Overview Of Available Libraries - Bosch Rexroth IndraDrive MPH-02 Functional Description

MPH-02, MPB-02, MPD-02

Overview of Available Libraries

Base_MPH02.lib
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Note: This chapter only gives a short explanation of the basic
functions or libraries. The functional details are described in
the separate documentation "Rexroth IndraMotion MLD-S".
There are the following data channels to the drive available:
• parameter functions, function blocks and cycl. parameters
→ library Base_MPH02.lib
• real-time channel for consistent data exchange
(a maximum of 4 parameters per direction)
→ library DSP_MPH02.lib
• drive-specific motion blocks according to PLC-Open
→ library MXMotion.lib
• diagnosis, error handling and axis addressing (for multi-axis
operation possible in the future)
→ library CommonTypes.lib
• global registers for data exchange of variables via master
communication
Additionally for drive-internal functions (not user-relevant):
• library Internal_MPH02.lib
The Base_MPH02.lib library contains important data types, basic
firmware modules and cyclic parameters as direct variables (system-wide
variables).
General functions:
• ATAN2
• MX_fGetFreeTicks
• MX_fGetHighResTime
• MX_fHighResTimerTicks_to_us
Blocks/functions for drive control:
• MX_Command
• MX_Power
• MX_Reset
• MX_SetControl
• MX_SetDeviceMode
• MX_SetOpMode
• Functions for diagnosis:
• MX_fGetDriveWarning
• MX_fSetDriveWarning
• MX_fSetDriveError
• Blocks/functions for parameters:
• MX_fReadParamDINT
• MX_fReadStringParam
• MX_fWriteParamDINT
• MX_fWriteStringParam
• MX_ReadParamDINT
• MX_WriteParamDINT
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Drive Functions