Bosch Rexroth IndraDrive MPH-02 Functional Description page 77

MPH-02, MPB-02, MPD-02
jogging
S-0-0144
1 1 0
15 7
P-0-4068
Bit 7,6: "01" ® jog +
P-0-4068
"10" ® jog -
Bit 1: 1-0 edge
Bit 1: 0-1 edge
Drive Halt (AH)
S-0-0144
1 1 0
15 7
P-0-4051 negated
drive in control
check of all drive parameterizations
(plausibility, validity), encoder initialization,
calculation of conversion factors, ...
input of all writeable parameters
except for configuration parameters for
master communication
initializing PLL
check of master communication
configuration (timing, configuration lists, ...)
input of all writeable parameters
incl. configuration parameters for
master communication (e.g. profile selection)
self test, hardware initialization, parameter
initialization, motor initialization
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Interaction of control and status bits (status machine):
S-0-0144
15
P-0-4068, Bit 7,6
"01" ® jog +
1
P-0-4068, Bit 7,6
"10" ® jog -
Bit 2: 0-1 edge
0
S-0-0144
P-0-4068
15
Bit 1: 1-0 edge
0
P-0-4068
0
Bit 1: 0-1 edge
P-0-4068
Bit 0: 0-1 edge
S-0-0144
15
S-0-0144
15
communic. phase 3 (P3)
S-0-0144
15
S-0-0144
15
Fig. 4-16: Device control in I/O mode (status machine of I/O mode)
homing
x
1 1 0
7 0
P-0-4068 P-0-4068
Bit 2: 1-0 edge
drive enable (AF)
1 1 0 0
7 0
P-0-4051
positioning block mode
P-0-4068
P-0-4068
Bit 0: 1-0 edge
Bit 0 and 1:
0-1 edge
best possible
deceleration
(cf. P-0-0119)
drive ready (Ab)
1 0 0 0
7 0
power
power
OFF
ON
ready for oper. (bb)
0 1 0 0
7 0
C0200 C0400
(P-0-4023)
(S-0-0128)
0 0 0 0
7 0
C0100
(P-0-0127)
communic. phase 2 (P2)
0 0 0 0
7 0
booting process
Master Communication
error situation
(e.g. F8060)
Fxxx
S-0-0144
1 1 1
15 7
error reaction
(depending on error class
and parameterization)
P-0-4068
Bit 5: 0-1 edge
C0500 (S-0-0099)
If mains contactor off
and DC bus uncharged!
drive possibly might automatically
progress to operating mode
(cf. P-0-4086, Bit 2)
DC000013v01_en.fh7
4-23
x
0