Bosch rexroth ctrlX AUTOMATION User manual

ctrlX AUTOMATION
First Steps
Quick Start Guide
R911403760
Edition 01

Copyright
Bosch Rexroth AG© 2020
All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the
event of applications for industrial property rights.
Liability
The specified data is intended for product description purposes only and shall not be deemed to be a guaranteed
characteristic unless expressly stipulated in the contract. All rights are reserved with respect to the content of this
documentation and the availability of the product.
DOK-XWORKS-F*STEP*****-QU01-EN-P
DC-IA/EPI5 (MiNi/MePe)

3
ctrlX AUTOMATION First Steps
Bosch Rexroth AG
R911403760
Edition 01
Table of contents
1 About this documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Important directions for use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 Intended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1.2 Areas of use and application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Unintended use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 Safety instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5 First Steps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5.1 Step 1 – Installing ctrlX WORKS on the engineering PC. . . . . . . . 11
5.2 Step 2 – Commissioning a ctrlX CORE . . . . . . . . . . . . . . . . . . . . . 11
5.3 Step 3 – Connecting the ctrlX CORE to the engineering PC. . . . . 12
5.4 Step 4 – Starting ctrlX WORKS . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5.5 Step 5 – Starting the ctrlX CORE web interface. . . . . . . . . . . . . . 13
5.6 Step 6 – Installing the ctrlX CORE app . . . . . . . . . . . . . . . . . . . . . 14
5.7 Step 7 – Configuring the EtherCAT Master. . . . . . . . . . . . . . . . . . 15
5.8 Step 8 – Configuring the EtherCAT Slave. . . . . . . . . . . . . . . . . . . . 15
5.9 Step 9 – Configuring an axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5.10 Step 10 – Commissioning an axis. . . . . . . . . . . . . . . . . . . . . . . . . 18
5.11 Step 11 – Configuring a kinematics. . . . . . . . . . . . . . . . . . . . . . . . 19
5.12 Step 12 – Commissioning a kinematics. . . . . . . . . . . . . . . . . . . . . 20
6 ctrlX CORE basics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7 Rexroth ‒ “Online store”. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
8 Components used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
9 ctrlX WORKS – Installation options. . . . . . . . . . . . . . . . . . . . . . . . 29
10 Related documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
10.1 ctrlX WORKS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
10.2 ctrlX CORE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
10.3 ctrlX CORE Apps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
10.4 ctrlX PLC Engineering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
11 Service and support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
12 Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

4
ctrlX AUTOMATION First Steps
Bosch Rexroth AG
R911403760
Edition 01
1 About this documentation
Editions of this documentation
Edition Release
date
Notes
01 2020 / 07 First edition

5
ctrlX AUTOMATION First Steps
Intended use
Bosch Rexroth AG
R911403760
Edition 01
2 Important directions for use
2.1 Intended use
2.1.1 Introduction
Rexroth products are developed and manufactured to the state-of-the-art.
The products are tested prior to delivery to ensure operational safety and relia-
bility.
WARNING Personal injury and property damage by using products
incorrectly!
The products may only be used as intended.
Failure to use the products in the intended way may
cause situations resulting in property damage and per-
sonal injury.
NOTICE Damages resulting from unintended use
Rexroth as the manufacturer shall not honor any war-
ranty, liability or compensatory claims for damages
resulting from unintended use of the products. The user
alone shall bear the risks of unintended use of the prod-
ucts.
Before using Rexroth products, make sure that all the
prerequisites for an intended use of the products are sat-
isfied:
−Personnel that in any way, shape or form uses Rexroth
products must first read and understand the relevant
safety instructions and be familiar with their intended
use
−Leave hardware products in their original state, i.e.,
do not make any structural modifications. It is not
permitted to decompile software products or alter
their source codes
−Do not install damaged or faulty products or put them
into operation
−Make sure that the products have been installed as
described in the relevant documentation
2.1.2 Areas of use and application
Products of the ctrlX series are suitable for Motion/Logic applications.
NOTICE Products of the ctrlX series may only be used with the
accessories, mounting parts, and other components
specified in this documentation. Components that are
not expressly mentioned may neither be attached nor
connected. The same applies to cables and lines.
Only to be operated with the hardware component con-
figurations and combinations expressly specified and
with the software and firmware specified in the corre-
sponding documentations and functional descriptions.
Products of the ctrlX series are suitable for single-axis as well as for multi-axis
drive and control tasks. Device types with different equipment and interfaces
are available for using the system in specific applications.

