Linear motion system LMS IndraLogic Interface Manual

NYCe 4000

Linear motion systemLMS IndraLogic Interface Manual

ReferenceR911347216

Edition 04

NYCe 4000Linear motion systemLMS IndraLogic Interface Manual

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DOK-NY4000-IND*LOG*V45-RE04-EN-E

RS-7896ea8d5b38d2a80a347ea5007b4340-4-en-US-6

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DOK-NY4000-IND*LOG*V45-RE01-EN-E 02/2015 First edition 45V02DOK-NY4000-IND*LOG*V45-RE02-EN-E 06/2016 2nd edition 45V08DOK-NY4000-IND*LOG*V45-RE03-EN-E 12/2017 3rd edition 45V13DOK-NY4000-IND*LOG*V45-RE04-EN-E 03/2018 4th edition 45V14

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Published by Bosch Rexroth AGP.O. Box 7170 ■ 5605 JD Eindhoven ■ The Netherlandshttp://www.boschrexroth.com

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Bosch Rexroth AG DOK-NY4000-IND*LOG*V45-RE04-EN-ENYCe 4000 Linear motion system LMS IndraLogic Interface Manual

Table of ContentsPage

1 LMS IndraLogic Interface............................................................................................... 31.1 Introduction............................................................................................................................................. 31.2 Overview................................................................................................................................................. 31.3 Used abbreviations in this manual.......................................................................................................... 5

2 CM Function Block library.............................................................................................. 72.1 Introduction............................................................................................................................................. 72.2 Data types............................................................................................................................................... 72.2.1 NYCE_STATUS................................................................................................................................... 72.2.2 CM_MOVE_PARS............................................................................................................................... 72.3 Function Blocks...................................................................................................................................... 72.3.1 Common information........................................................................................................................... 72.3.2 Edge-controlled FB: CmInitialize......................................................................................................... 82.3.3 Edge-controlled FB: CmMoveToPosition............................................................................................ 92.3.4 State-controlled FB: CmReadSystemVariable.................................................................................. 11

3 How to use the IndraLogic interface............................................................................ 15

4 NYCeCMSocketServer................................................................................................ 17

5 Notes on use of NYCe 4000 LMS with IndraLogic....................................................... 195.1 Configuration........................................................................................................................................ 195.2 Start-up sequence................................................................................................................................ 195.3 PLC application..................................................................................................................................... 20

DOK-NY4000-IND*LOG*V45-RE04-EN-E Bosch Rexroth AG I/21NYCe 4000 Linear motion system LMS IndraLogic Interface Manual

Table of Contents

Bosch Rexroth AG DOK-NY4000-IND*LOG*V45-RE04-EN-EII/21NYCe 4000 Linear motion system LMS IndraLogic Interface Manual

1 LMS IndraLogic Interface1.1 Introduction

NYCe 4000 Software LMS supports the PLC programming tool IndraLogic2G using socket communication. Bosch Rexroth IndraControl L25, L45, andL65 with the IndraMotion software package are supported. The PLC canexecute all CM functions and a subset of the NYCe 4000 standardfunctionality. The PLC uses the n4kcmsocketclient library (supplied byRexroth) that communicates with the CM Socket Server on the PC. Thisn4kcmsocketclient library uses IndraLogic-specific PLC libraries to accessthe socket interface.The PLC can also be from another manufacturer, but you have to implementthe n4kcmsocketclient library which interfaces with the CM Function Blocklibrary and the PLC manufacturer supplied socket communication interfaces.See for more information the NYCe 4000 LMS Generic PLC InterfaceManual.This manual describes the CM Function Block interface.

1.2 OverviewThe IndraLogic PLC architecture to the CM Socket Server architecture areshown in fig. 1-1 "IndraLogic PLC architecture" on page 4.

DOK-NY4000-IND*LOG*V45-RE04-EN-E Bosch Rexroth AG 3/21NYCe 4000 Linear motion system LMS IndraLogic Interface Manual

