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Rexroth IndraMotion
for Metal Forming 12V02
Sequential Motion Control
Releasenotes
 Bosch Rexroth AG
Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

Title Rexroth IndraMotion

for Metal Forming 12V02
Sequential Motion Control

Type of Documentation Releasenotes

Document Typecode
Internal File Reference RS-10b1d8b2b9b5b7770a6846a0012ac798-1-en-US-9

Purpose of Documentation All releasenotes generally refer to the reference document DOK-IM*MF*-
TF*SMC**V12-RE0x-EN-P.
This documentation gives an overview about the new and changed functional‐
ities of the SMC 12VRS compared to the previous version 10VRS.

Record of Revision Edition Release Date Notes

12V02 05.2011 First issue

Copyright © Bosch Rexroth AG 2011

Copying this document, giving it to others and the use or communication of the
contents thereof without express authority, are forbidden. Offenders are liable
for the payment of damages. All rights are reserved in the event of the grant of
a patent or the registration of a utility model or design (DIN 34-1).
Validity The specified data is for product description purposes only and may not be
deemed to be guaranteed unless expressly confirmed in the contract. All rights
are reserved with respect to the content of this documentation and the availa‐
bility of the product.
Published by Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 ■ D-97816 Lohr a. Main
Phone +49 (0)93 52/ 40-0 ■ Fax +49 (0)93 52/ 40-48 85
http://www.boschrexroth.com/
Product Provision (SyMu/PiGe)
Note This document has been printed on chlorine-free bleached paper.
 Bosch Rexroth AG I/29
Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

Table of Contents

Table of Contents
Page

1 Important Information..................................................................................................... 3
1.1 Important Last Minute Information.......................................................................................................... 3
1.2 Release Notes........................................................................................................................................ 3
1.3 Drive firmware......................................................................................................................................... 3
1.4 Visualization............................................................................................................................................ 3
1.5 SMC Editor Version Dependencies........................................................................................................ 4
1.6 Instruction for Firmware Exchange (Firmware Update).......................................................................... 5
1.7 Known Problems..................................................................................................................................... 7
1.7.1 SMC Editor.......................................................................................................................................... 7
Parameter Box.................................................................................................................................. 7
Downward Compatibility of the SMC Editor to Firmware Versions of Sequential Motion Control....
8

2 New Functions............................................................................................................. 13
2.1 Firmware............................................................................................................................................... 13
2.1.1 HMI.................................................................................................................................................... 13
Function extension: French language support............................................................................... 13
2.1.2 PLC Application................................................................................................................................. 13
Changing the PLC register for acyclic communication via PROFIBUS.......................................... 13
Extending the MOM command for Flying Cutoff............................................................................. 13
Extending the system variables for task load................................................................................. 13
Flying Cutoff: Immediate return motion via EOS command........................................................... 13
Function extension "Traveling to fixed stop"................................................................................... 14
Function extension axis coupling - position coupling...................................................................... 14
Function extension axis coupling - velocity coupling...................................................................... 14
Function extension CVT command................................................................................................ 14
Function extension of the velocity-synchronous axis..................................................................... 14
Function extension: "Global master axis via slave axis"................................................................. 14
Master axis cycle (P-0-0750) is set incorrectly for synchronous axes............................................ 15
No Y-parameter available to display the SMC version................................................................... 15
Output of SMC-specific error texts on the drive display of the master axis.................................... 15
Parking axis via Yx02..................................................................................................................... 15
PLC register "P-0-1440" is not mapped in the MLD-S application................................................. 15
Provision of the "MX_OnlineChangeSMCProgram" function block................................................ 15
Renaming the "Yx19" and "Yx32" parameters............................................................................... 16
The number of the extra polation steps cannot be selected for the global master axis.................. 16
Using synchronous and virtual axes in the Flying Cutoff................................................................ 16

3 Software....................................................................................................................... 17

4 Firmware...................................................................................................................... 19
4.1 Resolved Defects.................................................................................................................................. 19
4.1.1 PLC Application................................................................................................................................. 19
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Page
SMC: ACC command..................................................................................................................... 19
Changing the minimum value of "Yx06: Maximum acceleration"................................................... 19

5 Documentation............................................................................................................. 21

6 Application................................................................................................................... 23

