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71 039 AE-0409 A5.

qxd

Industrial
Hydraulics

06.10.2004

Electric Drives
and Controls

9:40 Uhr

Seite 1

Linear Motion and


Assembly Technologies

Pneumatics

Rexroth IndraDrive
Evolution in drive technology

More complete, more intelligent, greater safety

Service
Automation

Mobile
Hydraulics

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Rexroth IndraDrive
More complete, more intelligent, greater safety

You are probably wondering, how can something


be more complete than
complete? Fact is, our
IndraDrive sets new standards in drive engineering
that are best described by
the apparent contradiction
in terms: It offers greater
safety, more intelligent
functionality, and it really
does come more complete with software and

No matter which industry you call


your own, the IndraDrive will provide you with a complete, intelligent and above all, future-proof
solution to your automation tasks.
The IndraDrive system, featuring a
flexible combination of compact
converters or modular inverters
and Rexroth high-speed IndraDyn
motors, is designed for use in
intelligent single-axis or complex
multi-axis applications.
IndraDrive offers a wide range of
advantages including:
Safety on Board conforming to
EN 954-1, category 3, for "Safe
Standstill" and "Safe Motion"
a wide power range from 1 kW
to 110 kW

openness for international


interfaces
integrated motion control and
IEC 61131-3 PLC
highest performance and precision
scalable power and functionality
fast initial startup
power regeneration and direct
connection to mains supply from
380 V to 480 V
integrated mains contactor and
braking resistor-

hardware than any other


previous drive system.

Rexroth IndraDrive is an innovative servo


drive and frequency converter solution
based on a common platform. It is part
of Rexroth's advanced modular system,
which offers integrated safety functionality and an IEC 61131-3 compliant PLC.
This unique modular system design
gives users everything they need to successfully complete their automation projects: drives, controllers, a powerful engineering framework and user-friendly
operation. The systems are intelligent
and well engineered, making them a
safe investment into the future.

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Convincing in performance and functionality

Safety on Board

Integrated technology functions

A unique platform

Safety technology, compliant with


EN 954-1, category 3, ensures that
people are protected - even from
moving axes. Unlike conventional
safety concepts, this technology
works without power contactors in
the mains or motor supply lines and
without additional speed sensors.

Technology functions can be parameterized on the basis of the drive


PLC to perform the most diverse
process-oriented tasks. The user
does not need any programming
ability whatsoever to implement
these functions.

We have developed two versions of


IndraDrive in order to better meet
your individual requirements:
as a compact converter system
for power ratings up to 110 kW
as a modular inverter system
for up to 75 kW
Particulary economical drive
systems can be assembled by equipping either version of IndraDrive
with one of the common control
units.

Integrated motion control with IEC


61131-3 compliant PLC

The IndraDrive can be equiped with


a drive-integrated, open motion control with IEC 61131-3 PLC. This
makes it easier to implement customer
know-how, and the costs of higherlevel control systems and personnel
training courses can be avoided.

Open interfaces

Internationally recognized interfaces are available for communicating with higher-level machine
control systems: SERCOS interface,
PROFIBUS-DP, CANopen,
DeviceNet, analog and parallel.
Quick and easy startup

DriveTop startup software guides


you through the entire startup
process - quickly and reliably.

A complete range of motors

The newly developed generation of


IndraDyn motors meets all requirements in modern factory automation through a combination of
model diversity and unique performance:
compact and powerful
synchronous and asynchronous
servo motors
servo motors for potentially
explosive areas conforming to
ATEX and UL/CSA
linear and torque motors for
innovative direct drive concepts
synchronous and asynchronous
motors for high-speed applications, e.g. motor spindles

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Standardized for all applications

Converters from 1.5 kW


to 11 kW the most
compact in their class,
ideal for single-axis
applications

IndraDrive is based on a uniform hardware platform that


sets new standards with its
unique continuity, flexibility
and future adaptability.
All control components from

the simple frequency converter


to the high-end servo drive with
integrated motion control can
be installed into all IndraDrive C
converters and IndraDrive M
inverters.

Power units

Control units
Control units are available in different
versions:
Basic
offers sufficient performance and
functionality for standard applications
Advanced
for applications requiring the highest
performance and interface flexibility

Converters from 15 kW
to 110 kW can be
combined with modular
inverters to create economical and compact
drive solutions

Modular inverters up
to 75 kW ideal for
multiple-axis applications

A further example of continuity


and flexibility: Indradrive C
converters can be combined
with IndraDrive M inverters to
create extremely compact and
economical drive solutions.

