MLD-S Tech-FB Library Description - Bosch Rexroth

Rexroth MLD-S Tech-FB Library 

Application Description 

Version 1 

DOK-MLD-S*-TechFB*****-AW01-EN-D

About this Documentation 


Title 

Type of Documentation 


Version 1 

Application Manual 

Document Typecode 

DOK-MLD-S*-TechFB*****-AW01-EN-D 

Internal File Reference 

Purpose of Documentation 

This documentation contains the description of 

• Blocks 

• Functions 

• Data types 

of the MLD-S Tech-FB Library 

Record of Revisions 

Description 

Release 

Date 

Notes 

First release 11.05 Version 01 

Copyright 

© 2005 Bosch Rexroth AG 

Copying this document, giving it to others and the use or communication 

of the contents thereof without express authority, are forbidden. Offenders 

are liable for the payment of damages. All rights are reserved in the event 

of the grant of a patent or the registration of a utility model or design 

(DIN 34-1). 

Validity 

The specified data is for product description purposes only and may not 

be deemed to be guaranteed unless expressly confirmed in the contract. 

All rights are reserved with respect to the content of this documentation 

and the availability of the product. 

Published by 

Bosch Rexroth AG 

Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main 

Telephone +49 (0)93 52/40-0 • Tx 68 94 21 • Fax +49 (0)93 52/40-48 85 

http://www.boschrexroth.com/ 

Note 

This document has been printed on chlorine-free bleached paper. 



Contents I 

Contents 

1 MLD-S Technology Library 1-1 

1.1 Introduction and Overview............................................................................................................ 1-1 

1.2 Common Definitions ..................................................................................................................... 1-1 

1.3 Further Documentation ................................................................................................................. 1-2 

1.4 Requirements ............................................................................................................................... 1-3 

1.5 Flying Shear Function Block......................................................................................................... 1-3 

Introduction and Overview....................................................................................................... 1-3 

ML_FlyingShear....................................................................................................................... 1-3 

1.6 Touch Probe Function Blocks..................................................................................................... 1-13 

Introduction and Overview..................................................................................................... 1-13 

MC_TouchProbe.................................................................................................................... 1-15 

MC_AbortTrigger ................................................................................................................... 1-17 

1.7 Crosscutter Function Block......................................................................................................... 1-19 


MX_Crosscutter..................................................................................................................... 1-19 

1.8 Register-Controller Function Block............................................................................................. 1-35 


MB_RegisterControllerType1 ................................................................................................ 1-35 

1.9 Adjustment Function Blocks ....................................................................................................... 1-44 


MX_ContinuousAdjustType01............................................................................................... 1-46 

MX_ContinuousAdjustType02............................................................................................... 1-49 

MX_IncrementalAdjustType01 .............................................................................................. 1-51 

1.10 Measuring Wheel Function Blocks ............................................................................................. 1-54 


MX_MeasuringWheel ............................................................................................................ 1-55 

2 Service & Support 2-1 

2.1 Helpdesk....................................................................................................................................... 2-1 

2.2 Service-Hotline ............................................................................................................................. 2-1 

2.3 Internet.......................................................................................................................................... 2-1 

2.4 Vor der Kontaktaufnahme... - Before contacting us... .................................................................. 2-1 

2.5 Kundenbetreuungsstellen - Sales & Service Facilities ................................................................. 2-2 

3 Index 3-1 


Rexroth MLD-S Tech-FB Library MLD-S Technology Library 1-1 

1 MLD-S Technology Library 

1.1 Introduction and Overview 

1.2 Common Definitions 

Technology Function Blocks (Tech-FB’s) enhance the basic functionality 

of MLD / MLC and provide application specific functionality such as Flying 

Shear, Cross Cutter, Register-Controller. 

Technology Function Blocks are provided by an internal IEC library (e.g. 

“MX_Technology.lib” for MLD or "ML_Technology.lib" for MLC). 

This documentation describes the functionality as well as in- and output 

description of the provided Technology Function Blocks. 

Every function and function block provides a common error structure and 

defined behavior of the most common in- and outputs. 

All function blocks with "Execute" input and "Done" output have the same 

edge-oriented runtime behavior. The rising edge on the "Execute" input of 

a function block triggers the execution. 

When the result is available, "Done" is set to TRUE. When an error is 

present, "Error" is set to TRUE and "ErrorID" to an error identifier. Unless 

"Execute" is reseted, "Done" or "Error" remain at their values. When 

"Execute" is reset, "Done", "Error" and "ErrorID" are reset. 

If "Execute" is already FALSE when the command completes, the outputs 

"Done" or "Error" and "ErrorID" remain active for exactly one cycle. 

Function blocks with an "Enable" input are working in a level-oriented 

way. The "Enable" input normally is transmitted to the corresponding 

functionality (example: MC_Power). 

The following figure shows typical timing diagrams of Execute, Done and 

Error: 

Fig. 1-1: Timing diagrams of Enable, Active, Done and Error 


1-2 MLD-S Technology Library Rexroth MLD-S Tech-FB Library 

Fig. 1-2: Timing diagrams of Execute, Active, Done and Error 

1.3 Further Documentation 

The following table shows the available documentation of IndraDrive hardand 

firmware as well as MLD-S documentation. 

Title Type of documentation Document typecode Part number 

Rexroth IndraDrive M 

Drive Controllers 

Power Section 

Rexroth IndraDrive 


Control Section 

Electromagnetic 

Compatibility (EMC) in 

Drive and Systems 





PLC Programming with 

Rexroth IndraLogic 1.0 

Rexroth SIS Serial 

Interface 


Rexroth Indramotion MLD- 

S 

Project Planning Manual DOK-INDRV*-HMS+HMD****-PR01-EN-P R911295014 

Project Planning Manual DOK-INDRV*-CSH********-PR01-EN-P R911295012 

Project Planning Manual DOK-GENERL-EMV********-PR02-EN-P R911259814 

Parameter Description DOK-INDRV*-GEN-**VRS**-PA01-EN-P R911297317 

Troubleshooting Guide DOK-INDRV*-GEN-**VRS**-WA01-EN-P R911297319 

Operating and 

Programming Guide 

DOK-CONTRL-IL**PRO*V01-AW01-EN-P 

DOK-GENERL-SIS-DEFINIT-IF02-EN-P 

R911305036 

R911289718 

Application Manual DOK-INDRV*-MLD-**VRS**-AW01-EN- R911306084 

Fig. 1-3: 

Further Documentation 



1.4 Requirements 

1.5 Flying Shear Function Block 

Introduction and Overview 

Technology Function Blocks are using the functionality of MLD-S and 

MPH03 drive firmware. Please refer chapter 1 of “DOK-INDRV*-MLD- 

**VRS**-AW01-EN-P“, Mat. Number: R911306084 for details about the 

required components. Specific requirements related to special 

Technology Function Blocks are documented in the chapter of every 

Technology Function Block (see next chapters). 

In a typical Flying Shear system, material (sheet metal, plastic, foil etc.) is 

fed continuously to a cutoff carriage. The carriage contains the cutting 

device (shear, saw etc.) and is driven by a servomotor. 

When performing a cut, it is usually not acceptable to stop the material. 

Consequently, the cutoff carriage has to accelerate to the synchronous 

velocity and to execute a cut. At the point when the carriage is 

synchronized to the material position, it is possible to perform the cut. 

After the cut is complete and the Minimum Stroke was reached, the cutoff 

carriage returns to the Start Position and will then synchronize to the next 

cut position. 

A measuring wheel rides on the material and determines the position and 

velocity of the material. The measuring wheel is connected to an 

incremental or absolute encoder. This encoder is connected to the 

second encoder input of the IndraDrive. The Flying Shear carriage will be 

synchronized using this encoder or using a virtual master signal for test 

purposes. 

ML_FlyingShear 

Short Description 

MX(L)_FlyingShear provides basic functionality of Flying Shear 

applications and performs the following steps once “Start” is true: 

• Move slave axis to “ReturnPos” and wait until axis is in position 

• Synchronize slave axis to the master axis with a Lock On Cam profile 

• Set output “InSync” once the slave axis is synchronized to the material 

• Position slave axis to the starting position when triggered by the 

„MoveReturn“ input. 



Interface Description 

*1: VirtualMaster input signal is only available at MX(L)_FlyingShear 

function block 

*2: Master In/Output signal is only available at MX(L)_FlyingShear 

function block (MLC) as the master axis is already defined by MLD-S 

Fig. 1-4: FB MX(L)_FlyingShear 

Name Type Comment 

VAR_IN_OUT Master AXIS_REF MLC only: Reference to master axis. 360° modulo scaling is 

required for the master axis. 

Slave AXIS_REF Reference to slave axis 

FSRetain 

MB_FS_RET 

AIN_DATA* 1 

Reference to the required retain data of this FB 

VAR_INPUT Start BOOL Starts FlyingShear function. The axis move to ReturnPos and 

synchronizes with the next cut. 

VirtualMaster BOOL MLD-S only: 

FALSE - real master is used, 

TRUE - virtual master (MX_MasterSimulator is used.) 

CropCut BOOL On a rising edge, the slave axis starts synchronization after the 

cutlength is passed on the machine. 

The CropCut will run in the next cut cycle if a cut cycle is 

already running (InCycle=TRUE). 

ImmediateCut BOOL If „Start“ = TRUE: 

The slave axis starts synchronization immediately, once a 

positive edge of ImmediateCut was detected. The function will 

run in the next cut cycle if a cut cycle is already running 

(InCycle=TRUE). This function is intended for moving material. 

If („Start“ = FALSE) & (Material is in Standstill v < 20PRM): 

The slave axis stays in standstill and the “InSync” bit is set 

immediately in order to command a cut once the material is not 

moving. 

MoveReturn BOOL Decouples the slave axis from the material and commands it to 

the “ReturnPos”. 

ResetCutCounter BOOL Positive edge resets Cut Counter. 

CutLength REAL Cut length of the material* 2*3 

MWFeedconst REAL Feed constant of the measuring wheel * 2 * 3 

SyncDist REAL Travel distance of the slave after it is synchronized to the 

material* 2 * 3 

ReturnPos REAL The slave moves to the ReturnPos as soon the slave is 

synchronized and MoveReturn is TRUE* 2 * 3 



ReturnVel REAL The slave axis moves to the ReturnPos with ReturnVel* 2 * 3 

ReturnAcc REAL The slave axis moves to the ReturnPos with ReturnAcc* 2 * 3 

PreSyncPos REAL The output "PreSyncSignal" becomes TRUE "PreSyncPos" 

ahead from synchronization* 2 

PreSyncTime TIME Time duration of "PreSyncSignal" 

VAR_OUTPUT InSync BOOL The Flying Shear is synchronized with the material. 

InCycle BOOL Flying Shear axis is currently performing a cut cycle. 

CropCutDone BOOL Crop cut is done. 

ImmediateCutDone BOOL Immediate cut is done. 

PreSyncSignal BOOL TRUE "PreSyncPos" ahead of synchronization. 

ShortPrdWarning BOOL Not enough time to reach home position. reduce material 

velocity, increase cut length, return velocity or acceleration. 

MaterialMoving BOOL The material-encoder is moving more then 20RPM. 

Reserve DINT Reserve of the Lock On mechanism in Increments (only for 

diagnostics). It’s not possible to Lock On, if Reserve ≤ 0 -> The 

FB will issue an error in this case. 

CycleState UINT Current cut cycle state: 

0: Standstill & WaitPhase; 1: Acceleration Phase; 

2: Synchronization Phase; 3: Return Phase. 

CutCounter UINT Every cut increments the cut counter. (Start = FALSE) or pos. 

edge on "ResetCutCounter" reset this counter. 

Error BOOL Indicates an error. Clearedwith “Start” = FALSE 

ErrorID INT (Enum) ERROR_CODE: Short error description. 

ErrorIdent 

ERROR_STR 

UCT 

Detailed error description 

Fig. 1-5: Interface of MX(L)_FlyingShear 

Timing Diagram 

* 1 : MB_FS_RETAIN_DATA* 1 : STRUCT (bCutNotCompleted: BOOL, 

diMasterSyncPosition: DINT, iRevCounter:INT) 

* 2 : Units according to drive scaling in engineering units (mm) 

* 3 : New values become active in the transition synchronization -> 

return phase 

The following diagram shows the Immediate Cut with standstill of material 

(Start = FALSE). 

Fig. 1-6: Timing Diagram: Immediate Cut with Standstill of Material 

The following diagram shows the complete sequence of the FlyingShear 

function block with moving material and immediate cut: 



Fig. 1-7: Sequence of the Flying Shear function block with Immediate Cut 

Errorhandling 

The Flying Shear function block generates the following error messages 

in Additional1/Additional2 for the "F_RELATED_TABLE", 16#0170. 