7 Service and Support.................................................................................................... 25

Index............................................................................................................................ 27
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Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

Important Information

1 Important Information
1.1 Important Last Minute Information
see file <LastMinuteInfo12V02_EN.doc>

1.2 Release Notes

The firmware version 12V02 of the Sequential Motion Control (SMC) was re‐
leased on 30/06/2011.
The release refers to the firmware option:
● FWS-MLDTFA-SMC-12VRS-D0

1.3 Drive firmware

Required drive firmware version:
● FWA-INDRV*-MPC-08VRS-D5 (Master control unit, Advanced+)
● FWA-INDRV*-MPH-08VRS-D5 (Slave control unit, Advanced)
● FWA-INDRV*-MPB-08VRS-D5 (Slave control unit, Basic)
Release version FWA-INDRV*-MPx-08V02-MS or higher is required.

1.4 Visualization
The following version of the project file is required for the visualization on
VCP08.2:
● SMC_12V02_VCP08_12VRS
The release version SMC_12V02_VCP08_12V02 or higher is required.

If a connection between the IndraDrive controller device and

IndraWorks is required for the VCP operation, the function "Search
Devices" can only be called in IndraWorks via the non set op‐
tion"Baud Rate Adjustment". Otherwise, the connection cannot be
established successfully.
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Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

Important Information

Fig.1-1: Baud rate adjustment

1.5 SMC Editor Version Dependencies

The version dependencies of the Sequential Motion Control (SMC) to the SMC
Editor are shown in the following table.

Sequential Motion Control (SMC) SMC Editor

12V02 05V26 or a higher release
10V10 05V24 or a higher release
05V24 or a higher release
10V08 05V22
05V20
05V24 or a higher release
10V06
05V20
05V24 or a higher release
10V04
05V18
10V01 05V16

Fig.1-2: Compatible version combinations of the SMC Editor and Sequential

Motion Control

The SMC version 12V02 requires the SMC Editor version 05V26 or
higher.

Language version The version of the language that can be interpreted by the Sequential Motion
Control is specified with the language version. An SMC firmware release can
interpret one or several language versions. The language versions contained
 Bosch Rexroth AG 5/29
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Important Information

in the following table are installed when installing the SMC Editor version
05V26.

Sequential Motion Control (SMC) Language version

12V02 SMC 12V01
SMC 10V04
10V10
SMC 10V03
10V08 SMC 10V03
10V06 SMC 10V03
10V04 SMC 10V02

Fig.1-3: Supported language versions of the SMC firmware release

The SMC version 12V02 uses the language version 12V01.

1.6 Instruction for Firmware Exchange (Firmware Update)

Drive firmware Prior to the firmware exchange of the SMC, it has to be checked if the required
drive firmware is available on the master axis and the slave axes.
The following points always have to be complied with if the drive firmware has
to be updated:
● The firmware exchange can only be carried out by qualified personnel.
● The drive controller device has to be switched on (24V power supply).
● The drive controller device cannot be in operating mode (communication
phase 4).
● The values of the drive parameters (S- and P-parameters) have to be
backed up prior to a firmware version upgrade. Otherwise, the device has
to be (re) commissioned.
See drive firmware function description "Loading, Saving and Archiving of
Parameters" (cp. DOK-INDRV*-MP*-**VRS**-FK**-EN-P)
● Copy the required drive firmware to the MMC in the "\Firmware" directory.
● After switch-on, the drive might display the prompt "Firmware update ?".
Confirm the firmware update with <Enter>.
The current version of the drive firmware can be queried via the IndraDrive
display "1. Extended display" → "1.5 S-0-0030".
The drive firmware release version should be identical on all axes.
Firmware option - SMC The following points have to be complied with in the specified order and the
specified actions are to be carried out in order to ensure a successful exchange
of the SMC firmware option:

When changing the firmware of the SMC, the values of the "freely
programmable remanent marker" (MFR000- MFR199) and the
"freely programmable remanent variables" (VFR000- VFR199) are
lost!

A device in running order with the following SMC firmware version is required.
FWS-MLDTFA-SMC-10V01-D0 or higher
1. Check the SMC firmware version in drive parameter parameter P-0-1361.
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Important Information

Thus, the correct starting point can be verified.