6
ctrlX AUTOMATION First Steps
Unintended use
Bosch Rexroth AG
R911403760
Edition 01
Typical applications:
●Handling and assembly systems
●Food and packaging machines
●Printing and processing machines
Controls of the ctrlX CORE series may only be operated under the mounting
and installation conditions, in the position of normal use and under the
ambient conditions (temperature, degree of protection, humidity, EMC, etc.)
specified in the related documentations.
2.2 Unintended use
"Unintended use" refers to using the ctrlX products outside of the above-men-
tioned fields of application or under operating conditions and technical data
other than described and specified in the documentation.
ctrlX products must not be used if they are exposed to following conditions:
●Operating conditions that do not meet the specified ambient conditions.
This includes, for example, operation under water, under extreme tempera-
ture fluctuations or extreme maximum temperatures
●Applications that have not been expressly authorized by Rexroth

7
ctrlX AUTOMATION First Steps
Bosch Rexroth AG
R911403760
Edition 01
3 Safety instructions
The Safety instructions contained in the available application documentation
feature specific signal words (DANGER, WARNING, CAUTION or NOTICE) and,
where required, a safety alert symbol (in accordance with ANSI Z535.6-2006).
The signal word is meant to draw the reader's attention to the safety instruc-
tion and identifies the hazard severity.
The safety alert symbol (a triangle with an exclamation point), which precedes
the signal words DANGER, WARNING and CAUTION, is used to alert the reader
to personal injury hazards.
The Safety instructions in this documentation are designed as follows:
DANGER In case of non-compliance with this safety instruction,
death or serious injury will occur.
WARNING In case of non-compliance with this safety instruction,
death or serious injury could occur.
CAUTION In case of non-compliance with this safety instruction,
minor or moderate injury could occur.
NOTICE In case of non-compliance with this safety instruction,
property damage could occur.

8
ctrlX AUTOMATION First Steps
Bosch Rexroth AG
R911403760
Edition 01

9
ctrlX AUTOMATION First Steps
Bosch Rexroth AG
R911403760
Edition 01
4 Overview
The First Steps guides through the commissioning of a ctrlX DRIVEplus single-
axis device with an integrated ctrlX CORE control in a few steps. The steps can
generally also be applied to other ctrlX CORE device configurations.
Hardware used
The following components are used in the First Steps, see

Chapter 8 “Com-
ponents used” on page 27
To traverse axes in the First Steps, commission the drive controller ctrlX DRIVE-
plus.
For more information, refer to the ctrlX DRIVE project planning manual:
DOK-XDRV**-X**********-PRRS
Part number: R911386579
This documentation supplements the “Quick Start Guide / R911403316” pro-
vided with each ctrlX DRIVEplus device as product insert.
Overview on steps
●Installation of the following software tools on the engineering PC:
–ctrlX WORKS
–ctrlX I/O Engineering
–ctrlX PLC Engineering
●Commissioning of the ctrlX CORE control
●Connection of the engineering PC to the ctrlX CORE control
●Opening of the ctrlX CORE web interface and logging in
●Installation of apps on the control
●Configuration of the EtherCAT Master on the control
●Configuration of the ctrlX DRIVEplus device as EtherCAT device
●Configuration and commissioning of an axis
●Configuration and commissioning of a kinematics
Start...
●

Chapter 5.1 “Step 1 – Installing ctrlX WORKS on the engineering PC”
on page 11
●

Chapter 5.2 “Step 2 – Commissioning a ctrlX CORE ” on page 11
●

Chapter 5.3 “Step 3 – Connecting the ctrlX CORE to the engineering PC”
on page 12
●

