Rexroth MTC 200/ISP 200/TRANS 200 Edition 02 New Functions

R911296980Edition 02

RexrothMTC 200/ISP 200/TRANS 200New Functions 23VRS

Short Description

IndustrialHydraulics

Electric Drivesand Controls

Linear Motion andAssembly Technologies Pneumatics

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About this Documentation New Functions 23VRS

DOK-CONTRL-NEW*FUN*V23-AW02-EN-P

Rexroth

MTC 200/ISP 200/TRANS 200

New Functions 23VRS

Short Description


Document Number 120-0401-B303-02/EN

This documentation provides the user first information about the newfunctions of a new version. It is a short description of the new andmodified functions.

Description ReleaseDate

Notes

120-0401-B303-01/EN 06.2003 Valid from version 23

120-0401-B303-02/EN 11.2003 Description of PLCfunctionalities added

� 2003 Bosch Rexroth AG

Copying this document, giving it to others and the use or communicationof the contents thereof without express authority, are forbidden. Offendersare liable for the payment of damages. All rights are reserved in the eventof the grant of a patent or the registration of a utility model or design(DIN 34-1).

The specified data is for product description purposes only and may notbe deemed to be guaranteed unless expressly confirmed in the contract.All rights are reserved with respect to the content of this documentationand the availability of the product.

Bosch Rexroth AGBgm.-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/

Dept. BRC/ESM6 (EgWi/DiHa)

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New Functions 23VRS Contents I


Contents

1 Important Notes about Commissioning and Installation 1-1

1.1 Purpose of this Documentation..................................................................................................... 1-1

1.2 Conditions ..................................................................................................................................... 1-1

Hardware Requirements .......................................................................................................... 1-1

Hardware Platforms ................................................................................................................. 1-2

Software Requirements ........................................................................................................... 1-2

1.3 Software Overview........................................................................................................................ 1-2

1.4 Software Options (AddOns) .......................................................................................................... 1-3

1.5 MTC 200 Firmware Subject to Export Approval ........................................................................... 1-3

SWA-MTC200-RUN-23VRS-NN-C1.44................................................................................... 1-3

SWW-MTC200-RUN-23VRS-NN-C1.44.................................................................................. 1-3

1.6 Firmware ....................................................................................................................................... 1-4

1.7 NC_ENABLE................................................................................................................................. 1-4

2 Overview and Definition of Terms 2-1

2.1 New Functions .............................................................................................................................. 2-1

2.2 Modified Functions ........................................................................................................................ 2-1

2.3 New Machine Parameters............................................................................................................. 2-1

2.4 New Machine Data........................................................................................................................ 2-1

2.5 New Tool Data .............................................................................................................................. 2-2

2.6 New NC Commands ..................................................................................................................... 2-2

2.7 Modified NC Commands............................................................................................................... 2-3

2.8 New Interface Signals to the PLC................................................................................................. 2-3

2.9 New PLC Functionality.................................................................................................................. 2-3

2.10 Modified PLC Functionality ........................................................................................................... 2-3

2.11 New Diagnosis Messages............................................................................................................. 2-4

2.12 New Definition of the Term 'Tool Group' ....................................................................................... 2-5

3 MTC 200 New Functions 3-1

3.1 Tool Group Management .............................................................................................................. 3-1

Method of Operation ................................................................................................................ 3-1

Effects of the Setup List on the Tool Groups ........................................................................... 3-2

Parameter Value Assignment .................................................................................................. 3-3

New Tool Data Elements ......................................................................................................... 3-4

NC Commands for Tool Groups .............................................................................................. 3-7

Extensions in the PLC.............................................................................................................. 3-9

Diagnosis ............................................................................................................................... 3-16

3.2 Single Dimension Collision Monitoring........................................................................................ 3-17

II Contents New Functions 23VRS


Method of Operation .............................................................................................................. 3-17

Parameter Value Assignment ................................................................................................ 3-19

Activating the Function........................................................................................................... 3-20

Diagnosis ............................................................................................................................... 3-21

Limits and Special Regulations.............................................................................................. 3-22

Additional Documentation ...................................................................................................... 3-22

3.3 Rounding of NC Blocks with Axis Filter....................................................................................... 3-22


Programming ......................................................................................................................... 3-23

Limits and Special Regulations.............................................................................................. 3-25

3.4 Variable SERCOS Baud Rate..................................................................................................... 3-25


Parameter Value Assignment ................................................................................................ 3-25

Diagnosis ............................................................................................................................... 3-26

Baud Rates acc. to CNC Control Hardware Types ............................................................... 3-26

Baud Rates acc. to Drive Controllers..................................................................................... 3-26

4 MTC 200 Modified Functions 4-1

4.1 Extension of the PLC Interface Signals ........................................................................................ 4-1

New Process Signal PxxS.MODEn 'Selected Operating Mode' .............................................. 4-1

4.2 Modification of the Drive Interface to HNC100 ............................................................................. 4-2

4.3 Extension of the Boot Loader / Monitor......................................................................................... 4-2

5 MTC 200 Control Firmware Overview 5-1

5.1 Standard MTC 200 Firmware: SWD-MTC200-RUN-21V11-NN-C1,44 ....................................... 5-1

5.2 MTC 200 Firmware Subject to Export Permit: SWW-MTC200-RUN-23V04-NN-C1.44.............. 5-2

5.3 Bootloader / Monitor...................................................................................................................... 5-3

6 Overview and Definition of Terms 6-1

6.1 New Functions .............................................................................................................................. 6-1

6.2 Modified Functions ........................................................................................................................ 6-1

6.3 New NC Commands ..................................................................................................................... 6-1

6.4 New Interface Signals to the PLC................................................................................................. 6-1

7 TRANS 200 New Functions 7-1

7.1 Rounding of NC Blocks with Axis Filter......................................................................................... 7-1

Method of Operation ................................................................................................................ 7-1

Programming ........................................................................................................................... 7-2

Limits and Special Regulations................................................................................................ 7-3

7.2 Support of DeviceNet .................................................................................................................... 7-3

8 TRANS 200 Modified Functions 8-1

8.1 Extension of the PLC Interface Signals ........................................................................................ 8-1

New Process Signal PSMODEn 'Selected Operating Mode'................................................... 8-1

8.2 Modification of the Drive Interface to HNC100 ............................................................................. 8-1

8.3 Extension of the Boot Loader / Monitor......................................................................................... 8-2

New Functions 23VRS Contents III


8.4 Extension of the I/O Configurator / Field Bus Configurator of the WinTRANS UserInterface ........................................................................................................................................ 8-2

Overview of Field Bus Configurator ......................................................................................... 8-2

Selecting the IO Medium.......................................................................................................... 8-3

Configuring the Field Bus......................................................................................................... 8-3

9 New MTGUI Functionalities 9-1

9.1 NC Programming .......................................................................................................................... 9-1

9.2 NC Screen..................................................................................................................................... 9-4

9.3 Tool Management ......................................................................................................................... 9-4

10 New Functions of the WinHMI User Interface 10-1

10.1 Header Configuration .................................................................................................................. 10-1

Creating a User Header ......................................................................................................... 10-2

10.2 ActiveX Special Screens............................................................................................................. 10-4

New Editing Functions ........................................................................................................... 10-4

Process Connection of Remote Controls............................................................................... 10-5

Item Editor.............................................................................................................................. 10-6

New ActiveX Control Elements.............................................................................................. 10-7

Additional Innovations.......................................................................................................... 10-19

10.3 Configuration............................................................................................................................. 10-20

F Key Configurator............................................................................................................... 10-20

PLC Variable Selection Dialog Box ..................................................................................... 10-21

11 Modified Functions of the WinHMI User Interface 11-1

11.1 Configuration............................................................................................................................... 11-1

M Key Editor........................................................................................................................... 11-1

12 WinPCL Overview 12-1

12.1 General........................................................................................................................................ 12-1

12.2 System Error Indication in WinPCL............................................................................................. 12-1

12.3 Integration Fieldbus Configurators (CMD, SyCon…).................................................................. 12-1

12.4 New Functions and Function Blocks for Fieldbusses ................................................................. 12-1

Functions and FB for the ASI Bus ......................................................................................... 12-1

Function Blocks for the BT Bus ............................................................................................. 12-2

Function Blocks for Interbus PCP.......................................................................................... 12-2

12.5 Extension of the ProVi / Indrastep Functions.............................................................................. 12-3

12.6 Improved Handling of Miniature Operator Panels....................................................................... 12-3

12.7 Browsing Dialogue Released with Logic Analysis and for Operator Images.............................. 12-3

12.8 Logic Analysis Possible in Remote Operation ............................................................................ 12-3

13 Index 13-1

14 Service & Support 14-1

14.1 Helpdesk ..................................................................................................................................... 14-1

14.2 Service-Hotline............................................................................................................................ 14-1

IV Contents New Functions 23VRS


14.3 Internet ........................................................................................................................................ 14-1

14.4 Vor der Kontaktaufnahme... - Before contacting us.................................................................... 14-1

14.5 Kundenbetreuungsstellen - Sales & Service Facilities ............................................................... 14-2

New Functions 23VRS Important Notes about Commissioning and Installation 1-1


1 Important Notes about Commissioning andInstallation

1.1 Purpose of this Documentation

In the new version, existing functions have been expanded and newfunctions have been made available. This documentation describeschanges and presents a brief overview of the new components.

Note: You can find detailed information regarding the newcomponents in the appropriate individual documentationupdates.

1.2 Conditions

Hardware RequirementsThe user interface of Version 23VRS of the software and firmware forMTC 200, ISP 200 and TRANS 200 can be installed on Bosch Rexrothoperator terminal BTV20.3, Indraview P40 and Indraview P16 as well ason most commercial IBM-compatible PCs.

The following hardware requirements should be met:

Minimum Recommended

Processor type 366 MHz 700 MHz

Main memory 128 MB 256 MB

Display 640*480, 65535 colors 800*600, 65535 colors

Hard disk 500 Mbytes available

CD-ROM drive ornetwork connection

For installation, data storage, firmware updating,PC network

Smart-card reader(optional)

For user management with key cards

Serial interface For connecting to MTC200-R-G2, ISP200-R-G2,TRANS 200

Fig. 1-1: Hardware requirements

Depending on the configuration, ISA slots must be available forinstallation on a PC.

Note: TRANS 200: Slots are not required for the TRANS 200.

Depending on the options required, additional hardware components,such as interface cards, may be needed.

1-2 Important Notes about Commissioning and Installation New Functions 23VRS


Hardware PlatformsFirmware of Version 23 can be used on the following hardware platforms:

Hardware type

MTC-P01.2-xxx

MTC-R01.1-xxxMTC-R02.1-xxx

MTS-P01.2-xx-xxxMTS-P02.2-xx-xxx

MTS-R01.2-M2-xxxMTS-R02.2-M2-xxx

PPC-P01.2

PPC-R01.2PPC-R02.2

Fig. 1-2: Supported hardware types

Software RequirementsThe user interface of Version 23VRS of the software and firmware forSystem200 can be used under Windows NT 4.0, Windows 2000 andWindows XP.

For Windows NT 4.0, Service Pack 6 or higher is required, and ServicePack 2 or higher for Windows 2000.

The setup program checks whether the appropriate service pack isinstalled!

In addition, Microsoft Internet Explorer 4.01 SP2 or higher is required.

Note: The appropriate service pack must be activated once morewhen additional operating system components (such as anetwork driver) are installed at a later point.

1.3 Software Overview

The software listed below is provided in software version 23.

Function Type

Runtime firmware version for MTC 200 SWA-MTC200-RUN-23VRS-NN-C1,44

Runtime firmware version for MTC 200(subject to export approval)

SWW-MTC200-RUN-23VRS-NN-C1,44

User interface with HMI MTC 200 SWA-MTC200-HMI-23VRS-MS-CD650

Runtime firmware version for TRANS 200 SWA-TRA200-RUN-23VRS-NN-C1,44

Standard user interface for TRANS 200 SWA-TRA200-T11-23VRS-MS-CD650

Runtime firmware version for ISP 200 SWA-ISP200-RUN-23VRS-NN-C1,44

User interface with HMI ISP 200 SWA-ISP200-HMI-23VRS-MS-CD650

Programming interface SWA-ISP200-PG*-23VRS-MS-CD650

Fig. 1-3: Software

New Functions 23VRS Important Notes about Commissioning and Installation 1-3


1.4 Software Options (AddOns)

Optional software components must be ordered separately. The individualinterfaces can then be enabled using a licensing tool.

Application Builder SWA-CONTRL-APB-04VRS-MS-CD650

Smartcard Management SWA-CONTRL-SCV-01VRS-MS-CD650

Email Integration software option SWS-CONTRL-E*M-01VRS-MS

MPI via TCP*IP software option SWS-CONTRL-MPI-02VRS-MS-TCP*IP

OPC Server software option SWS-CONTRL-OPC-02VRS-MS

Preventative Maintenance software option SWS-CONTRL-PMA-02VRS-MS

Indrastep / Flow Diagram software option SWS-CONTRL-SFC-01VRS-MS-IND*STEP

Teleservice / Remote Diagnosis software option SWS-CONTRL-TSE-02VRS-MS

WinLock software option SWS-CONTRL-WLO-01VRS-MS

NC User Compiler software option SWS-MTC200-NUC-22VRS-MS

Fig. 1-4: Add-Ons

1.5 MTC 200 Firmware Subject to Export Approval

As of Version 21, the MTC 200 controller firmware is available in twomodels:

• Standard MTC 200 firmware

• MTC 200 firmware subject to export approval

SWA-MTC200-RUN-23VRS-NN-C1.44This firmware, which is not subject to export approval, contains theCNC and PLC functions of the MTC 200 controller family.

• Max. 4 axes per NC block are programmable

• An NC program where more than 4 axes are programmed in the sameNC block is cancelled at the corresponding location with process faultmessage No. 0398 "Export version with limited functions".

• Not subject to export approval.

• Designation:

• SWD: firmware diskette

• FWC: firmware file

SWW-MTC200-RUN-23VRS-NN-C1.44This firmware, which is subject to export approval, contains the CNCand PLC functions of the MTC 200 controller family.

• Permits interpolation of more than 4 axes per NC block

• Requires export approval, i.e. this firmware is subject to exportinspection; when it is exported, an export approval certificate isrequired.

• Designation:

• SWW: firmware diskette

• FWW: firmware file

Features

Features

1-4 Important Notes about Commissioning and Installation New Functions 23VRS


1.6 Firmware

The firmware contains the CNC and PLC functions of the correspondingcontroller family.

The firmware is loaded into the flash memory using the PC.

In the condition as supplied, the firmware is installed according to theorder. If updating is necessary, the firmware can be reloaded using theMTGUI user interface.

A diskette with the current firmware belongs to the scope of delivery of theSWA of the user interface.

1.7 NC_ENABLE

From version 21 upwards, the release of NC per NC_ENABLE must beset for synchronization the startup of NC and PLC!

Otherwise the NC generates the diagnosis "process not activated" for allparameterized processes.

Before ”releasing” the NC, all necessary steps and links for initializingmust be executed in the PLC.

For example:

• AXD parameterization of APR (e. g. axis simulation).

• Initializing of gear signals.

• On-states of main spindles with rotary axis capability.

NC_ENABLE should be called in transition condition which follow the INITstep.

"Process Not Activated"

New Functions 23VRS Overview and Definition of Terms 2-1


2 Overview and Definition of Terms

2.1 New Functions

For the control family MTC 200, the following new functions have beenimplemented in firmware version 23VRS:

New functions (23VRS)MTC-P,MTC-R

PPC-P,PPC-R

Page

Tool group management x x 3-1

Single dimension collision monitoring x x 3-20

Rounding of NC blocks with axis filter x x 3-26

Variable SERCOS baud rate - x 3-30

Fig. 2-1: Overview of the new functions(x = available, - = not available)

2.2 Modified Functions

For the control family MTC 200, the following extensions have beenprovided in firmware version 23VRS:

Modified functions (23VRS)MTC-P,MTC-R

PPC-P,PPC-R

Page

Extension of the PLC interface signals x x 4-1

Modification of the drive interface toHNC100 x x 4-2

Extension of the Boot Loader / Monitor - x 4-2

Fig. 2-2: Overview of the modified functions(x = available, - = not available)

2.3 New Machine Parameters

For the 'Tool group management' and 'Variable SERCOS baud rate'functions, the following machine parameters have been introduced.

Machine parameter (no. + name) Meaning

A00.110...A00.113

Baud rate for SERCOS ring 1… 4

Depending on the respective control anddrive hardware, 4, 6, or 16 MBaud areavailable as an option to 2 MBaud.

Bxx.073 Number of tool groups 0 : no tool group administration1..99: Activate tool group management withthe number of available groups

Fig. 2-3: Overview of new machine parameters

2.4 New Machine Data

For the 'Single dimension collision monitoring' function, machine datapage 013, 'Single dimension collision monitoring' has been introduced.Machine data page 080 'GNP' is also new.

2-2 Overview and Definition of Terms New Functions 23VRS


Machine data page (no. + name) Meaning

013 Single dimension collisionmonitoring

Comprises the following data elements for up to8 collision monitoring groups:- Monitoring active- Number of collision monitoring axis 1- Number of collision monitoring axis 1- Traversing direction of axis 2- Collision position difference- Shutdown deceleration- Security clearance- Monitoring device

080 GNP Is used from cycles of the "Graphical NCProgramming". The data elements of this pageare used as arithmetic auxiliary variable forcovering the following functions:

• Saving the start position (coordinates) of acycle before and restarting the positionafter execution.

• Saving the modal G functions before andresetting after execution of a cycle.

• Performing tests according to toolcharacteristics.

Fig. 2-4: Overview of new machine data

2.5 New Tool Data

For the 'Tool group management' function, the following tool dataelements have been added to the tool management:

Tool data element (no. + name) Meaning

30 Tool group number(Base tool data)

Classification in tool group

31 Tool group duplo number(Base tool data)

Classification in tool sister group

32 Group status(Group data element)

Status bits of the tool group

Fig. 2-5: Overview of new tool data

2.6 New NC Commands

The following NC commands have been introduced for the functions 'Toolgroup management' and 'Rounding of NC blocks with axis filter':

NCCommands

Meaning Syntax

TG Preselection of tool group (read/write) TG <Tool group>

TGSM Tool search mode (read/write) TGSM <Mode>

RDI Enable / disable rounding of block transitionswith axis filter, set rounding distance

RDI<Rounding distance>

G10 Disable rounding of block transitions with axisfilter

G10

G11 Enable rounding of block transitions with axisfilter

G11

Fig. 2-6: Overview of new NC commands



2.7 Modified NC Commands

The NC command 'TDL' has been extended for the 'Tool groupmanagement' function:

NCCommands

Meaning Syntax

TLD Access to tool data (read/write) TLD(P,A,SA,L,E,DE,S)TLD(P,A,T,WD,E,DE,S,G,GD)

Fig. 2-7: Overview of the modified NC commands

2.8 New Interface Signals to the PLC

Interface signal (descry. + text) Meaning

PxxS.MODEn Selected operating mode The PxxS.MODEn (n=0,1) signals indicatefor the PLC the operating mode of thecontrol unit.