2. Read entire release documentation.

The release documentation can be found, amongst others, on the MMC
of the master axis under the ".\User\Documentation" directory.
3. Switch to parameterization mode.
4. Execute complete system backup.
Also see chapter 9.7 "Complete System Backup" in the reference docu‐
mentation DOK-IM*ML*-TF*SMC**V12-RE0x-EN-P.
5. Archiving the Y-parameters on the MMC.
Archive all Y-parameters using the system command "Archive Y-param‐
eters on MMC". A (readable) ASCII file is stored on the MMC, containing
the required data. The file format is similar to the parameter file format of
IndraDrive. The backup file has the extension "*.SCD".
See SMC function description "System command 5: Archive Y-parame‐
ters on MMC" (cp. DOK-IM*MF*-TF*SMC**V12-RE**-EN-P)
6. Upload new release.

The MMC can be accessed using FTP or a memory card reader.

The drive has to be disconnected before removing the MMC when
using a memory card reader.

Please ensure that the the MMC backup was completed successfully.
Subsequently, delete all directories on the MMC:
● all subdirectories in the "\User\.." directory but not the files of the
"\User\.." directory (these files consist of SMC programs, backup
files, language files,..)
Please copy the following data of the new SMC firmware version to the
MMC:
● from the "\Plc\.." directory, the files "DEFAULT.PRG", "DE‐
FAULT.CHK" and "BOOT.SDB" (these files contain the PLC boot
project)
● all subdirectories in the "\User\.." directory but not the files of the
"\User\.." directory
● more user-specific data which is to be copied to the MMC
7. Switch drive or SMC off and on again.
8. Switch drive or SMC to parameterization mode.
The drive display shows PM or P2.

9. Upload the backed up Y-parameters from the MMC.

Archive all archived Y-parameters using the system command "Load Y-
parameters from MMC". An ASCII file (extension ".SCD") is read by the
MMC. The Y-parameters are read from the file and loaded to the SMC.
See SMC function description "System command 4: Load Y-parameters
from MMC" (cp. DOK-IM*MF*-TF*SMC**V12-RE**-EN-P)
10. Loading the archived drive parameters
Loading the archived values of the drive parameters (S- and P-parame‐
ters) to the master axis and the slave axes.
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Important Information

See drive firmware function description "Loading, Saving and Archiving of

Parameters" (cp. DOK-INDRV*-MP*-**VRS**-FK**-EN-P)
11. Switch to operating mode
The system with the new firmware is now ready to run.

If the error "Invalid SMC program" (error number "90h") is reported

when loading the SMC program, the SMC program has to be re‐
compiled and downloaded again. The SMC editor of the current
release has to be used for this operation.
The current SMC editor release is contained in the "\User\Setup
\.." directory of the MMC. Please install the current release of the
SMC editor.
12. Checking the functions
Check the functionality of the converted system thoroughly after the firm‐
ware exchange.
The S/P/Y-parameter values should be identical to the values before the
release update. Check the SMC firmware version in drive parameter pa‐
rameter P-0-1361.

The previous version can be restored at any time by deleting the

MMC. Subsequently, the MMLC image backup has to be copied to
the MMC.

1.7 Known Problems

1.7.1 SMC Editor
Parameter Box
Displaying Maximum or Minimum Values not Possible in Case of Certain
Y-Parameters in Offline Mode
After entered a parameter value in the parameter box in offline mode, it is
checked if the entered value is within the parameter limit values. If the entered
value is outside the limit values, an error message containing the limit values
is displayed in the status line of the parameter box. The limit values are not
checked in offline mode in case of all system parameters of the Sequential
Motion Control (Y-parameters) whose limit values (minimum or maximum) de‐
pend on the values of other parameters.

If values are edited in the parameter box in offline mode, the pa‐
rameter values of the parameter box can be imported in the Se‐
quential Motion Control or the drives when switching to online
mode. An error message is reported during the import if the param‐
eter values are outside the limit values. A value outside the limit
values is not imported.

