MotoLogix is now also available for Bosch Rexroth CML plc's.
We ported the MotoLogix package for Codesys to Rexroth IndraWorks so that
Rexroth CML plc users can use MotoLogix.
The package is created using IndraWorks ML 14V22 P10.
HMI
This platform does not have a web based (webvisu) HMI. Therefore the HMI pages for operating the example programs have to be accessed from the IndraWorks engineering tool (in online mode).
Fieldbus
PROFINET is used for the communication with the MotoLogix robot controller. In the project you find three PROFINET devices:
- Inpact - PCIe board, used in YRC1000 and YRC1000micro controllers.
- cp1616-v26-standard - PCI board, used in DX200 controllers.
- cp1616-v28-standard - PCI board, used in YRC1000 controllers.
The GSD files can be found on the
download portal
.
For more information on the setup of the robot controller please refer to
the
Simotion
pages.
IO mapping
The IO mapping has to be adjusted to the board of choice in GlobalVar.
| Start address | PROFINET device |
|---|---|
2000 | cp1616-v26-standard |
2500 | Inpact |
3000 | cp1616-v28-standard |
// mapping MotoLogix data to the PROFINET device
MLX_0_Input AT %IB2500 : ARRAY[0..435] OF USINT;
MLX_0_Output AT %QB2500 : ARRAY[0..435] OF USINT;