Fig. 2-8: Overview of new interface signals to the PLC

2.9 New PLC Functionality

For the 'Tool group management' function, the following PLC functionsand function blocks have been implemented:

SPSfunctionality

Meaning

TLG_RD Function block for reading the tool group status

TLG_WR Function block for writing the tool group status

COL_CTRL Function for connecting / disconnecting the single dimension collisionmonitoring function in a monitoring group

COL_CTRL_S Function for reading the enable status of the single dimensioncollision monitoring function in a monitoring group (acknowledgementquery from COL_CTRL)

Fig. 2-9: Overview of new PLC functionality

2.10 Modified PLC Functionality

For the 'Tool group management' function, the following PLC datastructures and function blocks have been extended:

SPSfunctionality

Meaning

TLBD Data structure base tool data

TLD_RD Function block for reading tool data

TLD_WR Function block for writing tool data

TLBD_RD Function block for reading base tool data

TLED_RD Function block for reading cutting edge data

TL_DELETE Function block for deleting a tool

TL_MOVE Function block for moving a tool

TL_RESET Function block for resetting a tool

Fig. 2-10: Overview of the modified PLC functionality



2.11 New Diagnosis Messages

Diagnosis message (no. + text) Cause

512 SERCOS ring {axis name}axis: baud rate notsupported”

Depending on the respective hardware, 4, 6, or16 MBaud are available as an option to 2 MBaud.An invalid baud rate has been entered, or a baudrate not supported by the hardware.

528 Invalid machine data forcollision system {no.}

- No monitoring axis/axes- Monitoring axes are not on the same axis

processor card (SERCOS interface)- Monitoring axis is no 'linear axis'- Data elements 'Position difference','Shutdown deceleration', or 'Securityclearance' are outside of the permissiblescope

529 Error in command default forthe collision system {no.]

Internal error on connecting / disconnecting theaxis collision system.

530 Single dimension collisionmonitoring: Collision warningin the system {no.}

The selected and currently executed traversingmovement would have caused a collision and isthus aborted.

314 Tool or tool location not found - There is no more tool group which is notdisabled or worn containing the selected tool.- The selected tool was not found in the toolgroup preselected with TGSM.

322 Invalid function Tool group not available:- The group preselected with TG does not exist.

1017 Write access on machinedata page disabled

Write access to page 013 'Single dimensioncollision monitoring' has been attempted with anenabled collision monitoring group.

1(PLC)

Invalid input parameter Error in PLC program organization unit (error typein brackets)PLC function blocks TLG_RD (-213), TLG_WR(-214), TLD_RD (-170), TLD_WR (-169),TLBD_RD(-189), TLED_RD(-190),TL_DELETE(-192), TL_MOVE(-193) andTL_RESET(-191):- The values of the inputs 'PROC', 'GNR', 'GIND'are negative.- The input 'PROC' is greater than 6.- The input 'GNR' is greater than 99.- The input 'GIND' is greater than 99.PLC functions COL_CTRL(-211),COL_CTRL_S(-212):- The 'GROUP' input is outside of 1..8.

6(PLC)

Internal transfer error Error in PLC program organization unit (error typein brackets)PLC function blocks TLG_RD (-213), TLG_WR(-214), TLD_RD (-170), TLD_WR (-169),TLBD_RD(-189), TLED_RD(-190),TL_DELETE(-192), TL_MOVE(-193) andTL_RESET(-191):- General transmission error- Invalid group number- Invalid group index- Invalid process number- Group status bit cannot be modified

Fig. 2-11: Overview of new diagnosis messages and error causes



2.12 New Definition of the Term 'Tool Group'

To this day, the term 'tool group' together with the term 'tool technologygroup' has been used in connection with the type of technical utilization ofthe tools. Tool technology groups are e.g. 'drilling tools' or 'milling tools'.The subdivisions of these technology groups have been described as toolgroups, e.g. 'twist drill', 'step drill', 'end mill', or 'angle cutter'. Fromfirmware version 23VRS, the term 'tool group' is replaced by the term 'tooltype group'.

The term 'tool type group' is redefined in Version 23VRS. Now, it is usedto describe a group of any tools – also from different tool technologies –which are stored in the tool storage for certain machining phases orworkpieces. To minimize travel distances in when changing tools, they aretaken into the tool magazine as a group and removed again as a group.Optionally, replacement of a tool group as a whole can be enforced assoon as one tool of the group is worn (see Chapter 3.1 for details).

'Tool group' (old)

� 'Tool type group'

'Tool type group' (new)



New Functions 23VRS MTC 200 New Functions 3-1


3 MTC 200 New Functions

3.1 Tool Group Management

Method of OperationFrom firmware version 23VRS, tools required for machining one type ofworkpieces can be combined in a tool group to support segmented toolmagazines.

Each segment of the tool magazine is assigned to one group. Onactivation of a group, only the tools contained in it will be used. During toolchange, this enables ways defined in flexible manufacturing systems, inmachining centers or in transfer lines and ways reduced to a minimum.With lathes, it is advantageous that all tools of one group (e.g. drilling andthreading) are replaced when one tool of the group is worn.

A tool group can have sister groups. An exception is the group 0, whichcontains all tools which should not be assigned to a group.

Tool groups are identified by a group number and a group duplo number.Groups of the same group number are linked according to ascendingduplo numbers.

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Toolsegments.FH7

Fig. 3-1: Example for tool groups and sister groups

The following rules apply for tool groups:

1. Up to 99 tool groups can be administered.

2. A tool group can comprise up to 999 tools. Note: The total number of tools is restricted to 999 per process (resp.tool management).

3. The tools in one tool group can comprise only sister tools in the samegroup.

4. A tool group can contain up to 99 alternate tools.

5. Additionally, the tool group has status bits of its own.

6. A tool group is considered worn once the first tool sister sequence ofthe group is worn.

7. After the wear of a group, the next alternate group is activatedautomatically and locked tool groups are excluded.

Regulations and conditions

3-2 MTC 200 New Functions New Functions 23VRS


If a tool is not available in the active alternate group or it is also notfound in other tool groups during correspondingly set tool searchmode (NC command TGSM), the CNC displays the error 314 "Tool ortool location not found".Only the respectively active duplo group is used for tool search ineach tool group. This provides the possibility that the duplo groups ofa tool group should be equipped with the same tools.

8. The interface signal PxxS.MGWRN is set when the first tool alternatechain of the last alternate group has reached the warning limit.

9. The interface signal PxxS.MGTWO is set when the first tool alternatechain of the last alternate tool is worn out.

10. The last alternate tool of a chain in each last replacement group canassume a negative tool life.

11. A group is blocked and enabled by writing of the corresponding groupstatus bit.

12. There exists always a group 0, to which all tools belong and whichshould not be assigned to a group. There is no sister group for group0.

Effects of the Setup List on the Tool GroupsUsing the setup list, the user can define the availability of all tools that arerequired for machining and, using the equipment check, ensure theirusability for the machining processes that are to be performed. The setuplist data reflects the required data of the tools that are to be employed.

Note: From version 23VRS, the MTC 200 will again support fullfunctionality of the setup lists from its MTGUI.

The setup list refers to the equipment of magazine. Tools not comprisedin the setup list are logically removed from all groups. In the followingexample (Fig. 3-2), the setup list comprises the tools T1, T3 and T5. Thetools T2, T4, T6 and T7 are not comprised in the setup list and areaccordingly removed from all tool groups (logically, not physically).



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Setuplist.FH7

Fig. 3-2: Effects of the setup list on the tool groups

The duplo groups are also linked when different tools (different Tnumbers) are comprised in the duplo groups. In the group status thestatus bit “Group not required” (symbol “?”) is set when all tools of thegroups have been removed by the equipment check.

Parameter Value AssignmentThis machine parameter has been introduced for the purpose of toolgroup management enabling / disabling.

MTC 200 TRANS 200

Bxx.073 ≥ 23V00 ------

Number of tool groups

0 ... 99

0

-

Appears only if ”Yes” has been entered in ”Tool management” systemparameter (A00.052) and in ”Tool management” process parameter(Bxx.014).

By means of machine parameter Bxx.073 'Number of tool groups', toolgroup management is enabled / disabled:

0: No enabling of group administration.The group data in the tool is not evaluated. All tools will be

Machine parameter:Bxx.073'Number of tool groups'

Parameter designation

Value range

Preset value

Unit

Dependency

Purpose



automatically assigned to the active group 0. This group isconstantly enabled and cannot be deselected. The addressing viaTLD command does not consider group indications and supplies'0' as active group.

1..99: Define available tool groups.Up to 99 tool groups can be defined. However, to ensureoptimum magazine allocation and access speed, only the numberof tools actually required should be entered.

Note: Any modification of machine parameter Bxx.073, 'Number oftool groups', causes canceling of the control-internal tool list;however, it can be reloaded into the control through GUI.

New Tool Data ElementsFor the management of tool groups, the tool data record of the MTC toolmanagement has been extended by three data elements.

In the basic tool data, the data elements …

• 30 – Group number ...and...

• 31 – Group duplo number ...have been introduced.

Note: When the tool data element 'Group number' includes the value'0', only this value '0' is permissible for the tool data element'Group duplo number'. The permissible entry into the tool dataelement 'Group number' is restricted by the machineparameter Bxx.073, 'Number of tool groups'

• Bxx.073 = 0:Tool group number and tool group duplo number mustcomprise the value '0'.

• Bxx.073 = n [1..99]The tool group number can be in the range [0..n], and thetool group duplo number in the range [0..99] (exception fortool group 0: only permissible tool group duplo number is0).

Tool data which disregard these restrictions cannot be loadedinto the control!

Furthermore, for each tool group there is the element…

• 32 - Group status

The group status can be accessed both through tool addressing andthrough group addressing.

Base Tool Data



V23_20021220

DESIGNATION VALUE RANGEDATA TYPE

in the PLCUNIT DE OPT. EL TL

Index address hexadecimal long word with 32 bits (read only) - 01 X XID (tool designation) up to 28 alphanumerical characters STRING28 - 02 XMagazine 0 - 2 (0: magazine/turret, 1: spindle, 2: gripper) - 03 XLocation 0 - 999 - 04 XToolnumber 1 - 9999999 DINT - 05 X XTool index number 1 - 9999 INT - 06 XType of compensation 1 - 5 USINT - 07 X XNumber of tool edges 1 - 9 USINT - 08 X XTool status 0/1 (32 status bits) USINT - 09 X

Free half-locations 0 - 4 USINT - 10 XOld location 1 - 999 INT - 11 XMag. of next ind. tool 0 - 2 (0: magazine/turret, 1: spindle, 2: gripper) INT - 12 XLoc. of next ind. tool 1 - 999 INT - 13 XMag. of previous ind. tool 0 - 2 (0: magazine/turret, 1: spindle, 2: gripper) INT - 14 XLoc. of previous ind. tool 1 - 999 INT - 15 X

Time unit 0/1 (0: min, 1: Zykl.) USINT - 16 XLength unit 0/1 (0: mm, 1: inch) USINT - 17 X X

Tool code 0 - 9 USINT - 18 X XData format type 0 - 65535 INT - 19 X X

User data 1 +/- 1.2 * 10-38 - +/- 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 20 A00.061 XUser data 2 +/- 1.2 * 10-38 - +/- 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 21 A00.062 XUser data 3 +/- 1.2 * 10-38 - +/- 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 22 A00.063 XUser data 4 +/- 1.2 * 10-38 - +/- 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 23 A00.064 XUser data 5 +/- 1.2 * 10-38 - +/- 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 24 A00.065 XUser data 6 +/- 1.2 * 10-38 - +/- 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 25 A00.066 XUser data 7 +/- 1.2 * 10-38 - +/- 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 26 A00.067 XUser data 8 +/- 1.2 * 10-38 - +/- 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 27 A00.068 XUser data 9 +/- 1.2 * 10-38 - +/- 3.4 * 10+38 and 0 ( 9 significant digits) REAL any 28 A00.069 X

29Group number 0 - 99 BYTE - 30 XGroup index number 0 - 99 BYTE - 31 XGroup status 0/1 (16 status bits) WORD - 32 X

Comment up to 5 x 76 alphanumerical characters - 99 A00.057 XWGD_all_V23_20021220.xls

The data element 99 "Comment" is not loaded into the controller. SL ... data specific for setup list

TL ... data specific for tool list

DE ... data element OPT ... Optional data

Base tool data (per tool)

Tool identification

Location data

Unit

Technology data

User data

Group data

Fig. 3-3: New tool data elements for tool group management

With the group data element 32 “Group status“, the following informationon the tool group is available:



V23_20021112

TM BED ANP GLGroup does not exist ! 1Group exists 0Group not required ? 1Group required 0Group blocked L 1Group not blocked 0Group worn d 1Group not worn 0Warning limit reached w 1Warning not reached 0Machining group p 1No machining group 0Spare group s 1No spare group 0

1010101010101010

WZG_all_V23_20021112.xls

TM ... Tool management SL ... status bit specific for setup listOP ... Operator TL ... status bit specific for tool list

LO ... Location-specific status bit

APP ... Application spec. programs on PLC or NC OPT ... Optional dataGL ... Status bit specific for tool groupst

Any meaning

User group status 8 User group status bit 8 any 16 X X X Any meaning

X X XUser group status 7 User group status bit 7 any 15

Any meaning



Any meaning



Any meaning



X X Group is sister group

Reserved for extensions 8

XAt least one T sister chain of the

group has reached warning limit.

X Group is machining groupSister identification

6 X

7

5 X

X X User-programmable

State of wear4 X X

At least one T sister chain of the

group is worn.

Group state 3 X

X No tool required in this group

Comment

Availability1 X X Tool not available in this group

2 X

Tool groups: Group status data element 32

Status Status bit Symbolvalu

eBit Writing access Art

Fig. 3-4: Group status of tool groups

The tool status of each group will be initialized automatically afterdownload of tool data:

? The "Group not required" bit is set.

L,d,w The bits "Group disabled", "Group worn out" and "Group warninglimit reached" will be deleted.

The group status will be created newly with every equipment check (TIDor implicit equipment check). Here, wear status is considered, and sisterlinking of groups is performed. The following regulations apply:

1. A group is marked as required if at least one tool with the requested Tnumber exists in the setup list. If there is not setup list, all groups areautomatically considered 'required'.

2. Groups belonging to a sister sequence must have at least one tooleach of the same T number.

3. The not worn out group with the smallest group duplo number will bethe processing group "p". All further not worn out groups will beattached sorted in ascending group duplo number as alternate groups"s".

Group status initializationfollowing download of tool data

Group status creation duringequipment check



NC Commands for Tool GroupsFor tool group management, the following extensions have been providedin NC programming:

• New NC commands TG and TGSM.

• Extension of the NC command TLD.

ToolGroup – “TG“The NC command "TG <Group>" is used to preselect a tool group. Theactive group can be read with "@<var>=TG". In an unparameterizedgroup, the CNC reports the error 322 "Invalid function". After activation orControl Reset, the control preselects automatically the group 0.

TG <Group number>@<Number of variable> = TG

N0333 TG3 T19 ;Enabling of tool group 3 as current ;machining group, with simultaneous ;preselection of tool

N1299 @101=TG ;Reading of the enabled tool group number

Tool Group Search Mode – “TGSM“The tool search mode and also the implicit group activation duringentering the T word can be influenced with the NC command"TGSM=<Mode>". The mode can be reread with "@<var>=TGSM".

TGSM <Mode>@<Number of variable> = TGSM

For <Mode>, the following search orders are available:

Mode Search order Comment

0 Preselected group If the tool is not found in the preselectedgroup, the NC will indicate error 314 “Toolor tool location not found”.

1 preselected group,group 0

First, the tool is searched in the preselectedgroup, then in group 0.

2 Preselected group,groups 0..99

If the tool is not in the preselected group, itwill be searched for in ascending order inthe groups 0..99.

3 Groups 0..99 Irrespective of the enabled group, the tool issearched in ascending order in the groups0…99.

Fig. 3-5: Tool search mode in tool groups

If the requested tool is found in another than the preselected / enabledgroup, this group will be automatically enabled and preselected once thetool has been enabled.

N0344 TGSM1 T19N1266 @2:98 = TGSM G01 X78 F1200

Purpose

Syntax

Example

Purpose

Syntax

Example



Extension of the NC command TLDIn addressing the NC command 'TLD' has been extended by theelements “Group number“ (G) and ”Group duplo number“ (GI).Depending on the type of addressing (A), one of the following options is tobe used (for the significance of the individual identifications, see Fig. 3-6):

• Addressing via location and memory (A=0):

TLD (P,A,SA,L,E,DE,S,G*,GD*) * = irrelevant

• Addressing via tool number and tool duplo number (A=1):

TLD(P,A,T,WD,E,DE,S,G,GD)

When accessing tool groups , the following regulations apply for theoptional information 'Group number') and 'Group duplo number'':

• If the group number [0..99] is not specified, the CNC inserts thenumber of the enabled group.

• If the group duplo number [0..99] is not specified, the CNC inserts theduplo number of the enabled group.

The status bits are addressed via the identifications E (blade), DE (dataelement) and S (status)

• E=0, DE=9, S=1..32: Access to individual tool status bits

• E=0, DE=9, S=1..32: Access to individual group status bits

• E=0, DE=9, S=1..32: Access to individual blade status bits

Addressing the status bits



V23_20021220

Designation Symbol

Process P.

Addressing A

Type of magazine SA0

Magazine / turret

1

Spindle2

Gripper

Location L 1 ... 999 1 ... 4 1 ... 4

Tool edge E

3 ... 8 9�Tool status 10 ... 31 32Group status 1 2 3 ... 40

Status S ---1 ... 32

Tool status bits---

1 ... 16Group status bits

---1 ... 16

Tool edge status bits---

Group number ia locatioGroup index

numberGD

V23_20021220

Designation Symbol

Process P.

Addressing A

Tool no. (T no.) TTool index number WD

Tool edge E

3 ... 89

Tool status 10 ... 3132

Group status 1 2 3 ... 40

Status S ---1 ... 32

Tool status bits ---1 ... 16

Group status bits ---1 ... 16

Tool edge status bits---

Group number ia locatioGroup index

numberGD

Data element DETool edge data

1�Addressing via tool and index number

1 ... 9999999 Tool number1 ... 9999 Tool index number

0 ... 99 Group index affiliation of the tool no information: index number of active group

1 ... 9 0Basic tool data

Data element DEBasic tool data

irrelevant

irrelevant

Tool edge data

0 Addressing via location and magazine

1 ... 9 0

0 ... 99 Group affiliation of the tool no information: active group

0 .... 6 Process number

3 Tool change position

1 ... 4

Value range / meaning

0 .... 6 Process number

7address active tool

0

TLD addressing via location and magazine

TLD addressing via tool and index number

Value range / meaning

Fig. 3-6: New tool group parameters for TLD command

Extensions in the PLCFor tool group management, the following extensions have been providedin the PLC:

• Extension of the data structures for the base tool data 'TLBD'.