Virtual Axes
Configuring virtual axes Both axis types "Real Axis" or "Virtual Axis" are supported for the axes in the
Sequential Motion Control. The "virtual axis" type has to be configured in the
parameter "Yx01: axis type" of the respective axis. If no virtual axis is precon‐
figured in the Sequential Motion Control before "Going Online" with the SMC
editor, only the parameters of the real axis can be edited in the parameter box.
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Important Information

Thus, the virtual axis cannot be configured with the parameter box in online
mode.
Example:
The Sequential Motion Control controls 2 real axes. Only the parameters of
these two real axes can be edited with the parameter box in online mode. The
Y-parameter "Y301" has to be set to value 1 if a virtual axis is to be added as
third axis. Parameter "Y301" cannot be accessed via the parameter box in this
state!
Workaround to configure virtual axes:
To add a virtual axis to the SMC editor, please execute the following steps:
● Switch to parameter mode
● Change to the debugger window
● Enter the parameter "Yx01" ("Y301" in the example above) of the new
virtual axis in the "Y-parameter" field
● Set the application type "Virtual axis" by entering the value "1"
● Exit the parameter mode
Now, the parameters of the recently added virtual axis can also be edited in the
parameter box.
Parameter Import in case of Blank Lines in the Parameter Box
By means of the parameter box, parameter values can also be edited in offline
state. When changing to online state, the edited parameter values can be im‐
ported to the Sequential Motion Control or the drives. If a blank line is contained
in the parameter box in offline mode and if parameter values are to be imported
when changing to the online mode (login), the parameter import is canceled.
Workaround: Delete all blank lines in offline mode!
Parameter with IO Type "Input" or "Output"
No input assistance (Intellisense window) is displayed in the parameter box for
parameters with IO type "Input" or "Output". The entered values are not checked
in these parameters in offline mode. I.e., any text text can be entered in the
value column in offline mode.

An error message was reported during import if invalid values have

been entered in the value column. An invalid value is not imported.

Workaround:
The input assistance for input and output addresses in the main window or the
variable window (flag) can be used for parameters of IO type "Input" or "Out‐
put". The input can be inserted in the value column using the context menu
command "Insert".
Downward Compatibility of the SMC Editor to Firmware Versions of Sequential Motion Control
Previous Compatibility of the SMC Editor to Firmware Versions of Se‐
quential Motion Control
A compatible version of the SMC Editor is required for each firmware version
of the Sequential Motion Control (SMC) up to SMC Editor version 05V22.

Sequential Motion Control (SMC) SMC Editor

12V02 05V26 or a higher release
10V10 05V24 or a higher release
 Bosch Rexroth AG 9/29
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Important Information

05V24 or a higher release

10V08 05V22
05V20
05V24 or a higher release
10V06
05V20
05V24 or a higher release
10V04
05V18
10V01 05V16

Fig.1-4: Compatible version combinations of the SMC Editor and Sequential

Motion Control
Downward Compatibility of the SMC Editor Version 05V26 to Previous
Firmware Versions of Sequential Motion Control
General
The SMC Editor version 05V26 is compatible with the firmware version of the
Sequential Motion Control 10VRS from release 10V04 and 12VRS from release
12V02.
Language version
The version of the language that can be interpreted by the Sequential Motion
Control is specified with the language version. An SMC firmware release can
interpret one or several language versions. The language versions contained
in the following table are installed when installing the SMC Editor version
05V26.

Sequential Motion Control (SMC) Language version

12V02 SMC 12V01
SMC 10V04
10V10
SMC 10V03
10V08 SMC 10V03
10V06 SMC 10V03
10V04 SMC 10V02

Fig.1-5: Supported language versions of the SMC firmware release

The active language version of Sequential Motion Control is determined by the
SMC Editor during switching to online mode and adjusted accordingly.

Fig.1-6: Adjusting the language version

The language version of the SMC can be set manually in the SMC Editor via
the menu Extras ▶ Options ▶ General .
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Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

