Electric Drives and Controls Hydraulics Linear Motion and

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What is Indra. Motion for Handling? The robot control inside the PLC based on: § Uniform PLC platform according IEC 61131 -3 § Standard Motion-Control according PLCopen The only PLC-based solution for motion systems on the market ! 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 2

What supplies Indra. Motion for Handling ? Complete source-code on one CD ! § PLC libraries with Motion-Interpreter § PLC templates including HMI- & Motion connection § Prepared drive parameter for a quick commissioning § Readymade operator interface usable for different HMI devices 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 3

What performs Indra. Motion for Handling? § Cartesian kinematics § Movement in machine coordinates without coordination transformation § Coordinated PTP movement § All axis start and end at the same time § Up to 6 axis per kinematic § 3 main axis § 3 orientation axis 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 4

What performs Indra. Motion for Handling? A complete range of functions Indra. Motion for Handling includes all functions needed for time optimized PTP motion with 6 -axis kinematics § § § § Blended movements Teach-in position Jogging Single step and online display Protection areas Diagnostics … 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 5

What performs Indra. Motion for Handling? Application versatility Indra. Motion for Handling is the ideal solution for applications such as § Loading / unloading handlings for fully automated production § § § § Molding machines, mounting, logistics, … Handling in rough environment Foundry, electroplating, … System solution together with the CMS Palletizing Pick and Place Laboratory automation Retrofitting … 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 6

What performs Indra. Motion for Handling? Application versatility Indra. Motion for Handling is practicable Overview Sandblast Application Multikinematic 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 7

What provides Indra. Motion for Handling … … for the OEM ? § Quick commissioning § Simple machine configuration § Fast troubleshooting § High flexibility § Scalable HMI-, controller- & drive platforms § Open Source – Software § Engineering savings § Turnkey solution with § Integrated tested functions Simple, scalable, powerful 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 8

What provides Indra. Motion for Handling … … for the OEM ? Simple, scalable, powerful … for the end-user ? § Readymade HMI user interface § Teach-in & define of point coordinates § Motion programming like a robot control Simple to operate, teach-in and programming 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 9

Rexroth Indra. Motion for Handling Turnkey Automation Solution For the OEM simple, scalable, powerful Quick commissioning by simple machine configuration 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 10

4 Steps to a running machine All machine parameter are § stored in the PLC § described in one variable list 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 11

4 Steps to a running machine 1. Activate the axis X Y Z 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 12

4 Steps to a running machine 2. Automatic mode: X Y Z 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 13

4 Steps to a running machine 3. Manual mode: X Y Z 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 14

4 Steps to a running machine 4. Software limit switches X Y Z 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 15

Rexroth Indra. Motion for Handling Turnkey Automation Solution For the OEM simple, scalable, powerful High flexibility with scalable HMI-, Controller- & Drive platforms 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 16

Drive based configuration Handheld VCH 08 VCP 08 Indra. Drive Engineering PC Indra. Drive and/or Indra. Drive Cs up to 6 Indra. Motion MLD Inline I/O up to 4 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 17

Controller based configuration VCP 08 Handheld VCH 08 VEP 30 VEP 40 Handheld VEH 30 Engineering PC Indra. Logic L 40 Indra. Logic L 20 Indra. Drive Cs Inline I/O 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 18

Controller based configuration VCP 08 Handheld VCH 08 VEP 30 VEP 40 Handheld VEH 30 Engineering PC Indra. Motion MLC Indra. Drive MI Inline I/O 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 19

PC based configuration Engineering PC Indra. Logic VEP 30 Indra. Logic VEP 40 Indra. Drive Cs Inline I/O 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 20

Visualization platforms § Controller based terminals § VCP 08 and VCH 08 § 3, 8“ display, 5 grey tones § Communication via Ethernet, Profibus DP or serial interface § Engineering with VI-Composer § PC based terminals § § Windows CE 8, 4‘‘ or 12, 1“ SVGA display Resolution 800 x 600 Engineering with Win. Studio § Readymade user interface § Open Source – variable for customer modifications 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 21

Handheld VCH 08 § 3, 8“ display, 5 grey tones § Communication via Ethernet § Engineering by VI-Composer § Hand wheel to jog axis § Override potentiometer § Safety technology according category 3 § Machine-Stop-Key, black § 3 position confirmation key § Hot-Plug with connection unit VAC 30 § Integrated emergency stop bridging in the plug § Storage of the Ethernet configuration 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 22

Handheld VEH 30 § 8, 4‘‘ SVGA Display § Communication via Ethernet § Engineering by Win. Studio § Keyboard communication by separate communication channel § Safety technology according category 3 § Machine-Stop-Key, black § 3 position confirmation key § Hot-Plug with connection unit VAC 30 § Integrated emergency stop bridging in the plug § Storage of the Ethernet configuration 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 23

Without HMI Handheld VCH 08 STOP VCP 08 START Indra. Drive RESET Indra. Drive and/or Indra. Drive Cs up to 6 Indra. Motion MLD Inline I/O up to 4 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 24