• Extended function blocks 'TLD_RD', 'TLD_WR', 'TLBD_RD','TLED_RD', 'TL_DELETE', 'TL_MOVE' und 'TL_RESET',

• New function blocks 'TLG_RD' and 'TLG_WR'.



Extended Data Structure of the Base Tool DataThe data record of the base tool data 'TLBD' has been extended by theelements group number (G_NR) and group duplo number (G_INDEX) asfollows:

STRUCT TLBDTOOL_NAME: CHAR28; (*En.D02: ID (Tool name)*)T_NR: DINT; (*En.D05: Tool number*)INDEX_NR: INT; (*En.D06: Duplo number*)CORR_TYP: USINT; (*En.D07: Correction type*)EDGES: USINT; (*En.D08: No. of tool edges*)STATUS: DWORD; (*En.D09: Status bits*)HALF_POCK: USINT; (*En.D10: Free half-locations*)G_NR: USINT; (*En.D30: Group number*)OLD_PLACE: INT; (*En.D11: Old location*)TIME_UNIT: USINT; (*En.D16: Time unit*)LEN_UNIT: USINT; (*En.D17: Linear unit*)CODE: USINT; (*En.D18: Tool code*)G_INDEX: USINT; (*EN.D31:Group duplo number*)DISPLTYP: INT; (*En.D19: Display type*)USERDAT1: REAL; (*En.D20: User data 1*)USERDAT2: REAL; (*En.D21: User data 2*)USERDAT3: REAL; (*En.D22: User data 3*)USERDAT4: REAL; (*En.D232: User data 4*)USERDAT5: REAL; (*En.D24: User data 5*)USERDAT6: REAL; (*En.D25: User data 6*)USERDAT7: REAL; (*En.D26: User data 7*)USERDAT8: REAL; (*En.D27: User data 8*)USERDAT9: REAL; (*En.D28: User data 9*)

END_STRUCT

Extended function blocks for accessing tool dataAlmost all function blocks for accessing the tool data of the NC have beenextended by the input parameters group number (GNR) and group duplonumber (GIND).

Reading tool data 'TLD_RD'+------------------+¦TLD_RD ¦

BOOL --¦READ BOOL_+-- BOOLINT --¦TYP INT_+-- INTINT --¦PROC DINT_+-- DINTINT --¦ADDRESS READ+-- REALDINT --¦STOR_TNR READY+-- BOOLINT --¦LOC_TIND ¦INT --¦GNR ¦INT --¦GIND ¦INT --¦EDGE ¦INT --¦ELEMENT ¦INT --¦STATUS ¦

+------------------+

See TLD_WR for description of parameter.



Writing tool data 'TLD_WR'+------------------+¦TLD_WR ¦

BOOL --¦WRITE READY+-- BOOLINT --¦TYP ¦INT --¦PROC ¦INT --¦ADDRESS ¦DINT --¦STOR_TNR ¦INT --¦LOC_TIND ¦INT --¦GNR ¦INT --¦GIND ¦INT --¦EDGE ¦INT --¦ELEMENT ¦INT --¦STATUS ¦BOOL --¦BOOL_ ¦INT --¦INT_ ¦DINT --¦DINT_ ¦REAL --¦REAL_ ¦

+------------------+

READ: 0 – FM not active: 1 - Initiate the reading of tool data

WRITE: 0 – FM not active: 1 - Initiate the writing of tool data

TYPE: Data type that is to be read/written0 - BOOL7 - INT9 - DINT10 - REAL

With 'Read tool', this corresponds to the FB output (BOOL, INT, DINT, REAL)that is to be selected.

PROC : Number of the process to which the tool data is allocated (0...6)ADDRESS : 0 - Addressing via magazine/location

: 1 - Addressing via tool/duplo numberSTOR_TNR: Magazine or tool number

Addressing memory/location: (0…3.7)0 - Magazine/turret1 - Spindle2 - Gripper

3 - Position 7 - Active toolWith tool/duplo number addressing: (1..00.9999999)

LOC_TIND : Location or duplo numberWith magazine/location addressing: (0…999)With tool/duplo number addressing: (1..0.9999)

GNR : 0..99 group numberInsignificant with magazine/location addressing: (0)With tool/duplo number addressing: (0..99)

GIND : 0..99 group duplo numberInsignificant with magazine/location addressing: (0)With tool/duplo number addressing: (0..99)

EDGE : Edge (0...9) 0 – base tool data 1...9 – edge data

ELEMENT: Data elementWith edge 0: (3...26) � Base tool dataWith edge 1...9: (1...36) � edge data

STATUS : Number of status bit (not applicable for Boolean tool data)With edge 0: (0...31)With edge 1…9: (0...15)

BOOL_: Tool data that is to be read or to be writtenINT_: Tool data that is to be read or to be writtenDINT_: Tool data that is to be read or to be writtenREAL_: Tool data that is to be read or to be writtenREADY: When reading tool data

0 - Data invalid1 - Data valid

With writing tool data0 - Data transfer active or FM not active1 - Data transferred



Reading base tool data - 'TLBD_RD'+------------------+¦TLBD_RD ¦

BOOL --¦READ DATA+-- TLBDINT --¦PROC READY+-- BOOLINT --¦ADDRESS ¦DINT --¦STOR_TNR ¦INT --¦LOC_TIND ¦INT --¦GNR ¦INT --¦GIND ¦

+------------------+


PROC: Process number [0..6]ADDRESS: 0 - Addressing via magazine/location


With magazine/location addressing: (0…2)0 - Magazine/turret1 - Spindle2 - Gripper

With tool/duplo number addressing:(1...9999999)




DATA: Data structure of base tool data:READY: When reading tool data

0 - Data invalid1 - Data valid

Reading tool edge data - 'TLED_RD'+------------------+¦TLED_RD ¦

BOOL --¦READ DATA+-- TLEDINT --¦PROC READY+-- BOOLINT --¦ADDRESS ¦DINT --¦STOR_TNR ¦INT --¦LOC_TIND ¦INT --¦GNR ¦INT --¦GIND ¦INT --¦EDGE ¦

+------------------+









EDGE: Tool edge (1...9)DATA: Data structure of tool edge data:



READY: When reading tool data0 - Data invalid1 - Data valid

Deleting a tool - 'TL_DELETE'+------------------+¦TL_DELETE ¦

BOOL --¦DELETE READY+-- BOOLINT --¦PROC ¦INT --¦ADDRESS ¦DINT --¦STOR_TNR ¦INT --¦LOC_TIND ¦INT --¦GNR ¦INT --¦GIND ¦

+------------------+

DELETE : 0 FB not active: 1 - Tool is deleted








READY : 0 FB not active or tool not yet deleted: 1 - Tool has been deleted

Moving tool – 'TL_MOVE'+------------------+¦TL_MOVE ¦

BOOL --¦MOVE READY+-- BOOLINT --¦PROC ¦INT --¦SADDRESS ¦DINT --¦SSTOR_TNR ¦INT --¦SLOC_TIND ¦INT --¦SGNR ¦INT --¦SGIND ¦DINT --¦DSTORAGE ¦INT --¦DLOCATION ¦

+------------------+

MOVE : 0 FB not active: 1 - Move tool to new location

PROC: Process number [0..6]SADDRESS: Source address

0 - Addressing via magazine/location1 - Addressing via tool/duplo number

SSTOR_TNR: Source magazine and/or tool numberWith magazine/location addressing: (0…2)

0 - Magazine/turret1 - Spindle2 - Gripper


SLOC_TIND: Source location or duplo numberWith magazine/location addressing: (0…999)With tool/duplo number addressing: (1..0.9999)

GNR : 0..99 source magazine group numberInsignificant with magazine/location addressing: (0)With tool/duplo number addressing: (0..99)

GIND : 0..99 source magazine group duplo number



Insignificant with magazine/location addressing: (0)With tool/duplo number addressing: (0..99)

DSTORAGE: Designed magazine: (0...2)0 - Magazine/turret1 - Spindle2 - Gripper

DLOCATION:Designed location: (0...999)READY : 0 FB not active or tool not yet moved

: 1 - Tool has been moved

Reset tool – 'TL_RESET'+------------------+¦TL_RESET ¦

BOOL --¦RESET READY+-- BOOLINT --¦PROC ¦INT --¦ADDRESS ¦DINT --¦STOR_TNR ¦INT --¦LOC_TIND ¦INT --¦GNR ¦INT --¦GIND ¦

+------------------+

RESET : 0 FB not active: 1 - Reset tool life count




With tool/duplo number addressing: (1..00.9999999)LOC_TIND : Location or duplo number

With magazine/location addressing: (0…999)With tool/duplo number addressing: (1..0.9999)



READY : 0 FB not active or reset not yet performed: 1 - Tool has been reset

New Function Blocks for Accessing Group StatusInformationWith the function blocks TLG_RD and TLG_WR, the group statusinformation can be accessed reading and partly writing from the PLC.Writing access is allowed on the 'group status (group blocked / notblocked) and to the 'user group status bits 1...8' (see Fig. 3-4).

Reading the group status 'TLG_RD'+------------------+¦TLG_RD ¦

BOOL --¦READ STATUS +-- WORDINT --¦PROC READY+-- BOOLINT --¦GNR ¦INT --¦GIND ¦

+------------------+

See TLG_WR for description of parameter.



Writing the group status 'TLG_WR'+------------------+¦TLG_WR ¦

BOOL --¦WRITE READY+-- BOOLINT --¦PROC ¦INT --¦GNR ¦INT --¦GIND ¦WORD --¦STATUS ¦

+------------------+

READ: 0 – FM not active: 1 - Initiate the reading of group status

WRITE: 0 – FM not active1 – Initiate the writing of group status

PROC : 0..6 Process to which the tool data is allocated GNR : 0..99 group numberGIND : 0..99 group duplo numberSTATUS : Bit 0 1 group does not exist

0 group exists Bit 1 1 group not required

0 group required Bit 2 0 group not disabled

1 group disabled Bit 3 0 group not worn

1 group worn Bit 4 0 warning limit not reached

1 warning limit reached Bit 5 0 no machining group

1 machining group Bit 6 0 no spare group

1 spare group Bit 7 reserved Bit 8..15 User group status bits

READY :when reading tool data0 - Data invalid1 - Data valid

When writing group status0 - Data transfer active or FM not active1 - Data transferred

Time diagram for reading of group status

1 234 5+-----------+ +----------------------------

READ ----+ +----+

+-+ +-+ +-+STATUS ---------------+ +---------------+ +---------+ +--

+-+ +-+ +-+READY ---------------+ +---------------+ +---------+ +--

(1) Setting the 'READ' input initiates the transfer ofthe group status. The 'PROC', 'GNR' and 'GIND'inputs define the group status location that is tobe read.

(2) The active 'READY' output indicates that thetransfer of the tool data is completed.

(3) In a single data exchange, the 'READ' input maynow be cleared.

(4) Clearing the 'READ' input also clears the 'READY'output of the function block.

(5) If the 'READ' input remains statically ON, a newdata transfer is automatically initiated once theold data transfer has been completed. This enablesgroup status to be read cyclically.



Time diagram for reading of group status

1 234 5+-----------+ +----------------------------

WRITE ----+ +----+

+-----------+ +----------------------------STATUS ----+ +----+

+-+ +-+ +-+READY ---------------+ +---------------+ +---------+ +--

(1) Setting the 'WRITE' input initiates the transferof the group status. The 'PROC', 'GNR' and 'GIND'inputs define the group status location that is tobe modified.

(2) The active 'READY' output indicates that thetransfer of group status is completed.

(3) In a single data exchange, the 'WRITE' input maynow be cleared.

(4) Clearing the 'WRITE' input also clears the 'READY'output of the function block.

(5) If the 'WRITE' input remains statically ON, a newdata transfer is automatically initiated once theold data transfer has been completed. This enablesgroup status to be written cyclically.

Diagnosis

NC diagnosis messagesThe following tables shows the specific NC diagnosis messages for the'Tool group management' function:


314 Tool or tool location not found - There is no more tool group which is notdisabled or worn containing the selected tool.- The selected tool was not found in the toolgroup preselected with TGSM.

322 Invalid function Tool group not available:- The group preselected with TG does not exist.

Fig. 3-7: NC diagnosis messages of tool group management

PLC diagnosis messagesAny programming errors in the PLC program may cause incorrectexecution of new or extended function blocks. In this case, the PLC willgenerate a corresponding error message.

The two following tables comprise all specific PLC error types and PLCerror numbers of tool group management:

PLCerrortype

Function block Comment

-169 TLD_WR Writing tool data

-170 TLD_RD Reading Tool Data

-189 TLBD_RD Reading base tool data

-190 TLED_RD Reading tool edge data

-191 TL_RESET Resetting tool

-192 TL_DELETE Deleting tool



PLCerrortype

Function block Comment

-193 TL_MOVE Moving tool

-213 TLG_RD Reading tool group status

-214 TLG_WR Writing tool group status

Fig 3-8: PLC error types of tool group management

PLCerrorNo.

Comment Cause

1 Invalid inputparameter

- The value of the 'PROC', 'GNR or 'GIND' inputs isnegative.- The 'PROC' input is greater than 6.- The 'GNR' input is greater than 99.- The 'GIND' input is greater than 99.

2 Internal transfer error - General message error- invalid group number- invalid group index- invalid process number- group status bit cannot be changed

Fig 3-9: PLC error numbers of tool group management

3.2 Single Dimension Collision Monitoring

Method of OperationBy means of the 'Single dimension collision monitoring' function, acollision can be prevented between two linear axes which

• travel in the same or the opposite direction, and

• might crash because of their spatial closeness.

The 'single dimension collision monitoring' function is for example used inmachine tools where two machining slides travel on one guide rail. It canalso be used for portals with two carriages operated on one guide rail.

The axes to be monitored can belong to different processes. When thecontrol recognizes a crash risk between two collision monitoring axis, allfeed axes are stopped in the respective processes. Spindles that arespeed controlled, will not be stopped until 'Spindle stop' is appliqued.

Up to 8 collision monitoring groups each consisting of 2 linear axes, canbe defined and parameterized in the machine data page 13 'Singledimension collision monitoring'.

The function is enabled and acknowledged via the two PLC interfacefunctions COL_CTRL and COL_CTRL_S.

Purpose

Method of operation

Realization

Activation



��

�� !��

��"�� !��#��

#��

#��

CollisionCheck.FH7

Fig. 3-10: Method of operation of the single dimension collision monitoring

The following regulations and conditions apply to the 'Single dimensioncollision monitoring' function:

1. If a collision risk is recognized, all feed axes of the involvedprocesses are stopped by active braking while drive enable is notswitched off. The deceleration ramp is programmed in machine dataelement 006 'Stopping delay'. The jerk limiting entered in processparameter Bxx.034, 'Time constant for acceleration', does not takeeffect in this case.

2. Spindles that are speed controlled, will not be stopped during dangerof collision until a spindle stop is parameterized with the PLC interfacesignal AxxC.SPSTP (=1).

3. During the deceleration process, the axes must not leave theprogrammed curve. Therefore, the workpiece may not be fit for usedin case of recognized risk of crash and after stopping of the axes.

4. Immediately after recognition of a collision risk, the controller signalsa process error in the processes of both monitoring axes. Processesnot included in crash monitoring must be stopped by means ofsuitable measures (e.g. in the PLC program) if the machine designrequires it.

5. After stopping of the concerned axes is completed, the NC willcontinue the motion from the current axis position once the error hasbeen cancelled and re-start has been effected.

6. The single dimension collision monitoring function is available only forlinear axes (linear main and secondary axes), not for rotary axes. Axissimulation or virtual axes will be supported.

7. The axis of one monitoring group must be part of the same processorfor axis (APR), i.e. the same SERCOS ring.

8. An axis can be assigned to two collision monitoring groups at thesame time.

9. During simultaneous activation of more than 4 collision monitoringgroups to one APR, an operation without problems cannot beguaranteed. The diagnosis message 400, 'APR time excess' signalsthat the number of collision monitoring groups enabled at one APRmust be reduced.

10. Monitoring is also effective during transformations (G31, G32) andafter changing modes (C axis). In case of transformations, thephysical axis continues to be monitored.

Regulations and conditions



Parameter Value AssignmentAll settings required for the 'Single dimension collision monitoring' functionare made in machine data page 013 'Single dimension collisionmonitoring'' This page is structured as follows:

Designation Value range

Page Single dimension collision monitoring 013

Running variableLV1

Number of the monitoring system 1..8

Running variableLV2

free, not used -

Fig. 3-11: Machine data page 013 ' Single dimension collision monitoring'

For each monitoring system subscribed with the running variable LV1,there is a machine data structure with the following data elements:

Write protect

STRUCTDesignation of data

Datatype NC PLC BOF

Password

protect

001 Monitoring enabled BOOL 1 1 1 0

002 Axis number 1 USINT 0 0 0 0

003 Axis number 2 USINT 0 0 0 0

004 Traversing direction BOOL 0 0 0 0

005 Crash positiondifference

POS 0 0 0 0

006 Stopping delay ACCEL 0 0 0 0

007 Security clearance POS 0 0 0 0

008 Monitoring direction BOOL 0 0 0 0

END_STRUCT

Fig. 3-12: Machine data structure ' Single dimension collision monitoring'

The data elements of an collision monitoring system have the followingmeaning:

Data element Value range andunit

Description

Monitoring enabled 0: No monitoring1: Collisionmonitoring enabled

Parameter can only be read (the monitoringfunction is enabled through the PLC).

Number of collision monitoring axis 1 1..32 Axis number of monitoring axis 1 (linear axis)

Number of collision monitoring axis 2 1..32 Axis number of monitoring axis 2 (linear axis in thesame SERCOS ring as monitoring axis 1!)

Traversing direction of axis 2 0: Traversing in thesame direction1: Traversing inopposite direction

Direction of the system of coordinates ofmonitoring axis 2, in respect of monitoring axis 1

Crash position difference -100000.0000 ..100,000.0000 mm

Difference of the two axis positions that is thecollision case;traversing in the same direction: Pos2 – Pos1traversing in opposite direction: -Pos2 – Pos 1

Stopping deceleration 1 ... 100,000.0mm/s²...

Braking acceleration on stopping after crash riskhas been recognized.Attention: This value must be greater than the axisaccelerations of both monitored axes!

Machine data page 013

Meaning of the data elements



Data element Value range andunit

Description

Security clearance 0.0000 mm ...10.0000mm

Additional, added safety distance:The control internally computes a dynamic safetydistance depending on both axes' velocities. Thisdynamic safety clearance ensures that afterstopping for a collision risk, the two axes will cometo a standstill at a minimum distance. The dataelement 'Security clearance' defines the minimumdistance between the two axes after they havebeen stopped.

Monitoring direction 0: Collision edge inpositive direction1: Collision edge innegative

direction

This defines whether the collision will possiblyoccur in positive or negative direction, seen fromcollision monitoring axis 1. The crash edge (orcrash face) is the face of the mechanical axissystem which may crash into the other axis.