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Scalable for your individual application

The basic packages come equipped


with all essential functionalities for
standard applications, such as
positioning block mode, position
control, and speed and torque control.
Extension packages are also available, e.g. for electronic axis synchronization, cam switches, error compensation, main spindle functions
or motion control with IEC 611313 PLC.

Complex process functions are


implemented by means of application-oriented technology packages.
Programming is easy and requires
no special programming knowledge
The technology packages can also
be used within the freely programmable PLC.

Motion control with


IEC 61131-3 PLC

Process-oriented
technology packages

Synchronization
BASIC

Synchronization
ADVANCED

Synchronization
Open loop

Main spindle function


BASIC

Main spindle function


ADVANCED

Servo function enhancement

Servo function enhancement

BASIC

ADVANCED

Open loop
packages

Closed loop
packages

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Rexroth IndraWorks a framework designed


to handle all of your engineering tasks

From now on, you can use a single,


standardized engineering framework to handle all of your motion
and control tasks. Rexroth
IndraWorks, an intuitive engineering environment designed for all
Rexroth drive and control systems,
is based on Microsoft.NET technology. This advanced system brings
together all of the tools you need
for design planning, parameterization, diagnostics and commissioning and implements them on a
full-featured user interface. You
have access to the complete IEC
61131-3 language and function set.
You can use the library of function
modules for quick, transparent
integration of drive functions into
your PLC programs across all platforms.
The benefits to you:
integrated framework for design
planning, parameterization, programming and diagnostics
intelligent user interface
intuitive and user-friendly
handling
standardized IEC 61131-3
compliant PLC programming
PLCopen-compliant module
library
open architecture based on
integrated FDT/DTM interface

Rexroth IndraWorks a full-featured software package for designing, programming,


parameterizing, operating and monitoring.

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Stay on the safe side

With IndraDrive from Rexroth,


the pioneer of drive-integrated
safety technology, you are on
the safe side. We have integrated
diverse safety functions directly
into the drive without going
through a control system.
Reliability is thus increased,
while monitoring components
and wiring are reduced.
Convincing advantages

Exploit these advantages and


use the integrated safety functions of our drives to provide
effective protection for man and
machine:
high reliability thanks to
certified integrated safety
functions
ultra-fast response times
(< 2 ms) for the addressing
of the internal monitors
elimination of additional
measuring systems or sensors
any type of higher level controls can be used
Online dynamically-changing
inputs and shutdown paths
while work is in progress
non-time-critical selection of
safety functions, e.g. by the PLC
PROFIsafe interface with less
configuration and installation
elimination of certification
work by the customer
shorter commissioning times
and faster fault correction

Maximum safety and highest


drive dynamics

Redundant software and hardware components in the drive


make it all possible. The noncontact monitoring of all set
limit values enables very short
response times of less than 2 ms.
Once a fault is detected, all the
drives are automatically stopped
depending on which stop
category is selected (0, 1 or 2)
and immediate two-channel
disconnection from mains.
Safety category 3 already
certified in the drive

Since we first introduced drives


with Safety on Board technology to the market back in 1999,
we have been regarded as the
pioneers in this field.

The results of our ongoing development work are safety functions


that are convincingly implemented and certified as complying
with EN 954-1, category 3:
Safe Standstill
Safe Operational Stop
Drive Interlock
Safely Reduced Velocity
Safely Reduced Maximum
Velocity
Safely Limited Increment
Safely Limited Absolute
Position
Safe Direction of Movement
Safely Monitored Stopping
Process
Safe Control of Protective Door

IndraDrive safety system from Rexroth

Conventional safety system

800

Axis movement in mm

Safety increased 400-fold

In the time it takes an


operator in a protected area with conventional safety functionality to respond to an
error, a linear axis with
a ball screw spindle
will have already
covered a distance of
100 to 200 mm, and a
linear motor a distance
of 400 to 800 mm.
IndraDrive safety
technology detects
the error within 2 ms
and the axis moves a
distance of no more
than 2 mm.