Important Information

Fig.1-7: Manually changing the language version

After opening the Options dialog, the language version that is currently active
in the SMC Editor is displayed in the "Language version of SMC" line. All in‐
stalled language versions are displayed in the drop-down list when opening the
combo box. By selecting the desired language version and subsequently con‐
firming it with <OK>, the selected language version is enabled for the SMC
Editor.
Online Mode of the SMC Editor with Different Firmware Versions of the
Sequential Motion Control
General
Depending on the used firmware version of the SMC, only the functions avail‐
able in the SMC firmware version are supported in the online mode of the SMC
Editor.
Functions of the Parameter Box in Dependency of the Used Firmware
Version of the Sequential Motion Control
General
The online functionality of the parameter box is only supported from the SMC
firmware version 10V08. As the used SMC firmware version is unknown in off‐
line mode, the functions of the parameter box are always active in the offline
mode of the SMC Editor.
Parameter Box up to SMC Firmware Version 10V08
If an SMC firmware version smaller than SMC 10V08 is detected when switch‐
ing to online mode, the parameter box is disabled as long as the SMC Editor is
in online mode. This means, the parameter box is closed when switching to
online mode. It cannot be enabled anymore in online mode. The menu item
View ▶ Parameter Box is disabled in the online mode. If the parameter box is
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Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

Important Information

opened when switching from offline to online mode, the parameter box is
closed.
Parameter Box up to SMC Firmware Version 10V08
From SMC firmware version 10V08, the online functionality of the parameter
box is supported. However, there are the following limitations:
● The export of list parameters in the online mode of the parameter box is
only supported from SMC firmware version 10V10 during the parameter
export. If list parameters are contained in the parameter box in online
mode and if a parameter export is triggered, the parameter export is can‐
celed with a corresponding error message.
● A parameter export with list parameters is only possible in offline mode if
the offline data set has been generated with a SMC firmware version
10V10. If the offline data set has been generated with the SMC firmware
version 10V08, the parameter export is canceled with a corresponding
error message.

When using SMC firmware version 10V08, all list parameters have
to be manually deleted from the parameter box in online and offline
mode to ensure a successful parameter export.

● The following parameter box errors are fixed when using the SMC Editor
version 05V26 and SMC firmware version 10V10. However, the errors still
occur in SMC firmware version 10V08.
– Defdb00119038 - Drive parameters are always displayed with a data
length of 4-bytes: Drive parameters are always displayed with a
length of 4-bytes in the parameter box of the SMC Editor. Example:
The parameter S-0-0033 has a data length of 2 bytes. Yet, the pa‐
rameter is displayed with a length of 32 bits in the binary represen‐
tation. The parameter has to be displayed with the correct number of
bits or nibbles in case it is represented as binary or hexadecimal
number, depending on the data length of the parameter.
– Defdb00119113 - Unknown error - error table: MLD_TABLE, error
number: 1024: When reading list parameters with a variable length
of 1-byte data and of format "Decimal number without sign" in the
parameter box of the SMC Editor, the following error message is re‐
ported "Unknown error - Error table: MLD_TABLE, error number:
1024". Example: Parameter P-0-1531.0.0.
– Defdb00119045 - Parameter box - Errors when writing list parame‐
ters with numbers of decimals: When trying to edit a list parameter
with numbers of decimals in the parameter box, the following error
message is displayed "Unknown error - Error table: MLD_TABLE,
error number: 518". The entered value is not written to the list pa‐
rameter.
– Defdb00119025 - Incorrect limit value specification for Y-parameters
in online mode: If parameter values are entered in the parameter box
in online mode, a limit value check is executed for the entered value.
If the entered value is outside the parameter limit values, an error
message is displayed in the status bar. The limit values of the pa‐
rameter are specified in the error message. In case of Y-parameters
whose limit values depend on other parameters (e.g. Y104), an in‐
correct limit value range is specified in the status message.
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New Functions

2 New Functions
2.1 Firmware
2.1.1 HMI
Function extension: French language support
CQ-ID: Defdb00132284
Severity: K6 - functional enhancement
Description: The SMC now also supports French diagnostic texts as well as a VCP08 inter‐
face. The drive parameter for language switching (S-0-0265) is also automati‐
cally set to "2" (for French). The French language is activated by setting the
parameter "Y000: Language" to the value "2".
The SMC diagnostic texts are provided in a language file
(LANG_FILE_02.SCL). Thus, the value "2" is reserved for "French" in param‐
eter "Y000: Language" and cannot be assigned otherwise.