Chapter 5.4 “Step 4 – Starting ctrlX WORKS ” on page 13
●

Chapter 5.5 “Step 5 – Starting the ctrlX CORE web interface” on page 13
●

Chapter 5.6 “Step 6 – Installing the ctrlX CORE app ” on page 14
●

Chapter 5.7 “Step 7 – Configuring the EtherCAT Master” on page 15
●

Chapter 5.8 “Step 8 – Configuring the EtherCAT Slave” on page 15
●

Chapter 5.9 “Step 9 – Configuring an axis ” on page 16
●

Chapter 5.10 “Step 10 – Commissioning an axis” on page 18
●

Chapter 5.11 “Step 11 – Configuring a kinematics” on page 19
●

Chapter 5.12 “Step 12 – Commissioning a kinematics” on page 20

10
ctrlX AUTOMATION First Steps
Bosch Rexroth AG
R911403760
Edition 01

11
ctrlX AUTOMATION First Steps
Step 2 – Commissioning a ctrlX CORE
Bosch Rexroth AG
R911403760
Edition 01
5 First Steps
5.1 Step 1 – Installing ctrlX WORKS on the engineering PC
In the first step, the ctrlX WORKS is installed. It is the central ctrlX AUTOMA-
TION software tool. This steps provides information on the source of the instal-
lation data, how to install and which installation options are relevant.
Reference source
Currently, ctrlX WORKS installation data cannot be downloaded!
Contact your marketing contact if required.
ctrlX WORKS initial installation
Proceed as follows when installing the ctrlX WORKS software for the first time:
1. To start the installation, execute the ctrlX WORKS setup file“ ctrlx-works-
xxxx.exe” (admin rights required).
The terms of use of the Bosch Rexroth AG are shown.
2. Please check the terms of use before continuing the installation with
“Accept”.
The dialog to select the target installation directory is shown.
3. Enter the directory for the ctrlX WORKS installation and confirm the dialog
with “Next”.
The dialog to select the installation options is shown.
4. Select the options to be installed to the PC with ctrlX WORKS.
For an overview on the options, go to →

Chapter 9 “ctrlX WORKS –
Installation options” on page 29
Confirm your selection with “Next”.
The selected software options are used to determine and to show a list
of the required software packages.
5. Start the installation with “Install”
The installation can take some minutes and is shown visually.
The installation result is shown at the end.
6. To close the installation, select “Finish”.
5.2 Step 2 – Commissioning a ctrlX CORE
After “ctrlX WORKS” has been installed in step 1, the power supply is con-
nected and the “ctrlX CORE” control is commissioned in this step.
Information on the control connections
If the “ctrlX DRIVEplus” device is designed with the ctrlX CORE, the control is
supplied internally with the required operating voltage via the 24 V input of the
“ctrlX DRIVEplus”. All relevant connections of the ctrlX CORE control are
located on the front panel of the device.

12
ctrlX AUTOMATION First Steps
Step 3 – Connecting the ctrlX CORE to the engineering PC
Bosch Rexroth AG
R911403760
Edition 01
XG21
XG31
XF10
XF50
XF51
XG41
XF24 P2
XF23 P1
GB01
XD10
XD10 24 V connection point (voltage supply for “ctrlX DRIVEplus” and ctrlX
CORE)
XF10 ctrlX CORE engineering port (HMI)
XF50 ctrlX CORE field bus (Ethercat)
XF51 ctrlX CORE is not assigned
Commissioning the control
Connect the XD10 connection point of the “ctrlX DRIVEplus” device to a
suitable 24 V supply. For specifications on the voltage supply, refer to the
“ctrlX DRIVEplus” project planning manual.
When the 24 V supply is applied to the connection point, the control is
started. The startup can take a moment (ca. 2 minutes).
5.3 Step 3 – Connecting the ctrlX CORE to the engineering
PC
After the control has been commissioned in step 2, the control and the engi-
neering PC are connected in this step (network connection).
Setting up a connection
Connect the engineering port (XF10) of the control to the network input
of the engineering PC
The control logs into the network configuration of the engineering PC
automatically
The control can also be integrated into an existing network. Note that the con-
trol and the engineering PC have to be in the same subnet. Otherwise, the con-
trol is not displayed in ctrlX WORKS.