Without HMI § Motion programming § § § in the PLC Library with complete motion instruction set Defining of the motion program in PLC No program modification by HMI § Signal exchange § § in the PLC Simple connection of the command signals Access to all point coordinates and the fully data structure 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 25

Offline programming § SMC-Editor Sequential Motion Control § Motion programming with § § § engineering PC ‚Intellisense‘ support during programming Program download to the PLC Program printout for documentation 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 26

Rexroth Indra. Motion for Handling Turnkey Automation Solution For the OEM Simple, scalable, powerful Engineering savings with integrated tested functions 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 28

Integrated tested functions § Coordinated Point-to-Point movements with up to 6 axis § All axis start and end at the same time § Cycle time optimized movements § Considering the individual axis parameter for velocity and acceleration § Minimum inaccuracies from the ideal line are possible 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 29

Integrated tested functions § Coordinated Point-to-Point movements with up to 6 axis § All axis start and end at the same time § Path optimized movement § Harmonizing of the acceleration and deceleration phases § The inaccuracies from the ideal line are reduced to minimum 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 30

Integrated tested functions § Blended movement § Time optimizing of the sequence § Treat the mechanic with care § Manual mode § Continuous jogging § § with two speed level Incremental jogging Jogging with hand wheel at the VCH 08 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 31

Integrated tested functions § Scaling / measuring units § Rotary axis § in degree § absolute or modulo format § Linear axis § metric or in inch § Protection areas § Collision prevention in automatic § § mode Up to 4 protection areas per kinematic can be activated Range is free configurable 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 32

Integrated tested functions § Drive integrated safety technology § Certificated up to SIL 2 according IEC 61508 / EN 62061 / 61800 -5 -2 as well as up to category 3 and PL d according EN ISO 13849 -1 § Simple configuration by preconfigured templates for § e. g. safe stop, safe motion § HMI, controller and drive build up a completely rounded safety concept 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 33

Integrated tested functions § Multikinematic Handheld VCH 08 Economical multi machine mode § § One controller One HMI Up to 4 machines Base: - Indra. Motion MLC - Indra. Logic VEP - Indra. Logic L 40 Indra. Logic VEP Indra. Motion MLC Indra. Logic L 40 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 34

Rexroth Indra. Motion for Handling Turnkey Automation Solution For the end-user Simple to operate, teach-in and programming Readymade HMI user interface 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 35

Readymade HMI user interface § Speed override § Speed can be manipulated by HMI at any time § Teach-in, define § Point coordinates can be manipulated by HMI 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 36

Readymade HMI user interface § User management with § PIN protection 3 security level are predefined § Program management § All needed functions are implemented, e. g. § rename, copy § save, load § delete 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 37

Readymade HMI user interface § Diagnosis system § Information as clear text § messages § from Motion-Interpreter § from drive Expandable for customer messages § Single step and online display § For a simple commissioning of the automatic cycle 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 38

Rexroth Indra. Motion for Handling Turnkey Automation Solution For the end-user Simple to operate, teach-in and programming Motion programming like a robot control 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 39

Motion programming like a robot control § Programming by VCP 08 § Point and axis names, I/Os and the command syntax are changeable § Intuitional Motion programming by HMI § Self-explanatory command syntax § Wide instruction set § e. g. MOVE HOME 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 40

Motion programming like a robot control § Programming by VEH 30 § Point and axis names, I/Os and the command syntax are changeable § Intuitional Motion programming by HMI § Self-explanatory command syntax § Wide instruction set § e. g. MOVE PICK_POS 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 41

Motion programming like a robot control § Motion command for all applications § Relative and absolute movements § Movement with stop condition § Single axis movement with position value § Cycle optimizing with parameter commands § e. g. speed, acceleration, blending distance § I / O access by motion program § Set Outputs, also on path § Read Inputs § Flexible program configuration with organization commands and variables § Conditional and unconditional jumps, wait-time § Call subprograms § Variable access MOVE PXY MOVE_REL PXY MOVE PXY TIL IN 1=0/1 MOVE X=12. 34 V_PTP=100% A=100% R=12 OUT 1=0/1 X=12. 34 OUT 1=0/1 WAIT IN 1=0/1 JMP LABEL 1 IF INT 1/=123 LABEL 1 WAIT 1. 23 s CALL_SUB ROUT 1 REAL_VAR_1=1. 2 INC INT_VAR_1 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 42

Motion programming like a robot control § 200 instructions per program * 200 50 § 50 position points per program * § 10 selectable programs in the RAM § Up to 256 programs on Flash Card § 50 Inputs / 50 Outputs § 100 Integer Variables / 50 Real Variables 10 256 * default settings, Expendable by using subprograms 12/10/2009, DCC, SIA 2, , Domenico Livani © Bosch Rexroth AG 2009. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights. 43

Electric Drives and Controls Hydraulics Linear Motion and Assembly Technologies Pneumatics Service Rexroth Indra. Motion for Handling Turnkey Automation Solution For All Handling Tasks Simple, scalable and powerful Advantage for the OEM Quick commissioning High flexibility Engineering savings For the end-user Readymade HMI user interface Teach-in & Define of point coordinates Motion programming like a robot control 44