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

Extension modules

3

3

System events

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User memory

Total: code, data

MB

36

36

Remanent memory

Total: system, user

kB

128

128

On-board diagnostics and settings

Status display (boot, Sercos, test)

LED

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Errors, warnings, messages, system reset

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Ethernet settings (IP address)

First Touch

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Voltage monitoring, watchdog

LED

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Service Tool IMST

Web-based engineering

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On-board communication interfaces

Sercos III

Automation bus

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Leading axis interface

Sercos III

▼

▼

Number of controls in group

▼

▼

PROFIBUS

Master

○

○

Slave

○

○

PROFINET IO

Controller (master)

○

○

Device (slave)

○

○

EtherNet/IP

Scanner (master)

○

○

Adapter (slave)

○

○

Ethernet TCP/IP

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Control group

Ethernet TCP/UDP/IP

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USB Host/Device

On board

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Extension modules

Number

3

3

PROFIBUS master/slave

○

○

PROFINET controller/device

○

○

EtherNet/IP scanner/adapter

○

○

Sercos III/master axis grouping

▼

▼

HMI

VCH

Ethernet TCP/IP, OPC

○

○

VR21/VH21

Ethernet TCP/IP, OPC

○

○

VEP

Ethernet TCP/IP, OPC

○

○

VPP, VPB

Ethernet TCP/IP, OPC

○

○

Input/output

Type

XM21

XM22

Local

S20 (digital, analog, relay, technology)

64 bytes, max. 63 I/O

○

○

Decentralized via S20 (IP20)

Sercos III

On board

○

○

PROFIBUS

Extension module

○

○

EtherNet/IP

Extension module

○

○

PROFINET

Extension module

○

○

Decentralized via Inline (IP20)

Sercos III

On board

○

○

PROFIBUS

Extension module

○

○

PROFINET

Extension module

○

○

Decentralized via Fieldline (IP67)

PROFIBUS

Extension module

○

○

Decentralized via S67 (IP67)

Sercos III

On board

○

○

PROFIBUS

Extension module

○

○

PROFINET

Extension module

○

○

EtherNet/IP

Extension module

○

○

Logic control

Type

XM21

XM22

PLC runtime system

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

20

20

Cycle-synchronous processing of the I/O process image

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Isochronous processing of the I/O process image

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Sercos III synchronous processing of the I/O process image

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PLC cycle time

Synchronous to the system cycle

ms

≥ 1

≥ 1

Synchronous to the Sercos cycle

ms

≥ 1

≥ 0.25

Motion cycle time

Command value generator

ms

≥ 2

≥ 1

PLC processing times

Typical processing time for 1,000 instructions

Command mix (real, integer, Boolean etc.)

µs

26

13

Boolean operations

µs

5

5

Word operations

µs

5

5

Motion control

Type

XM21

XM22

Number of axes

Real, virtual, encoder, group

40
-
-
-

40
-
-
-

Controller axis

Centrally controlled

16

16

Synchronization (ELS – Electronic Line Shaft)

Virtual axes (virtual master)

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Encoder axes (real master)

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Real axes (servo-drives)

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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

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

2

2

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

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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Synchronizer (active/passive)

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Substitutional closed-loop

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Force ramps/curves

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Travel-dependent deceleration

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Sytronix controller

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Sequential programming in ST code

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Hydraulics template (GAT)

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Drive systems

Type

XM21

XM22

Electrical axes

IndraDrive

BASIC and ADVANCED with firmware MPB/MPH

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Double-axis control units with firmware MPD

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IndraDrive Mi

With firmware MPB

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IndraDrive Cs

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EcoDrive Cs

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Sercos Pack-Profile

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Control communication

Sercos III

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Sercos III - cycle time

ms

≥ 1

≥ 0.25

Hydraulic axes

VT-HMC-1-1x (Sercos)

Decentralized axis controller (IP20)

▼

▼

IAC Multi-Ethernet

Valve-integrated axis controller (decentralized)

▼

▼

Inline Block I/O

Controller-integrated axis control (central)

▼

▼

Hybrid axes

Sytronix FcP

▼

▼

Sytronix DFEn

▼

▼

Sytronix SvP

▼

▼

Number of axes per kinematic

16

16

Multi-axis kinematics

Incl. auxiliary axes

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 path and axes

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Acceleration limit

For path and axes

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Protection zones

▼

▼

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 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

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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