Transcript Default

Electric Drives
and Controls
Hydraulics
Linear Motion and
Assembly Technologies
Pneumatics
Service
Rexroth IndraMotion for Handling
Turnkey Automation Solution
For All Handling Tasks
Simple, scalable and powerful
1
What is IndraMotion for Handling?
The robot control inside the PLC
based on:
 Uniform PLC platform according IEC 61131-3
 Standard Motion-Control according PLCopen
The only PLC-based solution for
motion systems on the market !
12/10/2009, 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.
2
What supplies IndraMotion for Handling ?
Complete source-code on one CD !
 PLC libraries with Motion-Interpreter
 PLC templates including
HMI- & Motion connection
 Prepared drive parameter
for a quick commissioning
 Readymade operator interface
usable for different HMI devices
12/10/2009, 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.
3
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
12/10/2009, 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.
4
What performs IndraMotion for Handling?
A complete range of functions
IndraMotion for Handling includes all functions needed for
time optimized PTP motion with 6-axis kinematics
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




Blended movements
Teach-in position
Jogging
Single step and online display
Protection areas
Diagnostics
…
12/10/2009, 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.
5
What performs IndraMotion for Handling?
Application versatility
IndraMotion for Handling is the ideal solution for applications
such as
 Loading / unloading handlings for fully automated production
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Molding machines, mounting, logistics, …
Handling in rough environment
Foundry, electroplating, …
System solution together with the CMS
Palletizing
Pick and Place
Laboratory automation
Retrofitting
…
12/10/2009, 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.
6
What performs IndraMotion for Handling?
Application versatility
IndraMotion for Handling is practicable
Overview
Sandblast Application
Multikinematic
12/10/2009, 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.
7
What provides IndraMotion for Handling …
… for the OEM ?
 Quick commissioning
 Simple machine configuration
 Fast troubleshooting
 High flexibility
 Scalable HMI-, controller- & drive platforms
 Open Source – Software
 Engineering savings
 Turnkey solution with
 Integrated tested functions
Simple, scalable, powerful
12/10/2009, 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.
8
What provides IndraMotion for Handling …
… for the OEM ?
Simple, scalable, powerful
… for the end-user ?
 Readymade HMI user interface
 Teach-in & define of point coordinates
 Motion programming like a robot control
Simple to operate, teach-in and programming
12/10/2009, 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.
9
Rexroth IndraMotion for Handling
Turnkey Automation Solution
For the OEM
simple, scalable, powerful
Quick commissioning by
simple machine configuration
12/10/2009, 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.
10
4 Steps to a running machine
All machine parameter are
 stored in the PLC
 described in one variable list
12/10/2009, 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
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11
4 Steps to a running machine
1. Activate the axis
X Y Z
12/10/2009, 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
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12
4 Steps to a running machine
2. Automatic mode:
X Y Z
12/10/2009, 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.
13
4 Steps to a running machine
3. Manual mode:
X Y Z
12/10/2009, 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
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14
4 Steps to a running machine
4. Software limit switches
X Y Z
12/10/2009, 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.
15
Rexroth IndraMotion for Handling
Turnkey Automation Solution
For the OEM
simple, scalable, powerful
High flexibility with scalable
HMI-, Controller- & Drive platforms
12/10/2009, 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.
16
Drive based configuration
VCP 08
Handheld
VCH 08
IndraDrive
Engineering PC
IndraDrive and/or IndraDrive Cs
up to 6
IndraMotion MLD
Inline I/O
up to 4
12/10/2009, 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.
17
Controller based configuration
VCP 08
Handheld
VCH 08
VEP 30
VEP 40
Handheld
VEH 30
Engineering PC
IndraLogic L40
IndraLogic L20
IndraDrive
IndraDrive Cs
Inline I/O
12/10/2009, 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.
18
Controller based configuration
VCP 08
Handheld
VCH 08
VEP 30
VEP 40
Handheld
VEH 30
Engineering PC
IndraMotion MLC
IndraDrive
IndraDrive MI
Inline I/O
12/10/2009, 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.
19
PC based configuration
Engineering PC
IndraLogic VEP 30
IndraLogic VEP 40
IndraDrive
IndraDrive Cs
Inline I/O
12/10/2009, 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.
20
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
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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
12/10/2009, 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.
21
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
12/10/2009, 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.
22
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
12/10/2009, 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.
23
Without HMI
VCP 08
Handheld
VCH 08
STOP
START
IndraDrive
RESET
IndraDrive and/or IndraDrive Cs
up to 6
IndraMotion MLD
Inline I/O
up to 4
12/10/2009, 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.
24
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
12/10/2009, 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.
25
Offline programming
 SMC-Editor
Sequential Motion Control
 Motion programming with
engineering PC
 ‚Intellisense‘ support
during programming
 Program download to the PLC
 Program printout for
documentation
12/10/2009, 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.
26
Offline programming
 SMC-Editor
Sequential Motion Control
 Motion programming with
engineering PC
 ‚Intellisense‘ support
during programming
 Program download to the PLC
 Program printout for
documentation
12/10/2009, 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.
27
Rexroth IndraMotion for Handling
Turnkey Automation Solution
For the OEM
Simple, scalable, powerful
Engineering savings with
integrated tested functions
12/10/2009, 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.
28
Integrated tested functions
 Coordinated Point-to-Point movements with up to 6 axis
 All axis start and end at the same time
 Cycle time optimized movements
 Considering the individual
axis parameter for
velocity and acceleration
 Minimum inaccuracies from the
ideal line are possible
12/10/2009, 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.
29
Integrated tested functions
 Coordinated Point-to-Point movements with up to 6 axis
 All axis start and end at the same time
 Path optimized movement
 Harmonizing of the
acceleration and deceleration
phases
 The inaccuracies from the
ideal line are reduced to
minimum
12/10/2009, 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.
30
Integrated tested functions
 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
12/10/2009, 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.
31
Integrated tested functions
 Scaling / measuring units
 Rotary axis

