Runtime system

Integrated Motion control system

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Multi-tasking

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Data management

Code, data, remanent data, user data

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Saving

Boot project

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PLC project as packed archive file

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User data in the internal memory and removable memory

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Support

Function modules

4

4

2

4

4

4

System events

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Probe function control

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User memory

Total: code, data

MB

24

36

12

24

36

36

Remanent memory

Total: system, user

kB

128

256

256

256

256

256

On-board diagnostics and settings

Status display (boot, Sercos, test)

Display

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Errors, warnings, messages, system reset

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Ethernet settings (IP address)

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Voltage monitoring, watchdog

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Relay output ready for operation

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Service Tool IMST

Web-based engineering

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On-board communication interfaces

Sercos

Automation bus

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Sercos II

Real time motion bus

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○

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Leading axis interface

Sercos

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○

○

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Sercos II

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Number of controls in group

64

64

64

64

64

64

PROFIBUS

Master

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Slave

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-

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PROFINET IO

Controller (master)

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-

-

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Device (slave)

-

-

-

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EtherNet/IP

Scanner (master)

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-

-

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Adapter (slave)

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-

-

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Ethernet TCP/IP

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Control group

Ethernet TCP/UDP/IP

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1 x RS232 (standard)

On board

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Function modules

Number

4

4

2

4

4

4

PROFIBUS Master/slave

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-

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DeviceNet

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-

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Realtime-Ethernet/PROFIBUS

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-

○

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Realtime-Ethernet/DeviceNet

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-

▼

▼

▼

▼

Sercos/master axis grouping

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Sercos II/master axis grouping

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○

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Programmable limit switch

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SRAM

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Fast I/O

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○

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HMI

VCH

Ethernet TCP/IP, OPC

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VEP

Ethernet TCP/IP, OPC

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VPP, VPB/VDP

Ethernet TCP/IP, OPC

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Input/output

Type

CML40 1G

CML65 1G

CML25

CML45

CML65

CML75

On board

Quick digital inputs

Interruptible, typ. 50 μs, can be used as measuring probe

8

8

0

8

8

8

Quick digital outputs

0.5 A, typ. 500 μs

8

8

0

8

8

8

Can be added locally to the control system

Quick digital inputs (function module FAST I/O)

Interrupt capability, typ. 40 μs

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Quick digital outputs (function module FAST I/O)

0.5 A, typ. 70 μs

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Inline (digital, analog, relay, technology)

64 bytes, max. 512 I/O

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Decentralized via S20 (IP20)

Sercos III

On-board/functional module

-/○

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PROFIBUS

On-board/functional module

○/○

○/○

-/○

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EtherNet/IP

On-board/functional module

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-

-/▼

▼/▼

▼/▼

▼/▼

PROFINET

On-board/functional module

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-

-/○

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Decentralized via Inline (IP20)

Sercos III

On-board/functional module

-/○

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PROFIBUS

On-board/functional module

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DeviceNet

Function module

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PROFINET

On-board/functional module

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-/○

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EtherNet/IP

On-board/functional module

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▼/▼

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Decentralized via Fieldline (IP67)

PROFIBUS

On-board/functional module

-/○

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DeviceNet

Function module

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Decentralized via S67 (IP67)

Sercos III

On-board/functional module

-/○

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PROFIBUS

On-board/functional module

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DeviceNet

On-board/functional module

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PROFINET

On-board/functional module

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-/○

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EtherNet/IP

On-board/functional module

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-/▼

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Logic control

Type

CML40 1G

CML65 1G

CML25

CML45

CML65

CML75

PLC runtime system

Logic 1G kernel

Acc. to IEC 61131-3

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Logic 2G kernel

Acc. to IEC 61131-3 with extensions

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Program organization

Acc. to IEC 61131-3

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Loading and execution of the IEC-61131-3 applications

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Task management

Freely configurable tasks (priority 0-20)

Cyclic, free-running, event controlled, externally event controlled

8

8

10

20

20

20

Processing the I/O process image

Clock synchronized

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Sercos synchronized

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-

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PLC cycle time

Synchronous to the system cycle

ms

≥ 1

≥ 1

≥ 1

≥ 1

≥ 1

≥ 1

Synchronous to the Sercos cycle

ms

-

-

≥ 1

≥ 0.5

≥ 0.25

≥ 0.25

Motion cycle time

Command value generator

ms

≥ 1

≥ 1

≥ 2

≥ 1

≥ 1

≥ 1

PLC processing times

Typical processing time for 1,000 instructions

Command mix (real, integer, Boolean etc.)