ErrorID Additional1 Additional2 Description 

RESOURCE_ERROR (16#0003) 16#0001 16#0000 Drive is not enabled or drive error 

ACCESS_ERROR (16#0004) 16#0003 16#0000 FB was aborted from another FB 

ACCESS_ERROR (16#0004) 16#0004 16#0000 Not supported drive firmware 

RESOURCE_ERROR (16#0003) 16#0009 16#0000 Selected Axis (Axis_Ref) was changed while FB is in 

operation 

INPUT_RANGE_ERROR (16#0006) 16#0201 16#0001 CutLenght


ACCESS_ERROR (16#0004) 16#0203 16#0002 P-0-0054 is not configured in the cyclic channel 

(MDT) 

Fig. 1-8: Flying Shear Error Codes 

Note: 

If software limit switches of the drive are activated, the 

reaction must be configured as „error“. The setting "Warning" 

may lead to a synchronization after standstill of the drive 

again. 

Required Components and 

Parameterization 

Required Hardware 

• IndraDrive C or IndraDrive M with advanced performance is required. 

The following control unit is supported: 

• ADVANCED (type code: CSH01.1C-...) 

• Additional second encoder interface card required for measuring 

wheel 

• Additional second encoder (according to drive project planning 

manual) 

Hinweis: 

High resolution second encoder must be used in case of large 

feedconstants (>400mm) of the measuring wheel. Resolution 

of min. 4096 Increments/Rev and sinewave signal are 

recommended. Low resolution encoder cause low cut 

accuracy and noise of the Flying Shear axis. 

Required Firmware 

• Drive firmware MPH03V10 or higher 

• The following functional packages are required 

• Closed Loop 

• Synchronization 

• Drive PLC 

Required Software 

• IndraWorks Drives or DriveTop16V09 or higher 

• IndraLogic 1.2 or higher 

Required Parameterization 

The following drive parameterization is required in order to run the 

FlyingShear function block. Please download the file 

‘FlyingShearSettings.par’ *1 to the drive or setup the drive according to the 

following instructions: 

• Download Lock On Cam (Cam#1) *1 

• DriveTop →File →Load →select file “LockOnCamPolynom.par” 

and send this file to the drive 

• Download Run Cam (Cam#2) *1 

• DriveTop →File →Load →select file “RunCam.par” and send this 

file to the drive 

• Setup primary and 1 st secondary operation mode of the drive 

• DriveTop → Drive Functions → Operation mode selection → Select 

Primary operation mode = “Cam shaft lagless, encoder1, real 

master drive” mode and Secondary operation mode 1 = “Cam shaft 

lagless, encoder1, virt. master drive” 

• Setup “NC Cycle Time ‘S-0-0001’ = PLC Task Cycle Time 



• DriveTop → Right mouse button → Single parameter → S-0-0001 

= cycle time of the PLC task in [us] where function block 

MX_MasterSimulator is running in 

• Setup “Modulo factor measuring encoder ‘P-0-0765’ = 0” 

• DriveTop → Right mouse button → Single parameter → send P-0- 

0765 = 0 to the drive 

• Setup “Master axis rev. per master axis cycle ‘P-0-0750’ = 0” 

• DriveTop → Right mouse button → Single parameter → send P-0- 

0750 = 0 to the drive 

• Setup Flying Shear Axis 

• Setup mechanical settings of the Flying Shear axis (Linear axis, No 

Modulo, travel range, limits...) according to the application 

• Setup additional second encoder / measuring encoder 

• DriveTop → Drive Functions → Special/optional drive functions → 

Measuring Encoder → setup measuring encoder 

• Make sure the second encoder moves in positive direction since the 

Lock On mechanism works for positive direction only 

• DriveTop → Right mouse click → Single parameter → watch P-0- 

0052 and move measuring wheel in material direction → the value 

in P-0-0052 should increase (drive must be in bb/Ab/AH/AF) 

*1 

The files are located in the “ Parameter files” folder on the MLD-S 

Technology CD. 

Parameter IDN Parameter Name Description 

P-0-0750 Master axis revolutions per master axis Specifies the modulo range of the Master axis. Always 

cycle 

use P-0-0750 = 0 

P-0-0765 Modulo factor measuring encoder Specifies the modulo range of the measuring encoder. 

Always use P-0-0765 = 0 

P-0-0329 

Parameter Overview and 

Description 

Smoothing of actual position value 3 of 

measuring encoder 

This is the filter time constant of the measuring encoder 

filter. This filter reduces noise of the FlyingShear axis if it 

is synchronized with the material. 

P-0-0142 Synchronization acceleration This ramp is used once separation (using S-0-0048) is 

performed or the sync operation mode is enabled. It is 

recommended to select a high value in order to perform 

fast separation and provide a dynamic synchronization 

to the material. 

P-0-0143 Synchronization velocity This max. velocity is used once separation (using S-0- 

0048) is performed and the sync operation mode is 

enabled. It is recommended to select a high value in 

order to perform fast separation and provide a dynamic 

synchronization to the material. 

S-0-0228 Position synchronization window The FlyingShear function block issues the output 

"InSync=TRUE" once the synchronization distance 

(SyncDist) is passed and the axis feedback position is in 

the synchronization window. A small synchronization 

window is recommended in order to provide high cut 

accuracy. 

S-0-0048 Additive position command value This parameter provides an additive position offset and 

is usable in order to separate the pieces after the cut 

was performed. Increase of S-0-0048 with the 

separation distance while the axis is in synchronization 

(InSync=TRUE) cause the separation movement using 

the ramp P-0-0142 and P-0-0143. The FlyingShear 

function block resets S-0-0048 to the ReturnPosition 

once the axis reaches ReturnPos. 

P-0-0694 Gear ratio fine adjust, process loop This gear fine adjust cause a higher velocity of the 



FlyingShear axis in reference to the material velocity in 

case P-0-0694 > 0%. This gear fine adjust cause a 

lower velocity of the FlyingShear axis in reference to the 

material velocity in case P-0-0694 < 0%. A value 0% 

cause additional cut inaccuracy. 

S-0-0193 Positioning Jerk This parameter limits the change of the acceleration 

(jerk) in the return movement. S-0-0193=0 disable the 

jerk limiting 

Fig. 1-9: 

Parameter Overview and Description 

Required IndraLogic Steps 

• Include the library MX_Technology.lib in your IndraLogic project 

• Call the provided FB in your IndraLogic project. The FB’s should run in 

a high priority cyclic task with a cycle time ≤ 4ms 

Example Project 

• Enable drive first (MX_Power) and start the FlyingShear FB once the 

drive is enabled 

Functionality Overview 

A ready-made IndraLogic project using the Flying Shear function block is 

available and should reduce and simplify the development of Flying Shear 

application programs. Some application require just a change in the Tool 

program of the provided PLC project. The FlyingShear example project 

provides the following functionality: 

• Manual Mode 

• Jogging 

• Homing 

• Immediate Cut at material standstill 

• Automatic Mode 

• Continuous production of cuts 

• Immediate Cut at material movement 

• Material simulation 

• Example IndraLogic HMI 

• Example Tool program with implementation of minimal cut position, 

minimal stroke and separation 

• Program to simulate the handshake with the knife for test purpose 

without physical I/O’s 

Program / Task Structure 

The Flying Shear example project is subdivided in different programs in 

order to provide independent code sections and optimize the runtime 

behavior. The following table shows an overview about the provided 

programs and their function: 

Program Associated Task Description 

PrgFlyingShear_ Cyclic Task 2ms Contains time critical, high priority 

HighPrio 

motion functionality of the Flying 

Shear project. This program is 

controlled by 

PrgFlyingShear_LowPrio 

PrgFlyingShear_ Freewheeling This program contains the low 

LowPrio 

priority state machine of the 

FlyingShear application with 

Manual, Automatic and Error state 

and controls the program 

PrgFlyingShear_HighPrio 



PrgFlyingShear_ 

ToolProgram 


KnifeSimulation 


HMI 

Freewheeling 

Freewheeling 

Freewheeling 

Controls the tools of the 

FlyingShear once it is in 

synchronization with the material. 

The tool program commands the 

different tools of the Flying Shear 

and send the carriage back to the 

return position once the cut 

procedure is completed. The 

program can be modified in order 

to address individual applications 

Simulates the signals required by 

PrgFlyingShear_ToolProgram in 

order to provide a handshake 

without physical IO’s (only for 

demonstration or test purpose) 

Calculates data viewed by the HMI 

Fig. 1-10: 

Program / Task Overview 

In/Output Description 

The FlyingShear project is controllable using the following global 

variables. 

Program Inputs 

Variable Type Description 

PowerOn BOOL Enables power of the drive Ab -> AH/AF/AU 

ManualMode BOOL Commands program in manual mode 

AutoMode BOOL Commands program in automatic mode 

JogPlus BOOL Jog axis in positive direction -> works only in manual mode 

JogMinus BOOL Jog axis in negative direction -> works only in manual mode 

Homing BOOL Homes the axis -> works only in manual mode 

Reset BOOL Positive edge reset program and drive error 

ImmediateCut BOOL Commands an immediate cut in Manual and Automatic Mode: 

ManualMode: Immediate cut intended for material standstill, Flying 

Shear axis stays in standstill and cut is performed immediately 

AutomaticMode: Immediate cut intended for moving material, 

FlyingShear axis is started to get into synchronization as soon the 

carriage reaches the return position 

SimulationMode BOOL Flying Shear runs in simulation mode with a virtual master. Transition to 

and from Simulation Mode possible if Manual and Automatic Mode is 

not active 

MoveReturn BOOL Uncouple Flying Shear from material and command it to the Return 

Position 

ResetCutCounter BOOL Resets the current cut counter 

KnifeStatus1 BOOL 1 st status bit of the knife/saw used by PrgFlyingShear_ToolProgram 

KnifeStatus2 BOOL 2 nd status bit of the knife/saw used by PrgFlyingShear_ToolProgram 

KnifeStatus3 BOOL 3 rd status bit of the knife/saw used by PrgFlyingShear_ToolProgram 

JogSpeed REAL Jogging Velocity *1 

JogAccel REAL Jogging Acceleration *1 

MWFeedconst REAL Feedconstant of the measuring wheel *1 



SyncDist REAL Synchronization distance *1 

MinStroke REAL The Flying Shear will move in synchronization with the material until 

MinimumStroke *1 is reached (absolute position) 

MinCutPos REAL This is the earliest cut position *1 (absolute) 

SeperationDist REAL Separation distance *1 used in the tool program 

ReturnPos REAL The Flying Shear axis move to the Return Position *1 once it is in 

synchronization and MoveReturn is true 

ReturnVel REAL The Flying Shear axis move to the Return Position using the Return 

Velocity *1 

ReturnAcc REAL The Flying Shear axis move to the Return Position using the Return 

Acceleration *1 

PreSyncPos REAL Position *1 of the Pre-Sync Signal relative to the material position where 

Lock On synchronization start 

PreSyncTime REAL Time duration of the Pre-Sync Signal 

Cutlenght REAL Commanded Cutlenght *1 

SimulationVel REAL Commanded velocity of the "virtual master" used in test mode, units 

[RPM] 

Fig. 1-11: 

Program Inputs of the FlyingShear Project 

*1: In engineering units according to drive scaling 

Program Outputs 

Variable Type Description 

PowerOk BOOL Power of the drive is enabled 

ManualModeActive BOOL Manual Mode is active 

AutomaticModeActive BOOL Automatic Mode is active 

JogPlusActive BOOL Axis is jogging in positive direction 

JogMinusActive BOOL Axis is jogging in negative direction 

HomingDone BOOL Homing is successful completed 

HomingActive BOOL Homing command is currently active 

Error BOOL Indicates error 

PreSyncSignal BOOL Turns on before synchronization start 

InSync BOOL FlyingShear axis is in synchronization with the material 

ImmediateCutDone BOOL Immediate Cut is completed 

SimulationRunning BOOL Simulation (Virtual Master) is running 

KnifeControl1 BOOL 1 st output to control the knife/saw controlled by 

PrgFlyingShear_ToolProgram 

KnifeControl2 BOOL 2 nd output to control the knife/saw controlled by 


KnifeControl3 BOOL 3 rd output to control the knife/saw controlled by 


CutCounter UINT Cut Counter of the FlyingShear 

diMasterPos DINT Current Master Position in increments 

rActVel REAL Current velocity of the slave axis 

rActPos REAL Current position of the slave axis 



rActMaterialPos REAL Current material position 

rActOffset REAL Current offset of the master in ° / P-0-0054 

rActMaterialVel REAL Current material velocity 

rPhaseMW REAL Phase of the measuring wheel in ° for HMI only 

rReserve REAL Reserve of the Cam-Lock-On mechanism 

ErrorString STRING Error identification 

ErrorID 

ErrorIdent 

ERROR_ 

CODE 

ERROR_ 

STRUCT 

Error identification -> see error ID’s of MX_FlyingShear 

Error identification -> see error idents of MX_FlyingShear 

ErrorState STRING Additional Error identification 

Fig. 1-12: 

Program Outputs of the FlyingShear Project 

First Steps to get the Program to work 

The example program should run after the following steps: 

• The example program expects the same parameter settings as well as 

hard-, firm- and software like MX_FlyingShear. Please setup the drive 

accordingly or download the parameter file “FlyingShearExample.par” 

(available in the "Application example" folder of the MLD-S Technology 

CD) in the drive. 

