Bosch Rexroth Electric Drives and Controls

		MLC L40 1G	MLC L65 1G	MLC L25	MLC L45	MLC L65
Control units
Runtime system	Integrated motion logic system	●	●	●	●	●
Multitasking		●	●	●	●	●
Data management	Code, data, retentive data, user data	●	●	●	●	●
Storage	Boot project	●	●	●	●	●
	PLC project as packed archive file	●	●	●	●	●
	User data to the internal memory and a removable storage medium	●	●	●	●	●
Support	Function modules	4	4	2	4	4
Support	System events	●	●	●	●	●
Probe function, control		●	●	○	●	●
User memory	Total: code, data	24 MB	36 MB	12 MB	24 MB	36 MB
Retentive memory	Total: system, user	128 kB	256 kB	256 kB	256 kB	256 kB
On-board diagnosis and settings
Status display (boot, sercos, test)	Display	●	●	●	●	●
Errors, warnings, messages, system reset		●	●	●	●	●
Ethernet settings (IP address)		●	●	●	●	●
Voltage monitoring, watchdog		●	●	●	●	●
Relay output ready for operation		●	●	●	●	●
IndraMotion Service Tool	Web based engineering	○	○	○	○	○
Interfaces on board
sercos III	Automation Bus	-	●	●	●	●
sercos II	Real-time motion bus	●	○	○	○	○
Master axis grouping	sercos III	○	○	○	○	○
	sercos II	○	○	○	○	○
	Number of controls in control link	64	64	64	64	64
PROFIBUS	Master	●	●	-	●	●
PROFIBUS	Slave	●	-	-	●	●
PROFINET IO	Controller (Master)	-	-	○	○	○
PROFINET IO	Device (Slave)	-	-	○	○	○
EtherNet/IP	Scanner (Master)	-	-	▼	▼	▼
EtherNet/IP	Adapter (Slave)	-	-	○	○	○
Ethernet TCP/IP		●	●	●	●	●
Control grouping	Ethernet TCP/UDP/IP	●	●	●	●	●
RS232	On-board	●	-	-	-	-
Function modules
Number		4	4	2	4	4
PROFIBUS-Master/-Slave		○	○	-	-	-
Realtime-Ethernet/PROFIBUS		-	-	○	○	○
DeviceNet-Master		○	○	-	-	-
Realtime-Ethernet/DeviceNet		-	-	▼	▼	▼
sercos III/ Master axis grouping (ELS)		○	○	○	○	○
sercos 2/ Master axis grouping (ELS)		○	○	○	○	○
Programmable limit switch		○	○	○	○	○
SRAM		○	○	○	○	○
Fast I/O		○	○	○	○	○
HMI
IndraControl VCP, VCH	Ethernet TCP/IP, OPC	○	○	○	○	○
IndraControl VEP, VEH	Ethernet TCP/IP, OPC	○	○	○	○	○
IndraControl VSP, VPP, VSB/VDP, VPB/VDP	Ethernet TCP/IP, OPC	○	○	○	○	○
Inputs/outputs
On-board
High-speed digital inputs	Interrupt capability, typ. 50 μs	8	8	-	8	8
High-speed digital outputs	0,5 A, typ. 500 μs	8	8	-	8	8
Local
High-speed digital inputs (FAST I/O function module)	Interrupt capability, typ. 40 μs	○	○	○	○	○
High-speed digital outputs (FAST I/O function model)	0,5 A, typ. 70 μs	○	○	○	○	○
Inline (digital, analog, relais, technology)	64 Byte, max. 512 E/A	○	○	○	○	○
Distributed via Inline (IP20)
sercos III	On-board/function module	-/○	-	-	-	-
PROFIBUS	On-board/function module	○	○	○	○	○
DeviceNet	Functional module	○	○	-	-	-
Distributed via Fieldline (IP67)
PROFIBUS	On-board/function module	-/○	-	-	-	-
DeviceNet	Functional module	○	○	-	-	-
Distributed via IndraControl S67
sercos III	On-board/function module	-/○	-	-	-	-
PROFIBUS	On-board/function module	-/○	-	-	-	-
DeviceNet	On-board/function module	○	○	-	-	-
Logic-Control
PLC runtime system
IndraLogic 1G kernel	Conforming with IEC 61131-3	●	●	●	●	●
IndraLogic 2G kernel	Conforming with IEC 61131-3 with extensions	-	-	●	●	●
Program organization	According to IEC 61131-3	●	●	●	●	●
Loading and executing IEC 61131-3 applications		●	●	●	●	●
Task management
Freely configurable tasks (priority 0-20)	Cyclic, free-running, event-controlled, externally event-controlled	8	8	8	8	8
Synchronous processing of the I/O process image		●	●	●	●	●
sercos III synchronous processing of the I/O process image		-	-	●	●	●
Min. PLC cycle time	Synchronous to the system cycle	1 ms	1 ms	1 ms	1 ms	1 ms
Min. PLC cycle time	Synchronous to the sercos cycle	-	-	1 ms	0.5 ms	0.25 ms
Min. motion cycle time	Setpoint generator	1 ms	1 ms	2 ms	1 ms	1 ms
PLC processing times
Typical processing time for 1,000 instructions in μs	Command mix (Real, Integer, Bool etc.)	50	5	35	30	5