2.1.2 PLC Application

Changing the PLC register for acyclic communication via PROFIBUS
CQ-ID: Defdb00128941
Severity: K6 - functional enhancement
Description: The PLC registers for acyclic communication via PROFIBUS using parameter
channel were changed from P-0-1274...P-0-1277 to P-0-1283...P-0-1286.
Extending the MOM command for Flying Cutoff
CQ-ID: Defdb00128434
Severity: K6 - functional enhancement
Description: The MOM command has been extended by the parameter 3 "Command Trav‐
eling to fixed stop". The command can then be switched on/off using this
command. Thus, it is possible to reduce the torque using the MOM command
in the tool program of the Flying Cutoff and to simultaneously enable the com‐
mand. Consequently, tool clamping does not result in a drive error anymore. If
the clamping is canceled, the previous torque has to be set again using the
MOM command and the command has to be deleted.
Extending the system variables for task load
CQ-ID: Defdb00129541
Severity: K6 - functional enhancement
Description: A system variable to analyze the task load since the SMC start-up is not avail‐
able.
The new system variables VS025 (maximum load MotionTask in [%] since start-
up) and VS026 (maximum load PlcTask in [%] since start-up) have been
introduced. The values show the maximum load of the system since the SMC
start-up.
Flying Cutoff: Immediate return motion via EOS command
CQ-ID: Defdb00128898
Severity: K6 - functional enhancement
Description: In the "Flying Cutoff" application type, an immediate return motion is now pos‐
sible via the EOS command. Returning to the return position can optionally be
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New Functions

started by calling the EOS command via a new second command parameter
for the EOS command.
If the new command parameter is not set for immediate return, approaching of
the return position is still triggered via a LMx command.
Function extension "Traveling to fixed stop"
CQ-ID: Defdb00128669
Severity: K6 - functional enhancement
Description: The function "Traveling to fixed stop" can be configured via the command "PFC
- Feed to fixed stop: Configuration" and can be enabled via the commands "PFI
feed incremental to fixed stop" and "PFA feed absolute to fixed stop".
Function extension axis coupling - position coupling
CQ-ID: Defdb00131594
Severity: K6 - functional enhancement
Description: Now, axis coupling by means of position coupling is possible. The slave axis
assumes the position value of the master axis in position control. The position
coupling has to be configured in the parameter "Yx00, Application type". By
means of the new command "CPA" in the SMC program, the coupled axis can
be enabled.
Function extension axis coupling - velocity coupling
CQ-ID: Defdb00129836
Severity: K6 - functional enhancement
Description: Now, axis coupling by means of velocity coupling is possible. The slave axis
assumes the velocity command value of the master axis in velocity control. The
velocity coupling has to be configured in the parameter "Yx00, Application type".
By means of the new commands CVC and CVA in the SMC program, the cou‐
pled axis can be enabled and parameterized.
Function extension CVT command
CQ-ID: Defdb00128321
Severity: K6 - functional enhancement
Description: The command "CVT - Variable conversion <-> bit pattern" has been extended
by the following conversion options:
--> BitToInt: Changing the bit pattern to an integer value. The value is displayed
as real number without numbers of decimals.
--> IntToBit: Changing the the integer value to a bit pattern. The value is dis‐
played as real number without numbers of decimals.
Function extension of the velocity-synchronous axis
CQ-ID: Defdb00130302
Severity: K6 - functional enhancement
Description: Now, the velocity-synchronous slave axis can be enabled (see SOC/SOA com‐
mands). The synchronous slave axis assumes the velocity of the global master
axis in a velocity-controlled manner (cp. Y028). Additionally, the velocity-syn‐
chronous axis can process a following factor and a velocity offset.
Function extension: "Global master axis via slave axis"
CQ-ID: Defdb00128937
Severity: K6 - functional enhancement
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New Functions

Description: Apart from the master axis, the global master axis (see Y028) can now also be
generated by a slave axis.
Master axis cycle (P-0-0750) is set incorrectly for synchronous axes
CQ-ID: Defdb00133479
Severity: K6 - functional enhancement
Description: The parameter "P-0-0750, master axis revolutions per master axis cycle" was
set incorrectly for synchronous axes in dependency of the axis scaling. In case
of modulo axes, P-0-0750 was set to '1'. In case of absolute axes, the parameter
was set to '0'. The parameter value for synchronous axes is now set to the same
value of the axis (or encoder) that generated the master axis position (cp.
Y028).