• Open the FlyingShear demo project “FlyingShearExample1.pro” 

(available in the "Application example" folder of the MLD-S Technology 

CD), download the project to the drive and start the program. 

• Make sure drive is in phase 4 and has no error (bb, Ab in the drive 

display) 

• Open the “FLYING_SHEAR1” visualization in IndraLogic (HMI) 

• Press the button “Power ON”, which enables the dive (drive shows AH 

or AU) 

• Press the button “Manual” and home (with the “Home” button) the 

axis in case it’s not an absolute encoder. Wait until the homing is 

completed indicated by the green color in the home status light 

• You can also jog the axis in positive or negative direction with the 

“Jog” buttons in manual mode. (make sure you reset “Home” once 

you start the jog command or the jog command will be blocked) 

• Reset the Manual Mode button. 

• Press the simulation button -> the simulation of the material should 

start (indicated by the green light “Sim. Running”) 

• Press the button “Imm Cut” and “Automatic” -> The Flying Shear axis 

performs an immediate cut first of all. Secondly, the FlyingShear 

starts with continuous production of cuts with the commanded cut 

length. 

• You can also run the demo program without simulation and a real 

encoder with the same sequence like above. Transitions to and from 

simulation mode are accepted if automatic and manual mode are not 

active. 

Changes of the Tool Program 

The tool program contains the complete logic to perform different task, 

once the FlyingShear is synchronized to the material. Furthermore, the 

tool program commands the FlyingShear back to its return position, once 

the cut process is completed. The following figure shows the example tool 

program of the example project. This tool program contains the following 

parts: 



• Wait until FlyingShear is synchronized (InSync-Bit) and reached the 

Minimal Cut Position 

• Control knife #1 

• Wait for status of knife #1 

• Handshake with Knife 2 and 3 

• Execute separation using drive parameter S-0-0048 

• Wait until separation is completed (using P-0-0089 Bit 8 = TRUE) 

• Command FlyingShear back to ReturnPosition using the signal 

MoveReturn= TRUE 

Step 1. and 7. are always required at the start and end of the tool 

program. All steps between can be modified depending on the 

application. 

Fig. 1-13: 

Sequence of the PrgFlyingShear_ToolProgram 

1.6 Touch Probe Function Blocks 


The function blocks MC_TouchProbe and Required Components and 

Parametrization 


• IndraDrive C or IndraDrive M with advanced or basic performance is 

required. The following control units are supported: 




• BASIC SERCOS (single-axis; type code: CSB01.1N-SE-...) 

• BASIC PROFIBUS (single-axis; type code: CSB01.1N-PB-...) 

• BASIC UNIVERSAL (single-axis; type code: CSB01.1C-...) 


• Drive firmware MPH03 or MPB03, Release 10 or higher 


• Servo or Synchronization 

• Drive PLC 





Setup the drive probe feature using IndraWorks D or DriveTop using the 

following dialog: 

Fig. 1-17 

Touch probe Configuration Dialog 

Note: Continuous measurement is not supported by 

MC_TouchProbe 



• Call the provided FB's in your IndraLogic project 

MC_AbortTrigger control and administrate the drive "Touch Probe" 

functionality. 

The function block MC_TouchProbe activates the selected touch probe, 

evaluates the status and provides the measuring values once the trigger 

event arrives. 

The function block MC_AbortTrigger aborts an active measurement of the 

MC_TouchProbe. 




MC_TouchProbe 


The touch probe function block is used to record an axis position, master 

position or probe time at a trigger event using the drive probe feature. 

Note: 

Probing cycle procedure command (S-0-0170) must be 

activated before execution of MC_TouchProbe. Consequently, 

the write request S-0-0170=3 is necessary before 

MC_TouchProbe execution. 


Fig. 1-14: FB MC_TouchProbe 


VAR_IN_OUT Axis AXIS_REF Reference to the axis 

VAR_INPUT Execute BOOL Positive edge starts the probe function 

ProbeType PROBE_DATA_FORMAT Specify the data format of the measured probe signal. 

AXIS_POS = 0: Position of the axis (e.g. S-0-0051) 

PROBE_TIME = 1: Probe time in us; 

MASTER_POS = 2: Master position (e.g. P-0-0053) 

ProbeSelect PROBE_NUMBER Specify the selected probe. PROBE1 = 1: Probe 1 is 

selected; PROBE2 = 2: Probe 2 is selected 

PosEdge BOOL Positive edge of the selected probe will be evaluated 

NegEdge BOOL Negative edge of the selected probe will be evaluated 

VAR_OUTPUT Done BOOL Selected probe events are recorded 

Active BOOL FB is active 

PosEdgeDetected BOOL Positive edge of the selected probe was detected 

NegEdgeDetected BOOL Negative edge of the selected probe was detected 

RecordedPosition REAL Axis position where positive edge occurred (in 

technical units according drive scaling). This output is 

used in case ProbeType = AXIS_POS 

RecordedPositionNe 

g 

REAL 

Axis position where negative edge occurred (in 

technical units according drive scaling). This output is 

used in case ProbeType = AXIS_POS 

RecordedValue DINT Master position (in Increments) or probe time (in us) 

where positive edge occurred. This output is used in 

case ProbeType = PROBE_TIME or ProbeType = 

MASTER_POS 

RecordedValueNeg DINT Master position (in Increments) or probe time (in us) 

where neagtive edge occurred. This output is used in 

case ProbeType = PROBE_TIME or ProbeType = 

MASTER_POS 



CommandAborted BOOL Command was aborted by MC_AbortTrigger 

Error BOOL Indicates an error. Clear error with “Execute” = FALSE 

ErrorID ERROR_CODE Short error description 

ErrorIdent 


ERROR_ 

STRUCT 

Fig. 1-15: Interface of MC_TouchProbe 

Detailed error description 

Timing diagram according to PLCOpen specification. (Common 

Definitions). 

Errorhandling 

The function block generates the following error messages 

Additional1/Additional2 for the "F_RELATED_TABLE", 16#0170: 

in 


RESOURCE_ERROR 

(16#0003) 


(16#0003) 


(16#0003) 


(16#0003) 


(16#0003) 


(16#0003) 


(16#0003) 


(16#0003) 


(16#0003) 


(16#0003) 


(16#0003) 


(16#0003) 


(16#0003) 

INPUT_RANGE_ER 

ROR (16#0006) 

INPUT_RANGE_ER 

ROR (16#0006) 

16#0004 16#0000 Drive-Firmware not supported -> MPH03 or MPB03, release 10 

or higher required 

16#0401 16#0000 Configuration of S-0-0169 does not match FB inputs -> Check 

probe configuration S-0-0169 

16#0402 16#0000 Probe command (S-0-0170) is not running -> Start probe 

command with a parameter write request S-0-0170=3 

16#0403 16#0001 Required probe control bit (S-0-0405, Bit 0) is not configured in 

signal control word 

16#0403 16#0002 Required probe control bit (S-0-0406, Bit 0) is not configured in 

signal control word 

16#0403 16#0003 Required probe status bit (S-0-0409, Bit 0) is not configured in 

signal status word 







16#0403 16#0007 Required probe value S-0-0130 is not cyclic configured in the AT 



16#0403 16#000A Required probe value S-0-0133 is not cyclic configured in the AT 

16#0404 16#0001 FB Input "ProbeSelect" is outside valid range 

16#0404 16#0002 FB Input "ProbeType" is outside valid range 

Fig. 1-16 MC_TouchProbe Error Codes 





required. The following control units are supported: 



• BASIC PROFIBUS (single-axis; type code: CSB01.1N-PB-...) 





• Drive firmware MPH03 or MPB03, Release 10 or higher 


• Servo or Synchronization 

• Drive PLC 





Setup the drive probe feature using IndraWorks D or DriveTop using the 

following dialog: 

Fig. 1-17 

Touch probe Configuration Dialog 

Note: Continuous measurement is not supported by 

MC_TouchProbe 




MC_AbortTrigger 



The function block MC_AbortTrigger is used to abort an active measuring 

of MC_TouchProbe. 

Fig. 1-18: FB MC_AbortTrigger 





VAR_INPUT Execute BOOL Positive edge aborts the trigger 

ProbeSelect PROBE_NUMBER Specify the selected probe. 

PROBE1 = 1: Probe 1 is selected; 

PROBE2 = 2: Probe 2 is selected 

VAR_OUTPUT Done BOOL Selected probe events are aborted 

Error BOOL Indicates an error 


ErrorIdent ERROR_STRUCT Detailed error description 

Fig. 1-19: Interface of FB MC_AbortTrigger 


Timing diagram according to PLCOpen specification (Common 

Definitions). 

Errorhandling 


Additional1/Additional2 for the "F_RELATED_TABLE", 16#0170: 

in 



(16#0003) 


(16#0003) 


(16#0003) 

INPUT_RANGE_ERROR 

(16#0006) 

16#0004 16#0000 Drive-Firmware not supported -> MPH03 or MPB03, 

release 10 or higher required 

16#0403 16#0001 Required probe control bit (S-0-0405, Bit 0) is not 

configured in signal control word 

16#0403 16#0002 Required probe control bit (S-0-0406, Bit 0) is not 

configured in signal control word 

16#0404 16#0001 FB Input "ProbeSelect" is outside valid range 

Fig. 1-20: 

MC_AbortTrigger Errorcodes 




Required hardware see MC_TouchProbe. 


Required firmware see MC_TouchProbe. 


Required software see MC_TouchProbe. 


Required parameterization see MC_TouchProbe. 






1.7 Crosscutter Function Block 


A rotating knife system is used to cut webs of paper, plastic or metal to a 

given length. The web moves independently and the knife is synchronized 

so the blade moves at the same linear speed as the web during the cut 

interval. When the cutting is completed, the knife is advanced in a manner 

that produces the required cut length. 

Fig. 1-21: Crosscutter Construction 

For this purpose the Function block has been developed. 

MX_Crosscutter 


The Crosscutter provides basic functionality for a Crosscutter application 

(without any print marks) and performs the following steps: 

• Synchronizes the slave axis to the master axis with a CAM profile and 

then cuts continuously 

• Format switch on the fly 

• Stops the slave axis immediately at a defined position 

Additional a function block "MX_MasterSimulator” is available, in order to 

simulate a master axis 


*1: VirtualMaster input signal is only available at MX_FlyingShear FB 

*2: Master In/Out signal is only available at ML_FlyingShear FB (MLC) 

Fig. 1-22: FB ML(X)_CrossCutter 




VAR_IN_OUT Master AXIS_REF Reference to the Master Axis 

Slave AXIS_REF Reference to the Slave Axis 

VAR_INPUT Enable BOOL Enables the Crosscutter functions 

CutExecute BOOL Positive edge activates the "Synchronization phase" and 

afterwards the "Cutting State" 

StopExecute BOOL Positive Edge stops the "Cutting State" and commands the 

slave to the "StopPos" 

VirtualMaster BOOL This input is used for MLD-S only. 

FALSE: Real master is used -> Main Operation mode is used. 

TRUE: Virtual master is used -> First secondary operation 

mode is used 

FormatLength REAL Cut-format, length of sheet 

NumberOfKnifes UINT number of knives, CURRENTLY ONLY 1 KNIFE 

Pos REAL The slave moves to the "StopPos" with a positive edge on the 

"StopExecute" Input. *1*2 

Vel REAL The slave axis moves to the "StopPos" with max. "Vel" (in case 

of positive edge of "StopExecute"-Input) *1*2 

Acc_Dec REAL The slave axis moves to the "StopPos" with max. "Acc_Dec" *1*2 

CamRelValues 

MB_CC_CAM_ 

REL_VALUES 

CAM related values 

ResetCutCounter BOOL Positive edge (or "Enable= FALSE”) resets the cut counter 

VAR_OUTPUT InSync BOOL The cut drum is in synchronization with the material 

State UINT Current cut cycle state: 

0: Standstill & Wait state 

1: Synchronisation phase 

2: Cutting state 

3: Stop phase 

4: Error state 

Error BOOL Indicates an error, Reset with "Enable= FALSE" 


ErrorIdent 

ERROR_STRU 

CT 

Error indentification 

CutCounter UINT Every cut increments the cut counter. "Enable= FALSE" or a 

positive edge on "ResetCutCounter" reset this counter 

Fig. 1-23: Interface of ML(X)_CrossCutter 


* 1 : Units according to drive scaling in engineering units like mm 

* 2 : New values become active in the standstill and wait state 

(CycleState =0) 

The following diagram shows a crosscutter cycle beginning with the start 

of the crosscutter and ending with the stop of the cutter drum. Usually the 

cut drum is only stopped in an emergency case (in this way the cut drum 

will lose synchronization with the master axis). A regular stop of the cut 

process should be done by the master axis. 



Fig. 1-24: Crosscutter Time Diagram 

Functional Description 

A measuring wheel rides on the material and determines the position and 

velocity of the material. 