Fig. 3-13: Machine data elements for collision monitoring

When the collision monitoring function is enabled, the controller checksthe data element of machine data page 013 for plausibility and generatesa diagnosis message in case of error.

Note: The data elements of machine data page 013 'Singledimension collision monitoring' must be determined beforeactivation of collision monitoring. The data elements of anactive collision monitoring group cannot be modified!

Activating the FunctionThe single dimension collision monitoring function is enabled through thefollowing PLC functions.

By means of the COL_CTRL (collision control) PLC function, the collisionmonitoring function in a monitoring group is enabled and disabled (thiscan be done at any time independent of block preparation).

+------------------+¦COL_CTRL ¦

BOOL --¦ACTIVATE +-- BOOLINT --¦GROUP ¦

+------------------+

ACTIVATE 0 - Disable collision monitoring in the monitoring group1 - Enable collision monitoring in the monitoring group

GROUP 1...8 (monitoring group)Function result:COL_CTRL The function input ACTIVATE is passed through to the output.

The PLC function COL_CTRL_S (collision control set) is used for theacknowledgment dialog for enabling/disabling of the single dimensioncollision monitoring in a monitoring group.

+------------------+¦COL_CTRL_S ¦

BOOL --¦ACTIVE +-- BOOLINT --¦GROUP ¦

+------------------+

ACTIVE 0 - The COL_CTRL_S function is not enabled1 - The COL_CTRL_S function is enabled

GROUP 1...8 (monitoring group)Function result:COL_CTRL_S 0 - The COL_CTRL_S function is not enabled, or

the COL_CTRL_S function is enabled, and in the NC, the collision monitoring function in the monitoring group is not (yet) enabled

COL_CTRL

COL_CTRL_S



1 - The acknowledgment dialog is enabled, and the NC hasenabled the isolation

monitoring function in the monitoring group

Diagnosis

NC diagnosis messagesThe following tables shows the specific NC diagnosis messages for the 'Single dimension collision monitoring' function:


528 Invalid machine data forcollision system {no.}

- No monitoring axis/axes- Monitoring axes are not on the same axis

processor card (SERCOS interface)- Monitoring axis is no 'linear axis'- Data elements 'Position difference','Shutdown deceleration', or 'Securityclearance' are outside of the permissiblescope

529 Error in command default forthe collision system {no.]

Internal error on connecting / disconnecting theaxis collision system.

530 Single dimension collisionmonitoring: Collision warningin the system {no.}

The selected and currently executed traversingmovement would have caused a collision and isthus aborted.

1017 Write access on machinedata page disabled

Write access to page 013 ' Single dimensioncollision monitoring' has been attempted with anenabled collision monitoring system.

Fig. 3-14: NC diagnosis messages of single dimension collision monitoring

PLC diagnosis messagesAny programming errors in the PLC program may cause incorrectexecution of the new PLC functions. In this case, the PLC will generate acorresponding error message.

The two following tables comprise the specific PLC error types and PLCerror numbers of the single dimension collision monitoring function:

PLCerrortype

SPS function Comment

-211 COL_CTRL Enabling and disabling of the single dimensioncollision monitoring function

-212 COL_CTRL_S Reading of the enabling status of the singledimension collision monitoring function(acknowledgment dialog of COL_CTRL)

Fig. 3-15: PLC error types of single dimension collision monitoring

PLCerrorNo.

Comment Cause

1 Invalid inputparameter

- The value of the 'GROUP' input is outside the range1..8.

2 Internal transfer error - General message error- the 'GROUP' input is invalid.

Fig. 3-16: PLC error numbers of single dimension collision monitoring



Limits and Special RegulationsThe minimum allowed axis distance (dmin), which is only just above thelimit for a reaction by the monitoring function, depends on the axisvelocities (Vel1, Vel2) and the monitoring cycle time (tü = NC cycle time =2 ms) Differentiation is made between 2 possible cases:

• One axes travels behind another at the same velocities (Vel1 = Vel2).

dmin = 3 * Vel1 * tü

• One axis approaches another axis (dmin is the minimum alloweddistance after the axes have stopped):

dmin = 4 * |max(Vel1, Vel2)| * tü

When the monitoring axes move parallel with constant velocity andminimum distance, risk of crash is not covered in every case.

When the drive amplifier of the drive moving ahead brakes abruptlybecause of a drive error, the axis moving behind will generally be unableto decelerate in time. On the one hand, this is due to the reaction time ofthe axis moving behind. On the other hand, the deceleration ramps atreset of speed command value are never exactly the same. Therefore,the possibility that the axis moving behind will catch up with the onemoving ahead can never by excluded. In this connection,parameterization and wiring of the drives in view of error reactions are ofdecisive importance (see drive documentation).

Additional DocumentationThe 'single dimension collision monitoring' function is also described indetail in a separate function description.

3.3 Rounding of NC Blocks with Axis Filter

Method of OperationThis function is primarily used to effect quick, time-optimated positioningin rapid traverse rate over several data points. Within a sequence ofmotion commands, the block transitions are rounded by means of aprogrammable axis filter so that the end point of the motion sequence isreached in as short a time as possible.

In this case, the motion sequence is a sequence of NC blocks of G codegroup 1 (G00, G01, G02, G03). An NC block which does not belong tothis group will exit the motion sequence.

Rounding of block transitions occurs only within a motion sequence. Withthe exception of the last data point (target point), it is not necessary tofully hit the data points. The path curve can pass the data point at anparameterizable maximum distance. At the end of the block, the last blockof a motion sequence directly hits the programmed target point positionwithout any rounding.

Rounding of the block transitions is effected by means of a two-step axisfilter with acceleration filter and jerk limiting filter . This axis filter is followsup the interpolator and considers the values in the Cxx.018 'Maximumacceleration' axis parameters, as well as the jerk limiting values enteredin the Bxx.034 'Time constant or acceleration' process parameter.

Minimum axis distance

Risk of collision in case of driveerror

Purpose

Definition

Principle

Rounding with axis filter



$�� !!��%��

&�'�%��

��%��

AxisFilter.FH7

Fig. 3-17: Rounding by means of two-step axis filter

In the axis filter, an axis positioning windows delimits the maximumrounding distance RDI (Rounding DIstance). The RDI value defines themaximum distance to the programmed data point for the start of therounding process.

#�

#�(�

#�(�

RoundDistance.FH7

RDI: Rounding DIstance (NC program)Pn: programmed data point (NC program)PnF1, PnF2: Path points generated by rounding

Fig. 3-18: Rounding with rounding distance RDI

ProgrammingThe process of rounding of block transitions is modally enabled for thecurrent and the following blocks by means of programming of therounding distance RDI (Rounding DIstance). It is effective only in motionblocks of the G code group 1 (G00, G01, G02, G03). In each case, thetransition from the current block to the next block is rounded.

With the 'RDI 0' command, rounding is switched off again.

'RDI=0' is the default state and is saved as active until RDI is overwrittenwith another value. At end of program (RET), or by the BST command or'Control Reset', RDI is automatically reset to default state.

The following syntax is admissible with the RDI command:

• RDI10 ;direct allocation

• RDI 10 ;direct allocation, white space

• RDI=10 ;direct allocation

• RDI=@195 ;Allocation by variable

• RDI=10+@195 ;Allocation by formula

• @195=RDI ;Reading of the currently effective RDI value

Rounding distance RDI

RDI programming



N012 G1 X5 Z0N013 G1 X10 Z10 RDI 5 ;Rounding with 5 mmN014 G1 X20 Z15 ;Rounding with 5 mmN015 G1 X35 Z5 RDI 2 ;Rounding with 2 mmN016 G1 X100 Z5 RDI 0 ;Rounding disabled, target point ;is reached at exact position

As an alternative to programming with RDI, the G codes G11 and G10 (Gcode group 23) can be used to enable and disable the rounding function:

• G11: enables the rounding function. The last programmed roundingdistance RDI is effective. With a current rounding distance of 0, G11does not take effect. Programming of RDI with a rounding distanceother than 0 automatically enables G code G11.G11 is saved as active until G10 is enabled.

• G10: disables rounding mode. Programming of 'RDI=0'automatically enables G code G10.G10 is the default state and is saved as active until G11 is enabled. Atend of program (RET), or by the BST command or 'Control Reset',G10 is enabled automatically.

Rounding of block transitions occurs only within a motion sequence. Amotionless block – that is, a block outside of G code group 1 – exits themotion sequence. But G11 remains enabled. At the end of the block, thelast block of a motion sequence hits the programmed target point positionwithout any rounding. This also applies to a motion block in whichrounding has been disabled.

N001 G1 X5 Z0 RDI 5 ;Rounding with 5 mmN002 G1 X10 Z10 ;Rounding with 5 mmN003 G1 X20 Z15 ;Exact target point position is reachedN004 M50 ;Motionless blockN005 G1 X35 Z5 RDI 2 ;Rounding with 2 mmN006 G1 X100 Z5 RDI 0 ;Rounding disabled, target point ;is reached at exact positionN100 G1 X200 Z30

)�� )��

)��)��

)��

)��

PosSequence.FH7

Fig. 3-19: Example for rounding within a motion sequence

Example for an NC program withRDI

Alternative programming withG10 and G11

Behavior at the end of a motionsequence and on disabling of

rounding

Example for an NC program of amotion sequence



Limits and Special RegulationsWhen rounding is active and exact stop (to be enabled via G61 or in G00blocks) is enabled at the same time within one motion sequence, exactstop is not effective. This behavior does not correspond to the DINdefinition for the G00 rapid traverse rate block, when the next block is amotion block as well. Block transition to the next block is rounded. At theend of the motion sequence, reaching of the positioning window isinterrogated once more.

For rounding with axis filter, there are some restrictions:

• Rounding depends on velocity. The rounded path curve at the blocktransition varies dependent on the velocity (override).

• Rounding is not possible when transformation is active (G31 or G32).In these cases, an error message is indicated when G11 or RDI(other than 0) are programmed.

• When traversing straight lines, parallel offset is possible.

• With circles, the deviations from the original curve are greater thanwith straight lines.

3.4 Variable SERCOS Baud Rate

Method of OperationFrom version 23VRS of the MTC 200 control hardware PPC-P and PPC-R, the SERCOS baud rate is no longer fixed at 2MBaud. Now, the baudrates of the individual SERCOS rings can be set via system parameter.PPC-P01.1 and PPC-R0*.2 offer the options of 2 and 4 MBaud. Inaddition, baud rates of 8 and 16 MBaud for future PPC generations arealready supported today.

The baud rates can be set individually for each SERCOS ring. Thisensures that SERCOS users which allow only 2 or 4 MBaud, and usersoffering higher baud rates can be operated in various ringssimultaneously with the MTC 200.

In future, the variable setting of baud rates will provide for operation ofmore than 8 axis in one SERCOS ring or use of longer SERCOSmessages. However, this is not yet supported in version 23.

Parameter Value AssignmentThe SERCOS baud rates are set by means of the system parametersA00.110...A00.113 'Baud rate for SERCOS ring 1 ... 4'. Values of 2, 4, 8,and 16 MBaud are allowed. Other entries will result in an error message.

Note: If the MTC 200 is no control hardware of the types PPC-P orPPC-R, it will not react to the parameter. In this case, the baudrate is fixed at 2 MBaud.If the PPC control hardware is not able to work at baud ratesof 8 and 16 MBaud, the control will issue a corresponding errormessage when these values are entered.

Special regulations on exactstop

Restrictions



DiagnosisWhen the control is started up, it is checked whether it supports theparameterized baud rate. If it does not, the axis error message 512 isissued: “SERCOS ring {axis name} axis: baud rate not supported”.

Baud Rates acc. to CNC Control Hardware TypesThe following table shows the baud rates supported by the respectiveCNC controller:

Supported baud rate in MBaud (from 23VRS)CNC controller

2 4 8 16

MTC-P01.2 x

MTC-R01.1, -R02.1 x

PPC-P01.1 x x

PPC-R01.2, -R02.2 x x

Fig. 3-20: Baud rate according to type of CNC controller

Baud Rates acc. to Drive ControllersThe following table shows the baud rates supported by the respectivedrive controller :

Support baud rate in MBaudDrive controllers withSERCOS interface 2 4 8 16

DIAX02 x

DIAX03 x x

DIAX04 x x

ECODRIVE 03 x x

ECODRIVE CS x x x x

INDRADRIVE M x x x x

Fig. 3-21: Baud rate according to type of drive controller

New Functions 23VRS MTC 200 Modified Functions 4-1


4 MTC 200 Modified Functions

4.1 Extension of the PLC Interface Signals

New Process Signal PxxS.MODEn 'Selected Operating Mode'

PxxS.MODEn = Process xx Status Mode Bit n

2 Status signals NC → PLC

PxxS.MODE0PxxS.MODE1

Via the two NC outputs for selection of operating mode, the followingoperating modes can be indicated:

Automatic mode

Semi-automatic mode

Setup mode

• Automatic parameter test

The PxxS.MODEn signals indicate for the PLC the operating mode of thecontrol unit. The signals MODEO and MODE1 correlate in the PxxC andPxxS structures. Depending on the selected operating mode, the statussignals PxxS.MODEn are set according to the following table.

Operating Modes PxxS.MODE0 PxxS.MODE1

Automatic mode 0 0

Setup mode 0 1

Semi-automatic mode 1 0

Automatic parameter test 1 1

Fig. 4-1: Coding of operating modes

The following table shows the addresses and data types of the two statussignals.

Status signal Address Type

PxxS.MODE0 %I*.(yy+12)0.3 BOOL

PxxS.MODE1 %I*.(yy+12)0.4 BOOL

<xx>: Process number<yy>: Byte number of the start address for the respective process number

Fig. 4-2: Signal addresses of PxxS.MODEn

Designation:

Function:

Signal addresses

4-2 MTC 200 Modified Functions New Functions 23VRS


4.2 Modification of the Drive Interface to HNC100

The CNC no longer queries the standard SERCOS parameters S-X-0121'Load gear input revolutions' and S-X-0122 'Load gear output revolutions,as they are not supported by the HNC100.

4.3 Extension of the Boot Loader / Monitor

The most recent version of the boot loader / monitor is BLM02V02.

In connection with the programming software DOLFI 02T08, BLM02V02now supports not only the firmware module PSM01.1 (4 MB FLASH, 64KB AutoStore) but also the new firmware modul PSM02.1 (8 MB FLASH,128 KB nvRAM, type key PSM02.1-128-08).

If the MTC 200 is a controller hardware of the types PPC-P or PPC-R,exceptional processor errors (Exceptions) are now diagnosed not onlyduring startup, but also during the run time of the controller. In case of anexceptional error, the contents of significant registers, the time, theexception no. and the Task_ID are saved in a memory area of thefirmware module (nvRAM). After dumping the memory with <Alt-U>, thisdata helps in trouble-shooting.

DisplayPPC-P

DisplayPPC-R

Meaning / short text

3. ¥03¥ Data Access Exception4. ¥04¥ Instruction Access Exception6. ¥06¥ Alignment Exception7. ¥07¥ Privileged instruction ExceptionH. ¥0H¥ Illegal Instruction ExceptionP. ¥0P¥ Trap ExceptionU. ¥0U¥ Floating Point Exception

Fig. 4-3: New diagnosis messages for exceptional processor errors (run time)

Note: If the controller hangs in these states after it is switched on orduring run-time, there is probably a hardware defect or aninternal error. Please contact the Bosch Rexroth servicedepartment.

BLM02V02

New firmware module PSM02.1

Extended diagnosis forexceptional processor error

New Functions 23VRS MTC 200 Control Firmware Overview 5-1


5 MTC 200 Control Firmware Overview

5.1 Standard MTC 200 Firmware:SWD-MTC200-RUN-21V11-NN-C1,44

Disk 1/2: MTC-P, MTC-R, MTS-P, MTS-R

Component File Description

FWA-MTC200-006-23V04-NN.REL Release file

FWC-CPU06S-006-23V06-NN.IBC CNC firmware MTC-P (max. 4 axes)CPU

FWC-CPU08S-006-23V06-NN.IBC CNC firmware MTC-R (max. 4 axes)

APR FWC-APR06S-003-23V06-NN.IBC APR firmware MTC-P, MTC-R

FWC-PLC02S-M05-06V06-NN.IBC PLC firmware MTS-P02.2

FWC-PLC06S-M05-06V06-NN.IBC PLC firmware MTS-P01.2PLC

FWC-PLC08S-M05-06V06-NN.IBC PLC firmware MTS-R

LIESMICH.TXT Firmware Release Notes, GermanRelease Notes

README.TXT Firmware Release Notes, English

Fig. 5-1: Standard MTC 200 firmware, contents of the 1. firmware floppy

Disk 2/2: PPC-P, PPC-R, MTS-P, MTS-R


FWA-MTC200-006-23V04-NN.REL Release file

FWC-CPU07S-006-23V06-NN.IBC CNC firmware PPC-P (max. 4 axes)CPU

FWC-CPU09S-006-23V06-NN.IBC CNC firmware PPC-R (max. 4 axes)

APR FWC-APR07S-003-23V06-NN.IBC APR firmware PPC-P, PPC-R






Fig. 5-2: Standard MTC 200 firmware, contents of the 2. firmware floppy

5-2 MTC 200 Control Firmware Overview New Functions 23VRS


5.2 MTC 200 Firmware Subject to Export Permit:SWW-MTC200-RUN-23V04-NN-C1.44

Disk 1/3: MTC-P, MTC-R, MTS-P, MTS-R


FWA-MTC200-006-23V04-NN.REL Release file (standard)

FWW-MTC200-106-23V04-NN.REL Release file (export permit)

FWC-CPU06S-006-23V06-NN.IBC CNC firmware MTC-P (max. 4 axes)

FWC-CPU08S-006-23V06-NN.IBC CNC firmware MTC-R (max. 4 axes)

FWW-CPU06S-106-23V06-NN.IBC CNC firmware MTC-P (export permit)CPU

FWW-CPU08S-106-23V06-NN.IBC CNC firmware MTC-R (export permit)

APR FWC-APR06S-003-23V06-NN.IBC APR firmware MTC-P, MTC-R






Fig. 5-3: MTC 200 firmware subject to export permit, contents of the 1.firmware floppy

Disk 2/3: PPC-P, MTS-P




FWC-CPU07S-006-23V06-NN.IBC CNC firmware PPC-P (max. 4 axes)CPU

FWW-CPU07S-106-23V06-NN.IBC CNC firmware PPC-P (export permit)

APR FWC-APR07S-003-23V06-NN.IBC APR firmware PPC-P






New Functions 23VRS MTC 200 Control Firmware Overview 5-3


Disk 3/3: PPC-R, MTS-R




FWC-CPU09S-006-23V06-NN.IBC CNC firmware PPC-R (max. 4 axes)CPU

FWW-CPU09S-106-23V06-NN.IBC CNC firmware PPC-R (export permit)

APR FWC-APR07S-003-23V06-NN.IBC APR firmware PPC-R

PLC FWC-PLC08S-M05-06V06-NN.IBC PLC firmware MTS-R




5.3 Bootloader / Monitor

The current bootloader / monitor is labeled

FWC-PSM01S-BLM-02V02-NN.IBC.