LMS IndraLogic Interface

application

PLC

NYCe 4000 API

IEEE 1394bor Ethernet

to NYCe 4000 nodes

“NYCe4000" PC

CM Socket Server

N4kCall N4kLoggerN4kCommunication

System libraries

n4kcmsocketclient library

n4kcmapi.libraryCM Function Blocks

CmMoveToPositionCmReadSystemVariable

Fig. 1-1: IndraLogic PLC architecture The IndraLogic PLC - CM Socket Server interface uses a client-server model.The CM Socket Server executes on the "NYCe4000" PC and handles thecommunication with the IndraLogic PLC. The CM Socket Server interpretsthe function call messages from the IndraLogic PLC, invokes thecorresponding NYCe 4000 function and returns the output arguments to theIndraLogic PLC. The CM Socket Server also supports logging error anddebug messages from the IndraLogic PLC.The IndraLogic PLC is the client and can execute CM functions. Then4kcmsocketclient library (n4kcmsocketclient.library supplied byRexroth) includes the interface with the CM Function Blocks(n4kcmapi.library) and the IndraLogic-specific libraries used toimplement the TCP/IP and UDP/IP socket communication.This manual describes the following information.● n4kcmsocketclient library, see chapter 2 "CM Function Block library" on

page 7.● NYCeCMSocketServer, see chapter 4 "NYCeCMSocketServer" on

page 17.

Bosch Rexroth AG DOK-NY4000-IND*LOG*V45-RE04-EN-E4/21NYCe 4000 Linear motion system LMS IndraLogic Interface Manual


● PLC application, see chapter 5 "Notes on use of NYCe 4000 LMS withIndraLogic" on page 19.

1.3 Used abbreviations in this manualThe following table gives a summary of abbreviations used in this manual.

Abbreviation Description

API Application Programming Interface

CM Carrier Management

FB Function Block

IP Internet Protocol

LMS Linear Motion System

PLC Programmable Logic Controller

TCP Transmission Control Protocol

UDP User Datagram Protocol

Tab. 1-1: Summary of used abbreviations



2 CM Function Block library2.1 Introduction

The task of each CM Function Block is to execute a single CM function. EachCM Function Block executes its task according to the processing mode"terminating processing", because the functionality of a CM function iscompleted when it returns.Most CM Function Blocks execute their task according to the controllingmode "edge controlled", because the functionality of a CM function needs tobe executed only once. An example is CmMoveToPosition. Some of theCM Function Blocks execute their task according to the controlling mode"state controlled", because the functionality of a CM function can be executedrepeatedly. An example is CmReadSystemVariable.The description of the interface of the CM Function blocks uses a graphic forthe CM Function Block and a table that describes the purpose of the FunctionBlock along with a description of each input and output variable. Theinterface behavior is described in a signal-time diagram.

2.2 Data types2.2.1 NYCE_STATUS

This data type maps to the type NYCE_STATUS.

NYCe 4000 definition PLC definition Description

NYCE_STATUS UDINT The return type for allNYCe 4000 API functions.

Tab. 2-1: NYCE_STATUS mapping

2.2.2 CM_MOVE_PARSThis data type maps to the structure CM_MOVE_PARS.

NYCe 4000 definition PLC definition Description

struct CM_MOVE_PARS CM_MOVE_PARS

endPosition LREAL End position in pu.

maxVelocity LREAL Maximum velocity in pu/s.

maxAcceleration LREAL Maximum acceleration in pu/s2.

maxJerk LREAL Maximum jerk in pu/s3.

Tab. 2-2: CM_MOVE_PARS mapping

2.3 Function Blocks2.3.1 Common information

The variable ErrorID only contains a valid value when the variable Erroris TRUE. If the variable Done is TRUE, the variable ErrorID does not containa valid value.


CM Function Block library

If the value of the variable ErrorID is in the range of NYCE_STATUS codesCUSTOM_ERROR_BASE thru CUSTOM_WARNING_BASE, it means that acommunication error occurred during processing of the task. If the variableErrorID contains another value, it means that a NYCe 4000 error orwarning is returned by the executed CM function. The error codes are listedin the NYCe 4000 LMS Generic PLC Interface Manual (table 2-5).If a CM function returns a NYCe 4000 warning, the CM Function Blockprocesses it as a NYCe 4000 error. The variable Error is set to TRUE andthe variable ErrorID contains the NYCe 4000 warning code.

2.3.2 Edge-controlled FB: CmInitializeThe Function Block CmInitialize calls the CM function CmInitialize.

Execute

MachineData

Done

Active

Error

ErrorId

CmInitialize

BOOL

STRING

BOOL

BOOL

BOOL

NYCE_STATUS

Fig. 2-1: Function Block CmInitialize The following table describes the interface of the Function Block CmInitialize.

Name CmInitialize

Purpose Initializes the LMS. State: CM_SYSTEM_POWERUP Trans.: CM_SYSTEM_POWER_UP → CM_SYSTEM_INITIALIZED, All tracks: CM_TRACK_POWER_UP → CM_TRACK_IDLE

VAR_INPUT

Execute BOOL Start the command at the rising edge.

