Note: Server versions 1.26.0.0 or higher integrate a new permission management. This permission management is available for CML control L75, XM2, XM4 and VPx with firmware version 14V22 or higher. For additional information regarding its general use, please visit Manifest since server version 1.26.0.0. For specific information regarding the permissions required to operate each library, please visit their corresponding library documentation (For example the mlpiApiLib: Server version since 1.26.0.0 (MLC-FW: 14V22)).; Older server versions and CML controls L25, L45 and L65 do not support this permission management.

Introduction

The MLPI (Motion Logic Programming Interface) is a programming interface used to write C/C++ applications to configure and run a Bosch Rexroth device which supports the MLPI interface technology. One example is a IndraMotion MLC/XLC. It includes a set of headers, libraries and some sample code.

As you can use PLC POUs like "Function Block" to program a device using a PLC task, the MLPI allows you to program the device using a higher-level programming language and a third-party development environment like, for example, Visual Studio 2010 or Wind River Workbench. The mlpiCore libraries are designed to be used to write a native C/C++ user application.

The MLPI provides an extensive and convenient set of functions for configuring and controlling device functionality.

Installation

This section describes various pieces of information and notes about the installation of the MLPI. Please read this before using the MLPI for the first time.

Tools and IDE

To use the MLPI, you need to install the following packages:

A development environment with a C/C++ tool chain. Wind River Workbench OEM provided by Bosch Rexroth AG is recommended when developing for a VxWorks real-time platform, such as IndraMotion XLC, Microsoft Visual Studio 2010 is recommended when developing for Microsoft Windows platforms (http://www.microsoft.com/visualstudio/).
MLPI-SDK, which contains
- MLPI libraries and header files
- Documentation and help plug-ins (including this document)
- Sample code

Layout

Listed below are some directories you might want to know about.

<install> = The directory where you installed the mlpiCore SDK.

<install>\bin
Various DLLs needed if you want to use dynamic linking. Might also contain some useful executables for documentation and debugging.
<install>\include
All necessary MLPI headers. Where #include<mlpiSystemLib.h> comes from for example.
<install>\lib
API libraries for static linking.
<install>\doc
This documentation in different formats.
<install>\samples
Find some examples of projects using the MLPI in here.
<install>\licenses
License informations of the packages.

Note: You may want to include these paths to the default search path of your development environment. This way, you don't need to worry about absolute paths or the copying of the libs and headers to your project directory.

Overview

MLPI-API Libraries

The MLPI-API is separated into different libraries. Each library is represented by a single header file (.h) and can be found in the <install>\include path of your installation directory. Include the library in your programming module (for example #include<mlpiSystemLib.h> ) to be able to use its functionality within your application.

You can find detailed information about each library and its usage within this documentation.

First Steps

Learn how to setup a simple application based on the platform and development environment where you want to run the executable of your application.

Next Steps

Following the above steps you should have successfully...

installed the MLPI-SDK
created a basic MLPI project
compiled and run a user application using the MLPI

Congratulations, you should now have all the basics to start developing your own application using the MLPI. For more information, have a look at the other pages of this documentation and search for the sample applications which are located in the samples path of your MLPI-SDK installation directory. All the non MLPI-related documentation (Indralogic PLC, Fieldbusses, PLC-Open, Indradrive, etc...) can be found in the IndraWorks Suite installation.

It is recommended to read: Fundamentals of MLPI Programming

For the latest information, visit the Bosch Rexroth website. http://www.boschrexroth.com/oce