5-4 MTC 200 Control Firmware Overview New Functions 23VRS




6 Overview and Definition of Terms

6.1 New Functions

For the control family TRANS 200, the following new functions have beenimplemented in firmware version 23VRS:

New functions (23VRS) Page

Rounding of NC blocks with axis filter 7-1

Support of DeviceNet 7-3

Fig. 6-1: Overview of new functions

6.2 Modified Functions

For the control family TRANS 200, the following extensions have beenprovided in firmware version and/or the system-specific user interface23VRS:

Modified functions (23VRS) Page

Extension of the PLC interface signals 8-1

Modification of the drive interface to HNC100 8-1

Extension of the Boot Loader / Monitor 8-2

Modification of the I/O configurator in view in DeviceNet 8-2

Fig. 6-2: Overview of the modified functions

6.3 New NC Commands

The following NC commands have been introduced for the function'Rounding of NC blocks with axis filter':

NCComma

ndsMeaning Syntax

RDI Enable / disable rounding of blocktransitions with axis filter, setrounding distance

RDI<Rounding distance>

G10 Disable rounding of blocktransitions with axis filter

G10

G11 Enable rounding of block transitionswith axis filter

G11

Fig. 6-3: Overview of new NC commands

6.4 New Interface Signals to the PLC

Interface signal (descry. + text) Meaning

PSMODEn Selected operating mode The PSMODEn (n=0,1) signals indicate forthe PLC the operating mode of the controlunit.

Fig. 6-4: Overview of new interface signals to the PLC



New Functions 23VRS TRANS 200 New Functions 7-1


7 TRANS 200 New Functions

7.1 Rounding of NC Blocks with Axis Filter

Method of OperationThis function is primarily used to effect quick, time-optimated positioningin rapid traverse rate over several data points. Within a sequence ofmotion commands, the block transitions are rounded by means of aprogrammable axis filter so that the end point of the motion sequence isreached in as short a time as possible.

In this case, the term motion sequence is a sequence of NC blocks of Gcode group 1 (G00, G01, G02, G03). An NC block which does not belongto this group will exit the motion sequence.

Rounding of block transitions occurs only within a motion sequence. Withthe exception of the last data point (target point), it is not necessary tofully hit the data points. The path curve can pass the data point at anparameterizable maximum distance. At the end of the block, the last blockof a motion sequence directly hits the programmed target point positionwithout any rounding.

Rounding of the block transitions is effected by means of a two-step axisfilter with acceleration filter and jerk limiting filter . This axis filter is followsup the interpolator and considers the values in the Cxx.018 'Maximumacceleration' axis parameters, as well as the jerk limiting values enteredin the Bxx.034 'Time constant or acceleration' process parameter.

$�� !!��%��

&�'�%��

��%��

AxisFilter.FH7

Fig. 7-1: Rounding by means of two-step axis filter

In the axis filter, an axis positioning windows delimits the maximumrounding distance RDI (Rounding DIstance). The RDI value defines themaximum distance to the programmed data point for the start of therounding process.

Purpose

Definition

Principle

Rounding with axis filter

Rounding distance RDI

7-2 TRANS 200 New Functions New Functions 23VRS


#�

#�(�

#�(�

RoundDistance.FH7

RDI: Rounding DIstance (NC program)Pn: programmed data point (NC program)PnF1, PnF2: Path points generated by rounding

Fig. 7-2: Rounding with rounding distance RDI

ProgrammingThe process of rounding of block transitions is modally enabled for thecurrent and the following blocks by means of programming of therounding distance RDI (Rounding DIstance). It is effective only in motionblocks of the G code group 1 (G00, G01, G02, G03). In each case, thetransition from the current block to the next block is rounded.

With the 'RDI 0' command, rounding is switched off again.

'RDI=0' is the default state and is saved as active until RDI is overwrittenwith another value. At end of program (RET), or by the BST command or'Control Reset', RDI is automatically reset to default state.

The following syntax is admissible with the RDI command:

• RDI10 ;direct allocation

• RDI 10 ;direct allocation, white space

• RDI=10 ;direct allocation

• RDI=@195 ;Allocation by variable

• RDI=10+@195 ;Allocation by formula

• @195=RDI ;Reading of the currently effective RDI value

N012 G1 X5 Z0N013 G1 X10 Z10 RDI 5 ;Rounding with 5 mmN014 G1 X20 Z15 ;Rounding with 5 mmN015 G1 X35 Z5 RDI 2 ;Rounding with 2 mmN016 G1 X100 Z5 RDI 0 ;Rounding disabled, target point ;is reached at exact position

As an alternative to programming with RDI, the G codes G11 and G10 (Gcode group 23) can be used to enable and disable the rounding function:

• G11: enables the rounding function. The last programmed roundingdistance RDI is effective. With a current rounding distance of 0, G11does not take effect. Programming of RDI with a rounding distanceother than 0 automatically enables G code G11.G11 is saved as active until G10 is enabled.

• G10: disables rounding mode. Programming of 'RDI=0'automatically enables G code G10.G10 is the default state and is saved as active until G11 is enabled. Atend of program (RET), or by the BST command or 'Control Reset',G10 is enabled automatically.

RDI programming

Example for an NC program withRDI

Alternative programming withG10 and G11

New Functions 23VRS TRANS 200 New Functions 7-3


Rounding of block transitions occurs only within a motion sequence. Amotionless block – that is, a block outside of G code group 1 – exits themotion sequence. But G11 remains enabled. At the end of the block, thelast block of a motion sequence hits the programmed target point positionwithout any rounding. This also applies to a motion block in whichrounding has been disabled.

N001 G1 X5 Z0 RDI 5 ;Rounding with 5 mmN002 G1 X10 Z10 ;Rounding with 5 mmN003 G1 X20 Z15 ;Exact target point position is reachedN004 M50 ;Motionless blockN005 G1 X35 Z5 RDI 2 ;Rounding with 2 mmN006 G1 X100 Z5 RDI 0 ;Rounding disabled, target point ;is reached at exact positionN100 G1 X200 Z30

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)��)��

)��

)��

PosSequence.FH7

Fig. 7-3: Example for rounding within a motion sequence

Limits and Special RegulationsWhen rounding is active and exact stop (to be enabled via G61 or in G00blocks) is enabled at the same time within one motion sequence, exactstop is not effective. This behavior does not correspond to the DINdefinition for the G00 rapid traverse rate block, when the next block is amotion block as well. Block transition to the next block is rounded. At theend of the motion sequence, reaching of the positioning window isinterrogated once more.

For rounding with axis filter, there are some restrictions:

• Rounding depends on velocity. The rounded path curve at the blocktransition varies dependent on the velocity (override).

• When traversing straight lines, parallel offset is possible.

• With circles, the deviations from the original curve are greater thanwith straight lines.

7.2 Support of DeviceNet

The field bus interface DeviceNet is not dependent on the firmware.Because this functionality is dependent on the user interface, the newfunction is described in the Chapter “Modified Functions”.

Behavior at the end of a motionsequence and on disabling of

rounding

Example for an NC program of amotion sequence

Special regulations on exactstop

Restrictions

7-4 TRANS 200 New Functions New Functions 23VRS


New Functions 23VRS TRANS 200 Modified Functions 8-1


8 TRANS 200 Modified Functions

8.1 Extension of the PLC Interface Signals

New Process Signal PSMODEn 'Selected Operating Mode'

PSMODEn = Process xx Status Mode Bit n

2 Status signals NC → PLC

PSMODE0PSMODE1

Via the two NC outputs for selection of operating mode, the followingoperating modes can be indicated:

• Automatic mode

• Semi-automatic mode

• Setup mode

The PSMODEn signals indicate for the PLC the operating mode of thecontrol unit. The signals MODEO and MODE1 correlate in the PC and PSstructures. Depending on the selected operating mode, the status signalsPSMODEn are set according to the following table.

Operating Modes PxxS.MODE0 PxxS.MODE1

Automatic mode 0 0

Setup mode 0 1

Semi-automatic mode 1 0

Fig. 8-1: Coding of operating modes

The following table shows the data types of the two status signals.

Status signal Type

PSMODE0 BOOL

PSMODE1 BOOL

Fig. 8-2: PSMODEn data type

8.2 Modification of the Drive Interface to HNC100

The CNC no longer queries the standard SERCOS parameters S-X-0121'Load gear input revolutions' and S-X-0122 'Load gear output revolutions,as they are not supported by the HNC100.

Designation:

Function:

Signal addresses

8-2 TRANS 200 Modified Functions New Functions 23VRS


8.3 Extension of the Boot Loader / Monitor

The most recent version of the bool loader / monitor is BLM02V02.

In connection witht he programming software DOLFI 02T08, BLM02V02now supports not only the firmware module PSM01.1 (4 MB FLASH, 64KB AutoStore) but also the new firmware modul PSM02.1 (8 MB FLASH,128 KB nvRAM, type key PSM02.1-128-08).

Now, exceptional processor errors(Exceptions) are diagnosed in theTRANS 200 not only during start-up but also during run time of thecontroller. In case of an exceptional error, the contents of significantregisters, the time, the exception no. and the Task_ID are saved in amemory area of the firmware module (nvRAM). After dumping thememory with <Alt-U>, this data helps in trouble-shooting.

Display PPC-R Meaning / short text¥03¥ Data Access Exception¥04¥ Instruction Access Exception¥06¥ Alignment Exception¥07¥ Privileged instruction Exception¥0H¥ Illegal Instruction Exception¥0P¥ Trap Exception¥0U¥ Floating Point Exception

Fig. 8-3: New diagnosis messages for exceptional processor errors (run time)

Note: If the controller hangs in these states after it is switched on orduring run-time, there is probably a hardware defect or aninternal error. Please contact the Bosch Rexroth servicedepartment.

8.4 Extension of the I/O Configurator / Field Bus Configuratorof the WinTRANS User Interface

The I/O configurator is comprised in the system-specific features of theGUI. For this reason, the extensions of the I/O configurator are describedin this chapter and not together with the general GUI extensions. As avery special characteristic, a new field bus type – DeviceNet – has beeninstalled.

Overview of Field Bus ConfiguratorThe required IO medium (field bus type or RECO) can be selected usingthe field bus configurator. The width of the IO area can be specified afterthe IO medium has been selected.

Note: When IO medium RECO is selected, the width is determinedby the configuration of the I/O modules.

When configuring a field bus, multiplex channels for data exchangebetween the TRANS 200 and a PLC can also be configured in addition tothe I/O area.

BLM02V02

New firmware module PSM02.1

Extended diagnosis forexceptional processor error

New Functions 23VRS TRANS 200 Modified Functions 8-3


T200IOC_Fieldbus_gr.bmp

Fig. 8-4: Field bus configuration

Selecting the IO MediumThe selection of the IO medium specifies which medium is used tocommunicate with the TRANS 200 (field bus or RECO).

The following possibilities are available in the selection box for the IOmedium:

• --- (no IO medium)

• RECO

• Interbus

• ControlNet

• Profibus

• DeviceNet

Configuring the Field BusAfter a field bus has been selected as the IO medium, various settingscan be made for the selected field bus type in the correspondingconfiguration dialog box.

Range of Functions for Field Bus ConfigurationThe required field bus type can be selected via the IO Medium selectionbox. Various settings can be made, depending on the field bus inquestion:

• Setting the field bus address (depending on the type of field bus)

• Setting the transmission rate (depending on the type of field bus)

• Width of the digital input and output area

• Number of multiplex channels

• Configuration of multiplex channels (setting the data width)

8-4 TRANS 200 Modified Functions New Functions 23VRS


Field bus Input width(bytes)

Output width(bytes)

Field busaddress

Baudrate(kbaud)

Interbus 0, 2, 4, 6, 8, 10,12, 14, 16, 18,20, 24, 28, 32

0, 2, 4, 6, 8, 10,12, 14, 16, 18,20, 24, 28, 32

--- 500

ControlNet 0-140 0-140 1-99 5000

Profibus 0-128 0-128 1-125 automatic

DeviceNet 0-140 0-140 0-63 125, 250,500

Fig. 8-5: Configuration options for the field bus types

The configured input and output area is shown as a graph in the lowerpart of the screen.

Note: If you place the mouse pointer on a field in the input or outputarea of the I/O map, additional information on this field isdisplayed.

Selecting the Field Bus AddressThe field bus address can be set as described below:

1. Select the selection box for the field bus address with the mouse andthen select the address.

– or –

� Press the <TAB> button so long until the selection box for the fieldbus address is selected.

2. Select the required field bus address using the arrow keys.

Note: The selection box for the field bus address is active only forfield buses that permit selection of a field bus address.

Setting the BaudrateThe Baudrate in kBaud selection box can be used to set the desiredtransmission rate of the field bus as follows:

1. Select the selection box for the baud rate with the mouse and thenselect the required baudrate.

– or –

� Press the <TAB> button so long until the selection box for thebaudrate is selected.

2. Select the required baudrate using the arrow keys.

Note: The selection box for the baudrate is active only for field busesthat permit selection of a baud rate.

New Functions 23VRS New MTGUI Functionalities 9-1


9 New MTGUI Functionalities

9.1 NC Programming

In the setup lists, the target data of the tools are stored which are requiredfor successful processing of one or several NC program. During NCprogram start, the CNC equipment check tests whether the actual data ofthe tool list is within the target range defined in the setup lists.

Setup lists can be allocated to individual NC programs (program-specificsetup list), or to an NC program package (station-specific setup list).

Setup lists do not have a data node of their own; they are handledtogether with the NC package/NC program(copy/cut/paste/import/export/download).

Access the setup list editor through a separate F key in the list of packagecontents. The setup list editor can also be opened from the NC programeditor; this allows for editing of NC program and setup list at the sametime.

The setup list editor has two view modes: the list view (list of all tools) andthe target data view (editor for target data of a selected tool).

Use this function to define tolerances within the basic hole/basic shaftsystem DIN 7154/5, and to transfer the computed results into the NCprogram.

Shaft / hole

In the dialog, use <F2> “Shaft/hole” to differentiate between machining ofa hole and a shaft.

Nominal dimension

Input of the nominal dimension in mm in the range from 1 to 500 mm.

Fit

Compute the potential result by selecting the desired fit tolerance the theF keys <F3> to <F6>. The selection is based on the “Basic hole” – “Basicshaft” system according to DIN 7154/5 T1.

Result

Press <F7> “Select result” to see preselection option for “Nominaldimension” and, as a sum of nominal dimension and tolerance, “Plusdeviation”, “Minus deviation” and “Mean deviation”.

Cancel

Exit the process and return to the NC editor through <F8> “Cancel” or via“ESC”.

Accept

Press the <F9> “Accept” key to copy the preselected result value into thelast cursor position space in the NC program.

Use this function to insert any number of – previously defined – blocksinto the NC program.

New definition:

With <F2> “New NC sequence“ new block sequences can be defined. Adialog window opens; enter the designation of the NC sequence into thetop space, the respective content in the bottom space. The content cancomprise any number of blocks. Language-dependent texts or commentswithin the designation and/or the NC block content can also berepresented by tokens. In the place of a concrete text for NC sequencecontent or NC sequence designation, e.g. “Z333 (pallet change)”, a

Setup lists

Master dimension

NC sequences

9-2 New MTGUI Functionalities New Functions 23VRS


language-dependent text can be defined through a token – number%TNxxxx%, e.g.: "Z333 (%TN7%)". To this effect, the texts allocated toeach token must be defined in the file...\Projekt_xxx\Customdata\Text\yy\NCSequenceUser_yy.txt(yy=language ID, e.g..: DE for German). A maximum of 10 tokens per lineis allowed.

The new sequence is always inserted into the designations list before theposition selected with F6. Confirm the NC sequence with “OK”, exit theprocess with “ESC” or “Cancel”.

If the online file that is indicated by the symbol is exported, the offsetvalues of all existing offset tables of all axes are read from the control andentered in the online file. The online file receives the current time stampand is stored according to the selection made in the dialog box.

The offset values of all existing offset tables of all axes of the activeprocess are inserted into an offset file with the name “SAVE-Date_Time”.“Rename” can be used to give the upload file another name.

If the online file that is indicated by the symbol is copied, the offsetvalues of all existing offset tables of all axes are read from the control andentered in the online file. The online file receives the current time stampand is stored in the clipboard.

If the online file that is indicated by the symbol is exported, thecurrent values of all NC variables of the file are read from the control andentered in the online file. The online file receives the current time stampand is stored according to the selection made in the dialog box.

The values of NC variables 0 - 255 of processes 0 - 6 are inserted into anNC variable file with the name “SAVE-Date_Time”. “Rename” can beused to give the upload file another name.

If the online file that is indicated by the symbol is copied, the currentvalues of all NC variables of the file are read from the control and enteredin the online file. The online file receives the current time stamp and isstored in the clipboard.

If the online file that is indicated by the symbol is exported, thecurrent values of all NC events of the file are read from the control andentered in the online file. The online file receives the current time stampand is stored according to the selection made in the dialog box.

The values of NC events 0 - 31 of processes 0 - 6 and external events 0 -31 are inserted into an NC event file with the name “SAVE-Date_Time”.“Rename” can be used to give the upload file another name.

If the online file that is indicated by the symbol is copied, the currentvalues of all NC events of the file are read from the control and entered inthe online file. The online file receives the current time stamp and isstored in the clipboard.

If the online file that is indicated by the symbol is exported, thecurrent values L1, L2, L3 and R of all D corrections of the file are readfrom the control and entered in the online file. The online file receives thecurrent time stamp and is stored according to the selection made in thedialog box.

Values L1, L2, L3 and R of D corrections 1 - 99 are inserted into a Dcorrection file with the name “SAVE-Date_Time”. “Rename” can be usedto give the upload file another name.

If the online file that is indicated by the symbol is copied, the currentvalues L1, L2, L3 and R of all D corrections of the file are read from thecontrol and entered in the online file. The online file receives the currenttime stamp and is stored in the clipboard. .

Using this function, an NC program package can be exported to aphysical storage medium. The exported file is generated in Zip format. All

Export offsets

Upload offsets

Copy offsets

Export variable

Upload variable

Copy variable

Export events

Upload events

Copy events

Export D corrections

Upload D corrections

Copy D corrections

Export NC packages

New Functions 23VRS New MTGUI Functionalities 9-3


program- or station-specific setup lists are included in the export(depending on the setting in the machine parameters).

When exporting to a diskette, an archive is created for all the storagemedia, so that large packages can be distributed over several diskettes.Messages appear indicating that the corresponding diskette of the dataset should be inserted.

Using this function, an NC cycle package can be exported to a physicalstorage medium. The exported file is generated in Zip format. All thelanguage files and images that belong to the cycles are included in theexport to the archive.

