This solution set allows a user to configure IndraDrive servo drives with Allen-Bradley PLCs that use RSLogix 5000 firmware. Single axis moves are allowed (positioning, velocity, etc.) and access to IO, probes and other drive functions are included. Instructions on setting up the IndraDrive for polled-IO communications and explicit messaging are included as well. The solution is completely open-source (no black-box code) and can be modified or altered by the user for the user's needs.
This solution is permanently available here: www.boschrexroth-us.com/IndraDriveAOIs
There is a link to using CiP Safety with IndraDrive and Allen-Bradley PLCs on the same page.