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MLC

Motion control system MLC, based on embedded control CML
Scalable performance and functionality
Easy functionality extension thanks to function modules
Rapid centralized or decentralized I/O integration
Up to 64 axes with synchronized and coordinated movements on one controller

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Model:
FWA-CML25*-MLC-14VRS-D0
Brand:
Rexroth
Code:
R911342982

Control

Type			CML25	CML45	CML75
Runtime system	Integrated Motion control system		●	●	●
Multi-tasking			●	●	●
Data management	Code, data, remanent data, user data		●	●	●
Saving	Boot project		●	●	●
	PLC project as packed archive file		●	●	●
	User data in the internal memory and removable memory		●	●	●
Support	Function modules		2	4	4
Support	System events		●	●	●
Probe function control			○	●	●
User memory	Total: code, data	MB	12	24	36
Remanent memory	Total: system, user	kB	256	256	256
On-board diagnostics 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			●	●	●
Service Tool IMST	Web-based engineering		○	○	○
On-board communication interfaces
Sercos	Automation bus		●	●	●
Sercos II	Real time motion bus		○	○	○
Leading axis interface	Sercos		○	○	○
	Sercos II		○	○	○
	Number of controls in group		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 group	Ethernet TCP/UDP/IP		●	●	●
Function modules
Number			2	4	4
Realtime-Ethernet/PROFIBUS			○	○	○
Sercos/master axis grouping			○	○	○
Sercos II/master axis grouping			○	○	○
Programmable limit switch			○	○	○
SRAM			○	○	○
Fast I/O			○	○	○
HMI
VCH	Ethernet TCP/IP, OPC		○	○	○
Input/output
Type			CML25	CML45	CML75
On board
Quick digital inputs	Interruptible, typ. 50 μs, can be used as measuring probe		0	8	8
Quick digital outputs	0.5 A, typ. 500 μs		0	8	8
Can be added locally to the control system
Quick digital inputs (function module FAST I/O)	Interrupt capability, typ. 40 μs		○	○	○
Quick digital outputs (function module FAST I/O)	0.5 A, typ. 70 μs		○	○	○
Inline (digital, analog, relay, technology)	64 bytes, max. 512 I/O		○	○	○
Decentralized via S20 (IP20)
Sercos III	On-board/functional module		○/○	○/○	○/○
PROFIBUS	On-board/functional module		-/○	○/○	○/○
EtherNet/IP	On-board/functional module		-/○	○/○	○/○
PROFINET	On-board/functional module		-/○	○/○	○/○
Decentralized via Inline (IP20)
Sercos III	On-board/functional module		○/○	○/○	○/○
PROFIBUS	On-board/functional module		○/○	○/○	○/○
PROFINET	On-board/functional module		-/○	○/○	○/○
EtherNet/IP	On-board/functional module		-/○	○/○	○/○
Decentralized via S67E bus coupler (IP67)
Sercos	On board		○	○	○
PROFINET	On board		○	○	○
Logic control
Type			CML25	CML45	CML75
PLC runtime system
Program organization	Acc. to IEC 61131-3		●	●	●
Loading and execution of the IEC-61131-3 applications			●	●	●
Task management
Freely configurable tasks (priority 0-20)	Cyclic, free-running, event controlled, externally event controlled		10	20	20
Processing the I/O process image	Clock synchronized		●	●	●
Processing the I/O process image	Sercos synchronized		●	●	●
PLC cycle time	Synchronous to the system cycle	ms	≥ 1	≥ 1	≥ 1
PLC cycle time	Synchronous to the Sercos cycle	ms	≥ 1	≥ 0.5	≥ 0.25
Motion cycle time	Command value generator	ms	≥ 2	≥ 1	≥ 1
PLC processing times
Typical processing time for 1,000 instructions	Command mix (real, integer, Boolean etc.)	µs	35	30	5
	Boolean operations	µs	20	30	5
	Word operations	µs	20	30	5
Standard functions
Number of axes	Real Virtual Encoder Compound		16	32	64