When exporting to a diskette, an archive is created for all the storagemedia, so that large packages can be distributed over several diskettes.Messages appear indicating that the corresponding diskette of the dataset should be inserted.

Importing is possible for an NC package that was exported in Zip formatin Version V23 or later. The extension is *.npc.

Any existing program- or system-specific setup lists are included in theimport (depending on the setting in the machine parameters).

Using this function, an NC cycle package can be imported to the packagedirectory.

Importing is possible for a cycle package that was exported in Zip formatin Version V23 or later. The extension is *.cpc.

The language files that belong to each cycle are imported together withthe cycle.

A search is made in the archive to be imported for graphics used in theNC cycle; these are also included.

The global header is independent of the corresponding application.Applications that previously had no header (e.g. Tool Measuring) nowalso have one.

The global header always visualizes the active process selected in thecontrol selection dialog box.

Further advantages of a global header:

• A larger selection of predefined headers.

• Easier configuration of the header. The user can define his ownheaders and visualize his own elements.

• Certain displays that were previously missing are now shown. (Thisincludes the long form of the NC diagnosis and Provi messages.)

GNP represents an efficient and highly precise tool that supports NCparts programming. It enables the user to easily define geometricelements, such as contours, and their machining.

GNP is optional and required a corresponding license. The license can beordered under Main Menu/Start Setup/License Management/Code.

GNP instructions are divided into two main groups:

• Geometry definitions

Geometry definitions determine the location of machining (e.g.contours). They have only the defined character within the NCprogram.

• Machining cycles

Machining cycles are technology subprograms with which you canimplement the actual machining procedure (e.g. rotating, roughmachining/finish machining).

Simulation is an effective graphic aid for visually checking subprograms,with an emphasis on geometric aspects, such as the dimensional

Export of NC cycle packages

Import NC packages

Import of NC cycle packages

Global header

Graphic NC programming

NC simulation

9-4 New MTGUI Functionalities New Functions 23VRS


accuracy of the workpiece, possible collisions, the contact conditions ofthe workpiece, etc. Therefore, it is workpiece simulation.

The simulation is based on the interpretation of the subprogram outside ofthe CNC and is to a great extent independent of its operating status.The movement instructions are converted into an animation which showsthe workpiece in the corresponding prefabrication status, the tool edgeand, if required, line graphics corresponding to the programmedmovement instructions.

Simulation is an optional component for the MTC 200 user interface andcan be ordered.

9.2 NC Screen

The multi-station indication offers an overview of diagnosis and NC datafor several local controllers or processes of a machine. As four to eightprocesses can be shown on a screen, the multi-station indication providesfor a compact overview of several processes (here, the processes arealso designated as 'stations'). By navigating within the list, the multi-station display can also be used to select a controller or process and toaccess NC data.

On the NC screen, view the active NC programm of the active NCmemory in source code through the indication “Active NC program(source)“. Thus, processing of the NC program can be viewed per blockin single or subsequent block mode. The cursor position is behind theactive NC block. The neighboring, previous and subsequent NC blocksare indicated as well. The number of the indicated NC blocks depends onwindow size. The indicated block sequence corresponds to the notation inthe NC program.

9.3 Tool Management

In flexible manufacturing systems, machining centers, but also in transferlines, the 'Tool group management' function allows for the definition oftool groups. These groups are used to combine all tools required formachining a workpiece in one group. As only tools from the active groupare used, the paths required on tool change are defined and as short aspossible. A tool group can have sister groups. Each sister group of a toolgroup consists of identical tools (number, T no. and duplo no.). Seechapter 3.1 Tool Group Management.

The user-defineable tool list is an additon to the editable tool list providedin version 22. Here, users can define their own editable tool list, in excessof the predefined tool list types as geometry, tool life, user data, andstatus list. This user-defineable tool list has the same scope of functionsas the standard tool lists.

Multi-station indication

Indication of source block

Tool group management

User- defineable tool list

New Functions 23VRS New Functions of the WinHMI User Interface 10-1


10 New Functions of the WinHMI User Interface

10.1 Header Configuration

In version V23, the header that is displayed in all WinHMI screens can befreely configured. Using various dialog boxes, the contents of the headercan be easily edited by inserting and freely positioning any ActiveX controlelements. Editing of the header occurs analogously to the ActiveX specialscreens familiar from version V22, i.e. after switching to the Edit mode,selection dialog boxes support the insertion and editing of the controlelements. In turn, each individual control element can be adapted usingassociated editing dialog boxes. The control elements familiar fromversion V22, as well as any third-party elements, can be incorporated intothe header. Furthermore, a new control element is available in the HeaderControl, which is used especially to display commonly required systeminformation such as the control name, the operating mode and diagnosismessages. During runtime, the modifications are effective immediatelyafter exiting the Edit mode. In addition, several different headerconfigurations can be created; the user can switch between these in Editmode.

The configuration is called from the Edit mode (<ALT>+<E>) of anActiveX screen (e.g. OP2 – Machine overview). In this mode, the F keysare assigned with the editing functions for ActiveX screens. Key F9 opensa dialog box with which the header can be edited.

Header_Aufruf.bmp

Fig. 10-1: Calling the header configurator

In the first call, the supplied standard header is selected; it has thefollowing structure:

Overview

Calling the header editor

Standard header

10-2 New Functions of the WinHMI User Interface New Functions 23VRS


header_gr.bmp

(1): Selected control(2): Selected module(3): Primary mode of operation(4): Secondary mode of operation(5): Warnings(6): Logo(7): Device status (online/offline)

Fig. 10-2: HMI header

Creating a User HeaderThe “New” function permits the creation of a new header. An emptyheader appears in which any ActiveX elements can be inserted. The listshows all existing header configurations; the user can switch betweenthese by selecting the list entry.

Header_Auswahl.bmp

Fig. 10-3: Switching between planned header configurations

Ways in which the header can be edited include selecting a backgroundcolor and inserting ActiveX control elements. The inserted elementsdetermine the appearance and functions of the header.

Display objects can be added using the "Insert" function. The dialog boxthat opens provides various ActiveX elements which can be inserted inthe header. Label Control, which was already included in version V22 togenerate ActiveX special screens, can be used to display static ordynamic (i.e. process variable-dependent) texts or graphics. HeaderControl is available to display various system information (see below).

Header Control is used to display various system information that can beselected using the “Type” setting.

Creating your own header

Editing possibilities

Inserting and editing displayobjects

Configuring a Header Controldisplay object



Header_Prop_Allgemein.bmp

Fig. 10-4: Editing dialog box of the Header Control

The following type settings can be made on the "General" tab (see figureabove):

• Control name

• Module name

• Process name

• Control address

• Control address and process number

• Operation mode

• NC diagnosis

• NC message

• ProVi warning

• Data source logo

• LEDs

• Connection status logo

• Customized

• Active NC program and memory

• ProVi error / message / start requirement / setup diagnosis

Additional settings must be made depending on the selected type. Thetext and background color can be set in all the types, as can the font andorientation of the text.

In addition, the "Position" tab can be used to set the arrangement and thescaling behavior of the display objects at different resolutions, as is thecase for ActiveX special screens.



10.2 ActiveX Special Screens

The editing possibilities for ActiveX special screens have been expanded.It is now possible to select several control elements and to move, deleteor copy them simultaneously. In addition, alignment functions are nowavailable.

The configuration of the individual control elements was modified in termsof configuring the process connection; a new, uniform editor can now becalled at any location where a process variable is to be configured.

Furthermore, it is now possible to connect the process of elementproperties in ActiveX special screens; this allows individual properties,such as the visibility or position of a control element, to be linked to aprocess variable. This is used especially for connecting the process orremote controls which do not have their own process connection.

In addition, new ActiveX control elements are available:

• Button Control: Button for describing variables when a key is pressed.

• Listbox Control: Display of a specific process variable-dependent listentry and influencing of the variable value

• Bar Control: Visualization of a variable value as a bar graph withoptional scaling

• Diagnosis Control Diag+: Display of Interbus diagnosis information

New Editing FunctionsThe editing functions have been expanded to permit ActiveX specialscreens to be generated easily. It is now possible to select severalelements.

By using the mouse, you can select several elements and move, copy,delete or align them with each other. You can select several elements bydrawing borders around the elements desired while clicking and holdingthe left mouse button. You can also use the following shortcuts to addsingle elements to or remove single elements from the selection list:

<Left click> Select a single element (all other highlights areremoved). If you click anywhere outside of theelements, all highlights are removed.

<Left click>+<CTRL>

Adds the element selected to the selection list.

<Left click>+<SHIFT>

Adds the element selected to the selection list. If theelement you clicked on has already been selected, it willbe removed from the selection list.

<CTRL>+<A> Selects all elements that are present.

The elements selected can be aligned to one of their sides. The functionsrequired are provided in a context-sensitive menu, which can be openedby right-clicking or by pressing the <SHIFT>+<F10> keys. The elementsurrounded by filled markers is the reference element used to align allother elements. While the elements are aligned, this element does notchange its position. If you wish to use a different reference element, clickit while pressing and holding the <CTRL> key.

Overview

Selecting elements

Aligning elements



ElementeAusrichten.bmp

Fig. 10-5: Aligning an element

Process Connection of Remote ControlsEach inserted ActiveX control element now has a “Process connection”tab in the corresponding Properties dialog box. This is used todynamically modify the properties of the control element during runtime.The current value is supplied by an FI command which can be assignedto any property. This allows the user to create his own ActiveX controlelements and to integrate them into the WinHMI interface using anActiveX screen without having to implement his own process connection.

The tab lists all the properties of the corresponding control element; theproperties that are displayed depend on the control element. Themeaning of the individual properties can be found in the description of theremote control. Only properties “X”, “Y”, “Width”, “Height” and “Visible” areshared by all control elements; these are used to specify the position, sizeand visibility.

An FI command can be configured or removed using the two buttons nextto the Properties list. The Item Editor, which is described in the nextsection, is used to configure FI commands. All properties are updatedwith the set cycle time during runtime.

Axc3rdParty.bmp

Fig. 10-6: Process connection of remote controls



Item EditorAll WinHMI control elements are connected to the process so that aprocess variable is accessed in order to read or write to a value. Toachieve this, the appropriate FI command must be configured on the“Data source” tab of the particular control element. It can either beentered directly or created by means of the new editor. After theconfiguration is completed and the editor is exited, the associated FIcommand is generated and entered in the editing field from which theeditor was called.

This is the field where the number of the control on which the processvariable is implemented is always entered. If a network is configured anda remote control is to be accessed, the FarDevice number is to beentered in this field.

Select the desired variable type from the “Category” drop-down listbox.This selection affects the generated FI command. Depending on thecategory selected, additional information is required, which will bedescribed below.

Depending on the variable category, various additional information maybe required: If “PLC variable” is selected, program and variable namesare required; NC variables and NC events require the process andvariable number; and the drive address, parameter number and elementcode must be entered in the case of Sercos parameters.

ItemEditorSPS.bmp

Fig. 10-7: Item editor for the “PLC variable” category

Control

Category

Variable definition



New ActiveX Control Elements

Button ControlThe "Button" control element is used as a display and control object. Atext (language-dependent, if necessary) or a bitmap can be configured forthe display. It is also possible to change the presentation of the Buttonelement in relation to an NC variable, an NC event, or a PLC variableduring runtime. The essential function, however, is to change a variableby clicking on the Button element. In addition, a user-defined event can beinitiated, which can then be used to trigger Edit and Listbox Controlelements.

AxcBtn.bmp

Fig. 10-8: Button control element

All configurations required for the control element are made via theProperties dialog box pertaining to that control element. The Propertiesdialog box has several tabs.



"General" tab (Button Control)In this tab, the element can be labeled. Either a fixed or a language-dependent text or a bitmap, as well as the alignment of the text and thefont to be used, can be selected here.

AxcBtnAllg_gr.bmp

Fig. 10-9: ”General” tab (button control)



"Data Source" tab (Button Control)This tab can be used to configure the connection to the process. Thisdefines the read command that is required for a dynamic display, as wellas the write command if the Button Control is to be used to specifyprocess variables.

In particular, this tab is used to define the function of the Button Controlthat is to be executed when the button is pressed:

This area permits configuration of the function of the control element. Thismay be changing a variable or initiating a user-defined event. Thevariables defined in the “Process variable” box are used for the functionswhich change a variable value. Depending on the function selected,various additional entries may be required: Here, it is possible to make adescription with a fixed value, to add a value, to invert and to copy a valuefrom another process variable. In addition, the “Event” function can beuse to transmit a trigger pulse to other control elements in order to inducethem to write their values (see Edit Control and Listbox Control).

AxcBtnDatSet_gr.bmp

Fig. 10-10: “Data source” register for the “Set” function

Function



"Output Format" tab (Button Control)This tab permits configuration of a variable-dependent display of theelement. This means that, if specific values or value ranges of theprocess variable are concerned, a text or graphic that is different fromthat configured on the “General” tab is displayed on the button element.

Configuration consists of the definition of a list of variable values and theassociated output. A text (language-dependent, if necessary) or a bitmapcan be selected here. In place of single values, value ranges can also bedefined so that a certain text or graphic is output if the variable value iswithin certain limits.

AxcBtnDatAusWert_gr.bmp

Fig. 10-11: ”Output Format” tab for the ”Value” setting



Listbox ControlListbox Control is used to display and edit one process variable. Itcontains several user-defined text entries, where each entry correspondsto a variable value. At runtime, the text line whose value is equal to thecurrent value of the process variable is highlighted. Moreover, ListboxControl writes a new value to the process variable if a different text line isselected. This is a value which is linked to the text selected. It is alsopossible to configure a string variable to which the text of the entryselected is written.

Listbox Control can be configured as a normal list displaying all existingentries at a glance or as a combo box which always displays the currentline only. The following figure shows both variants.

AxcListBsp.bmp

Fig. 10-12: Display variants of the listbox control

A list control is configured in the editing mode of an ActiveX screen. Thenthe Properties dialog, which comprises several tabs, can be opened.



"General" tab (Listbox Control)The display of an element can be specified in this tab. In addition to thefont and the orientation, particularly the element type can be selected: Forthe "Listbox“ type, several entries can be displayed as a table. For acombo box, only the selected entry is displayed.

AxcListAllg_gr.bmp

Fig. 10-13: ”General” tab (listbox control)



"Data Source" tab (Listbox Control)This tab is provided for configuring the connection of the Listbox Controlsto a process variable. From this variable, the value is read in cycles and, ifchanges are made, a different list entry will be focussed. A new value iswritten to the same variable when a list entry is selected.

If, when selecting a list, you wish not only the list index to be written to theprocess variable specified, but also the pertinent text to be transferred tothe PLC, you can enter a PLC variable in this input field. This must be avariable of the “STRING” type. Whenever you select a list entry, thisvariable is updated to the appropriate content (also see “Trigger” tab).

AxcListDatSPS_gr.bmp

Fig. 10-14: ”Data source” tab (list control)

Write text selected to processvariable



"List Entries" tab (Listbox Control)This tab is provided for defining the content of the Listbox Control. Here,you can add, edit or delete single list entries. Each list entry consists of aunique value and an associated list text. This text can be defined orlanguage-dependent. The corresponding text is displayed in the ListboxControl when the defined process variable takes on the given value.Conversely, the value is written to the variable when a list entry isselected.

AxcListEintrag_gr.bmp

Fig. 10-15: ”List Entries” tab (listbox control)



"Trigger" tab (Listbox Control)The settings made in this tab affect the time of writing of the new variablevalue if a list entry has been selected. This setting also applies to theadditional PLC variable (see “Data source” tab) if one is specified. Thevariable read process and, thus, the display are not affected by thissetting.

If you select “None”, the value is written immediately after having beenselected (without having to press the <ENTER> key).

The new value is written only if the trigger variable entered changes from0 to 1.

The new value is written only if a button control provided on the ActiveXscreen is activated, triggering the event entered here (also see “ButtonControl”).

AxcListTrigEvent_gr.bmp

Fig. 10-16: ”Trigger” tab (listbox control)

None

Process variable

Event



Bar ControlBar Control is used to display the value of a process variable as a bargraph. This has numerous possible settings for adapting the display andthe dynamic behavior to the current requirements. These include the barorientation, the display of a scale and changes in color when certain valueranges are attained.

AxcBar.bmp

Fig. 10-17: Bar Control element

Bar Control is configured in the Edit mode of an ActiveX screen. Theproperties dialog box, which is divided into several tabs, can be openedby double-clicking it or by pressing “F8”.



"General" tab (Bar Control)In this tab, the settings for the bar direction, the labels and the frame ofthe element can be made. Furthermore, it can be specified whether thevariable value is to be displayed as an absolute or a percentage value.Optionally, a scale with a user-defined division can be drawn.

AxcBarAllg.bmp

Fig. 10-18: ”General” tab (bar control)



"Output" tab (Bar Control)This tab contains all the settings that affect the dynamic representation ofthe progress bar. It can be specified here whether the variable value is tobe drawn as a monochrome bar or as a graph. If a graph is selected, onlya portion of the graph is drawn during runtime as a progress bar that isproportional to the variable value.

In addition, limit values at which the representation of the progress barchanges if they are crossed can be defined.

AxcBarAusgabe.bmp

Fig. 10-19: "Output" tab (Bar Control)



Interbus Diagnosis with Diag+In version 23V02, Diagnosis Control Diag+ is available for Interbusdiagnostics. This is diagnostic software that provides information aboutthe current status of the bus participants (e.g., switched on or off) andstatistical data about the quality of the data transfer on the bus line.

In order to be able to use the Interbus diagnosis, Diagnosis Control Diag+must be inserted into an ActiveX special screen. This occurs, as for otherActiveX elements, by selecting the desired special screen, activating theEdit mode (with <ALT>+<E>) and selecting function “Insert element”.Then element “Diag+” can be selected in the selection dialog box andpositioned in the special screen.

DiagPlus.bmp

Fig. 10-20: Diagnosis Control Diag+:

Additional InnovationsIn addition to the new functions, the following modifications have beenmade in ActiveX screens:

An update time must be read in all control elements that read a valuefrom a process variable. Previously, the “Group” setting was available forthis. Now the “Update” field, with which the update time can be selecteddirectly, is used to make this setting. The times 200, 500, 1000, 2000 and5000 ms are offered by default in the list. However, user-defined updatetimes can be added.

As a configuration aid, the Status Control Properties dialog box showswhich PLC structure is expected for the variable that is to be entered.

The template editor is available to generate user-defined Status Controls.It is now possible to orient the text separately in each individual field here.

As an option, the device and module number in which the error hasoccurred can also be displayed in the Diagnosis Control. In addition, thefont can also be edited.

Updating process variables

Status Control

Template editor for StatusControls

Diagnosis Control



10.3 Configuration

F Key ConfiguratorA special dialog box is available for key assignment in NC screens; theuser can use it to make changes to the labels and functions of thecorresponding F keys. It is called in the Edit mode of an NC screen viacontextual menu “F key assignment” and pressing the “Advanced” button(see the documentation “NC Screens”, “NC Screen Configurator” chapter,“Dialog Boxes” section).

