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
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
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
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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.
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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.
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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
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.
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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.
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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
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
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 !
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