13
ctrlX AUTOMATION First Steps
Step 5 – Starting the ctrlX CORE web interface
Bosch Rexroth AG
R911403760
Edition 01
5.4 Step 4 – Starting ctrlX WORKS
After the control has been connected to the engineering PC in step 3, this step
describes the ctrlX WORKS start and includes a brief overview on the interface.
Starting ctrlX WORKS
To open ctrlX WORKS, go to the Windows start menu on the engineering
PC.
The ctrlX WORKS start page opens.
Brief overview on ctrlX WORKS
The side navigation is located at the left edge of the screen. It is used to navi-
gate in ctrlX WORKS.
The product banner in the upper screen half informs on the ctrlX WORKS prop-
erties and can be hidden if required.
The section below the product banners shows the available controls in a table.
The table provides different specifications and commands on the respective
control:
●“Name”
Name of the control or link to open the ctrlX CORE web interface
●“State”
Connection status of the control:
–Online = Web server of the control can be reached
–Offline = The control can be reached
●“Type”
Control type (virtual or real)
●“IP Addresses”
IP address of the control
●“Actions”
The possible actions of the control type are listed.
5.5 Step 5 – Starting the ctrlX CORE web interface
After “ctrlX WORKS” has been started in step 4 and the control is shown in the
interface, the ctrlX CORE interface is opened in this step. It is used to continue
the project planning of the control.
Recommended browser:
−Google Chrome
−Mozilla Firefox
Opening the ctrlX CORE
1. To start the ctrlX CORE web interface, select the control name highlighted
in blue in the ctrlX WORKS control overview.
The standard web browser of the engineering PC opens and informa-
tion is given on an unknown certificate. The security warning depends
on the browser used.
2. Show the advanced dialog (e.g. "Details" in Microsoft Edge or "Advanced"
in Mozilla Firefox).
3. Open the ctrlX CORE site (e.g. with "Go on to the Webpage (not recom-
mended)" or "Proceed ... (unsafe)").
The login window of the ctrlX CORE web interface opens.

14
ctrlX AUTOMATION First Steps
Step 6 – Installing the ctrlX CORE app
Bosch Rexroth AG
R911403760
Edition 01
4. Log in with the control account already installed by default:
●Username: boschrexroth
●Password: boschrexroth
Select “General Terms of Use” and confirm the login via the button
“Login”.
The ctrlX CORE web interface of the control is started.
For a brief overview on the ctrlX CORE web interface, go to:

Chapter 6 “ctrlX
CORE basics” on page 23
5.6 Step 6 – Installing the ctrlX CORE app
After the control has been connected in step 5, the apps can now be installed
on the control.
Information on the ctrlX app concept
Upon delivery, only system apps to operate the control are installed on a ctrlX
CORE control.
As for a “smart device”, the functionality of the control can be extended by
installing apps and the requirement of the automation project can be modified.
The Rexroth “Online store” provides apps for different functions, refer to

Chapter 7 “Rexroth ‒ “Online store” ” on page 25 .
To supplement the “Online store”, the ctrlX CORE web interface provides the
“Local storage”. To directly store apps on the control, go to the “Local storage”.
Thus, apps can also be installed if there is no internet connection to the Online
store.
The Rexroth Online store is currently designed and not yet available!
For apps, contact your Rexroth marketing contact.
The app is provided as data packet. Save the data packet locally on your engi-
neering PC. The data packet is required in the following steps for installation
purposes on the control.
First Steps – Required apps
To execute the First Steps, the following apps have to be installed on the con-
trol. For more ordering information, refer to

Chapter 8 “Components used”
on page 27
App name Function Identification in the app packet
“EtherCAT Master app” EtherCAT Master functionality to com-
municate to the drive or the bus
periphery
rexroth-ethercatmaster_ <Ver-
sion> _arm64.snap
“Motion App” Motion functionality to configure and
control axes and kinematics
rexroth-motion_ <Ver-
sion> _arm64.snap
“PLC App” PLC functionality rexroth-plc_ <Ver-
sion> _arm64.snap
“OPC UA Server App” OPC UA server functionality to
exchange data
rexroth-ethercatmaster_ <Ver-
sion> _arm64.snapopcuaserver