The F key configurator can be used to select an existing key configurationand to modify it accordingly. When the dialog box is closed, an FKL file isgenerated; this is required by the NC screen to display the F keys.

The dialog box consists of a selection list for the FKL file, a way of settingthe language file, a key preview of all the F keys of the selected file aswell as three tabs that are used to edit the F key settings.

F-Konfigurator.bmp

Fig. 10-21: F-key editor



PLC Variable Selection Dialog BoxPLC variables must be configured at various locations in the WinHMI userinterface; these variables are accessed during runtime to display ormodify their contents. The PLC variable can be entered directly in thecorresponding configuration dialog boxes if the exact variable name isknown. One alternative is using the new PLC variable selection dialogbox, which can be called from all positions where a PLC variable must beconfigured. This lists all the PLC variables defined in the PLC in ahierarchic structure, permitting a PLC variable to be selected by clickingthe mouse. When the dialog box is closed, the selected PLC variable istransferred to the entry field.

SPS-Variablenauswahl.bmp

Fig. 10-22: PLC variable selection dialog box



New Functions 23VRS Modified Functions of the WinHMI User Interface 11-1


11 Modified Functions of the WinHMI User Interface

11.1 Configuration

M Key EditorCompared to version 22V16, modifications of the functions and datastorage have been made in the M key editor.

In order to make new M key configurations in version 22V16, the useralways had to select whether the M keys were to be used in the HMIinterface or in the NC interface because different data formats were usedin the two interfaces. In addition, when a function was assigned to an Mkey, only a portion of all available function calls could be selected.

This setting is no longer required; it has been removed from the editor.Now the editor's appearance is uniform, regardless whether it is startedfrom the HMI or the NC interface. Furthermore, all function calls can nowbe used in both interfaces.

In version 22V16, all required M key levels were stored in one FKL file,even if following levels were planned. This means that it often happenedthat several levels were contained in a file. The disadvantage of this wasthat, when an M key level that was used several times as a following levelwas modified, all the FKL files that contained a reference to the modifiedlevel had to be regenerated.

In version 23V02, each M key level is stored in an individual FKL file. Thiseliminates the described disadvantage. Note that when the userselectively transfers his own configurations to another device, the FKLfiles of the following levels must now be copied fromCustomData\Resource.

Destination system

Data storage

11-2 Modified Functions of the WinHMI User Interface New Functions 23VRS


New Functions 23VRS WinPCL Overview 12-1


12 WinPCL Overview

12.1 General

In Version 23, the activities in developing the PLC programming interfacewere focused on a significant improvement of performance (onlinemodifications), as well as the improvement of the operability of the PLCprogramming interface.

12.2 System Error Indication in WinPCL

As with the other components of the MTGUI, it is now possible to call upsystem error indication from the Win PCL programming interface(identical information content).

This function is called up via Extras\System error indication. The functionis not called up via <ALT>+<F2> as this combination is already reservedfor calling up the declaration editor.

12.3 Integration Fieldbus Configurators (CMD, SyCon…)

From Version 23, the field bus configurators can be called up as integraltools from the PLC programming interface. As a precondition, therespective configurator must have been installed during the installation ofthe total system.

The following configurators can be implemented:

• Interbus

• Phoenix Contact (CMD)

• Hilscher (Sycon)

• Profibus

• DeviceNet

• AS-Interface

via the menu item Extras\Fieldbus configuration.

The above concerns only the call-up; accordingly, the operation of theindividual configurator does not change.

12.4 New Functions and Function Blocks for Fieldbusses

Functions and FB for the ASI BusThe following functions and function blocks have been implemented forthe ASI bus:

Name S#ErrorType Comment

ASIM_RESET -334 The ASIM_RESET system function allows the PLC user to activate anddeactivate data exchange with the slaves on channel 1 and channel 2 of the ASIbus.

ASIM_START -331 The ASIM_START system function allows the PLC user to switch data exchangewith the slaves on channel 1 and channel 2 of the ASI bus from 'STOP' status to'RUN' status.

12-2 WinPCL Overview New Functions 23VRS



ASIM_STOP -332 The ASIM_START system function allows the PLC user to switch data exchangewith the slaves on channel 1 and channel 2 of the ASI to 'STOP' status. In thiscondition, no I/O data exchange occurs.

ASIM_STATE_CH1 -333

ASIM_STATE_CH2 -335

The system functions ASIM_STATE_CH1 and ASIM_STATE_CH2 allow readingof status information of the ASI master for the respective channel.

ASIM_SLDIAG -336 With the system function block ASIM_SLDIAG, diagnostic information on theslave is read which is addressed via the SLV_ADR and CHANNEL inputs.

Fig. 12-1: Functions and FBs for the ASI bus

Function Blocks for the BT BusThe following functions and function blocks have been implemented forthe BT bus:


BT_START -217 The system function BT_START makes it possible for the PLC user to switch theBT bus from the 'STOP' condition into the 'Run' condition. After a Bus erroroccurs, this function is required to restart the communication if no error isdisplayed.

BT_STOP -218 The system function BT_STOP makes it possible for the PLC user to switch theBT bus into the 'STOP' condition. In this condition, no I/O data exchange occurswith the control panels.

BT_STATE -219 As a diagnosis function, the system function BT_STATE supplies the currentoperating condition of BT bus.

Fig. 12-2: Functions for the BT bus

Function Blocks for Interbus PCPBased on the PCP services, the following functions and function blockshave been implemented for the Interbus:


PCP_INITIATE -324 With this service, a logic connection between master and slave is initiated. Thesettings on size of transmitter and receiver buffer and the supported services arechecked for conformance.

PCP_READ -326 With this service, the values of objects can be read out from a PCP slave. Forarrays and records, it is possible to define if the whole object or only oneelement of the object is to be read.

PCP_WRITE -327 With this service, the set device parameters can be changed in an object. Forarrays and records, it is possible to define if the whole object or only oneelement of the object is to be changed.

PCP_GET_OD -329 With this service, one or several object descriptions of a user can be read. If thetotal object directory is to be read, it may be necessary to use this servicerepeatedly, depending on the size.

PCP_IDENTIFY -328 With this service, the type label of a user can be read.

PCP_ABORT -325 Use this service to abort a connection between interface module and slave.

Fig. 12-3: Function blocks for the Interbus (PCP services)

New Functions 23VRS WinPCL Overview 12-3


12.5 Extension of the ProVi / Indrastep Functions

In Version 23 , the ProVi characteristics of networks and the IndraStepfunctions in shown in flow diagrams (and documented).

The information is indicated by means of an orange-colored text line(read-only, cannot be changed). The search function of the respectiveeditors also works for these orange-colored lines.

When copying from networks by means of the clipboard, the networkproperties are copied as well.

Double-click on this orange-colored text line to open the ProVi messageeditor.

12.6 Improved Handling of Miniature Operator Panels

From Version 23, communication with miniature operator panels is alsopossible in case of system failure.

12.7 Browsing Dialogue Released with Logic Analysis and forOperator Images

Handling of these tools has been significantly improved by inclusion of abrowsing dialogue for selecting the variables for logic analysis, and foroperator images.

12.8 Logic Analysis Possible in Remote Operation

When the PLC component is addressed through remote control, the usercan utilize logic analysis via this coupling route from Version 23.

12-4 WinPCL Overview New Functions 23VRS


New Functions 23VRS Index 13-1


13 Index

3-335 - ASIM_STATE_CH2 12-2

AA00.052 3-3A00.110 3-25A00.113 3-25Acceleration filter 7-1Acceleration, maximum - Cxx.018 3-22Acceleration, time constant for - Bxx.034 3-18, 3-22Access to tool data from NC program - TLD 3-4, 3-7, 3-8, 3-9, 3-10, 3-11, 3-16Active plane rotation together with G50, G51, G54 .. G59 - P 3-8ASIM_RESET 12-1ASIM_SLDIAG 12-2ASIM_START 12-1ASIM_STATE_CH1 12-2ASIM_STOP 12-2Axis filter, two-step 7-1

Restrictions 7-3AxxC.SPSTP 3-18

BBootloader 4-2, 8-2Branch command, with stop - BST 3-23, 3-24BST 3-23, 3-24BT_START 12-2BT_STATE 12-2BT_STOP 12-2Bxx.014 3-3Bxx.034 3-18, 3-22Bxx.073 as of V23 3-3, 3-4

CClockwise circular interpolation - G02 3-22, 3-23Clockwise, circular interpolation - G02 3-22, 3-23Collision monitoring, single dimension

Activation / deactivation in the NC - COL_CTRL 3-17, 3-20, 3-21Reading the activation state in the NC - COL_CTRL_S 3-17, 3-20, 3-21

Configuring field bus 8-3Configuring HMI screens and configuring OP keys, F keys and M keys

PC network 10-21Counterclockwise circular interpolation - G03 3-22, 3-23Counterclockwise, circular interpolation - G03 3-22, 3-23Cxx.018 3-22Cylinder surface machining, selection of - G32 3-18, 3-25

DDefinition of Terms

'Tool group' 2-5'Tool type group' 2-5

DELETE 3-9, 3-13, 3-16Delete tool - TL_DELETE 3-9, 3-13, 3-16Diagnosis messages 2-4, 4-2, 8-2Digital drive generation 2 - outdated DIAX02 3-26Digital drive generation 3 - outdated DIAX03 3-26DIN 66025

Deviation from standard with G00 7-3Drive interface

HNC100 4-2, 8-1

13-2 Index New Functions 23VRS


EEquipment check - TID 3-6Exact stop 7-3Exceptional processor error 4-2, 8-2Exceptions 4-2, 8-2Extension of ProVi / Indrastep functions 12-3

FFace machining selection- G31 3-18, 3-25Face machining, selection of - G31 3-18, 3-25Feed, linear interpolation - G01 3-7, 3-22, 3-23, 3-24Fieldbus configurator, AS-Interface 12-1Fieldbus configurator, DeviceNet 12-1Fieldbus configurator, Hilscher (Sycon) 12-1Fieldbus configurator, Phoenix Contact (CMD) 12-1Fieldbus configurator, Profibus 12-1Firmware 1-2Firmware modul 4-2, 8-2Tool data, access to 3-4, 3-7, 3-8, 3-9, 3-10, 3-11, 3-16Functions and FBs for the ASI bus 12-1Functions and FBs for the BT bus 12-2Functions and FBs for the Interbus (PCP) 12-2

GG00 3-22, 3-23, 3-25G01 3-7, 3-22, 3-23, 3-24G02 3-22, 3-23G03 3-22, 3-23G19 3-25G31 3-18, 3-25G32 3-18, 3-25G61 3-25

HHardware requirements 1-1

JJerk filter 7-1

LLEN 3-10Linear interpolation rapid traverse - G00 3-22, 3-23, 3-25Linear interpolation, feed - G01 3-7, 3-22, 3-23, 3-24

MMachine parameter

Bxx.034 'Time constant for acceleration' 7-1Cxx.018 'Maximum acceleration' 7-1

Miniature operator panels 12-3Monitor 4-2, 8-2Motion sequence 7-1, 7-3Moving tool - TL_MOVE 3-9, 3-13, 3-17MTC 200 1-2, 1-3, 1-4MTGUI 1-4

NNC commands

G10/G11 7-2RDI 7-2

NC commands for rounding of NC blocks 7-2

New Functions 23VRS Index 13-3


No valid G code in V22 - G10 3-24No valid G code in V22 - G11 3-24, 3-25

OOverview 2-1, 6-1Overview of field bus configurator 8-2

PP 3-8PC network 10-21PCP_GET_OD 12-2PCP_IDENTIFY 12-2PCP_INITIATE 12-2PCP_READ 12-2PCP_WRITE 12-2PLC interface signals

PSMODEn 'Selected operating mode' 8-1PxxS. MODEn 'Selected operating mode' 4-1

Process Command Mode Bit n 4-1, 8-1Program end with reset - RET 3-23, 3-24PxxS.MGTWO 3-2PxxS.MGWRN 3-2

RRange of functions for field bus configuration 8-3Rapid traverse, linear interpolation - G00 3-22, 3-23, 3-25Reset tool - TL_RESET 3-9, 3-14, 3-16Reset, program end - RET 3-23, 3-24RET 3-23, 3-24Rounding distance RDI 7-1Rounding of NC blocks with axis filter 7-1

Enable /disable 7-2Enabling/disabling 7-2Rounding within a motion sequence 7-3

SSelecting field bus address 8-4Selecting the IO medium 8-3Selection of lateral cylinder surface machining - G32 3-18, 3-25Selection of operating mode 4-1, 8-1Setting the baud rate 8-4Software requirements 1-2Spindle stop upon process stop - AxxC.SPSTP 3-18STRING, as of P_th delete character L_ character - DELETE 3-9, 3-13, 3-16STRING, length of a - LEN 3-10System error indication in WinPCL 12-1

TT 3-3, 3-6, 3-7, 3-8, 3-10T auxiliary function number, reading the - T_NR 3-10T_NR 3-10TID 3-6TL_DELETE 3-9, 3-13, 3-16TL_MOVE 3-9, 3-13, 3-17TL_RESET 3-9, 3-14, 3-16TLBD_RD 3-9, 3-12, 3-16TLD 3-4, 3-7, 3-8, 3-9, 3-10, 3-11, 3-16TLD_RD 3-9, 3-10, 3-16TLD_WR 3-9, 3-10, 3-11, 3-16TLED_RD 3-9, 3-12, 3-16Tool base data, reading - TLBD_RD 3-9, 3-12, 3-16Tool call, tool selection and- T 3-3, 3-6, 3-7, 3-8, 3-10Tool data, reading - TLD_RD 3-9, 3-10, 3-16Tool data, write - TLD_WR 3-9, 3-10, 3-11, 3-16

13-4 Index New Functions 23VRS


Tool edge data, reading - TLED_RD 3-9, 3-12, 3-16Tool group status, reading - TLG_RD 3-9, 3-14, 3-17Tool group status, writing - TLG_WR 3-9, 3-14, 3-15, 3-17Tool groups, number of - Bxx.073 as of V23 3-3, 3-4Tool life monitoring

Tool worn out - PxxS.MGTWO 3-2Warn limit reached - PxxS.MGWRN 3-2

Tool management - A00.052 3-3Tool management - Bxx.014 3-3Tool selection and tool call - T 3-3, 3-6, 3-7, 3-8, 3-10Tool technology group 2-5Tool type group 2-5Transmission rate for SERCOS loop 1 - A00.110 3-25Transmission rate for SERCOS loop 4 - A00.113 3-25

UUser interface DOS version - outdated 3-19

WWindows NT 1-2WinPCL overview 12-1

New Functions 23VRS Service & Support 14-1


14 Service & Support

14.1 Helpdesk

Unser Kundendienst-Helpdesk im Hauptwerk Lohram Main steht Ihnen mit Rat und Tat zur Seite.Sie erreichen uns

Our service helpdesk at our headquarters in Lohr amMain, Germany can assist you in all kinds of inquiries.Contact us

- telefonisch - by phone: 49 (0) 9352 40 50 60über Service Call Entry Center Mo-Fr 07:00-18:00- via Service Call Entry Center Mo-Fr 7:00 am - 6:00 pm

- per Fax - by fax: +49 (0) 9352 40 49 41

- per e-Mail - by e-mail: [email protected]

14.2 Service-Hotline

Außerhalb der Helpdesk-Zeiten ist der Servicedirekt ansprechbar unter

After helpdesk hours, contact our servicedepartment directly at

+49 (0) 171 333 88 26

oder - or +49 (0) 172 660 04 06

14.3 Internet

Unter www.boschrexroth.com finden Sieergänzende Hinweise zu Service, Reparatur undTraining sowie die aktuellen Adressen *) unsererauf den folgenden Seiten aufgeführten Vertriebs-und Servicebüros.

Verkaufsniederlassungen

Niederlassungen mit Kundendienst

Außerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mitunserem für Sie nächstgelegenen Ansprechpartner auf.

*) Die Angaben in der vorliegenden Dokumentation könnenseit Drucklegung überholt sein.

At www.boschrexroth.com you may findadditional notes about service, repairs and trainingin the Internet, as well as the actual addresses *)of our sales- and service facilities figuring on thefollowing pages.

sales agencies

offices providing service

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

*) Data in the present documentation may have becomeobsolete since printing.

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

Wir können Ihnen schnell und effizient helfen wennSie folgende Informationen bereithalten:

1. detaillierte Beschreibung der Störung und derUmstände.

2. Angaben auf dem Typenschild derbetreffenden Produkte, insbesondereTypenschlüssel und Seriennummern.

3. Tel.-/Faxnummern und e-Mail-Adresse, unterdenen Sie für Rückfragen zu erreichen sind.

For quick and efficient help, please have thefollowing information ready:

1. Detailed description of the failure andcircumstances.

2. Information on the type plate of the affectedproducts, especially type codes and serialnumbers.

3. Your phone/fax numbers and e-mail address,so we can contact you in case of questions.

14-2 Service & Support New Functions 23VRS


14.5 Kundenbetreuungsstellen - Sales & Service Facilities

Deutschland – Germany vom Ausland: (0) nach Landeskennziffer weglassen!from abroad: don’t dial (0) after country code!