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BASIC or ADVANCED
Always optimum performance and functionality
BASIC
ADVANCED
Open Loop Closed Loop Open Loop Closed Loop

Basic packages

General basic functions


motor control with U/f curve,
incl. slip compensation and stall protection
electronic nameplate
automatic control circuit adjustment
setpoint generator for control loop optimization
brake control
oscilloscope function

RPM ramp encoder


motorized potentiometer function
power failure trap and restart function
positioning by limit switches

Open loop basic functions

Closed loop basic functions


position, speed and torque control
drive-controlled positioning
drive-integrated interpolation
positioning block mode
position, current and torque limitation
moving to fixed stop
automatic commutation adjustment
path switching point with ON and OFF switching threshold

Servo function enhancement


easy backlash compensation
axis error correction
quadrant error correction
frictional torque compensation
touch probe with fast stop

parameter set changeover


field-oriented control
vector control, without encoder up to 2000 Hz
spindle positioning mode
drive-controlled swiveling for gear change

speed synchronization
angle synchronization
measuring wheel mode
real and virtual leading axis
cam plate (tabular value)
cam plate ( analytical value)
touch probe with time measurement
touch probe with synchronization function

Extension packages

Main spindle functions

Synchronization

dynamic cam group

Drive PLC

Single axis motion control


freely programmable in compliance with IEC 61131-3
IL, LD, ST, SFC, CFC programming
4 user tasks: periodic, unsolicited or event-controlled
libraries: system-specific, drive-specific, PLCopen
support of customer libraries
process-oriented technology packages

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IndraDrive control units are


scalable in performance and
configuration.
Thanks to this flexibility, it is possible to select the best suited and
most economical version for each
application:

Single-axis
BASIC

Double-axis
BASIC

Single-axis
ADVANCED

Configuration options
command communication

option slot 1 fixed configuration

option slot 2

option slot 3

option safety

starting lockout

option display

frequency converter analog/digital

analog interface

option module

parallel interface
PROFIBUS-DP
SERCOS interface
CANopen
DeviceNet
Ethernet

coming soon

coming soon

coming soon

coming soon

coming soon

coming soon

drive lock
protection from unintended restarting

safety technology
in compliance with safety category 3

coming soon

coming soon

coming soon

MMC (MultiMediaCard)

standard (one line, four buttons)


comfort (four lines, graphic, four buttons)

Control communication interfaces

Advanced control units offer the


highest performance and can be
equipped with the most diverse
control, communication and encoder interfaces as well as additional
options for safety technology.
Digital and analog inputs and outputs are already permanently integrated along with a relay output
for communication with higherlevel control systems. Advanced
control units have a level of performance to satisfy even the highest
requirements imposed on control
quality.
Basic control units are the economical solution for standard applications. Basic control units with fixed
configurations can be used for
applications with low requirements
on interface flexibility. They are
available with SERCOS interface,
PROFIBUS and analog interfaces,
as well as with an encoder interface
for IndraDyn S motors.
Configurable basic control components in single-axis as well as double-axis versions are also available
for standard applications requiring
additional option modules.
All control units are equipped with
a standard display.

Multi-function encoder interfaces


IndraDyn motors incl. Hiperface
MHD, MKD and MKE motors
EnDat 2.1 incl. 1 Vss and 5 V TTL
EnDat 2.2
Safety options compliant with EN 954-1

Additional options
analog I/O extension
encoder emulation
digital I/O extension
cross communication
Software module

Control panel

A graphics-capable display is also


available as an option. The configurable control units can be equipped with a MultiMediaCard (MMC)
for changing devices without a PC
or for use as extended program
memory for the integrated PLC.

Standard features
Option

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10

IndraDrive C
Compact converters

Particularly economical solutions


for both single-axis and multi-axis
applications with up to 11 kW
rated motor power are possible
using this series of space-saving
converters. These compact drives
feature an integrated power supply,
braking resistor, link circuit capacitors and axis inverters. The link
circuit connection permits energy
compensation for multi-axis applications. Installation in compact
300-mm control cabinets is possible.

Typical rated motor power


without/with choke

HCS02.1E-W0012

HCS02.1E-W0028

HCS02.1E-W0054

HCS02.1E-W0070

A
A

4.5
11.5

11
28

21
54

28
71

kW

1.5/1.5

4/4

5.5/7.5

7/11

IndraDrive C
Continuous current
Maximum current

Connection voltage
of power unit

3 x 200 500 V AC ( 10 %)
1 x 200 250 V AC ( 10 %)

Connection voltage
of control unit

50 60 Hz ( 2 Hz)
50 60 Hz ( 2 Hz)

24 V DC 20 % or autonomous voltage supply from the link circuit

Output frequency

Hz

0 1600

Braking resistor
Continuous braking power
Maximum braking power

kW
kW

internal
0.05
4

internal
0.15
10

internal/external
0.35/3.8
18

internal/external
0.5/5.5
25

Width x Height x Depth

mm

65 x 290 x 265

65 x 352 x 265

105 x 352 x 265

105 x 352 x 265

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IndraDrive C
Converters with highest power ratings

These compact converters cover the


entire range from 15 kW to 110 kW
rated motor power and are ideal for
400-mm control cabinets. They are
available with braking transistor,
braking resistor and line filter
optimally scaled for your drive
application. And together with
IndraDrive M inverters they provide
you with a particularly economical
and compact drive system for multiaxis operations.

