Bosch Rexroth IndraControl V MTX

Protocol: OPC-UA · Port: 4840 · Endpoint: opc.tcp://<controller-ip>:4840 · Cable: the Ethernet port on the IndraControl V unit. Set a static IP on the controller, on the same subnet as the Edge device.

For where the cable goes and how to set the control's IP, subnet and gateway, see Physical Connection in the OPC-UA overview.

IndraControl V MTX controls expose machine data over OPC-UA through the IndraMotion OPC-UA server.

Requirements:

IndraWorks v13 or later
OPC-UA server enabled (starts by default on port 4840)
Endpoint: opc.tcp://<controller-ip>:4840

ChanState execution mapping:

Value	Meaning
1	Inactive
2	Ready
3	Running
4	Stopped
5	Resetting
7	Error
12	Ready at program start

ModeOfOperation main mode mapping:

Value	Meaning
1	Jog
2	Reference
3	Block pre-run
4	MDI
5	Automatic
6	Program block
7	Single step
10	Single block

Example adapter script:

version: 2
security-mode: None
force-read-on-connect: true

tags:
  chan-state:
    path: ns=27;s=NC.Chan.OperationState,01,ChanState
  bpu-state:
    path: ns=27;s=NC.Chan.OperationState,01,BpuState
  ipo-state:
    path: ns=27;s=NC.Chan.OperationState,01,IpoState
  main-mode-raw:
    path: ns=27;s=NC.Chan.ModeOfOperation,01,MainMode
  prog-name:
    path: ns=27;s=NC.Chan.ActMainProgram,01
  act-block:
    path: ns=27;s=NC.Chan.ActNcBlock,01
  prog-position-block:
    path: ns=27;s=NC.Chan.ProgramPosition,01,BlockNo
  prog-position-file:
    path: ns=27;s=NC.Chan.ProgramPosition,01,FilePosition
  feed-override-raw:
    path: ns=27;s=NC.Chan.ActFeedOverride,01
  act-feedrate-raw:
    path: ns=27;s=NC.Chan.ActFeedrate,01
  programmed-feedrate-raw:
    path: ns=27;s=NC.Chan.ProgrammedFeedrate,01
  spindle-speed-raw:
    path: ns=27;s=NC.Chan.ActSpindleSpeed,01,Speed
  spindle-override-raw:
    path: ns=27;s=NC.Chan.ActSpindleOverride,01,ActiveValue
  axis-pos-raw:
    path: ns=27;s=NC.Chan.AxisPosWcs,01,1
  optional-stop:
    path: ns=27;s=NC.Chan.OptionalStop,01
  alarm-number:
    path: ns=16;s=DiagnosisLogbook.ActiveAlarm.Number
  alarm-message:
    path: ns=16;s=DiagnosisLogbook.ActiveAlarm.Message
  alarm-severity:
    path: ns=16;s=DiagnosisLogbook.ActiveAlarm.Severity
  cut-count:
    path: ns=27;s=NC.CplPermVariable,@YOUR_COUNTER_VAR,1

variables:
  execution:
    - source: chan-state
    - state:
        - ACTIVE: this == 3 and bpu-state == 3
        - INTERRUPTED: this == 4 or this == 7 or this == 5
        - READY: this == 2 or this == 1 or this == 12
        - READY: true

  main-mode:
    - source: main-mode-raw['0']

  controller-mode:
    - source: main-mode
    - state:
        - AUTOMATIC: this == 5 or this == 6 or this == 10
        - MANUAL_DATA_INPUT: this == 4
        - MANUAL: this == 1 or this == 2 or this == 14
        - SETUP: this == 3 or this == 7
        - UNAVAILABLE: true

  feed-override:
    - source: feed-override-raw['0']

  act-feedrate:
    - source: act-feedrate-raw['1']

  programmed-feedrate:
    - source: programmed-feedrate-raw['0']

  spindle-speed:
    - source: spindle-speed-raw['0']

  spindle-override:
    - source: spindle-override-raw['0']

  axis-x:
    - source: axis-pos-raw['0']

  axis-y:
    - source: axis-pos-raw['1']

  axis-z:
    - source: axis-pos-raw['2']

  optional-stop-state:
    - source: optional-stop == true ? "ON":"OFF"

data-items:
  - execution
  - controller-mode
  - prog-name
  - act-block
  - prog-position-block
  - prog-position-file
  - feed-override
  - act-feedrate
  - programmed-feedrate
  - spindle-speed
  - spindle-override
  - axis-x
  - axis-y
  - axis-z
  - optional-stop-state
  - chan-state
  - bpu-state
  - ipo-state
  - cut-count

conditions:
  cnc-alarm-fault:
    - code: ${alarm-number}
      message: ${alarm-message}
      value:
        FAULT: alarm-severity >= 700

  cnc-alarm-warning:
    - code: ${alarm-number}
      message: ${alarm-message}
      value:
        WARNING: alarm-severity >= 300 and alarm-severity < 700

  channel-error:
    message: CNC channel is in error state (ChanState 7)
    value:
      FAULT: chan-state == 7

  optional-stop-active:
    message: Optional stop (M01) is enabled
    value:
      WARNING: optional-stop == true

CPL Permanent Variables

The NC.CplPermVariable namespace provides access to permanent CPL variables defined by the machine builder. These variables persist across power cycles and often contain rich process-specific data. Browse NC.CplPermVariable,PermVars (fixed variables @1–@100) and NC.CplPermVariable,DefPermVars (user-defined named variables) to discover what is available on your specific machine. Replace @YOUR_COUNTER_VAR in the example script with the appropriate variable name from your machine.