The crosscutter is placed at the end of a (corrugated) paper production 

line, for example. The end product of such machines are stacked sheets 

with various lengths. A wide range of formats must be covered which 

requires running the cut cylinder in electronic cam mode. 

Fig. 1-25: Process: Cut-off single sheets from blank material 

The basic issue in such applications is a job change without stopping the 

machine. The next figure shows an example for a job change from format 

A to a shorter format B. 

Fig. 1-26: On-the-fly format change at constant web speed 



Format Length 

Fig. 1-27: Format length 

Sync Format 

The sync format (sync length) corresponds with the cut cylinder 

circumference. 

Fig. 1-28: Sync format 

Format Ratio 

The format ratio defines the relation between the cut cylinder 

circumference and the format length. 

Fig. 1-29: Format ratio 

Format Ranges 

The solution described in this manual is based on the idea to define 4 

fixed format ranges. 

Each format range is covered by 1 cam profile 

Fig. 1-30: Cam profiles for 4 format ranges 

Cut Angle 

The cut angle is the area of synchronous speed around the cut position. 

The size depends on the mechanical construction of the knife. 



Fig. 1-31: Cut angle 

Real Master Axis 

The cut cylinder follows a master axis, which represents the web speed. 

The web speed is measured with a measuring wheel. 

The master axis must be configured such that the transported web length 

in one master revolution corresponds with the circumference of the cut 

cylinder. With a linear cam the knife would cut the "synchronous format". 

For other formats the cut cycle must be reduced or extended. The cut 

cycle - and thus the cut length - is defined by the electronic gear. 

Fig. 1-32: The importance of the master axis to the cut process 

Adjusting the knife position 

The cam profile always has a fixed reference to the master axis. The 

initial profile generated with the CamBuilder or a PLC function block starts 

at 0°. The cut position in the synchronous part of the profile is defined as 

180°. 

While the knife is in contact with the material, the cut cylinder must pass 

the synchronous part of the profile (the cut angle). Depending on the 

mechanical 0° position the cylinder needs an adjustment to meet this rule. 



Fig. 1-33: Knife position adjustment 

Cam Profile Calculation 

The PC program CamBuilder is an offline tool to design cam profiles. It 

can be used to download profiles for first tests or to design the initial cam 

table for applications which are covered with fixed profiles. 

A special wizard is available to calculate cam profiles for crosscutter 

applications. Based on the input parameters for format length, cut cylinder 

diameter and cut angle the wizard generates a profile as shown below. 



Fig. 1-34: 

Note: 

Crosscutter wizard: work area 

Always disable option "Use Velocity Limit". 

Using the CamBuilder Version 01Vxx you have always to 

disable the Option "Allow reverse movement". 

Output value "synchronous area gradient" is the ∆TW parameter for the 

hub factor calculation. 



Cam Table Download 

Cam tables can be downloaded to the drive using IndraWorks / 

CamBuilder. 

Fig. 1-35: Cam table download 

Cam Table Export 

Error Handling 

Fig. 1-36: Cam table export 


Additional1/Additional2 of the table "F_RELATED_TABLE", 16#0170: 

in 


RESOURCE_ERROR (16#0003) 16#0003 16#0000 FB was aborted from another FB 

RESOURCE_ERROR (16#0003) 16#0004 16#0000 Drive firmware version is not supported 


(16#0006) 


(16#0006) 


(16#0006) 


(16#0006) 

16#0601 16#0601 Inputs are outside of valid range: 

Format length is out of range: valid range is 

FormatLength < 0.5*SyncFormat OR FormatLength 

> 8.0*SyncFormat 

16#0601 16#0602 Inputs are outside of valid range: Velocity is out of 

range 

16#0601 16#0603 Inputs are outside of valid range: Acceleration is out of 

range 

16#0601 16#0604 Inputs are outside of valid range: Position is out of 

range 




(16#0006) 

16#0601 16#0605 Inputs are outside of valid range: CAM related values 

are not initialized correctly 

ACCESS_ERROR (16#0004) 16#0602 16#0000 S-0-0051 is not configured in the P-0-0131 

ACCESS_ERROR (16#0004) 16#0603 16#0000 P-0-0755 could not be initialized 

ACCESS_ERROR (16#0004) 16#0604 16#0000 P-0-0088, Bit 4 is not set 

ACCESS_ERROR (16#0004) 16#0605 16#0000 P-0-0135, Bit 0 is not set in the AT 

Fig. 1-37: 

CrossCutter Error Codes 




• IndraDrive C or IndraDrive M 


wheel 


manual) 






• Drive PLC 




• For CAM generation a CAM-builder tool (e.g. “CAMbuilder 01Vxx” or 

higher) 


The following drive parameterization is required in order to run the 

CrossCutter function block. Please do the following steps before you run 

the Crosscutter function block. 

• The drive has to be referenced before (absolute feedback preferred) 

• The drive has to be set into Modulo format (set S-0-0076, Bit 7 = 1) 

• The PLC is able to control the motion (set P-0-1367.4 = 1) 

• Download one after another the matched set of the 4 different CAMs 

of your crosscutter construction *1 : 

• Either use the CAM Builder: 

You can create your own CAMs byself using the “CAMbuilder”. Build 4 

different CAMs with (see example in next figure, in order to get further 

instructions see „CAMbuiler“ description) 

• Format length = 0.5 * synchron format 






L: Total format range: ( 0.5...8 ) x sync format = 250...4000 mm 

Fig. 1-38: Crosscutter example format range 

Wizard inputs 

Values and parameters 

Format range 1 

min. format length = 0.5 x 500 mm = 250 mm 

PLC constant for hub factor calculation: 

rDeltaTW_05to20 = 0.048828 

Download: 

Cam table 1 → P-0-0072 




rDeltaTW_20to40 = 0.195313 

Download: 

Cam table 2 → P-0-0092 




rDeltaTW_40to60 = 0.390625 

Download: 

Cam table 3 → P-0-0780 






rDeltaTW_60to80 = 0.585938 

Download: 

Cam table 4 → P-0-0781 

You must use the 4 different rDeltaTW-values in your PLC project, 

‘CrossCutter_GlobalConstants’ ! 

Fig. 1-39: Example: cam profile calculation 

• Or download a set of prepared, matched CAM-parameter files 

using DriveTop: 

• → DriveTop → File → Load→ select file „CC_SF*_CA*_*.par “ 1) 

and send this file to the drive. Repeat this procedure with the 3 

other files (see Fig 4-19): 

• Load CC_SF75_CA20_05TO20.par to the drive 




Fig. 1-40: 

example CAM parameter file download with DriveTop 

• Setup primary and 3rd secondary operation mode of the drive 

• → DriveTop → Drive Functions → Operation mode selection → Select 

Primary operation mode = “Cam shaft lagless, encoder1, virt. master 

drive” mode and Secondary operation mode 3 = “Cam shaft lagless, 

encoder1, real master drive (see Fig 4-20) 



Fig. 1-41: 

Operation mode selection with DriveTop 

• Setup “NC Cycle Time ‘S-0-0001’ = PLC Task Cycle Time 

In case of using RTC variables in the MLD-S project (see also MLD-S 

documentation) the NC-cycle time (parameter S-0-0001) has to be the 

same one as the cycle task time of the PLC project. The FB 

“MX_MasterSimulator” uses RTC-variables. So in case of using the 

“MX-MasterSimulator” use this in a cyclic task using the same task 

time as the NC cycle time (S-0-0001). (see Fig. 4-21) 

L: →DriveTop → Right mouse button → Single parameter → S-0-0001 

Fig. 1-42: DriveTop, set the NC cyclic time 



Fig. 1-43: 

IndraLogic, cyclic task time 

• Setup cycle time of the PLC task in [us] where function block 

MX_MasterSimulator is running in 

• Setup cut drum axis 

• Setup the mechanical settings of the cut drum axis (travel ranges, 

limits) 

• In order to switch the format between the CAM and the CAM shaft 

distance on the fly you have to set (see Fig 4-23): 

• Reduction (P-0-0755) to “1” 

• P-0-0094 (CAM shaft switch angle) usually to 180 deg 

• P-0-0144 (CAM shaft distance switch angle) the same as P-0-0094 

• P-0-0088, Bit 4 = 1 (change gear switching at the same time as the 

cam shaft distance switching 

• P-0-0755 = 1 (Reduction) 



Reduction / P-0-0755: 

One cut cylinder could carry more than 1 knife, currently only “1” 

Gear switch on distance switch / P-0-0088, Bit4=1 

This value defines, that new gear settings become active with a new 

hub factor or a cam table switching. 

CAM shaft switch angle 

This option defines, when a CAM is activated. A new CAM becomes 

valid as soon as the cam passes the "cam switch angle" (P-0-0094). 

In crosscutter applications the "cam shaft distance switch angle" 

must be 180,0000deg. 

CAM shaft distance switch angle 

This option defines, when a new value for the hub factor ("cam shaft 

distance") is activated. A new hub factor becomes valid as soon as 

the cam passes the "cam shaft distance switch angle" (P-0-0144). In 

crosscutter applications the "cam shaft distance switch angle" must 

be 180,0000deg. 

Fig. 1-44: parameter setting with DriveTop 

• Set the synchronisation acceleration (P-0-0142) and the 

synchronisation velocity (P-0-0143) of the cut drum axis 

• →DriveTop → Right mouse button → Single parameter → P-0-0142 

(and P-0-0142) 

• Depending on the master drive polarity (P-0-0108) set the 

synchronization direction (P-0-0154), the synchronization mode (P-0- 

0155) and the command value mode (S-0-0393) of the cut drum axis 

• →DriveTop → Right mouse button → Single parameter → P-0-0154 

(and P-0-0155, and S-0-0393) 

• In order to count your cuts you have to define a certain range inside of 

the cutangle. The “CutCounter” FB-output will increase once by 

passing this area. This range size depends on the web velocity and the 

task cycle time of the “MX_CrossCutter” functionblock. The range has 

to be at least 5deg (max. v web =400U/min, T cyc =2ms of the “MX- 

Crosscutter” functionblock ).With this set the following parameter: (Fig. 

4-24) 

• P-0-0131 to S-0-0051 

• The first element of P-0-0132 to 180deg. 

• The first element of P-0-0133 to 185deg 



Fig. 1-45: 

DriveTop, set cut counting angle 

The cut position in the synchronous part of the profile is usually defined as 

180deg. For shifting the cut cylinder into the right position related to the 

master axis you have to set S-0-0048 to the right value (usually 180deg if 

the 0-Position of the knife is the same one as the cut-position) 


• Include the library MX_Technology.lib in your IndraLogic project: 

→ Window → Library Manager → Right mouse button Additional 

library (see next figure) 



Fig. 1-46: 

IndraLogic, insert TECH-FB library 

• The value of the synchronous format and the matched "deltaTW"- 

Values (results of the CAM Builder) have to be entered to the 

"CamRelValues" Input of the "MX_CrossCutter" Functionblock (see 

next figure) 

Fig. 1-47: 

Indralogic, implementation of the CAM related values of the 

“MX_CrossCutter”-FB based on the CAM calculation 

Note: You will find this values in the CamBuilder application wizard. 

• Call the provided FB in your IndraLogic project. The FB’s should run 

in a high priority Motion Task with a cycle time ≤ 4ms. 

Note: 

Enable drive first (MX_Power) and start the Crosscutter FB 

once the drive is enabled. 



1.8 Register-Controller Function Block 


MB_RegisterControllerType1 


The Register Controller function block is intended for paper, printing, 

packaging and film applications, which use synchronized drives (e.g. 

Phase-, Cam-Synchronization) that feed material through a machine. 

Variations in the characteristics of the material, material slippage and the 

production process disturb the accuracy of the material position. The 

register controller function block determines the current position of marks, 

mounted or printed on the material and the deviation to the setpoint value. 

In addition, it calculates the required correction value using a P- or PI 

control loop. Using this method, the marks stay precisely on their setpoint 

and do not drift away. 

The provided Register Controller function block 

"MB_RegisterControllerType1" provides the following functionality: 

• Start and monitor the drive probe feature 

• Calculate a correction value based on both measured and setpoint 

value using a P or PI control loop (similar to indirect control algorithm 

of SYNAX) 

• Dead-time compensation of the measured signal caused by the used 

sensor 

• Preset feature 

• Pause feature 

• Min/Max limiting of the calculated control value 

• Expectation window of the measured signal 


Fig. 1-48: 

FB MB_RegisterControllerType01 




VAR_IN_OUT ControlledAxis AXIS_REF Reference to the controlled axis. 

MeasuredAxis AXIS_REF Reference to the measured axis (used only for MLC). 

MLD-S provides only one axis, consequently the 

MeasuredAxis is equal with the Controlled axis. 

VAR_INPUT Enable BOOL Enables the Register Controller 

Pause BOOL The input "Pause" will only be evaluated while the 

"Enable" input is active. Pause is intended to keep the 

"ControlValue" constant in a steady state. In this case, the 

"Deviation" = Setpoint-ActualValue will be set to 0 causing 

the "ControlValue" to be fixed. Probe events are still 

monitored and the controlled parameter will still be 

affected. 