HCS03.1E-W0070

HCS03.1E-W0100

HCS03.1E-W0150

HCS03.1E-W0210

HCS03.1E-W0350

A
A

45
70

73
100

95
150

145
210

210
350

kW

18

30

45

75

110

IndraDrive C
Rated current
Maximum current

Typical rated motor power


with choke

Connection voltage
of power unit

3 x 200 V 500 V AC ( 10 %)

Connection voltage
of control unit
Output frequenz

50 60 Hz ( 2 Hz)

24 V DC ( 20 %) or autonomous voltage supply from the link circuit

Hz

0 1600

Braking resistor
Continous braking power
Maximum braking power

kW
kW

18
9
30

13
15
44

7
23
74

3.5
38
110

1.9
55
180

Width x Height x Depth

mm

125 x 440 x 315

225 x 440 x 315

225 x 440 x 315

350 x 440 x 315

coming soon

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IndraDrive M
Modular inverters

Particularly economical multi-axis


solutions with up to 75 kW can be
implemented with the slimline single-axis devices (HMS) and double-axis devices (HMD) of the
IndraDrive M inverter system. The
devices are optimized for high
maximum currents from 20 A to
210 A and ensure that your machining processes perform with maximum dynamics. Supply units with
power regeneration are also available.

A
A

12.1
20

21.3
36

Connection voltage

Output frequency

Width x Height x Depth

Hz

Width x Height x Depth

42.4
70

100
150

150
210

mm

150 x 440 x 309

200 x 440 x 309

A
A

0 1600

50 x 440 x 309

50 x 440 x 309

75 x 440 x 309

100 x 440 x 309

HMD01.1N-W0012

HMD01.1N-W0020

HMD01.1N-W0036

7
12

10
20

20
36

Connection voltage

Output frequency

35
54

250 V 780 V DC

IndraDrive M
Rated current
Maximum current

HMS01.1N-W0020 HMS01.1N-W0036 HMS01.1N-W0054 HMS01.1N-W0070 HMS01.1N-W0150 HMS01.1N-W0210

IndraDrive M
Rated current
Maximum current

250 V 780 V DC

Hz

mm

0 800

50 x 440 x 309

50 x 440 x 309

75 x 440 x 309

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13

IndraDrive M
Modular power supply units

With the IndraDrive M inverters,


you have a choice of power supply
units that are available with or
without line regeneration depending on the power and application
requirements. Wiring in the control cabinet is minimized by integrated components such as mains
contactors and braking resistors,
and by direct connection to a
mains voltage from 380 V to 480 V.
Optional line filters suppress conducted interference, even without
an additional transformer.

IndraDrive M

T
B

Power supply without regeneration

Link circuit power with choke

kW

Link circuit power without choke

kW

Maximum link circuit power

kW

HMV01.1E-W0030

HMV01.1E-W0075

30
18
45

75
45
112

Connection voltage

Power supply with regeneration

HMV01.1E-W0120 HMV01.1R-W0018 HMV01.1R-W0045 HMV01.1R-W0065

120
72
180

18

45

3 x 400 V 480 V AC (-15% 10%)

45

112

65

162

50 60 Hz ( 2 Hz)

Control voltage

external 24 V DC

Mains contactor

integrated

Braking resistor

integrated

Continous braking power


Maximum braking power
Energy consumption

kW
kW
kWs

1.5
36
100

2
90
250

2.5
130
500

0.4
36
80

0.4
90
100

0.4
130
150

Width x Height x Depth

mm

150 x 440 x 309

250 x 440 x 309

350 x 440 x 309

175 x 440 x 309

250 x 440 x 309

350 x 440 x 309

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Rexroth IndraDyn
an unparalleled range of motors

Rexroth's complete range of motors offers impressive performance and a unique


variety of designs versions and performance. When used in combination with Rexroth
IndraDrive, these synchronous and asynchronous motors deliver high-precision, highspeed, reliability and cost-effective performance in today's standard and high-end factory automation applications.