MachineData STRING Name of the machine data file. The filemust be specified using an absolute path.

VAR_OUTPUT

Done BOOL Command completed successfully.

Active BOOL Command is executing.

Error BOOL Command completed with an error.

ErrorId NYCE_STATUS Error code of the error.

Tab. 2-3: Interface description of the FB CmInitialize The signal-time diagrams of this Function Block are in the following figures.



Execute

Active

Error

Done

1 PLC cyle1 2

Fig. 2-2: Signal-time diagram of an edge-controlled terminating FB, success‐fully completed

The Function Block becomes active when the variable Execute is set TRUE.This status is visible in the next PLC cycle as the variable Active is nowTRUE. In situation ①, the requested function is active during 2 PLC cycles,and in the subsequent PLC cycle the variable Done is set TRUE. As long asthe variable Execute has the value TRUE, the variable Done remainsTRUE. After the variable Execute is set to FALSE, the variable Done alsochanges to FALSE. In situation ②, the variable Execute is set TRUE andreset to FALSE in the next PLC cycle. This can be done, because theFunction Block is edge-controlled. The requested function is active during 3PLC cycles, and in the subsequent PLC cycle the variable Done is set TRUE.As the variable Execute is already set to FALSE, the variable Done changesto FALSE in the following PLC cycle.

Execute

Active

Error

Done

1 PLC cyle1 2

Fig. 2-3: Signal-time diagram of an edge-controlled terminating FB, completedwith an error

If the Function Block completes with an error, the status variables behaveidentical as in the successful completion condition, except that the variableDone remains FALSE and the variable Error changes to TRUE.

2.3.3 Edge-controlled FB: CmMoveToPositionThe Function Block CmMoveToPosition calls the CM functionCmMoveToPosition.

Execute

CarrierId

Done

Active

Error

ErrorId

CmMoveToPosition

BOOL

INT

BOOL

BOOL

BOOL

NYCE_STATUSMoveParsCM_MOVE_PARS

Fig. 2-4: Function Block CmMoveToPosition



The following table describes the interface of the Function BlockCmMoveToPosition.

Name CmMoveToPosition

Purpose Starts the movement of a carrier to a specified end position. When the command is successfully completed, the carrier hasstarted to move, unless the movement is suspended, due to thefact that the feed override is zero. State: CM_TRACK_ACTIVE, any carrier state, except CM_CARRIER_POWERUP Trans.: CM_CARRIER_STOPPED → CM_CARRIER_SUSPENDED (if feed override equals 0),

CM_CARRIER_STOPPED → CM_CARRIER_MOVING, CM_CARRIER_JOGGING → CM_CARRIER_MOVING, CM_CARRIER_MOVING → CM_CARRIER_STOPPED (after completion of movement)

VAR_INPUT

Execute BOOL Start the command at the rising edge.

CarrierId STRING Identification of the carrier.

MovePars CM_MOVE_PARS Movement parameters.

VAR_OUTPUT





Tab. 2-4: Interface description of the FB CmMoveToPosition See fig. 2-2 "Signal-time diagram of an edge-controlled terminating FB,successfully completed" on page 9 and fig. 2-3 "Signal-time diagram of anedge-controlled terminating FB, completed with an error" on page 9 for thesignal-time diagrams of this Function Block.The following listed CM Function Blocks are of the same type.

CmActivateTrack CmAddCarrier

CmAddFirstCoil CmAddLastCoil

CmAddMovingCarrier CmAssignCarrierIds

CmCancelAddMovingCarrier CmCancelMoveAcrossTrackBounds

CmClearWarning CmDeactivateTrack



CmDefineSyncGroup CmDeleteSyncGroup

CmDownloadCpaTable CmEnableBumper

CmEnableCpa CmEnableSensorDetection

CmEnableStartTrigger CmFreeArea

CmLinkCpaTable CmMoveAcrossTrackBounds

CmMoveAdjacent CmMoveProfile

CmMoveToTrack CmRemoveCarrier

CmRemoveFirstCoil CmRemoveLastCoil

CmRemoveMovingCarrier CmResetError

CmSelectFirstCoilAlternative CmSelectLastCoilAlternative

CmSelectSpecialControllerPars CmSetFeedOverride

CmSetTrackStateToIdle CmShutdown

CmStartSyncGroup CmStartVelocityMode

CmStopCarrier CmStopCarriers

CmStopVelocityMode CmSynchronize

CmUnlinkCpaTable CmWriteCarrierPars

CmWriteHomePars CmWriteSpecialControllerPars

Tab. 2-5: Edge-controlled Function Blocks

2.3.4 State-controlled FB: CmReadSystemVariableThe Function Block CmReadSystemVariable calls the CM functionCmReadSystemVariable.