No Y-parameter available to display the SMC version

CQ-ID: Defdb00128443
Severity: K6 - functional enhancement
Description: No Y-parameter available to display the SMC version. The version display in
P-0-1361 is insufficient.
Enhancement: The new Y-parameter "Yx86: SMC FW-Version" was created.
Output of SMC-specific error texts on the drive display of the master axis
CQ-ID: Defdb00129518
Severity: K6 - functional enhancement
Description: SMC-specific error texts (cp. Y030) are now also output on the drive display
and in parameter "S-0-0095" of the master axis.
Parking axis via Yx02
CQ-ID: Defdb00128333
Severity: K6 - functional enhancement
Description: The "Parking axis" (C1600) command is enabled for all axes that are not ena‐
bled in parameter "Yx02: Axis release". The command is enabled after switch‐
ing from parameterization mode to operating mode ("PA" display). A drive can
also be removed electrically in the operating mode in case of an active "Parking
axis" command.
PLC register "P-0-1440" is not mapped in the MLD-S application
CQ-ID: Defdb00133549
Severity: K6 - functional enhancement
Description: The PLC register "P-0-1440" with the axis inputs image "Onboard X31/X32"
was not generated in an MLC-S application (only master axis available). Thus,
the states of the inputs could not be analyzed via PROFIBUS using this register.
Provision of the "MX_OnlineChangeSMCProgram" function block
CQ-ID: Defdb00128380
Severity: K6 - functional enhancement
Description: The "MX_OnlineChangeSMCProgram" function block is provided via the
"MX_Sequential_Motion_Control_12VRS.lib" library. Program blocks ("Online‐
Change") can be reloaded by means of the function block. Thus, changing the
already active SMC program is possible. By means of a user-specific extension
in the partially open PLC project, the function block can be called in the "HMI
task".
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Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

New Functions

Renaming the "Yx19" and "Yx32" parameters

CQ-ID: Defdb00132295
Severity: K6 - functional enhancement
Description: The axis-specific parameters "Yx19" and "Yx32" have been renamed as the
optional encoder can be used as measuring wheel encoder as well as position
controller encoder. New parameter names:
- "Yx19: Optionaler Geber, Ein-Konfig" (DE)
- "Yx32: Optionaler Geber, Aus-Konfig" (DE)
- "Yx19: Optional encoder, In-config" (EN)
- "Yx32: Optional encoder active, Out-config" (EN)
The number of the extra polation steps cannot be selected for the global master axis
CQ-ID: Defdb00130703
Severity: K6 - functional enhancement
Description: The number of the extra polation steps for the global master axis (Y028) could
not be set by the user. The SMC always sets the parameter (P-0-1617) to a
master axis-dependent default value ("0", "2" or "3"). This default value, how‐
ever, should not be selected, e.g. in case of velocity-synchronous axes. Now,
the SMC does not set the number of extra polation steps (P-0-1617) anymore.
The user can now select the settings.
Using synchronous and virtual axes in the Flying Cutoff
CQ-ID: Defdb00129605
Severity: K6 - functional enhancement
Description: When using the application type "Flying Cutoff" (Y100 = 2) and "Test mode
Flying Cutoff" (Y100 = 3), synchronous axes (cp. Y028) can now also be ena‐
bled. Furthermore, the virtual axis can now be used (not via Axis 1). Please
note that the format of the position data (cp. Yx08) of the global master axis
(cp. Y028) has to be absolute to correspond to the application type.
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Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

Software

3 Software
No defects reported.
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 Bosch Rexroth AG 19/29
Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

Firmware

4 Firmware
4.1 Resolved Defects
4.1.1 PLC Application
SMC: ACC command
CQ-ID: Defdb00133878
Severity: K3 - malfunction (no workaround)
Description: Calling the ACC command in the SMC program was not possible, if the appli‐
cation type "Flying Cutoff" or "Test mode Flying Cutoff" was selected in param‐
eter "Yx00, Application type". Thus, changing the return acceleration was not
possible, even if the return motion had been triggered by a motion command
(e.g. POA) (cp. "Yx69" Bit5). If the return is triggered by the Flying Cutoff motion
command (e.g. LML), calling the ACC command does not effect the return ac‐
celeration.
Changing the minimum value of "Yx06: Maximum acceleration"
CQ-ID: Defdb00132667
Severity: K4 - malfunction
Description: Previously, the minimum value of "Yx06: Maximum acceleration" had the value
"0.0". When entering the minimum value, the error "MLD_TABLE, Add1=17h"
was reported in jog mode.
The minimum value of "Yx06: Maximum acceleration" and the value of "Yx56:
Return acceleration" was changed to the value "0.1".
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 Bosch Rexroth AG 21/29
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Documentation