15
ctrlX AUTOMATION First Steps
Step 8 – Configuring the EtherCAT Slave
Bosch Rexroth AG
R911403760
Edition 01
Installing an app
1. In the ctrlX CORE web interface, navigate to the window “Settings

Apps”
The “Apps” window opens and shows the tab “Installed”.
2. Go to tab “Local storage”
Upon the initial commissioning, there are no apps in the “Local
storage”
3. To load the apps to the “Local storage”, select the button .
A file explorer opens.
4. In the file explorer, navigate to the app data packet and select the app to
be loaded to the “Local storage” (ID in the previous table)
5. Confirm the dialog with “Open”.
The app is loaded to the “Local storage” of the engineering PC and
shown in the table.
6. To install the app on the control from the “Local storage”, select the
button “Install”.
The app is installed on the control and confirmed by a message.
7. Perform steps 3 to 6 for all required apps.
5.7 Step 7 – Configuring the EtherCAT Master
After the required apps have been installed on the control in step 6, the
EtherCAT Master is configured in the ctrlX CORE web interface.
Configuring theEtherCAT Master
1. After installing the EtherCAT Master app, configure and enable the
EtherCAT Master on the control.
In the ctrlX CORE side navigation, navigate to the window “EtherCAT

Configuration” .
2. In the “Configuration” window, click on the button to add the EtherCAT
Master.
The dialog “Add EtherCAT-Master” opens.
3. Keep the default settings in the input fields “Name” and “Port” and con-
firm the dialog with “OK”.
The Add EtherCAT-Master is added and shown in the table.
4. To save the configuration remanently on the control, i.e. also after switch-
off, go to the window “Configurations” in the side navigation and select
the button “Save” .
A notification confirms that the configuration was saved.
5.8 Step 8 – Configuring the EtherCAT Slave
After the EtherCAT Master has been configured on the control in step 7, the
ctrlX DRIVEplus is configured as EtherCAT Slave in this step.

16
ctrlX AUTOMATION First Steps
Step 9 – Configuring an axis
Bosch Rexroth AG
R911403760
Edition 01
Configuring theEtherCAT Slave
1. The “ctrlX I/O Engineering” tool is used for the configuration. It was
installed in step 1.
Refer to

Chapter 5.1 “Step 1 – Installing ctrlX WORKS on the engi-
neering PC” on page 11
To open the “ctrlX I/O Engineering”, go to the ctrlX CORE side navigation
and then to the window “Automation” .
The “Automation” window shows the widget “EtherCAT”.
2. Select the link “I/O Engineering” in the widget.
The tool “ctrlX I/O Engineering” opens.
device tree is shown at the left edge of the screen.
The device tree contains three objects in its initial state:
●: Project node
●: Control node
●: EtherCAT Master node
3. Select the EtherCAT Master node and right-click to open its context menu.
4. Execute the command “Scann For Devices...”.
The dialog “Bus scann” opens and shows all slaves available at the bus.
5. To apply the found slaves to the project, select the button and confirm
the dialog using the button “Apply”.
The EtherCAT Slave is added to the device tree below the EtherCAT
Master node.
6. Apply and enable the field bus configuration to the control. Select the
button in the command bar.
The field bus configuration is applied to the control and the bus is
switched to the “OP” state.
If there are more components at the bus such as a bus coupler, exe-
cute the command “Scann For Devices...” a second time. The modules
connected to the bus coupler are then detected at the bus and can be
applied to the configuration.
7. Save the configuration to ctrlX I/O Engineering via the button .
8. The EtherCAT configuration is only saved temporarily after these steps. To
save this configuration remanently on the control, i.e. also after switch-off,
go to the window “Configurations” in the side navigation and select the
button “Save” .
A notification confirms that the configuration was saved.
5.9 Step 9 – Configuring an axis
After the EtherCAT Master has been created in step 8 and the ctrlX DRIVEplus
has been configured as EtherCAT bus device via the “ctrlX I/O Engineering”, an
axis is configured in this step and coupled with ctrlX DRIVEplus.
Configuring an axis
The axes are configured via the “Motion App” installed on the control is step 6,
refer to

Chapter 5.6 “Step 6 – Installing the ctrlX CORE app ” on page 14 ..
1. In the ctrlX CORE side navigation, navigate to the window “Motion

Axis
Configuration” .
The current Motion operating state and the configured axes are dis-
played in the “Axis Configuration” window.
No axis is configured in the initial state.