IndraDyn S
Servo motors designed to meet
all of your requirements

IndraDyn S
Servo motors designed for
potentially explosive zones

IndraDyn A
Servo motors designed to deliver
high performance

MSK synchronous servo motors


with torque ratings up to 260 Nm
up to 9,000 RPM
natural convection, fan cooled or
liquid cooled
Hiperface and EnDat encoder
systems, single-turn and multiturn versions
absolute encoder (optional)
holding brake (optional)

MKE synchronous servo motors


with torque ratings up to 48 Nm
up to 9,000 RPM
natural convection cooling
resolver with memory for storing
motor parameter data
Hiperface and EnDat encoder
systems, single-turn and multiturn versions
holding brake (optional)
ATEX-compliant version
UL-/CSA version (optional)

MAD and MAF asynchronous


servo motors with power ratings
up to 100 kW
fan cooled or liquid cooled
Hiperface and EnDat encoder
systems, single-turn and multiturn versions
incremental encoder (optional)
holding brake (optional)

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IndraDyn L
linear motors designed for maximum dynamic performance

IndraDyn H
High-speed kit motors

IndraDyn T
Frameless torque motors

MLP/MLS synchronous linear


motors with force ratings up to
21,500 N
speeds up to 600 m/min
liquid cooled
(thermal encapsulation)

MRS/MSS synchronous kit


motors with torque ratings up to
3,700 Nm
Maximum speeds up to
30,000 RPM
liquid cooled
(thermal encapsulation)

MRT/MST synchronous torque


motors with torque ratings up to
13,800 Nm
Maximum speeds up to
2,000 RPM
liquid cooled
(thermal encapsulation)

Bosch Rexroth Corporation


Electric Drives and Controls
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
Telephone (847) 645-3600
Facsimile (847) 645-6201
www.boschrexroth-us.com

International offices:
Asia:
China
India
Japan
Malaysia

Russia
Singapore
South Korea

Australia
Europe:
Austria
Belgium
Bulgaria
Czech Republic
Denmark
Finland
France
Germany
Greece
Hungary
Italy

Netherlands
Norway
Poland
Portugal
Romania
Slovakia
Spain
Sweden
Switzerland
Turkey
Ukraine
United Kingdom

North America:
Canada
United States
Mexico
South America:
Argentina
Venezuela
Brazil

Factory Automation
Regional sales offices:
Central
Bosch Rexroth Corporation
Electric Drives and Controls
2150 Point Boulevard, Suite 800
Elgin, IL 60123
Telephone (224) 293-3552
Facsimile (847) 551-9812
Great Lakes
Bosch Rexroth Corporation
Electric Drives and Controls
1701 Harmon Road
Auburn Hills, MI 48326-1549
Telephone (248) 393-3330
Facsimile (248) 393-2893
Northeast
Bosch Rexroth Corporation
Electric Drives and Controls
99 Rainbow Road
East Grandby, CT 06026-0000
Telephone (860) 844-8377
Facsimile (860) 844-8595
Southeast
Bosch Rexroth Corporation
Electric Drives and Controls
2810 Premiere Parkway
Duluth, GA 30097
Telephone (678) 583-4338
Facsimile (678) 417-6637

U.S. business unit offices:


Bosch Rexroth Corporation
Industrial Hydraulics
2315 City Line Road
Bethlehem, PA 18017-2131
Telephone (610) 694-8300
Facsimile (610) 694-8467
Bosch Rexroth Corporation
Corporate Headquarters
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
Telephone (847) 645-3600
Facsimile (847) 645-6201
Bosch Rexroth Corporation
Linear Motion and
Assembly Technologies
816 E. Third Street
Buchanan, MI 49107
Telephone (269) 695-0151
Facsimile (269) 695-5363

Bosch Rexroth Corporation


Service Automation
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
Telephone (847) 645-3600
Facsimile (847) 645-0804
2315 City Line Road
Bethlehem, PA 18017-2131
Telephone (610) 694-8300
Facsimile (610) 694-8467
Bosch Rexroth Corporation
Mobile Hydraulics
1700 Old Mansfield Road
Wooster, OH 44691-0394
99 Rainbow Road
Telephone (330) 263-3300
Facsimile (330) 263-3333

14001 South Lakes Drive


Charlotte, NC 28273
Telephone (800) 438-5983
Facsimile (704) 583-0523
Bosch Rexroth Corporation
Pneumatics
1953 Mercer Road
Lexington, KY 40511-1021
Telephone (859) 254-8031
Facsimile (859) 281-3491

West
Bosch Rexroth Corporation
Electric Drives and Controls
7901 Stoneridge Drive
Pleasanton, CA 94588
Telephone (925) 227-1084
Facsimile (925) 227-1081

2003 Bosch Rexroth Corporation

Printed in the United States


71039AE 09/04

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