Preset BOOL The input Preset will only be evaluated while "Enable" 

AND "Pause" is TRUE. A positive edge of this input forces 

the I-fraction of the control loop to "PresetVal". In addition, 

this function sets the controlled parameter to the absolute 

value "PresetVal" 

Polarity BOOL The polarity of the control value is inverse as long this 

input is TRUE 

ProbeSelect PROBE_NUMBER Specify the selected probe input used for signal 

measurement: 

PROBE1 = 1: Probe 1 is selected, 

PROBE2 = 2: Probe 2 is selected 

ProbeEdge PROBE_EDGE Specify the selected probe edge for signal measurement: 

POS_EDGE = 1: Positive Edge is used 

NEG_EDGE = 2: Negative Edge is used 

ControlledValueIDN DINT Sercos-IDN of the controlled parameter. The following 

IDN's are supported: P-0-0691, P-0-0694, P-0-0695, S-0- 

0048, P-0-0061 

Setpoint REAL Desired value 

PControl REAL Proportional gain of the PI controller. If 0, the proportional 

part of the controller is disabled and the proportional gain 

is set internally to 1 in order to work as an I-Controller.. 

IControl REAL Integral time Tn of the PI controller. If set to 0, the integral 

part of the PI-controller is disabled. Units [10 -2 ], like Synax 

parameter A-0-0092. 

SensorDeadTime REAL Dead time of the sensor in [us] used for dead time 

compensation of the measured signal 

HighLimit REAL This is the maximum value that ControlValue can have 

LowLimit REAL This is the minimum value that ControlValue can have 

PresetVal REAL This is the value fed to the system when the Preset 

function becomes active 

VAR_OUTPUT InOperation BOOL Registration controller is running 

Error BOOL Indicates an error. Clear error with “Enable” = FALSE 

ErrorID INT (Enum) ERROR_CODE: Short error description 

ErrorIdent ERROR_STRUCT Detailed error description 

PresetDone BOOL Preset function is done 

HighLimitAck BOOL High limit is active. ControlValue would be higher, but is 

limited to HighLimit 

LowLimitAck BOOL Low limit is active. ControlValue would be lower, but is 

limited to LowLimit 

Counter UINT Counter increases if probe was detected 



MissingMarks UINT Missing mark counter 

ControlValue REAL Control value calculated by the registration controller 

ActualValue REAL Actual value used in the register controller 

Deviation REAL Difference = "Setpoint - ActualValue" of the register 

controller 

ParameterControl 

Value 

REAL 

Fig. 1-49: 

Calculated control parameter which is send to the drive 

Interface of MB_RegisterControllerType1 


The following diagram shows the signal timing of 

MB_RegisterControllerType1 including Pause- and Preset Function. 

Fig. 1-50: 

Timing Diagram of MB_RegisterControllerType1 with Pause- and 

Preset Function 


A sensor detects marks, perforations, cuts or pasted joints on the material 

and provides this (binary) signal to the drive. 

The probe feature of the drive determines the edge of the sensor signal 

and latches the following position, depending on the signal selection of 

the probe. 

• Drive feedback position (Parameter: S-0-00051, S-0-0053) 

• Master axis position (Parameter: P-0-0052, P-0-0227, P-0-0753, P-0- 

0775, P-0-0776, P-0-0778) 

The probe function records positional data with a resolution of 0,5µs. The 

sensor must provide a 24V signal with a rise time in the µs range. The 

sensor-specific delay time can be compensated using the input 

"SensorDeadTime" of the provided function block. 

The register controller calculates the control deviation between the 

measured and setpoint positions and determines the required correction 

value once a new edge of the sensor signal is detected. 

Changes of the correction value become active via trapezoidal profile, 

velocity ramp, PT1-filter or instantaneously, depending on the selected 

control parameter ("ControlledValueIDN" input of the function block). The 

following table shows the available control parameters 

("ControlledValueIDN") as well the resulting motion profile of all available 

drive operation modes with synchronization. 



Fig. 1-51: 

Available control parameter and behavior 

Block Diagram 

The following diagram shows the internal block diagram of the Register 

Controller. 

Fig. 1-52: 

Register Controller1 Block Diagram 



Fig. 1-53: 

Internal PI-Controller Block Diagram 

Errorhandling 


Additional1/Additional2 using the "F_RELATED_TABLE", 16#0170: 

in 



(16#0006) 


(16#0006) 


(16#0006) 


(16#0006) 


(16#0006) 


(16#0003) 


(16#0003) 


(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

16#0801 16#0001 Selected "ControlledValueIDN" is not supported 

16#0801 16#0002 HighLimit < LowLimit 

16#0801 16#0003 Input-variable PControl < 0 

16#0801 16#0004 Input-variable IControl < 0 

16#0801 16#0005 SensorDeadTime < 0 

16#0802 16#0000 Selected probe number and edge does not correspond to 

the probe configuration (S-0-0169) 

16#0803 16#0000 Continuous measurement not active (S-0-0169) 

16#0804 16#0000 Probe signal is not configured, or selected probe signal is 

not supported 

16#0805 16#0001 Required probe value S-0-0130 is not configured in the 

optional cyclic AT data of the measured axis 















16#0805 16#0009 Required probe value S-0-0405 Bit 0 is not configured in 

the signal control word of the measured axis 

16#0805 16#000A Required probe value S-0-0406 Bit 0 is not configured in 

the signal control word of the measured axis 

ACCESS_ERROR 16#0805 16#000B Required parameter S-0-0048 is not configured in the 



(16#0003) optional cyclic MDT data of the controlled axis 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

ACCESS_ERROR 

(16#0003) 

16#0805 16#000C Required parameter P-0-0691 is not configured in the 

optional cyclic MDT data of the controlled axis 

16#0805 16#000D Required parameter P-0-0061 is not configured in the 


16#0805 16#000E Required parameter P-0-0695 is not configured in the 


16#0805 16#000F Required parameter P-0-0694 is not configured in the 


16#0805 16#0010 Required parameter P-0-0224 is not configured in the 














Fig. 1-54: 

Register Controller1 Errorcodes 





required. The following control units are supported 









• Drive PLC 





Setup the used probe and edge using the following IndraWorks / 

DriveTop dialog. 



Fig. 1-55: 

Required Probe Setup 

Note: The RegisterControllerType01 function-block expects 

"Continuous Measurement" of the probe function. In addition, 

"Marker Failure Monitoring" is required in case the expectation 

window is used. 




a high priority cyclic task 

Note: 

The response time between probe event and calculation of a 

new correction value is one task cycle. Consequently, the task 

cycle time should be as short as possible in order to get a fast 

response. 

Application Examples 

Die Cutting in Label Printing 

The following example shows a cutter on a label printing machine. 

Fig. 1-56: 

Register control of a die cutter 

Labels are printed on a composite material comprising a backing foil and 

a self-adhesive top layer. The unprinted grid is stamped and re-wound. 

The task of the register controller is to adjust the die cutting cylinder to the 

printed web. 



The die cutting cylinder operates in phase synchronization mode. The 

alignment on the printed web is provided by way of an adjustment of the 

phase offset. The sensor is connected to the drive control unit for the die 

cutting cylinder. The angle position (the position actual value) of the die 

cutting cylinder is recorded with the sensor signal. 

The position command for the register controller corresponds to the 

cylinder position in which it is correctly aligned onto the product. The 

correction value is calculated on the basis of the difference between 

reference and actual value and added to the current phase offset. 

The key settings of the probe function, register controller and drive 

operation mode of this application are: 

• Measured Value (Probe Function) = Position feedback 1 value (S-0- 

0051) 

• Controlled Value (ControlledValueIDN) = Additive position command 

value (S-0-0048 or P-0-0691) 

• Drive operation mode = Phase synchronization 

Insetter Control 

The following figure shows an insetter control in an infeed application. 

Fig. 1-57: 

Insetter control on the infeed 

The infeed unit transports pre-printed material to a printing machine. After 

pre-printing and drying, the web is shrunk; the format length differs from 

the nominal format. The web must be elongated for further processing to 

include the register. 

The task of the register controller is to adjust the speed of the infeed 

rollers in such a way that the pre-printed web is extended to the nominal 

format. This assumes that one format is transported for each master axis 

revolution. 

The position command of the register controller relates to the master axis. 

The infeed roller operates in velocity synchronization mode. The velocity 

of the infeed roller is adapted via the gear ratio - fine adjust. The web 

elongation is correct if the print mark always passes beneath the mark 

reader at the same master axis position. The master position is recorded 

via the sensor signal. The mark reader is connected to the probe input of 

the infeed roller drive. 



• Measured Value (Probe Function) = Resulting master axis position (P- 

0-0775) 

• Controlled Value (ControlledValueIDN) = Gear ratio fine adjust (P-0- 

0694) 

• Drive operation mode = Velocity synchronization 



Flow Wrapper 

The following figure shows a sideseal axis (foil infeed axis) used by flow 

wrapper applications. 

Fig. 1-58: 

Sideseal axis in a flow wrapper application 

In this application products are fed into the packaging machine with an 

infeed belt. The sideseal axis will infeed the foil in a corresponding 

position to the product. The correct relationship between the foil and the 

product with a reproducible product length is required. 

Slippage between the material and the crimp rollers as well as 

inaccuracies in the material can result in position errors between the 

servomotor and the foil. Therefore registration marks are printed on the 

material to correct for these position errors. 

Prints, pictures and dirtiness on the product could result in noise signals 

on the registration input. Therefore an expectation window for registration 

signals is required. Only in the expectation window is the drive’s probe 

function active to measure the registration mark position. It is also 

necessary to detect missing marks in the expectation window. 

The correction movement is proportional to the difference between the 

measured and the setpoint value. It is required to limit the correction 

movement to a user defined value because of mechanical limits. 

The register controller has to adjust the sideseal axis to the printed foil in 

order to align the foil to the product. 

The sideseal axis operates in phase synchronization mode. The register 

controller calculates an additive position command value of the sideseal 

axis in order to align the foil. 



• Measured Value (Probe Function) = Resulting master axis position (P- 

0-0775) 

• Controlled Value (ControlledValueIDN) = Additive position command 

value (S-0-0048 or P-0-0691) 

• Drive operation mode = Phase synchronization 



1.9 Adjustment Function Blocks 


Basic Principle 

⎡ Degree⎤ 

AlterationVelocity 

⎢ ⎥ 

= Increments 

⎣ s ⎦ 

With the function blocks: 

• MX_ContinuousAdjustType01 

• MX_ContinuousAdjustType02 

• MX_IncrementalAdjustType01 

PLC-Variables can be changed (jogged) continuously or incrementally via 

binary inputs. 

• The operation must be stopped via a binary input (Enable). 

• The selected variable can be changed continuously with the function 

blocks MX_ContinuousAdjustType01 or MX_ContinuousAdjustType02 

(similar to long jog in SYNAX). 

• The affected variable can be changed incrementally with the function 

MX_IncrementalAdjustType01 (similar to short jog in SYNAX). 

• The selected variable can be incremented and decremented within the 

limit values. 

• When reaching a limit value (HighLimitAck= TRUE or LowLimitAck= 

TRUE), the continuous adjustment deactivates, i.e. the function block 

no longer adjusts the variable. In this case, the corresponding limit 

value, secified with the „HighLimit“ and „LowLimit“ inputs, is output. 

• When the limits, „HighLimit“ and „LowLimit“, have the same value as 

the specified modulo value, „LowLimit“ is set to zero and „HighLimit“ is 

set equal to the modulo value. Thus adjusting is possible over the full 

modulo value range. 

The alteration velocity characterizes the rate of change of the adjusted 

variable. The rate of change depends on the increments and the number 

of increments per second. When changing a position, the alteration 

velocity is calculated by: 

1 

⎢ 

⎣s 

⎡ ⎤ 

[ Degree] * Increments per Second 

⎥ ⎦ 

If, for example, the revolution speed of the virtual master axis is altered, 

the alteration velocity is calculated by: 

⎡r. 

p. 

m. 

⎤ 

AlterationVelocity 

⎢ ⎥ 

= Increments 

⎣ s ⎦ 

1 

⎢ 

⎣s 

⎡ ⎤ 

[ r. 

p. 

m. 

]* 

Increments per Second 

⎥ ⎦ 

Adjustment Limits 

Basic Rules 

While the adjustment signal is active, the influenced variable is adjusted 

with the defined velocity. 

The adjustment can only occur via the corresponding inputs if they are 

within the specified limits. 

Exception: If the start value of the influenced variable is outside the 

specified limits, the influenced variable can only be modified in the 

direction of the valid range. If a modulo value is specified, the influenced 

variable can be modified in both directions. After reaching the valid range, 

it is impossible to move the variable outside this range. 

• When both adjustment signals (Inc/Dec) = TRUE simultaneously, both 

signals are evaluated as FALSE. 

• An adjustment signal with that changes polarity causes an immediate 

inversion of the direction. Also, the current adjustment is not finished. 



