MLD-S Tech-FB Library Description - Bosch Rexroth

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Rexroth MLD-S Tech-FB Library MLD-S Technology Library 1-9 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 DOK-MLD-S*-TechFB*****-AW01-EN-D
1-10 MLD-S Technology Library Rexroth MLD-S Tech-FB Library PrgFlyingShear_ ToolProgram PrgFlyingShear_ KnifeSimulation PrgFlyingShear_ 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 DOK-MLD-S*-TechFB*****-AW01-EN-D
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MLD-S Tech-FB Library Description - Bosch Rexroth

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