Bosch Rexroth IndraDrive MPH-02 Functional Description page 85

MPH-02, MPB-02, MPD-02
Settings
Structure of Real-Time Channel
Slave → Master
Structure of Real-Time Channel
Slave → Master
Data Word1 Word2
direction
master →
P-0-4077 S-0-0282 (H) S-0-0282 (L) S-0-0259 (H) S-0-0259 (L) S-0-0145
slave
slave →
P-0-4078 S-0-0051 (H) S-0-0051 (L) S-0-0040 (H) S-0-0040 (L) S-0-0390 (H) S-0-0390 (L) S-0-0144
master
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
• This allows, among other things, starting commands contained in
parameter S-0-0399, IDN list of configurable data in the signal
control word (see "Configurable Signal Control Word").
• It is possible to read any bit in any parameter (see "Configurable
Signal Status Word").
The following settings are required:
• To configure the bit lists the list parameters S-0-0026, S-0-0328 (for
S-0-0144, Signal status word) and S-0-0027, S-0-0329 (for
S-0-0145, Signal control word) can be used.
• To use the function, select profile type "freely configurable mode"
(P-0-4084 = 0xFFFE).
• Set "drive-controlled positioning, encoder 1, lagless", for example, in
parameter S-0-0032, Primary mode of operation.
• Parameterize the configuration lists P-0-4080 and P-0-4081 as follows:
In the real-time channel of the field bus the positioning data configured in
P-0-4081, Field bus: config. list of cyclic command value data ch. are
transmitted from master to drive:
Parameters
P-0-4077, Field bus: control word
S-0-0282, Positioning command value
S-0-0259, Positioning Velocity
S-0-0145, Signal control word
In the real-time channel of the field bus the positioning data configured in
P-0-4080, Field bus: config. list of cyclic actual value data ch. are
transmitted from drive to master:
Parameters
P-0-4078, Field bus: status word
S-0-0051, Position feedback 1 value
S-0-0040, Velocity feedback value
S-0-0390, Diagnostic message
number
S-0-0144, Signal status word
Content and Order of Data in Real-Time Channel:
Word3 Word4
See also Parameter Description "P-0-4074, Field bus: data format"
Master Communication
Format
u16 (1 word)
i32 (2 words)
i32 (2 words)
u16 (1 word)
Format
u16 (1 word)
i32 (2 words)
i32 (2 words)
u32 (2 words)
u16 (1 word)
Word5 Word6
4-31
Word7 Word8