• The function blocks MX_ContinuousAdjustType01, 

MX_ContinuousAdjustType02 and MX_IncrementalAdjustType01 have 

different behaiors when the adjustment velocity changes.With 

MX_ContinuousAdjustType01 and MX_ContinuousAdjustType02 the 

alteration is immediately active. But with 

MX_IncrementalAdjustType01, the movement is finished before the 

new incremental velocity is used. A following adjustment procedure 

executes the altered factors. 

The following rules apply for function MX_IncrementalAdjustType01: 

• The inputs „Inc“ and „Dec“ are edge triggered. A rising edge triggers 

an adjustment by the specified increment („StepWidth“). 

• A new adjustment triggered with a rising edge during a movement of 

the same direction, will trigger a new adjustment once the current 

move completes. 

Fig. 1-59: Comparison of the behavior of Continuous and 

IncrementalAdjustment 

Independent of the inputs, the Function blocks 

MX_ContinuousAdjustType01, MX_ContinuousAdjustType02 and 

MB_Incremental-Adjust initialize the variables that determine the cycle 

time at the first activation („Enable“ = true). In the second cycle, the 

function block calculates the correct cycle time to calculate the correct 

adjustment velocity. Subsequently the cycle time is continuously updated. 

By specifying a modulo value, the function block supplies an output factor 

between zero and the specified modulo value. When the modulo value is 

exceeded, only the output factor is set to zero but the adjustment 

procedure continues. The valid range is between zero and the modulo 

value. Specify the range so that it can be adjusted around zero. 

Additionally the function block MX_ContinuousAdjustType01 and 

MX_ContinuousAdjustType02 offers the possibility to modify the alteration 

velocity, time-dependently, by specifying weighting factors and time 

intervals. 



MX_ContinuousAdjustType01 



Fig. 1-60: Possible assignment of a valid range with a modulo value of 360° 

The function allows the continuous adjustment of an influenced REAL- 

Variable via binary inputs. 

Fig. 1-61: 

FB MX_ContiniuousAdjustType01 


VAR_INPUT Enable BOOL Enable the function block (cyclical, state-triggered) 

Inc BOOL Increment the influenced variable 

Dec BOOL Decrement the influenced variable 

Preset BOOL Set the Preset-Value (PresetValue) 

PresetValue REAL Specified value for Preset 

ModuloValue REAL Modulo value (if 0, then absolute processing) 

HighLimit REAL Maximum output value of the influenced variable 

LowLimit REAL Minimum output value of the influenced variable 

StepWidth REAL Increments 

StepsPerSecond REAL Number of increments per second 

AdjTimeIntervals ARRAY [1..4] OF 

REAL 

Time intervals (in seconds) for weighting of the alteration 

velocity 

AdjWeightFactors 

ARRAY [1..5] OF 

REAL 

Weighting factors of the alteration velocity 



VAR_OUTPUT InOperation BOOL No calculations active. Ouputs HighLimitAck and 

LowLimitAck are valid. 

Error BOOL Calculation of the influenced variable "Value" completed 

with error, output variable ErrorIdent is valid 


ErrorIdent ERROR_STRUCT Detailed description of the diagnostics in case of an error 

Changing BOOL Calculation of the influenced variable takes place. 

Influenced variable "Value" is valid 

HighLimitAck BOOL Maximum output value of the influenced variable 

reached 

LowLimitAck BOOL Minimum output value of the influenced variable reached 

VAR_IN_OUT Value REAL Influenced variable 

Fig. 1-62: Interface of FB MX_ContinuousAdjustType01 

Signal-Time Diagram 

Fig. 1-63: Continuous Parameter Adjustment 


The adjustment of the influenced variable, „Value“ may take place in 

positive or negative direction. The limits set a valid range for adjusting the 

variable. Specifying a modulo value allows the adjustment to be withing 

an axis‘ frame for reference. Predefining increments and increments per 

second determines the alteration velocity of the influenced variable. It is 

possible to write a given value („PresetValue“), inside the valid operating 

range, directly to the influenced variable. 

After activation, with „Enable“, the influenced variable can be changed via 

inputs „Inc“ (positive direction) and „Dec“ (negative direction). While input 

„Inc“or Dec is set, the influenced variable is continuously increased (or 

decreased) with the given velocity. (StepsPerSecond * StepWidth). 

At initialization, ensure the inputs „ModuloValue“, „HighLimit“ and 

„LowLimit“, contain valid values. 

By determining weighting factors („AdjWeightFactors[]“) and the 

corresponding time intervals („AdjTimeIntervals[]“) it is possible to make 

time-dependent velocity modifications. The weighting factors and time 

intervals must also be set on the inputs „StepsPerSecond“ and 

„StepWidth“. Depending on the actual time interval, the alteration velocity 

is then multilpied with the appropriate weighting factor. The figure below 

shows the behavior of the block with an example configuration: The input 

factors of „AdjTimeIntervals“ ([T1; T2; T3; T4]) are specified in seconds. 

T5 specifies the period after completion of time interval T4 when the 

adjustment procedure aborts. The input factors of „AdjWeightFactors“ 

([0,5; 1; 1,5; 2; 4]) determine the weighting of the alteration velocity. The 

last value of „AdjWeightFactors [5]“ is assigned to time interval T5. 



Fig. 1-64: WeightedAdjustment 

Note: 

When a time interval = 0, so the next weighting factor is used 

until the adjustment process aborts. Example: If 

AdjTimeIntervals[2] = 0, then the weighting factor of 

AdjWeightFactors[3] is used until abortion. 

To determine the correct time interval of the weighting factors, the expired 

time is reset with each new starting adjustment process. If inputs 

„AdjWeightFactors“ and „AdjTimeIntervals“ are not set, a continuous 

adjustment with the given alteration velocity specified with 

„StepsPerSecond“ and „StepWidth“ occurs. 

Note: 

Values in “AdjTimeIntervals“ must only contain positive values. 

Weighting factors can be positive or negative. 

The influenced variable can only be set to the specified preset 

value if it is within the valid range between „HighLimit“ and 

„LowLimit“. 

Output „InOperation“ signals that the block is in use, but an adjustment is 

not active. " Changing" indicates an error-free adjustment and the value of 

the adjusted variable „Value“ is valid. 

“Error“ indicates that an error occurred during the adjustment process. 

Details are indicated in the „ErrorIdent“ structure. 

Errorhandling 



in 



(16#0006) 

16#0002 16#0000 Inputs are outside permitted range 

RESOURCE_ERROR (16#0003) 16#0004 16#0000 Drive firmware not supported. 

STATE_MACHINE_ERROR 

(16#0005) 

16#0006 16#0000 Invalid status of the function block 

Fig. 1-65 Error numbers, caused by MX_ContinuousAdjustType01 





• IndraDrive C or M (MPx03 Firmware) 

• IndraWorks Drive with IndraLogic 

• No special parameterization required 

• Include library ML(X)_Technology.lib in the IndraLogic-Project 



MX_ContinuousAdjustType02 



The function block enables the continuous adjustment of an influenced 

DINT-Variable using binary inputs. 

Fig. 1-66: FB MX_ContinuousAdjustType02 


VAR_INPUT Enable BOOL Enables the function block (cyclical, state-controlled) 




PresetValue DINT Specified value for Preset 

ModuloValue DINT Modulo value (if 0, then absolute processing) 

HighLimit DINT Maximum output value of the influenced variable 

LowLimit DINT Minimum output value of the influenced variable 

StepWidth REAL Increments 

StepsPerSec 

ond 

REAL 

Increments per second 

AdjTimeInterv 

als 

AdjWeightFa 

ctors 


REAL 


REAL 

Time intervals in seconds for weighting the alteration velocity 

Weighting factors of the alteration velocity 

VAR_OUTPUT InOperation BOOL No calculation active. Ouputs HighLimitAck and LowLimitAck 

are valid. 

Error BOOL Calculation of the influenced variable "Value" completed with 

error, output variable ErrorIdent is valid 

ErrorID ERROR_CODE Error short description 


Changing BOOL Calculation of the influenced variable takes place. Influenced 

variable "Value" is valid 

HighLimitAck BOOL Maximum output value of the influenced variable reached 


VAR_IN_OUT Value DINT Influenced variable 

Fig. 1-67: Interface of FB MX_ContinuousAdjustType02 



Fig. 1-68: Continuous Parameter Adjustment 





an axis‘ frame fo reference. Predefining increments and increments per 








At initialization, ensure the inputs „ModuloValue“, „HighLimit“ and 

„LowLimit“, contain valid values. 

By determining weighting factors („AdjWeightFactors[]“) and the 

corresponding time intervals („AdjTimeIntervals[]“) it is possible to make 

time-dependent velocity modifications. The weighting factors and time 

intervals must also be set on the inputs „StepsPerSecond“ and 

„StepWidth“. Depending on the actual time interval, the alteration velocity 

is then multilpied with the appropriate weighting factor. The figure below 

shows the behavior of the block with an example configuration: The input 

factors of „AdjTimeIntervals“ ([T1; T2; T3; T4]) are specified in seconds. 

T5 specifies the period after completion of time interval T4 when the 

adjustment procedure aborts. The input factors of „AdjWeightFactors“ 

([0,5; 1; 1,5; 2; 4]) determine the weighting of the alteration velocity. The 

last value of „AdjWeightFactors [5]“ is assigned to time interval T5. 

Fig. 1-69: WeightedAdjustment 

Note: 

When a time interval = 0, so the next weighting factor is used 

until the adjustment process aborts. Example: If 



AdjTimeIntervals[2] = 0, then the weighting factor of 

AdjWeightFactors[3] is used until abortion. 

To determine the correct time interval of the weighting factors, the expired 

time is reset with each new starting adjustment process. If inputs 

„AdjWeightFactors“ and „AdjTimeIntervals“ are not set, a continuous 

adjustment with the given alteration velocity specified with 

„StepsPerSecond“ and „StepWidth“ occurs. 

Note: 

Values in“AdjTimeIntervals“ must only contain positive values. 

Weighting factors can be positive or negative. 


value if it is within the valid range between „HighLimit“ and 


Output „InOperation“ signals that the block is in use, but an adjustment is 

not active. "Changing" indicates an error-free adjustment and the value of 

the adjusted variable „Value“ is valid. 

“Error“ indicates that an error occurred during the adjustment process. 

Details are indicated in the „ErrorIdent“ structure. 





(16#0006) 

Errorhandling 


RESOURCE_ERROR (16#0003) 16#0004 16#0000 Drive firmware not supported 


(16#0005) 


Fig. 1-70 Error numbers, caused by MX_ContinuousAdjustType02 

in 









MX_IncrementalAdjustType01 



The function block enables incremental adjustment of an influenced 

REAL-Variable using binary inputs. 

Fig. 1-71: 

FB MX_IncrementalAdjustType01 




VAR_INPUT Enable BOOL Enable the function block (cyclical, state-controlled) 




PresetValue REAL Specified value for Preset 

ModuloValue REAL Modulo value for rotatory calculation 

HighLimit REAL Maximum output value of the influenced variable 

LowLimit REAL Minimum output value of the influenced variable 

StepWidth REAL Step Width 

StepsPerSec 

ond 

REAL 

Increments per second 

VAR_OUTPUT Done BOOL Calculation of the influenced variable completed. The output 

variables "Value", „HighLimitAck“ and „LowLimitAck“ are valid. 

Active BOOL Calculation of the influenced variable not yet completed. The 

influenced variable "Value" is still in process. The outputs 

„HighLimitAck“ and „LowLimitAck“ are valid. 

Error BOOL Calculation of the influenced variable "Value" completed with 

error, output variable „ErrorIdent“ is valid 



HighLimitAck BOOL Maximum output value of the influenced variable reached 


VAR_IN_OUT Value REAL Influenced variable 

Fig. 1-72: Interface of FB MX_IncrementalAdjustType01 



Signal-Timing Diagram 

Fig. 1-73: Incremental Parameter Adjust 





an axis‘ frame for reference. Predefining increments and increments per 








Note: 


value when it is within the valid range between „HighLimit“ and 


Errorhandling 

„Active“ signals that the adjustment procedure is not yet completed. 

“Done = TRUE signals the adjustment completed without error. If an error 

occurs during processing of the function block, it is indicated with „Error“ = 

TRUE, with the details in the output structure „ErrorIdent“. 

The function block generates the following error messages in 




(16#0006) 


RESOURCE_ERROR (16#0003) 16#0004 16#0000 Drive firmware not supported 


(16#0005) 


Fig. 1-74 Error numbers, caused by MX_IncrementalAdjustType01 











1.10 Measuring Wheel Function Blocks 


The Measuring Wheel Technology Function Block (Tech-FB’s) enhance 

the basic functionality of MLD-S by provide a prepackaged application 

specific functionality that has been pre-tested and reduces the learning 

curve for the user. 

The Measuring wheel is the most common device used in a closed loop 

servo system to compensate for material slippage in a feeder application. 