Controller axis	Centrally controlled		4	8	32
Synchronization (ELS – Electronic Line Shaft)	Real axes (servo-drives)		●	●	●
	Virtual axes (virtual master)		●	●	●
	Encoder axes (real master)		●	●	●
	Network axes (cross communication)		●	●	●
	Dynamic synchronization		●	●	●
	Master axis cascading		●	●	●
Positioning	Single axis		●	●	●
Electronic transmission			●	●	●
Electronic cams	Support point tables (in the drive, max. 1,024 support points)		4	4	4
	Electronic motion profile (in the control, motion profiles with max. 16 segments)		2	2	2
	FlexProfile (in the control, master/time-based movement profiles with max. 16 segments)		4	4	4
Motion commands according to PLCopen (selection)	MC_MoveAbsolute		●	●	●
	MC_MoveRelative		●	●	●
	MC_MoveVelocity		●	●	●
	MC_Home		●	●	●
	MC_CamIn, MC_CamOut		●	●	●
	MC_GearIn, MC_GearOut		●	●	●
Expanded motion commands (selection)	MB_ReadListParameter		●	●	●
	MB_WriteListParameter		●	●	●
	MB_GearInPos		●	●	●
	MB_PhasingSlave		●	●	●
	MB_ClearAxisError		●	●	●
	MB_ClearSystemError		●	●	●
Hydraulic functions
Single axis controller (best-in-class)			●	●	●
Synchronization control			●	●	●
Alternating control			●	●	●
Force ramps/curves			●	●	●
Position dependent braking			●	●	●
Sytronix controller	Variable-speed pump systems		●	●	●
Sequential programming in ST code			●	●	●
Hydraulics template (GAT)			●	●	●
Type			CML25	CML45	CML75
Number of axes per kinematic			16	16	16
Multi-axis kinematics	Incl. auxiliary axes		4	16	16
Kinematic transformations			●	●	●
Interpolation types LINEAR, CIRCULAR, PTP			●	●	●
Configurable block transitions			●	●	●
Override			●	●	●
Teach-in function			●	●	●
Movements with blendings in the room			●	●	●
Late blending (late movements with blendings)			●	●	●
Belt synchronization			●	●	●
Jogging/single-step			●	●	●
Speed limit	For track and axes		●	●	●
Acceleration limit	For track and axes		●	●	●
Protection zones			●	●	●
Expanded system functions (selection)
Type			CML25	CML45	CML75
Programmable limit switch			●	●	●
Measuring wheel			●	●	●
Probe			●	●	●
Technology functions (selection)
Type			CML25	CML45	CML75
Crank kinematics			●	●	●
Cross-cutters			●	●	●
Flying shear			●	●	●
Loop control			●	●	●
Tension control			●	●	●
Register control			●	●	●
Winders			●	●	●
Magic Belt			●	●	●
Smart Belt			●	●	●
Diagnostics
Type			CML25	CML45	CML75
Diagnostics (status, warning, error)	Function modules (software)		●	●	●
	Parameter access diagnostic memory (software)		●	●	●
	Local via status display (control hardware)		●	●	●
	Axis monitoring (e.g. capacity, encoders, limit values)		●	●	●
	Diagnostic memory (64 kB, max. 999 messages)		●	●	●
Debugging monitor for IEC applications			●	●	●
Drive systems
Type			CML25	CML45	CML75
Electrical axes
IndraDrive C, M, ML	Single-axis control parts with firmware MPB/MPC		●	●	●
IndraDrive M	Double-axis control units with firmware MPM		●	●	●
IndraDrive Mi	With firmware MPB		●	●	●
IndraDrive Cs	With firmware MPB/MPC		●	●	●
Sercos Pack-Profile			●	●	●
Control communication	Sercos		●	●	●
Control communication	Sercos II		●	●	●
Sercos cycle time		ms	≥ 1	≥ 0.5	≥ 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 (variable speed pump systems)
Sytronix FcP			●	●	●
Sytronix DFEn			●	●	●
Sytronix SvP			●	●	●
Engineering and operation
Type			CML25	CML45	CML75
IndraWorks	Engineering tool		○	○	○
Service Tool IMST	Web-based engineering		○	○	○
Compatible with all ILC systems			●	●	●

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