Vertriebsgebiet Mitte Germany Centre

Rexroth Indramat GmbHBgm.-Dr.-Nebel-Str. 2 / Postf. 135797816 Lohr am Main / 97803 Lohr

Kompetenz-Zentrum Europa

Tel.: +49 (0)9352 40-0Fax: +49 (0)9352 40-4885

S E R V I C E

C A L L E N T R Y C E N T E RMO – FR

von 07:00 - 18:00 Uhr

from 7 am – 6 pm

Tel. +49 (0) 9352 40 50 [email protected]

S E R V I C E

H O T L IN EMO – FR

von 17:00 - 07:00 Uhrfrom 5 pm - 7 am

+ SA / SOTel.: +49 (0)172 660 04 06

o d er / orTel.: +49 (0)171 333 88 26

S E R V I C E

ERSATZTEILE / SPARESverlängerte Ansprechzeit- extended office time -

♦ nur an Werktagen- only on working days -

♦ von 07:00 - 18:00 Uhr- from 7 am - 6 pm -

Tel. +49 (0) 9352 40 42 22

Vertriebsgebiet Süd Germany South

Bosch Rexroth AGLandshuter Allee 8-1080637 München

Tel.: +49 (0)89 127 14-0Fax: +49 (0)89 127 14-490

Vertriebsgebiet West Germany West

Bosch Rexroth AGRegionalzentrum WestBorsigstrasse 1540880 Ratingen

Tel.: +49 (0)2102 409-0Fax: +49 (0)2102 409-406

+49 (0)2102 409-430

Gebiet Südwest Germany South-West

Bosch Rexroth AGService-Regionalzentrum Süd-WestSiemensstr.170736 Fellbach

Tel.: +49 (0)711 51046–0Fax: +49 (0)711 51046–248

Vertriebsgebiet Nord Germany North

Bosch Rexroth AGWalsroder Str. 9330853 Langenhagen

Tel.: +49 (0) 511 72 66 57-0Service: +49 (0) 511 72 66 57-256Fax: +49 (0) 511 72 66 57-93Service: +49 (0) 511 72 66 57-783

Vertriebsgebiet Mitte Germany Centre

Bosch Rexroth AGRegionalzentrum MitteWaldecker Straße 1364546 Mörfelden-Walldorf

Tel.: +49 (0) 61 05 702-3Fax: +49 (0) 61 05 702-444

Vertriebsgebiet Ost Germany East

Bosch Rexroth AGBeckerstraße 3109120 Chemnitz

Tel.: +49 (0)371 35 55-0Fax: +49 (0)371 35 55-333

Vertriebsgebiet Ost Germany East

Bosch Rexroth AGRegionalzentrum OstWalter-Köhn-Str. 4d04356 Leipzig

Tel.: +49 (0)341 25 61-0Fax: +49 (0)341 25 61-111



Europa (West) - Europe (West)

vom Ausland: (0) nach Landeskennziffer weglassen, Italien: 0 nach Landeskennziffer mitwählenfrom abroad: don’t dial (0) after country code, Italy: dial 0 after country code

Austria - Österreich

Bosch Rexroth GmbHElectric Drives & ControlsStachegasse 131120 Wien

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

Austria – Österreich

Bosch Rexroth GmbHElectric Drives & ControlsIndustriepark 184061 Pasching

Tel.: +43 (0)7221 605-0Fax: +43 (0)7221 605-21

Belgium - Belgien

Bosch Rexroth AGElectric Drives & ControlsIndustrielaan 81740 TernatTel.: +32 (0)2 5830719- service: +32 (0)2 5830717Fax: +32 (0)2 5830731 [email protected]

Denmark - Dänemark

BEC A/SZinkvej 68900 Randers

Tel.: +45 (0)87 11 90 60Fax: +45 (0)87 11 90 61

Great Britain – Großbritannien

Bosch Rexroth Ltd.Electric Drives & ControlsBroadway Lane, South CerneyCirencester, Glos GL7 5UH

Tel.: +44 (0)1285 863000Fax: +44 (0)1285 863030 [email protected] [email protected]

Finland - Finnland

Bosch Rexroth OyElectric Drives & ControlsAnsatie 6017 40 Vantaa

Tel.: +358 (0)9 84 91-11Fax: +358 (0)9 84 91-13 60

France - Frankreich

Bosch Rexroth SASElectric Drives & ControlsAvenue de la Trentaine(BP. 74)77503 Chelles Cedex

Tel.: +33 (0)164 72-70 00Fax: +33 (0)164 72-63 00Hotline: +33 (0)608 33 43 28

France - Frankreich

Bosch Rexroth SASElectric Drives & ControlsZI de Thibaud, 20 bd. Thibaud(BP. 1751)31084 Toulouse

Tel.: +33 (0)5 61 43 61 87Fax: +33 (0)5 61 43 94 12

France – Frankreich

Bosch Rexroth SASElectric Drives & Controls91, Bd. Irène Joliot-Curie69634 Vénissieux – CedexTel.: +33 (0)4 78 78 53 65Fax: +33 (0)4 78 78 53 62

Italy - Italien

Bosch Rexroth S.p.A.Via G. Di Vittorio, 120063 Cernusco S/N.MI

Tel.: +39 02 92 365 1Service: +39 02 92 365 326Fax: +39 02 92 365 500Service: +39 02 92 365 503

Italy - Italien

Bosch Rexroth S.p.A.Via Paolo Veronesi, 25010148 Torino

Tel.: +39 011 224 88 11Fax: +39 011 224 88 30

Italy - Italien

Bosch Rexroth S.p.A.Via del Progresso, 16 (Zona Ind.)35020 Padova

Tel.: +39 049 8 70 13 70Fax: +39 049 8 70 13 77

Italy - Italien

Bosch Rexroth S.p.A.Via Mascia, 180053 Castellamare di Stabia NA

Tel.: +39 081 8 71 57 00Fax: +39 081 8 71 68 85

Italy - Italien

Bosch Rexroth S.p.A.Via Isonzo, 6140033 Casalecchio di Reno (Bo)

Tel.: +39 051 29 86 430Fax: +39 051 29 86 490

Netherlands - Niederlande/Holland

Bosch Rexroth Services B.V.Technical ServicesKruisbroeksestraat 1(P.O. Box 32)5281 RV BoxtelTel.: +31 (0) 411 65 16 40

+31 (0) 411 65 17 27Fax: +31 (0) 411 67 78 14

+31 (0) 411 68 28 [email protected]

Netherlands – Niederlande/Holland

Bosch Rexroth B.V.Kruisbroeksestraat 1(P.O. Box 32)5281 RV Boxtel

Tel.: +31 (0) 411 65 19 51Fax: +31 (0) 411 65 14 83 www.boschrexroth.nl

Norway - Norwegen

Bosch Rexroth ASElectric Drives & ControlsBerghagan 1 or: Box 30071405 Ski-Langhus 1402 Ski

Tel.: +47 (0)64 86 41 00Fax: +47 (0)64 86 90 62Hotline: +47 (0)64 86 94 82 [email protected]

Spain - Spanien

Bosch Rexroth S.A.Electric Drives & ControlsCentro Industrial SantigaObradors s/n08130 Santa Perpetua de MogodaBarcelonaTel.: +34 9 37 47 94 00Fax: +34 9 37 47 94 01

Spain – Spanien

Goimendi S.A.Electric Drives & ControlsParque Empresarial ZuatzuC/ Francisco Grandmontagne no.220018 San Sebastian

Tel.: +34 9 43 31 84 21- service: +34 9 43 31 84 56Fax: +34 9 43 31 84 27- service: +34 9 43 31 84 60 [email protected]

Sweden - Schweden

Bosch Rexroth ABElectric Drives & Controls- Varuvägen 7(Service: Konsumentvägen 4, Älfsjö)125 81 Stockholm

Tel.: +46 (0)8 727 92 00Fax: +46 (0)8 647 32 77

Sweden - Schweden

Bosch Rexroth ABElectric Drives & ControlsEkvändan 7254 67 Helsingborg

Tel.: +46 (0) 42 38 88 -50Fax: +46 (0) 42 38 88 -74

Switzerland West - Schweiz West

Bosch Rexroth Suisse SAElectric Drives & ControlsRue du village 11020 Renens

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

Switzerland East - Schweiz Ost

Bosch Rexroth Schweiz AGElectric Drives & ControlsHemrietstrasse 28863 ButtikonTel. +41 (0) 55 46 46 111Fax +41 (0) 55 46 46 222



Europa (Ost) - Europe (East)

vom Ausland: (0) nach Landeskennziffer weglassen

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

Czech Republic - Tschechien

Bosch -Rexroth, spol.s.r.o.Hviezdoslavova 5627 00 Brno

Tel.: +420 (0)5 48 126 358Fax: +420 (0)5 48 126 112

Czech Republic - Tschechien

DEL a.s.Strojírenská 38591 01 Zdar nad SázavouTel.: +420 566 64 3144Fax: +420 566 62 1657

Hungary - Ungarn

Bosch Rexroth Kft.Angol utca 341149 Budapest

Tel.: +36 (1) 422 3200Fax: +36 (1) 422 3201

Poland – Polen

Bosch Rexroth Sp.zo.o.ul. Staszica 105-800 Pruszków

Tel.: +48 22 738 18 00– service: +48 22 738 18 46Fax: +48 22 758 87 35– service: +48 22 738 18 42

Poland – Polen

Bosch Rexroth Sp.zo.o.Biuro Poznanul. Dabrowskiego 81/8560-529 Poznan

Tel.: +48 061 847 64 62 /-63Fax: +48 061 847 64 02

Romania - Rumänien

East Electric S.R.L.Bdul Basarabia no.250, sector 373429 Bucuresti

Tel./Fax:: +40 (0)21 255 35 07+40 (0)21 255 77 13

Fax: +40 (0)21 725 61 21 [email protected]

Romania - Rumänien

Bosch Rexroth Sp.zo.o.Str. Drobety nr. 4-10, app. 1470258 Bucuresti, Sector 2

Tel.: +40 (0)1 210 48 25+40 (0)1 210 29 50

Fax: +40 (0)1 210 29 52

Russia - Russland

Bosch Rexroth OOOWjatskaja ul. 27/15127015 Moskau

Tel.: +7-095-785 74 78+7-095 785 74 79

Fax: +7 095 785 74 77 [email protected]

Russia - Russland

ELMIS10, Internationalnaya246640 Gomel, BelarusTel.: +375/ 232 53 42 70

+375/ 232 53 21 69Fax: +375/ 232 53 37 69 [email protected]

Turkey - Türkei

Bosch Rexroth OtomasyonSan & Tic. A..S.Fevzi Cakmak Cad No. 334295 Sefaköy - IstanbulTel.: +90 212 413 34-00Fax: +90 212 413 34-17

Slowenia - Slowenien

DOMELOtoki 2164 228 ZeleznikiTel.: +386 5 5117 152Fax: +386 5 5117 225 [email protected]



Africa, Asia, Australia – incl. Pacific Rim

Australia - Australien

AIMS - Australian IndustrialMachinery Services Pty. Ltd.28 Westside DriveLaverton North Vic 3026Melbourne

Tel.: +61 3 93 14 3321Fax: +61 3 93 14 3329Hotlines: +61 3 93 14 3321

+61 4 19 369 195 [email protected]

Australia - Australien

Bosch Rexroth Pty. Ltd.No. 7, Endeavour WayBraeside Victoria, 31 95Melbourne

Tel.: +61 3 95 80 39 33Fax: +61 3 95 80 17 33 [email protected]

China

Shanghai Bosch RexrothHydraulics & Automation Ltd.Waigaoqiao, Free Trade ZoneNo.122, Fu Te Dong Yi RoadShanghai 200131 - P.R.China

Tel.: +86 21 58 66 30 30Fax: +86 21 58 66 55 [email protected] [email protected]

China

Shanghai Bosch RexrothHydraulics & Automation Ltd.4/f, Marine TowerNo.1, Pudong AvenueShanghai 200120 - P.R.China

Tel: +86 21 68 86 15 88Fax: +86 21 58 40 65 77

China

Bosch Rexroth China Ltd.15/F China World Trade Center1, Jianguomenwai AvenueBeijing 100004, P.R.China

Tel.: +86 10 65 05 03 80Fax: +86 10 65 05 03 79

China

Bosch Rexroth China Ltd.Guangzhou Repres. OfficeRoom 1014-1016, Metro Plaza,Tian He District, 183 Tian He Bei RdGuangzhou 510075, P.R.China

Tel.: +86 20 8755-0030+86 20 8755-0011

Fax: +86 20 8755-2387

China

Bosch Rexroth (China) Ltd.A-5F., 123 Lian Shan StreetSha He Kou DistrictDalian 116 023, P.R.China

Tel.: +86 411 46 78 930Fax: +86 411 46 78 932

China

Melchers GmbHBRC-SE, Tightening & Press-fit13 Floor Est Ocean CentreNo.588 Yanan Rd. East65 Yanan Rd. WestShanghai 200001

Tel.: +86 21 6352 8848Fax: +86 21 6351 3138

Hongkong

Bosch Rexroth (China) Ltd.6th

Floor,Yeung Yiu Chung No.6 Ind Bldg.19 Cheung Shun StreetCheung Sha Wan,Kowloon, Hongkong

Tel.: +852 22 62 51 00Fax: +852 27 41 33 44

[email protected]

India - Indien

Bosch Rexroth (India) Ltd.Electric Drives & ControlsPlot. No.96, Phase IIIPeenya Industrial AreaBangalore – 560058

Tel.: +91 80 51 17 0-211...-218Fax: +91 80 83 94 345

+91 80 83 97 374

[email protected]

India - Indien

Bosch Rexroth (India) Ltd.Electric Drives & ControlsAdvance House, II FloorArk Industrial CompoundNarol Naka, Makwana RoadAndheri (East), Mumbai - 400 059

Tel.: +91 22 28 56 32 90+91 22 28 56 33 18

Fax: +91 22 28 56 32 93

[email protected]

India - Indien

Bosch Rexroth (India) Ltd.S-10, Green Park ExtensionNew Delhi – 110016

Tel.: +91 11 26 56 65 25+91 11 26 56 65 27

Fax: +91 11 26 56 68 87

[email protected]

Indonesia - Indonesien

PT. Bosch RexrothBuilding # 202, CilandakCommercial EstateJl. Cilandak KKO, Jakarta 12560

Tel.: +62 21 7891169 (5 lines)Fax: +62 21 7891170 - [email protected]

Japan

Bosch Rexroth Automation Corp.Service Center JapanYutakagaoka 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

Japan

Bosch Rexroth Automation Corp.Electric Drives & Controls2F, I.R. BuildingNakamachidai 4-26-44, Tsuzuki-kuYOKOHAMA 224-0041, Japan

Tel.: +81 45 942 72 10Fax: +81 45 942 03 41

Korea

Bosch Rexroth-Korea Ltd.Electric Drives and ControlsBongwoo Bldg. 7FL, 31-7, 1GaJangchoong-dong, Jung-guSeoul, 100-391

Tel.: +82 234 061 813Fax: +82 222 641 295

Korea

Bosch Rexroth-Korea Ltd.1515-14 Dadae-Dong, Saha-GuElectric Drives & ControlsPusan Metropolitan City, 604-050

Tel.: +82 51 26 00 741Fax: +82 51 26 00 747 [email protected]

Malaysia

Bosch Rexroth Sdn.Bhd.11, Jalan U8/82, Seksyen U840150 Shah AlamSelangor, Malaysia

Tel.: +60 3 78 44 80 00Fax: +60 3 78 45 48 00 [email protected] [email protected]

Singapore - Singapur

Bosch Rexroth Pte Ltd15D Tuas RoadSingapore 638520

Tel.: +65 68 61 87 33Fax: +65 68 61 18 25 sanjay.nemade

@boschrexroth.com.sg

South Africa - Südafrika

TECTRA Automation (Pty) Ltd.71 Watt Street, MeadowdaleEdenvale 1609

Tel.: +27 11 971 94 00Fax: +27 11 971 94 40Hotline: +27 82 903 29 23 [email protected]

Taiwan

Bosch Rexroth Co., Ltd.Taichung Branch1F., No. 29, Fu-Ann 5th Street,Xi-Tun Area, Taichung CityTaiwan, R.O.C.

Tel : +886 - 4 -23580400Fax: +886 - 4 [email protected]@[email protected]

Thailand

NC Advance Technology Co. Ltd.59/76 Moo 9Ramintra road 34Tharang, Bangkhen,Bangkok 10230

Tel.: +66 2 943 70 62 +66 2 943 71 21Fax: +66 2 509 23 62Hotline +66 1 984 61 52 [email protected]



Nordamerika – North AmericaUSAHeadquarters - Hauptniederlassung

Bosch Rexroth CorporationElectric Drives & Controls5150 Prairie Stone ParkwayHoffman Estates, IL 60192-3707

Tel.: +1 847 6 45 36 00Fax: +1 847 6 45 62 [email protected] [email protected]

USA Central Region - Mitte

Bosch Rexroth CorporationElectric Drives & ControlsCentral Region Technical Center1701 Harmon RoadAuburn Hills, MI 48326

Tel.: +1 248 3 93 33 30Fax: +1 248 3 93 29 06

USA Southeast Region - Südwest

Bosch Rexroth CorporationElectric Drives & ControlsSoutheastern Technical Center3625 Swiftwater Park DriveSuwanee, Georgia 30124

Tel.: +1 770 9 32 32 00Fax: +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

Bosch Rexroth CorporationElectric Drives & ControlsCharlotte Regional Sales Office14001 South Lakes DriveCharlotte, North Carolina 28273

Tel.: +1 704 5 83 97 62+1 704 5 83 14 86

USA Northeast Region – Nordost

Bosch Rexroth CorporationElectric Drives & ControlsNortheastern Technical Center99 Rainbow RoadEast Granby, Connecticut 06026

Tel.: +1 860 8 44 83 77Fax: +1 860 8 44 85 95

USA West Region – West

Bosch Rexroth Corporation7901 Stoneridge Drive, Suite 220Pleasant Hill, California 94588

Tel.: +1 925 227 10 84Fax: +1 925 227 10 81

Canada East - Kanada Ost

Bosch Rexroth Canada CorporationBurlington Division3426 Mainway DriveBurlington, OntarioCanada L7M 1A8

Tel.: +1 905 335 5511Fax: +1 905 335 4184Hotline: +1 905 335 5511 [email protected]

Canada West - Kanada West

Bosch Rexroth Canada Corporation5345 Goring St.Burnaby, British ColumbiaCanada V7J 1R1

Tel. +1 604 205 5777Fax +1 604 205 6944Hotline: +1 604 205 5777 [email protected]

Mexico

Bosch Rexroth Mexico S.A. de C.V.Calle Neptuno 72Unidad Ind. Vallejo07700 Mexico, D.F.

Tel.: +52 55 57 54 17 11Fax: +52 55 57 54 50 [email protected]

Mexico

Bosch Rexroth S.A. de C.V.Calle Argentina No 3913Fracc. las Torres64930 Monterrey, N.L.

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 [email protected]

Südamerika – South AmericaArgentina - Argentinien

Bosch Rexroth S.A.I.C."The Drive & Control Company"Rosario 2302B1606DLD CarapachayProvincia 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

[email protected]

Argentina - Argentinien

NAKASEServicio Tecnico CNCCalle 49, No. 5764/66B1653AOX Villa BalesterProvincia de Buenos Aires

Tel.: +54 11 4768 36 43Fax: +54 11 4768 24 13Hotline: +54 11 155 307 6781 [email protected] [email protected] [email protected] (Service)

Brazil - Brasilien

Bosch Rexroth Ltda.Av. Tégula, 888Ponte Alta, Atibaia SPCEP 12942-440

Tel.: +55 11 4414 56 92+55 11 4414 56 84

Fax sales: +55 11 4414 57 07Fax serv.: +55 11 4414 56 86 [email protected]

Brazil - Brasilien

Bosch Rexroth Ltda.R. Dr.Humberto Pinheiro Vieira, 100Distrito Industrial [Caixa Postal 1273]89220-390 Joinville - SC

Tel./Fax: +55 47 473 58 33Mobil: +55 47 9974 6645 [email protected]

Columbia - Kolumbien

Reflutec de Colombia Ltda.Calle 37 No. 22-31Santafé de Bogotá, D.C.Colombia

Tel.: +57 1 368 82 67+57 1 368 02 59

Fax: +57 1 268 97 [email protected]@007mundo.com

New Functions 23VRS


Notes

Printed in GermanyDOK-CONTRL-NEW*FUN*V23-AW02-EN-PR911296980

Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyPhone +49 93 52-40-50 60Fax +49 93 52-40-49 [email protected]

Documents

Rexroth MTC 200/ISP 200/TRANS 200 Edition 02 New Functions