Command Processing - Bosch Rexroth IndraDrive MPH-02 Functional Description

MPH-02, MPB-02, MPD-02

Command Processing

List of All Commands
Kinds of Commands
Command Input
Command Acknowledgment
Command Status
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Basics
Commands are used to control complex functions in the drive. For
example, the functions "Drive-controlled homing procedure" or "Transition
check for communication phase 4" are defined as commands.
The higher-level master can start, interrupt or clear commands. Belonging
to each command there is a parameter with which the command can be
controlled.
While a command is being executed, the diagnostic message "Cx"
appears on the display, "x" representing the number of the command.
Note: Each command that was started by a control unit must be
actively cleared again.
All commands available in the drive are stored in the S-0-0025, IDN-list
of all procedure commands parameter.
There are 3 different kinds of commands:
• Drive control commands
• can cause automatic drive motion,
• can be started only when drive enable has been set,
• deactivate the active operating mode during its execution.
• Monitoring commands
• activate or deactivate monitors or functions in the drive.
• Administration commands
• carry out administration tasks,
• cannot be interrupted.
Command Input and Acknowledgment
The command execution is controlled and monitored by command input
and command acknowledgment. In the input the drive is informed on
whether the command is to be started, interrupted or completed. The
input takes place via the operating data of the respective parameter.
The command input can be:
• 0:
not set and not enabled
• 1:
interrupted
• 3:
set and enabled
In the command acknowledgment, the drive informs about the current
status of the command execution. The current status is contained in the
data status of the command parameter.
Note: The command status can be obtained by executing a
command to write data to the parameter element 1 (data
status) of the command parameter.
The command status can be:
• 0x0: not set and not enabled
• 0x7: in process
Master Communication
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