 in degree
 absolute or modulo format
Linear axis
 metric or in inch
 Protection areas
 Collision prevention in automatic
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
mode
Up to 4 protection areas per
kinematic can be activated
Range is free configurable
12/10/2009, 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.
32
Integrated tested functions
 Drive integrated safety technology
 Certificated up to SIL2 according
IEC 61508 / EN 62061 / 61800-5-2
as 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
12/10/2009, 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.
33
Integrated tested functions
 Multikinematic
Handheld
Handheld
VCH
08
VCH 08
Economical multi machine mode
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One controller
One HMI
Up to 4 machines
Base:
- IndraMotion MLC
- IndraLogic VEP
- IndraLogic L40
IndraLogic VEP
IndraMotionL40
MLC
IndraLogic
12/10/2009, 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.
34
Rexroth IndraMotion for Handling
Turnkey Automation Solution
For the end-user
Simple to operate, teach-in and programming
Readymade HMI user interface
12/10/2009, 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.
35
Readymade HMI user interface
 Speed override
 Speed can be manipulated by
HMI at any time
 Teach-in, define
 Point coordinates can be
manipulated by HMI
12/10/2009, 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.
36
Readymade HMI user interface
 User management with

PIN protection
3 security level are predefined
 Program management
 All needed functions are
implemented, e.g.
 rename, copy
 save, load
 delete
12/10/2009, 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.
37
Readymade HMI user interface
 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
12/10/2009, 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.
38
Rexroth IndraMotion for Handling
Turnkey Automation Solution
For the end-user
Simple to operate, teach-in and programming
Motion programming like a robot control
12/10/2009, 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.
39
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
12/10/2009, 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.
40
Motion programming like a robot control
 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
12/10/2009, 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.
41
Motion programming like a robot control
 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
MOVE PXY
MOVE_REL PXY
MOVE PXY TIL IN1=0/1
MOVE X=12.34
V_PTP=100%
A=100%
R=12
OUT1=0/1
X=12.34 OUT1=0/1
WAIT IN1=0/1
JMP LABEL1
IF INT1</>/=123 LABEL1
WAIT 1. 23s
CALL_SUB ROUT1
REAL_VAR_1=1.2
INC INT_VAR_1
12/10/2009, 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.
42
Motion programming like a robot control
 200 instructions per program *
200
50
 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
10
256
* default settings, Expendable by using subprograms
12/10/2009, 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.
43
Electric Drives
and Controls
Hydraulics
Linear Motion and
Assembly Technologies
Pneumatics
Service
Rexroth IndraMotion for Handling
Turnkey Automation Solution
For All Handling Tasks
Simple, scalable and powerful
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
44
Electric Drives
and Controls
Hydraulics
Linear Motion and
Assembly Technologies
Pneumatics
Service
Rexroth IndraMotion for Handling
Turnkey Automation Solution
For All Handling Tasks
Simple, scalable and powerful
Thank you for your
attention !
45