For example as the material is fed into at machine/process slippage may 

occur between the feed rolls and material due to an oily film or 

containments on the material or fluctuations in back tension on the web or 

in the case of a corrugated feeder where the rolls are serpentine and the 

point of contact (pitch diameter) varies, these as well as many other 

mechanical constraints can cause slippage to occur. BRC based systems 

will overcome this by using the drive based measuring wheel operation 

mode, this is a specialized drive positioning mode that compensates for 

slippage or stretch by placing a measurement device directly on the 

moving material, it is connected to the drives optional encoder port. This 

signal is used to close the position loop to the drive so the actual length of 

the commanded move profile can be monitored to assure the required 

accuracy is maintained. The measuring wheel utilizes frictional forces 

between the wheel and the material surface for engagement, it must be in 

100% contact before the position control loop is closed via the measuring 

wheel encoder, if not the system can oscillate or run away. Most feeder 

system need to switch back between motor and measuring wheel 

encoder to accommodate special operations like initial material threading, 

run-out or roll-lift. To provide as means to easily switch between the two 

feedback devices the MX_MeasuringWheel FB will be supplied. 

Fig. 1-75: 

Measuring Wheel Application 



MX_MeasuringWheel 


The function block MX_MeasuringWheel can enable and disable the 

measuring wheel command in the drive. 


Fig. 1-76: 

MX_MeasuringWheel 



VAR_INPUT Enable BOOL Start the command for MW operation 

VAR_OUTPUT Active BOOL Function Block is active -> MW is active 

Error BOOL Signals that error has occurred 

ErrorID 

ERROR_C 

ODE 

Short error description 

ErrorIdent 

ERROR_S 

TRUCT 

Fig. 1-77: 

Detail error description 

Interface of MX_MeasuringWheel 


The following diagram shows the reaction of the Enable bit of the 

MX_MeasuringWheel FB if it has been configured properly. 

Fig. 1-78: 

Timing of MX_MasterSimulator 

ErrorID Table Additional1 Additional2 Description 

RESOURCE_ERR 

OR 

SYSTEM_ERROR 

Errorhandling 

F_RELATED 

_TABLE 

F_RELATED 

_TABLE 

16#00000001 16#00000000 Drive is not enabled or drive error 

16#00000004 16#00000000 Drive-Firmware not supported -> MPH03 or 

MPB03, release >= 10 required 

Fig. 1-79: 

MX_MeasuringWheel Error Codes 




• IndraDrive C or M 


wheel 


manual) 








• Drive PLC 





Prior to using measuring wheel operation the drive must be properly 

configured using DriveTop. The following diagram shows the pertinent 

drive parameters for MW operation. The values that will be entered for 

setup are based on the actual machine design. After determining the 

actual mechanical configuration use DriveTop to set the values. 

Fig. 1-80: 

Drive Parametrization 

• Set-up Measuring Wheel Encoder Parameters: DriveTop →Drive 

Functions → Encoder Systems →Optional Encoder… and the 

following screen will open. Enter the correct values based on the 

encoder type, drive interface options and measuring wheels 

mechanical configuration on the machine. The effective feed constant 

of the servo driven feed-rolls and the MW must be equal or the feed 

length will not be accurate. 



Fig. 1-81: 

Measuring Wheel Encoder Parameters Dialog 




a high priority cyclic task with a cycle time ≤ 4ms 

• Enable drive first (MX_Power) before execution of the Measuring 

Wheel FB. 

• When the Measuring Wheel FB is enabled in the IndraLogic project it 

will switch the drive from encoder-1 to encoder-2, but this switch also 

causes the drives reference bit (Homed) to be canceled. It is not 

possible issue a Move Absolute without having the drive referenced or 

you will get an error in the PLC program. This means that you can not 

use the MX_MoveAbsolute FB in conjunction with MW operation, all 

moves must be relative. 


Rexroth MLD-S Tech-FB Library Service & Support 2-1 

2 Service & Support 

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offices providing service 

Please contact our sales / service office in your area first. 

*) Data in the present documentation may have become 

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2.4 Vor der Kontaktaufnahme... - Before contacting us... 

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Sie folgende Informationen bereithalten: 

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2. Angaben auf dem Typenschild der betreffenden 

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products, especially type codes and serial 

numbers. 

3. Your phone/fax numbers and e-mail address, 

so we can contact you in case of questions. 


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from abroad: don’t dial (0) after country code, Italy: dial 0 after country code 

Austria - Österreich 

Austria – Österreich 

Belgium - Belgien 

Denmark - Dänemark 

Bosch Rexroth GmbH 

Electric Drives & Controls 

Stachegasse 13 

1120 Wien 

Tel.: +43 (0)1 985 25 40 

Fax: +43 (0)1 985 25 40-93 

Bosch Rexroth GmbH 


Industriepark 18 

4061 Pasching 

Tel.: +43 (0)7221 605-0 

Fax: +43 (0)7221 605-21 

Bosch Rexroth NV/SA 

Henri Genessestraat 1 

1070 Bruxelles 

Tel: +32 (0) 2 451 26 08 

Fax: +32 (0) 2 451 27 90 

info@boschrexroth.be 

service@boschrexroth.be 

BEC A/S 

Zinkvej 6 

8900 Randers 

Tel.: +45 (0)87 11 90 60 

Fax: +45 (0)87 11 90 61 

Great Britain – Großbritannien 

Finland - Finnland 

France - Frankreich 

France - Frankreich 

Bosch Rexroth Ltd. 


Broadway Lane, South Cerney 

Cirencester, Glos GL7 5UH 

Tel.: +44 (0)1285 863000 

Fax: +44 (0)1285 863030 

sales@boschrexroth.co.uk 

service@boschrexroth.co.uk 

Bosch Rexroth Oy 


Ansatie 6 

017 40 Vantaa 

Tel.: +358 (0)9 84 91-11 

Fax: +358 (0)9 84 91-13 60 

Bosch Rexroth SAS 


Avenue de la Trentaine 

(BP. 74) 

77503 Chelles Cedex 

Tel.: +33 (0)164 72-63 22 

Fax: +33 (0)164 72-63 20 

Hotline: +33 (0)608 33 43 28 



ZI de Thibaud, 20 bd. Thibaud 

(BP. 1751) 

31084 Toulouse 

Tel.: +33 (0)5 61 43 61 87 

Fax: +33 (0)5 61 43 94 12 

France – Frankreich 

Italy - Italien 





91, Bd. Irène Joliot-Curie 

69634 Vénissieux – Cedex 

Tel.: +33 (0)4 78 78 53 65 

Fax: +33 (0)4 78 78 53 62 

Bosch Rexroth S.p.A. 

Via G. Di Vittorio, 1 

20063 Cernusco S/N.MI 

Hotline: +39 02 92 365 563 

Tel.: +39 02 92 365 1 

Service: +39 02 92 365 300 

Fax: +39 02 92 365 500 

Service: +39 02 92 365 516 


Via Paolo Veronesi, 250 

10148 Torino 

Tel.: +39 011 224 88 11 

Fax: +39 011 224 88 30 


Via Mascia, 1 

80053 Castellamare di Stabia NA 

Tel.: +39 081 8 71 57 00 

Fax: +39 081 8 71 68 85 



Netherlands - Niederlande/Holland 

Netherlands – Niederlande/Holland 


Via del Progresso, 16 (Zona Ind.) 

35020 Padova 

Tel.: +39 049 8 70 13 70 

Fax: +39 049 8 70 13 77 


Via Isonzo, 61 

40033 Casalecchio di Reno (Bo) 

Tel.: +39 051 29 86 430 

Fax: +39 051 29 86 490 

Bosch Rexroth Services B.V. 

Technical Services 

Kruisbroeksestraat 1 

(P.O. Box 32) 

5281 RV Boxtel 

Tel.: +31 (0) 411 65 16 40 

+31 (0) 411 65 17 27 

Fax: +31 (0) 411 67 78 14 

+31 (0) 411 68 28 60 

services@boschrexroth.nl 

Bosch Rexroth B.V. 

Kruisbroeksestraat 1 

(P.O. Box 32) 

5281 RV Boxtel 

Tel.: +31 (0) 411 65 19 51 

Fax: +31 (0) 411 65 14 83 

www.boschrexroth.nl 

Norway - Norwegen 

Spain - Spanien 

Spain – Spanien 

Sweden - Schweden 

Bosch Rexroth AS 


Berghagan 1 or: Box 3007 

1405 Ski-Langhus 1402 Ski 

Tel.: +47 (0) 64 86 41 00 

Fax: +47 (0) 64 86 90 62 

Hotline: +47 (0)64 86 94 82 

jul.ruud@rexroth.no 

Bosch Rexroth S.A. 


Centro Industrial Santiga 

Obradors s/n 

08130 Santa Perpetua de Mogoda 

Barcelona 

Tel.: +34 9 37 47 94 00 

Fax: +34 9 37 47 94 01 

Goimendi S.A. 


Parque Empresarial Zuatzu 

C/ Francisco Grandmontagne no.2 

20018 San Sebastian 

Tel.: +34 9 43 31 84 21 

- service: +34 9 43 31 84 56 

Fax: +34 9 43 31 84 27 

- service: +34 9 43 31 84 60 

sat.indramat@goimendi.es 

Bosch Rexroth AB 


- Varuvägen 7 

(Service: Konsumentvägen 4, Älfsjö) 

125 81 Stockholm 

Tel.: +46 (0)8 727 92 00 

Fax: +46 (0)8 647 32 77 

Sweden - Schweden 

Switzerland East - Schweiz Ost 

Switzerland West - Schweiz West 

Bosch Rexroth AB 


Ekvändan 7 

254 67 Helsingborg 

Tel.: +46 (0) 42 38 88 -50 

Fax: +46 (0) 42 38 88 -74 

Bosch Rexroth Schweiz AG 


Hemrietstrasse 2 

8863 Buttikon 

Tel. +41 (0) 55 46 46 111 

Fax +41 (0) 55 46 46 222 

Bosch Rexroth Suisse SA 

Av. Général Guisan 26 

1800 Vevey 1 

Tel.: +41 (0)21 632 84 20 

Fax: +41 (0)21 632 84 21 



Europa (Ost) - Europe (East) 

vom Ausland: (0) nach Landeskennziffer weglassen 

from abroad: don’t dial (0) after country code 

Czech Republic - Tschechien 

Czech Republic - Tschechien 

Hungary - Ungarn 

Poland – Polen 

Bosch -Rexroth, spol.s.r.o. 

Hviezdoslavova 5 

627 00 Brno 

Tel.: +420 (0)5 48 126 358 

Fax: +420 (0)5 48 126 112 

DEL a.s. 

Strojírenská 38 

591 01 Zdar nad Sázavou 

Tel.: +420 566 64 3144 

Fax: +420 566 62 1657 

Bosch Rexroth Kft. 

Angol utca 34 

1149 Budapest 

Tel.: +36 (1) 422 3200 

Fax: +36 (1) 422 3201 

Bosch Rexroth Sp.zo.o. 

ul. Staszica 1 

05-800 Pruszków 

Tel.: +48 22 738 18 00 

– service: +48 22 738 18 46 

Fax: +48 22 758 87 35 

– service: +48 22 738 18 42 

Poland – Polen 

Romania - Rumänien 

Romania - Rumänien 

Russia - Russland 


Biuro Poznan 

ul. Dabrowskiego 81/85 

60-529 Poznan 

Tel.: +48 061 847 64 62 /-63 

Fax: +48 061 847 64 02 

East Electric S.R.L. 

Bdul Basarabia no.250, sector 3 

73429 Bucuresti 

Tel./Fax:: +40 (0)21 255 35 07 

+40 (0)21 255 77 13 

Fax: +40 (0)21 725 61 21 

eastel@rdsnet.ro 


Str. Drobety nr. 4-10, app. 14 

70258 Bucuresti, Sector 2 

Tel.: +40 (0)1 210 48 25 

+40 (0)1 210 29 50 

Fax: +40 (0)1 210 29 52 

Bosch Rexroth OOO 

Wjatskaja ul. 27/15 

127015 Moskau 

Tel.: +7-095-785 74 78 

+7-095 785 74 79 

Fax: +7 095 785 74 77 

laura.kanina@boschrexroth.ru 

Russia Belarus - Weissrussland 

Turkey - Türkei 

Turkey - Türkei 

Slowenia - Slowenien 

ELMIS 

10, Internationalnaya 

246640 Gomel, Belarus 

Tel.: +375/ 232 53 42 70 

+375/ 232 53 21 69 

Fax: +375/ 232 53 37 69 

elmis_ltd@yahoo.com 

Bosch Rexroth Otomasyon 

San & Tic. A..S. 

Fevzi Cakmak Cad No. 3 

34630 Sefaköy Istanbul 

Tel.: +90 212 413 34 00 

Fax: +90 212 413 34 17 

www.boschrexroth.com.tr 

Servo Kontrol Ltd. Sti. 

Perpa Ticaret Merkezi B Blok 

Kat: 11 No: 1609 

80270 Okmeydani-Istanbul 

Tel: +90 212 320 30 80 

Fax: +90 212 320 30 81 

remzi.sali@servokontrol.com 

www.servokontrol.com 

DOMEL 

Otoki 21 

64 228 Zelezniki 

Tel.: +386 5 5117 152 

Fax: +386 5 5117 225 

brane.ozebek@domel.si 



Africa, Asia, Australia – incl. Pacific Rim 

Australia - Australien 

Australia - Australien 

China 

China 

AIMS - Australian Industrial 

Machinery Services Pty. Ltd. 