	Bool-Operation	50	5	20	30	5
	Word-Operation	50	5	20	30	5
Motion control
Number of axes	Real, virtual, encoder, grouped	32	64	16	32	64
Control axis	Centrally controlled	-	-	4	8	32
Synchronization (ELS – electronic line shaft)	Virtual axes (virtual masters)	●	●	●	●	●
	Encoder axes (Real masters)	●	●	●	●	●
	Real axes (Servo drives)	●	●	●	●	●
	Real axes (Cross-communication)	●	●	●	●	●
	Dynamic synchronization	●	●	●	●	●
	Master axis cascading	●	●	●	●	●
Positioning	Single-axis	●	●	●	●	●
Electronic gears		●	●	●	●	●
Electronic cams	Intermediate point tables (In the drive, max. 1,024 intermediate points)	4	4	4	4	4
	Electronic Motion Profile (in the output drive, motion profiles with max. 16 segments)	2	2	2	2	2
	FlexProfile (In the control, master-/time-based motion profiles with max. 16 segments)	4	4	4	4	4
Motion commands according to PLCopen (choice)	MC_MoveAbsolute	●	●	●	●	●
	MC_MoveRelative	●	●	●	●	●
	MC_MoveVelocity	●	●	●	●	●
	MC_Home	●	●	●	●	●
	MC_CamIn, MC_CamOut	●	●	●	●	●
	MC_GearIn, MC_GearOut	●	●	●	●	●
Extended motion commands (choice)	MB_ReadListParameter	●	●	●	●	●
	MB_WriteListParameter	●	●	●	●	●
	MB_GearInPos	●	●	●	●	●
	MB_PhasingSlave	●	●	●	●	●
	MB_ClearAxisError	●	●	●	●	●
	MB_ClearSystemError	●	●	●	●	●
Hydraulic functions
Single-axis controller (Best-in-class)		-	-	●	●	●
Synchronizer (active/passive)		-	-	●	●	●
Control transfer		-	-	●	●	●
Force ramps/curves		-	-	●	●	●
Travel-dependent deceleration		-	-	●	●	●
Sytronix control		-	-	●	●	●
Sequential programming in ST code		-	-	●	●	●
Hydraulics template (GAT)		-	-	●	●	●
Robot control
Number of axes per kinematic		16	16	16	16	16
Multi-axis kinematics	Incl. auxiliary axes	16	16	16	16	16
Kinematics transformations		●	●	●	●	●
Types of interpolation LINEAR, CIRCULAR, PTP		●	●	●	●	●
Configurable block transitions		●	●	●	●	●
Override		●	●	●	●	●
Teach-in function		●	●	●	●	●
Approximate positioning		●	●	●	●	●
Late blending		-	-	●	●	●
Belt synchronization		●	●	●	●	●
Jogging/single step		-	-	●	●	●
Speed limitation	For path and axes	●	●	●	●	●
Acceleration limitation	For path and axes	●	●	●	●	●
Safety zones		▼	▼	▼	▼	▼
System functions (choice)
Programmable limit switch		●	●	●	●	●
Measuring wheel		●	●	●	●	●
Probe		●	●	●	●	●
Technology functions (choice)
Crank cinematics		●	●	●	●	●
Cross cutter		●	●	●	●	●
Flying cut-off		●	●	●	●	●
Sag control		●	●	●	●	●
Tension control		●	●	●	●	●
Register control		-	-	●	●	●
Winder		●	●	●	●	●
Magic belt		-	-	●	●	●
Smart belt		-	-	●	●	●
Diagnostic
Diagnosis (status, warning, error)	Function blocks (Software)	●	●	●	●	●
	Parameter access to diagnostics memory (Software)	●	●	●	●	●
	Locally via display (control hardware)	●	●	●	●	●
	Axis monitoring (e.g. capacity, encoders, limit values)	●	●	●	●	●
	Diagnostics memory (64 kB, max. 999 messages)	●	●	●	●	●
Debugging monitor for IEC applications		●	●	●	●	●
Drive systems
Electric axes
IndraDrive	BASIC and ADVANCED with MPB/MPH firmware	●	●	●	●	●
	Dual-axis control units with MPD firmware	●	●	●	●	●
IndraDrive Mi	With MPB firmware	●	●	●	●	●
IndraDrive Cs		●	●	●	●	●
EcoDrive Cs		●	●	●	●	●
sercos Pack-Profile		●	●	●	●	●
Master communication	sercos III	●	●	●	●	●
Master communication	sercos II	●	●	●	●	●
Min. sercos III cycle time		1 ms	1 ms	1 ms	0.5 ms	0.25 ms
Hydraulic axes
HNC 100…3x/S (sercos)	Distributed axis control (IP20)	-	-	●	●	●
IAC Multi Ethernet	Valve-integrated axis control (distributed)	-	-	●	●	●
Inline block I/O	Control-integrated axis control (central)	-	-	●	●	●
Hybrid axes
Sytronix FcP		-	-	●	●	●
Sytronix DFEn		-	-	●	●	●
Sytronix SvP		-	-	●	●	●
Engineering and Operation
IndraWorks		○	○	○	○	○
IndraMotion Service Tool	Web based engineering	○	○	○	○	○
Compatible with all IndraLogic XLC systems		●	●	●	●	●