µs

50

5

35

30

5

5

Boolean operations

µs

50

5

20

30

5

5

Word operations

µs

50

5

20

30

5

5

Standard functions

Number of axes

Real
Virtual
Encoder
Compound

32

64

16

32

64

64

Controller axis

Centrally controlled

0

0

4

8

32

32

Synchronization (ELS – Electronic Line Shaft)

Real axes (servo-drives)

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Virtual axes (virtual master)

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Encoder axes (real master)

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Network axes (cross communication)

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Dynamic synchronization

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Master axis cascading

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Positioning

Single axis

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Electronic transmission

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Electronic cams

Support point tables (in the drive, max. 1,024 support points)

4

4

4

4

4

4

Electronic motion profile (in the control, motion profiles with max. 16 segments)

2

2

2

2

2

2

FlexProfile (in the control, master/time-based movement profiles with max. 16 segments)

4

4

4

4

4

4

Motion commands according to PLCopen (selection)

MC_MoveAbsolute

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MC_MoveRelative

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MC_MoveVelocity

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MC_Home

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MC_CamIn, MC_CamOut

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MC_GearIn, MC_GearOut

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Expanded motion commands (selection)

MB_ReadListParameter

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MB_WriteListParameter

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MB_GearInPos

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MB_PhasingSlave

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MB_ClearAxisError

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MB_ClearSystemError

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Hydraulic functions

Single axis controller (best-in-class)

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Synchronization control

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Alternating control

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Force ramps/curves

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Position dependent braking

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Sytronix controller

Variable-speed pump systems

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Sequential programming in ST code

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Hydraulics template (GAT)

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Drive systems

Type

CML40 1G

CML65 1G

CML25

CML45

CML65

CML75

Electrical axes

IndraDrive C, M, ML

Single-axis control parts with firmware MPB/MPC

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IndraDrive M

Double-axis control units with firmware MPM

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IndraDrive Mi

With firmware MPB

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IndraDrive Cs

With firmware MPB/MPC

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EcoDrive Cs

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Sercos Pack-Profile

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Control communication

Sercos

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Sercos II

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Sercos cycle time

ms

≥ 1

≥ 1

≥ 1

≥ 0.5

≥ 0.25

≥ 0.25

Hydraulic axes

VT-HMC-1-1x (Sercos)

Decentralized axis controller (IP20)

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IAC Multi-Ethernet

Valve-integrated axis controller (decentralized)

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Inline Block I/O

Controller-integrated axis control (central)

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-

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Hybrid axes (variable speed pump systems)

Sytronix FcP

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Sytronix DFEn

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Sytronix SvP

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Number of axes per kinematic

16

16

16

16

16

16

Multi-axis kinematics

Incl. auxiliary axes

16

16

4

16

16

16

Kinematic transformations

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Interpolation types LINEAR, CIRCULAR, PTP

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Configurable block transitions

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Override

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Teach-in function

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Movements with blendings in the room

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Late blending (late movements with blendings)

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Belt synchronization

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Jogging/single-step

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Speed limit

For track and axes

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Acceleration limit

For track and axes

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Protection zones

▼

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▼

▼

▼

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Programmable limit switch

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Measuring wheel

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Probe

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Crank kinematics

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Cross-cutters

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Flying shear

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Loop control

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Tension control

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Register control

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Winders

●

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Magic Belt

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Smart Belt

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Diagnostics (status, warning, error)

Function modules (software)

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Parameter access diagnostic memory (software)

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Local via status display (control hardware)

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Axis monitoring (e.g. capacity, encoders, limit values)

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Diagnostic memory (64 kB, max. 999 messages)

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Debugging monitor for IEC applications

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IndraWorks

Engineering tool

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Service Tool IMST

Web-based engineering

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Compatible with all ILC systems

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•      Standard

○      Option

▼      In preparation