Enable

VarId

Done

Active

Error

ErrorId

CmReadSystemVariable

BOOL

STRING

BOOL

BOOL

BOOL

NYCE_STATUS

Value LREAL

Fig. 2-5: Function Block CmReadSystemVariable The following table describes the interface of the Function BlockCmReadSystemVariable.



Name CmReadSystemVariable

Purpose Reads the value of the specified system variable. State: - Trans.: -

VAR_INPUT

Enable BOOL Execute the command continuously whileenabled.

VarId STRING Identification of variable.

VAR_OUTPUT





Value LREAL Value of the variable.

Tab. 2-6: Interface description of the FB CmReadSystemVariable The signal-time diagrams of this Function Block are in the following figures.

Enable

Active

Error

Done

Fig. 2-6: Signal-time diagram of an state-controlled terminating FB, success‐fully completed

The Function Block becomes active when the variable Enable is set TRUE.This status is visible in the next PLC cycle as the variable Active is nowTRUE. The requested function is active during 2 PLC cycles, and in thesubsequent PLC cycle the variable Done is set TRUE. In the following PLCcycle the variable Done is reset to FALSE. As long as the variable Enablehas the value TRUE, the function is executed again. After 2 subsequent PLCcycles the variable Done changes again to TRUE. This cyclic behaviorrepeats as long as the variable Enable is TRUE. After the variable Enableis set to FALSE, the variable Active also changes to FALSE. Note that thevariable Done does not change to TRUE.



Enable

Active

Error

Done

Fig. 2-7: Signal-time diagram of an state-controlled terminating FB, completedwith an error

If the active function completes with an error, the variable Error changes toTRUE and the function is not called again even though the variable Enableremains TRUE. In this condition the variable Error remains TRUE until thevariable Enable is reset to FALSE.The following listed CM Function Blocks are of the same type.

CmCheckArea CmGetAxisIdOfCoil

CmGetAxisIdOfCoil CmGetCarriersOnTrack

CmGetFeedOverride CmGetSyncGroup

CmGetTracks CmReadBumperPars

CmReadCarrierData CmReadCarrierPars

CmReadCarrierState CmReadCarrierVariable

CmReadCoilVariable CmReadEndstopPositions

CmReadErrorCode CmReadHomePars

CmReadPosition CmReadServerState

CmReadSingleCarrierData CmReadSpecialControllerPars

CmReadSystemVariable CmReadTrackData

CmReadTrackState CmReadTrackVariable

Tab. 2-7: State-controlled Function Blocks



3 How to use the IndraLogic interfaceThe PLC application can use one or more instances of the N4kCall FunctionBlock to communicate with CM, see chapter 2 "CM Function Block library"on page 7. The actual communication with CM is performed by theN4kCommunication Function Block. The PLC application is responsible tocreate a communication program which calls an instance of theN4kCommunication Function Block, see fig. 3-1 "Example of acommunication program" on page 15.

Fig. 3-1: Example of a communication program The communication program must run as a separate task with high priorityand an interval time of 1 ms, see fig. 3-2 "Communication task configuration"on page 16.


How to use the IndraLogic interface

Fig. 3-2: Communication task configuration


How to use the IndraLogic interface

4 NYCeCMSocketServerNYCeCMSocketServer is a tool in the Windows System Tray. The tool offersan LMS interface to which PLC applications can connect using sockets.When you start NYCeCMSocketServer from the Start Menu, the tool starts inthe System Tray.

Fig. 4-1: NYCeCMSocketServer started in the System Tray A notification text shows the number of active connections toNYCeCMSocketServer when you hoover the mouse over the icon in theSystem Tray.Right-click on the icon in the System Tray to open the pop-up menu of thetool. With the menu entry "Open" you can see the IP address and the portnumbers used by NYCeCMSocketServer and number of active connections.

Fig. 4-2: NYCeCMSocketServer dialog With the menu entry "Exit" you can close the communication with the PLCapplication and terminate NYCeCMSocketServer.