28 Westside Drive 

Laverton North Vic 3026 

Melbourne 

Tel.: +61 3 93 14 3321 

Fax: +61 3 93 14 3329 

Hotlines: +61 3 93 14 3321 

+61 4 19 369 195 

enquires@aimservices.com.au 

Bosch Rexroth Pty. Ltd. 

No. 7, Endeavour Way 

Braeside Victoria, 31 95 

Melbourne 

Tel.: +61 3 95 80 39 33 

Fax: +61 3 95 80 17 33 

mel@rexroth.com.au 

Shanghai Bosch Rexroth 

Hydraulics & Automation Ltd. 

Waigaoqiao, Free Trade Zone 

No.122, Fu Te Dong Yi Road 

Shanghai 200131 - P.R.China 

Tel.: +86 21 58 66 30 30 

Fax: +86 21 58 66 55 23 

richard.yang_sh@boschrexroth.com.cn 

gf.zhu_sh@boschrexroth.com.cn 

Shanghai Bosch Rexroth 

Hydraulics & Automation Ltd. 

4/f, Marine Tower 

No.1, Pudong Avenue 

Shanghai 200120 - P.R.China 

Tel: +86 21 68 86 15 88 

Fax: +86 21 58 40 65 77 

China 

China 

China 

China 

Bosch Rexroth China Ltd. 

15/F China World Trade Center 

1, Jianguomenwai Avenue 

Beijing 100004, P.R.China 

Tel.: +86 10 65 05 03 80 

Fax: +86 10 65 05 03 79 

Bosch Rexroth China Ltd. 

Guangzhou Repres. Office 

Room 1014-1016, Metro Plaza, 

Tian He District, 183 Tian He Bei Rd 

Guangzhou 510075, P.R.China 

Tel.: +86 20 8755-0030 

+86 20 8755-0011 

Fax: +86 20 8755-2387 

Bosch Rexroth (China) Ltd. 

A-5F., 123 Lian Shan Street 

Sha He Kou District 

Dalian 116 023, P.R.China 

Tel.: +86 411 46 78 930 

Fax: +86 411 46 78 932 

Melchers GmbH 

BRC-SE, Tightening & Press-fit 

13 Floor Est Ocean Centre 

No.588 Yanan Rd. East 

65 Yanan Rd. West 

Shanghai 200001 

Tel.: +86 21 6352 8848 

Fax: +86 21 6351 3138 

Hongkong 

India - Indien 



Bosch Rexroth (China) Ltd. 

6 th Floor, 

Yeung Yiu Chung No.6 Ind Bldg. 

19 Cheung Shun Street 

Cheung Sha Wan, 

Kowloon, Hongkong 

Tel.: +852 22 62 51 00 

Fax: +852 27 41 33 44 

alexis.siu@boschrexroth.com.hk 

Bosch Rexroth (India) Ltd. 


Plot. No.96, Phase III 

Peenya Industrial Area 

Bangalore – 560058 

Tel.: +91 80 51 17 0-211...-218 

Fax: +91 80 83 94 345 

+91 80 83 97 374 

mohanvelu.t@boschrexroth.co.in 



Advance House, II Floor 

Ark Industrial Compound 

Narol Naka, Makwana Road 

Andheri (East), Mumbai - 400 059 

Tel.: +91 22 28 56 32 90 

+91 22 28 56 33 18 

Fax: +91 22 28 56 32 93 

singh.op@boschrexroth.co.in 


S-10, Green Park Extension 

New Delhi – 110016 

Tel.: +91 11 26 56 65 25 

+91 11 26 56 65 27 

Fax: +91 11 26 56 68 87 

koul.rp@boschrexroth.co.in 

Indonesia - Indonesien 

Japan 

Japan 

Korea 

PT. Bosch Rexroth 

Building # 202, Cilandak 

Commercial Estate 

Jl. Cilandak KKO, Jakarta 12560 

Tel.: +62 21 7891169 (5 lines) 

Fax: +62 21 7891170 - 71 

rudy.karimun@boschrexroth.co.id 

Bosch Rexroth Automation Corp. 

Service Center Japan 

Yutakagaoka 1810, Meito-ku, 

NAGOYA 465-0035, Japan 

Tel.: +81 52 777 88 41 

+81 52 777 88 53 

+81 52 777 88 79 

Fax: +81 52 777 89 01 

Bosch Rexroth Automation Corp. 


2F, I.R. Building 

Nakamachidai 4-26-44, Tsuzuki-ku 

YOKOHAMA 224-0041, Japan 

Tel.: +81 45 942 72 10 

Fax: +81 45 942 03 41 

Bosch Rexroth-Korea Ltd. 

Electric Drives and Controls 

Bongwoo Bldg. 7FL, 31-7, 1Ga 

Jangchoong-dong, Jung-gu 

Seoul, 100-391 

Tel.: +82 234 061 813 

Fax: +82 222 641 295 

Korea 

Bosch Rexroth-Korea Ltd. 

1515-14 Dadae-Dong, Saha-gu 


Pusan Metropolitan City, 604-050 

Tel.: +82 51 26 00 741 

Fax: +82 51 26 00 747 

eunkyong.kim@boschrexroth.co.kr 

Malaysia 

Bosch Rexroth Sdn.Bhd. 

11, Jalan U8/82, Seksyen U8 

40150 Shah Alam 

Selangor, Malaysia 

Tel.: +60 3 78 44 80 00 

Fax: +60 3 78 45 48 00 

hockhwa@hotmail.com 

rexroth1@tm.net.my 

Singapore - Singapur 

Bosch Rexroth Pte Ltd 

15D Tuas Road 

Singapore 638520 

Tel.: +65 68 61 87 33 

Fax: +65 68 61 18 25 

sanjay.nemade 

@boschrexroth.com.sg 

South Africa - Südafrika 

TECTRA Automation (Pty) Ltd. 

71 Watt Street, Meadowdale 

Edenvale 1609 

Tel.: +27 11 971 94 00 

Fax: +27 11 971 94 40 

Hotline: +27 82 903 29 23 

georgv@tectra.co.za 

Taiwan 

Bosch Rexroth Co., Ltd. 

Taichung Industrial Area 

No.19, 38 Road 

Taichung, Taiwan 407, R.O.C. 

Tel : +886 - 4 -235 08 383 

Fax: +886 - 4 -235 08 586 

jim.lin@boschrexroth.com.tw 

david.lai@boschrexroth.com.tw 

Taiwan 

Bosch Rexroth Co., Ltd. 

Tainan Branch 

No. 17, Alley 24, Lane 737 

Chung Cheng N.Rd. Yungkang 

Tainan Hsien, Taiwan, R.O.C. 

Tel : +886 - 6 –253 6565 

Fax: +886 - 6 –253 4754 

charlie.chen@boschrexroth.com.tw 

Thailand 

NC Advance Technology Co. Ltd. 

59/76 Moo 9 

Ramintra road 34 

Tharang, Bangkhen, 

Bangkok 10230 

Tel.: +66 2 943 70 62 

+66 2 943 71 21 

Fax: +66 2 509 23 62 

Hotline +66 1 984 61 52 

sonkawin@hotmail.com 



Nordamerika – North America 

USA 

Headquarters - Hauptniederlassung 

Bosch Rexroth Corporation 


5150 Prairie Stone Parkway 

Hoffman Estates, IL 60192-3707 

Tel.: +1 847 6 45 36 00 

Fax: +1 847 6 45 62 01 

servicebrc@boschrexroth-us.com 

repairbrc@boschrexroth-us.com 

USA Central Region - Mitte 



Central Region Technical Center 

1701 Harmon Road 

Auburn Hills, MI 48326 

Tel.: +1 248 3 93 33 30 

Fax: +1 248 3 93 29 06 

USA Southeast Region - Südwest 



Southeastern Technical Center 

3625 Swiftwater Park Drive 

Suwanee, Georgia 30124 

Tel.: +1 770 9 32 32 00 

Fax: +1 770 9 32 19 03 

USA SERVICE-HOTLINE 

- 7 days x 24hrs - 

+1-800-REX-ROTH 

+1 800 739 7684 

USA East Region – Ost 

USA Northeast Region – Nordost 

USA West Region – West 



Charlotte Regional Sales Office 

14001 South Lakes Drive 

Charlotte, North Carolina 28273 

Tel.: +1 704 5 83 97 62 

+1 704 5 83 14 86 



Northeastern Technical Center 

99 Rainbow Road 

East Granby, Connecticut 06026 

Tel.: +1 860 8 44 83 77 

Fax: +1 860 8 44 85 95 


7901 Stoneridge Drive, Suite 220 

Pleasant Hill, California 94588 

Tel.: +1 925 227 10 84 

Fax: +1 925 227 10 81 

Canada East - Kanada Ost 

Canada West - Kanada West 

Mexico 

Mexico 

Bosch Rexroth Canada Corporation 

Burlington Division 

3426 Mainway Drive 

Burlington, Ontario 

Canada L7M 1A8 

Bosch Rexroth Canada Corporation 

5345 Goring St. 

Burnaby, British Columbia 

Canada V7J 1R1 

Bosch Rexroth Mexico S.A. de C.V. 

Calle Neptuno 72 

Unidad Ind. Vallejo 

07700 Mexico, D.F. 

Bosch Rexroth S.A. de C.V. 

Calle Argentina No 3913 

Fracc. las Torres 

64930 Monterrey, N.L. 

Tel.: +1 905 335 5511 

Fax: +1 905 335 4184 

Hotline: +1 905 335 5511 

michael.moro@boschrexroth.ca 

Tel. +1 604 205 5777 

Fax +1 604 205 6944 

Hotline: +1 604 205 5777 

david.gunby@boschrexroth.ca 

Tel.: +52 55 57 54 17 11 

Fax: +52 55 57 54 50 73 

mariofelipe.hernandez@boschrexroth.com.m 

x 

Tel.: +52 81 83 65 22 53 

+52 81 83 65 89 11 

+52 81 83 49 80 91 

Fax: +52 81 83 65 52 80 

mario.quiroga@boschrexroth.com.mx 

Südamerika – South America 

Argentina - Argentinien 

Argentina - Argentinien 

Brazil - Brasilien 

Brazil - Brasilien 

Bosch Rexroth S.A.I.C. 

"The Drive & Control Company" 

Rosario 2302 

B1606DLD Carapachay 

Provincia de Buenos Aires 

Tel.: +54 11 4756 01 40 

+54 11 4756 02 40 

+54 11 4756 03 40 

+54 11 4756 04 40 

Fax: +54 11 4756 01 36 

+54 11 4721 91 53 

victor.jabif@boschrexroth.com.ar 

NAKASE 

Servicio Tecnico CNC 

Calle 49, No. 5764/66 

B1653AOX Villa Balester 

Provincia de Buenos Aires 

Tel.: +54 11 4768 36 43 

Fax: +54 11 4768 24 13 

Hotline: +54 11 155 307 6781 

nakase@usa.net 

nakase@nakase.com 

gerencia@nakase.com (Service) 

Bosch Rexroth Ltda. 

Av. Tégula, 888 

Ponte Alta, Atibaia SP 

CEP 12942-440 

Tel.: +55 11 4414 56 92 

+55 11 4414 56 84 

Fax sales: +55 11 4414 57 07 

Fax serv.: +55 11 4414 56 86 

alexandre.wittwer@rexroth.com.br 

Bosch Rexroth Ltda. 

R. Dr.Humberto Pinheiro Vieira, 100 

Distrito Industrial [Caixa Postal 1273] 

89220-390 Joinville - SC 

Tel./Fax: +55 47 473 58 33 

Mobil: +55 47 9974 6645 

prochnow@zaz.com.br 

Columbia - Kolumbien 

Reflutec de Colombia Ltda. 

Calle 37 No. 22-31 

Santafé de Bogotá, D.C. 

Colombia 

Tel.: +57 1 368 82 67 

+57 1 368 02 59 

Fax: +57 1 268 97 37 

reflutec@etb.net.co 


Rexroth MLD-S Tech-FB Library Index 3-1 

3 Index 

A 

Adjustment Function Blocks 1-44 

C 

Crosscutter Function Blocks 1-19 

F 

Flying Shear Function Block 1-3 

M 

MB_RegisterControllerType1 1-35 

MC_AbortTrigger 1-17 

MC_TouchProbe 1-15 

ML(X)_Crosscutter 1-19 

MLC Technology Library 1-1 

MX(L)_FlyingShear 1-3 

MX_ContinuousAdjustType01 1-46 

MX_ContinuousAdjustType02 1-49 

MX_IncrementalAdjustType01 1-51 

R 

Register-Controller Function Blocks 1-35 

T 

Touch Probe Function Blocks 1-13 


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MLD-S Tech-FB Library Description - Bosch Rexroth

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