17
ctrlX AUTOMATION First Steps
Step 9 – Configuring an axis
Bosch Rexroth AG
R911403760
Edition 01
2. Adding an axis
To add an axis, select the button .
The Motion has to be in the operating state “[Configuration]”. If the
Motion is in the “[Running]” state, stop it first via the button .
The dialog “Add Axes” opens.
3. Axis names can be defined in the “Add Axes” dialog. The axis names
cannot be changed anymore.
Confirm the dialog with “OK”.
The axis is added to the configuration and shown in the table with the
“Disabled” state.
4. Defining axis limit values
The following limit values are preset after creating the axis:
Limit value Preselected values
Position Min.
-1000 units
Max.
1000 units
Velocity Neg
1000 units/s
Pos.
1000 units/s
Acceleration 2000 units/s2
Deceleration 2000 units/s2
Jerk Acceleration 4000 units/s3
Jerk Deceleration 4000 units/s3
To adapt the limit values to the application, select the button .
The tab “Limits” opens.
5. Enter the valid limit values for the axis into the tab “Limits” and close the
dialog using the button .
The settings are applied to the axis.
6. Assigning an axis profile
Assign an axis profile to the control. To assign a profile, select the button
.
Enter the address of the EtherCAT device to be linked (ctrlX DRIVE / type
Servodrive_over_EtherCat).
Determine the address via the “ctrlX I/O Engineering” or the EtherCAT
status in the ctrlX CORE web interface (default = 1001, if ctrlX DRIVE is
the only device)
After the ctrlX DRIVE has been assigned, a dialog opens to assign the
input/output variables for the axis.

18
ctrlX AUTOMATION First Steps
Step 10 – Commissioning an axis
Bosch Rexroth AG
R911403760
Edition 01
7. Select the respective device variable for each axis profile
●Inputs:
–position = AT.Position_feedback_value_1
–statusword = AT.Power_supply_status_word
●Outputs:
–controlword = MDT.Master_control_word
–position = MDT.Position_command_value
To confirm the assignment, select the button “Assign” and exit the dialog
with the Button “Cancel”.
The configured axis is in the state “Disabled”.
8. Switch the Motion mode to the [Running] state using the button .
The Motion switches to the [Running] state.
9. To save the axis configuration remanently on the control, i.e. also after
switch-off, select the button (Save axis/kinematics configuration) at the
end.
A notification confirms that the configuration was saved.
5.10 Step 10 – Commissioning an axis
After an axis has been created in step 9 and ctrlX Drive has been assigned, the
axis is commissioned in this step.
Commissioning an axis
1. In the ctrlX CORE side navigation, navigate to the window
“Motion

Axis
Commissioning” .
The Motion operating state can be commanded, axes selected, their
motion values defined and traversed via a jog command in the “Axis
Commissioning” window.
2. Selecting the axis
If only one axis was configured, it is already shown in the table.
If multiple axes are configured, one axis has to be selected for commis-
sioning. In the “Axis” table column, click on the button and select the
axis.
The axis is shown in the table.
3. Selecting the Motion mode
To switch the Motion to the [Running] state, go to the command bar and
select the button .
The Motion is switched to the “[Running]” state.
The selected axis is in the “Disabled” state.
4. Enabling an axis
Switch the axis to the “ON (AF)” operating mode using the button .
The button is green and the axis is in the “STANDSTILL” state.
The axis can now be traversed.
WARNING The following actions cause machine motions.
Take all required measures to avoid personal injury or machine dam-
ages!