5 Documentation
No defects reported.
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 Bosch Rexroth AG 23/29
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Application

6 Application
No defects reported.
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 Bosch Rexroth AG 25/29
Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

Service and Support

7 Service and Support

Our service helpdesk at our headquarters in Lohr, Germany and our worldwide
service will assist you with all kinds of enquiries. You can reach us around the
clock - even on weekend and on holidays.

Service Hotline
Helpdesk
Worldwide
Phone +49 (0) 9352 40 50 60 Outwith Germany please con‐
tact our sales/service office in
Fax +49 (0) 9352 40 49 41
your area first.

service.svc@boschrex‐ For hotline numbers refer to

E-mail the sales office addresses on
roth.de
the Internet.
http://www.boschrexroth.com
Internet You will also find additional notes regarding service, mainte‐
nance (e.g. delivery addresses) and training.

Preparing Information For quick and efficient help please have the following information ready:
● Detailed description of the fault and the circumstances
● Information on the type plate of the affected products, especially type co‐
des and serial numbers
● Your phone, fax numbers and e-mail address so we can contact you in
case of questions.
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Rexroth IndraMotion for Metal Forming 12V02 Sequential Motion Control

Index

Index
C F
Changing the minimum value of "Yx06: Max‐ Function extension CVT command..................... 14
imum acceleration".............................................. 19 Function extension of the velocity-synchro‐
Changing the PLC register for acyclic com‐ nous axis............................................................. 14
munication via PROFIBUS.................................. 13
M
D Master axis cycle (P-0-0750) is set incorrectly
Defdb00128321.................................................. 14 for synchronous axes.......................................... 15
Defdb00128333.................................................. 15
Defdb00128380.................................................. 15
Defdb00128434.................................................. 13
N
Defdb00128443.................................................. 15 No Y-parameter available to display the SMC
Defdb00128669.................................................. 14 version................................................................ 15
Defdb00128898.................................................. 13
Defdb00128937.................................................. 14 O
Defdb00128941.................................................. 13 Output of SMC-specific error texts on the
Defdb00129518.................................................. 15 drive display of the master axis........................... 15
Defdb00129541.................................................. 13
Defdb00129605.................................................. 16
Defdb00129836.................................................. 14 P
Defdb00130302.................................................. 14 Parking axis via Yx02.......................................... 15
Defdb00130703.................................................. 16 PLC register "P-0-1440" is not mapped in the
Defdb00131594.................................................. 14 MLD-S application............................................... 15
Defdb00132284.................................................. 13 Provision of the "MX_OnlineChangeSMCPro‐
Defdb00132295.................................................. 16 gram" function block............................................ 15
Defdb00132667.................................................. 19
Defdb00133479.................................................. 15 R
Defdb00133549.................................................. 15 Renaming the "Yx19" and "Yx32" parameters.... 16
Defdb00133878.................................................. 19

S
E SMC: ACC command.......................................... 19
Extending the MOM command for Flying Cutoff. 13 Support
Extending the system variables for task load...... 13 see Service Hotline ...................................... 25

F T
Flying Cutoff: Immediate return motion via The number of the extra polation steps cannot
EOS command.................................................... 13 be selected for the global master axis................ 16
Function extension: "Global master axis via
slave axis"........................................................... 14
Function extension: French language support.... 13 U
Function extension "Traveling to fixed stop"....... 14 Using synchronous and virtual axes in the Fly‐
Function extension axis coupling - position ing Cutoff............................................................. 16
coupling............................................................... 14
Function extension axis coupling - velocity
coupling............................................................... 14
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Notes
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 9352-40-5060
Fax +49 9352-40-4941
[email protected]
www.boschrexroth.com/electrics

Printed in Germany