the end-user


Motion programming like a robot control



Motion programming like a robot control Motion programming like a robot control

Programming by VCP08

Point and axis names, I/Os and the command syntax are changeable

Intuitional Motion programming by HMI

Self-explanatory command syntax

Wide instruction set

e.g. MOVE HOME




Programming by VEH 30

Point and axis names, I/Os and the command syntax are changeable

Intuitional Motion programming by HMI

Self-explanatory command syntax

Wide instruction set

e.g. MOVE PICK_POS




Motion command for all applications Relative and absolute movements Movement with stop condition Single axis movement with position value

Cycle optimizing with parameter commands e.g. speed, acceleration, blending distance

I / O access by motion program Set Outputs, also on path Read Inputs

Flexible program configuration with organization commands and variables

Conditional and unconditional jumps, wait-time Call subprograms Variable access

JMP LABEL1IF INT1</>/=123 LABEL1WAIT 1. 23s CALL_SUB ROUT1REAL_VAR_1=1.2 INC INT_VAR_1

MOVE PXY

MOVE_REL PXY MOVE PXY TIL IN1=0/1MOVE X=12.34

V_PTP=100% A=100% R=12

OUT1=0/1 X=12.34 OUT1=0/1WAIT IN1=0/1




200 instructions per program *

50 position points per program *

10 selectable programs in the RAM

Up to 256 programs on Flash Card

50 Inputs / 50 Outputs

100 Integer Variables / 50 Real Variables

200 50

10256

* default settings, Expendable by using subprograms



44



Advantage for the OEM Quick commissioning High flexibility Engineering savings

For the end-user Readymade HMI user interface Teach-in & Define of point coordinates Motion programming like a robot control



45



Thank you for your attention !

electric drives and controlshydraulics linear motion and assembly technologiespneumaticsservice 1...

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powerful rexroth indramotion

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