When NYCeCMSocketServer is started the socket server binds toINADDR_ANY (0.0.0.0), thus to all available network interfaces of the PC.This default behavior can be overruled by specifying a specific IP address inthe registry to which the socket server must connect. If the registry entry isnot available or the registry entry holds an invalid IP address, the socketserver will bind to INADDR_ANY.Both TCP and UDP connection use port 4242. NYCeCmSocketServer will notstart if the TCP port cannot be opened. If the UDP port cannot be opened,NYCeCmSocketServer logs the error and continues without logging support.The used port numbers can be configured in the registry of Windows (ifnecessary). The path of the registry entry isHKEY_LOCAL_MACHINE\Software\Rexroth\NYCe4000\Cmwith the following keys● IP address key = ServerIPAddress (type is String)

The string is a decimal-dotted IPv4 address.● TCP port key = TCPServerPort (type is DWORD)● UDP port key = UDPLoggerPort (type is DWORD)


NYCeCMSocketServer

5 Notes on use of NYCe 4000 LMS with IndraLogic5.1 Configuration

To configure the communication between CM and your PLC application youmust set and specify IP address settings.

123

Nodenr: 0NodeName: Y

123

PC

LMS node

IP address“PLC”

IP address“CM”

ethernet CM

LAN

IEEE1394b or ethernet

NY4110 or NY4112

PLC

Fig. 5-1: Network configuration of the CM PC and the PLC connection ● The network adapter of the PC (on which CM runs) that connects to the

PLC must have a fixed IP address, IP address "CM". The PC must notuse DHCP to obtain an IP address from a DHCP server for this networkadapter.

● The IP address of the PC must be specified in the N4kCommunicationFunction Block.

● Note that the PC must have up to 3 ethernet network adapters.– Connection to the PLC.– Connection to the NYCe 4000 node, if the NY4112 MCU is used.– Connection to a LAN (optional).

Make sure that the IP address of the PC and the IP address ofthe PLC are in the same subnet.

5.2 Start-up sequenceCM starts the communication with all nodes when CM receives theCmInitialize command. Therefore, the start-up procedure for the systemis as follows.

1. Start PC and NYCe 4000 nodes2. Start NYCeCMSocketServer3. Start PLC application4. Start any additional Windows CM applications.

If a restart is needed, the mentioned start-up sequence must be followed.This means that you must close the additional applications, stop the PLCapplication, close NYCeCMSocketServer, and power cycle the PC and allnodes.NYCeCMSocketServer starts the UDP log server and the TCP server. TheUDP server binds itself to the configured UDP port (default 4242) and waitsfor data. Received data is logged in shared memory for the DEH subsystem.The TCP server binds itself to the configured TCP port (default 4242) andwaits for data. When data is received, the data is checked. If the data isinvalid, the error N4K_INVALID_REQUEST is returned, a quick stop on allaxes is executed and the TCP connection is closed. If the data is valid, the


Notes on use of NYCe 4000 LMS with IndraLogic

specified CM function is executed and the return status of the executedfunction is returned to the application.

5.3 PLC applicationThe PLC application can use an "unlimited" number of N4kCall FunctionBlocks, but only 40 N4kCall Function Blocks can be active. If too manyN4kCall Function Blocks are active, the return statusN4K_STATUS_OUT_OF_RESOURCES is returned. An N4kCall Function Blockis active from the moment that the Function Block is enabled until the reply isretrieved by the Function Block. In case of a timeout the call remains activeuntil the message is received by the N4kCommunication Function Block.The PLC application is responsible to call the N4kCommunication FunctionBlock every 1 ms in a separate task. To initialize the communication with theNYCeCMSocketServer the PLC application must callN4kCommunication() with the Enable flag set TRUE. When theInOperation flag of N4kCommunication is set, N4kCall requests can besubmitted.By default a connection to 192.168.0.1:4242 is made. To change this defaultsetting, you must specify the new IP address and/or port number in the firstcall to the N4kCommunication Function Block with the Enable flag set TRUE.The PLC application should call N4kLogMsg() in the main application eachPLC cycle. When there is no data to log, the call returns immediately. Bydefault the logger logs to 192.168.0.1:4242. To change this default setting,you must specify the new IP address and/or port number in the first call toN4kLogMsg().The N4kLogger has a flag that indicates the status. The N4kLogger isintended to log errors in the N4kCommunication process, not intended to loguser messages.


Notes on use of NYCe 4000 LMS with IndraLogic

Notes


Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyPhone +49 9352 18 0Fax +49 9352 18 8400www.boschrexroth.com/electrics

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Linear motion system LMS IndraLogic Interface Manual

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