19
ctrlX AUTOMATION First Steps
Step 11 – Configuring a kinematics
Bosch Rexroth AG
R911403760
Edition 01
5. Traversing an axis in jog mode
The axis can be traversed with “Jog ” and . It depends on the speci-
fied parameters.
The axis changes its position along the specified JOG increments
6. Moving an axis to a certain position
In the window, toggle to thetab “Positioning”.
Enter the position and the respective parameters for velocity, accelera-
tion, etc.
To move the axis to the requested position, select the button .
To stop the motion at any time, select the button .
The axis is in the “DISCRETE MOTION” state during the traversing
motion.
5.11 Step 11 – Configuring a kinematics
After the axis has been traversed in step 10, a kinematics is configured in this
step. See the example “Cartesian X-Y-Z”.
The kinematics is configured via the “Motion App” installed on the control in
step 6, refer to

Chapter 5.6 “Step 6 – Installing the ctrlX CORE app ”
on page 14 .
Prerequisites
Three axes are required for the example kinematics “Cartesian X-Y-Z”
Step 9 describes the configuration of the required axes, refer to

Chapter 5.9
“Step 9 – Configuring an axis ” on page 16
Alternatively, create additionally required axes also after creating a kinematics
when assigning the axes under “Axis name” using the button .
Configuring kinematics
1. In the ctrlX CORE side navigation, navigate to the window
“Motion

Kinematic Configuration” .
The current Motion operating state and the configured kinematics are
displayed in the “Kinematic Configuration” window.
No kinematics is configured in the initial state.
2. Adding a kinematics
To add a kinematics, select the button .
The Motion has to be in the operating state “[Configuration]”. If the
Motion is in the “[Running]” state, stop it first via the button .
The dialog “Add Kinematics” opens and the Motion is in the [Configura-
tion] state.
3. In the “Add Kinematics” dialog, enter a name for the kinematics, e.g. “Car-
tesianXYZ”.
The name cannot be changed later on!
Select the kinematic type “cartesian” and confirm with thebutton .
The kinematics is created and shown in the “Kinematics” table.

20
ctrlX AUTOMATION First Steps
Step 12 – Commissioning a kinematics
Bosch Rexroth AG
R911403760
Edition 01
4. Assigning axes to kinematics
Assign three configured axes to three kinematic axes (X-Y-Z) in the fol-
lowing steps.
In the table column of the kinematics, click on the button .
The dialog “Assign axis to [name]” opens.
The following settings are made in the dialog:
●“Axis meaning”
Selecting the axis meaning or the kinematic axis (X-Y-Z)
●“Axis direction”
Specifying the traversing direction (“Positive” / “Negative”)
●“Axis name”
Selecting the axis to be assigned to the respective kinematic axis
5. In the input field “Axis name”, click on the button and select the axis to
be assigned to the kinematic axis “X”.
Select the button to save the settings
6. Repeat the steps for the kinematic axes “Y” and “Z”
7. To save the kinematic configuration remanently on the control, i.e. also
after switch-off, select the button (Save axis/kinematics configuration).
A notification confirms that the configuration was saved.
8. Select the button to switch the Motion to the [Running] mode.
After the configuration, the Motion is in the [Running] state.
5.12 Step 12 – Commissioning a kinematics
After a kinematics has been created in step 11 and the kinematic axes have
been assigned, the kinematics is commissioned in this step.
Commissioning the kinematics
1. In the ctrlX CORE side navigation, navigate to the window “Motion

Kinematic Commissioning” .
Another option is to navigate to the window “Kinematic Commis-
sioning”: Go to the window Kinematic Configuration and select the button
.
The Motion operating state can be commanded, kinematics selected,
their motion values defined and traversed a via jog command or a posi-
tion specification in the “Kinematic Commissioning” window.
2. Selecting the kinematics
If only one kinematics was configured, it is already shown in the table.
If multiple kinematics are configured, one kinematics has to be selected
for commissioning. In the “Kinematics” table column, click on the button
and select the kinematics.
The kinematics is shown in the table.
3. Selecting the Motion mode
To switch the Motion to the [Running] state, go to the command bar and
select the button .
The Motion is switched to the “[Running]” state.
The selected kinematics is in the “Disabled” state.