Bosch Rexroth IndraDrive MPB-02, Functional Description

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MPH-02, MPB-02, MPD-02 Master Communication
4-49
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
The control unit writes a new operating data to parameter S-0-0057. It is a
double word, fragmentation therefore is not necessary.
The value is 200. The drive returns an acknowledgment that mirrors the
length.
Parameter mapping:
•
index = 2039h
•
sub-index = 7h
Control word/status word User data
Res G/F L T FL GL B2 B3 B4 B5 B6 B7 B8 B9
M
→
S
0 1 1 0/1 8 8 20h 39h 00h 07h 00h 00h 00h C8h
S
→
M
0 0 1 0/1 0 0 - - - - - - - -
Fig. 4-27: Non-fragmented writing without error message
The control unit writes a new operating data to parameter S-0-0057.
The value is 20000 and above the allowed maximum. The drive returns
an error message, in this case 7006h.
Parameter mapping:
•
index = 2039h
•
sub-index = 7h
Control word/status word User data
Res G/F L T FL GL B2 B3 B4 B5 B6 B7 B8 B9
M
→
S
0 1 1 0/1 8 8 20h 39h 00h 07h 00h 00h 4Eh 20h
S
→
M
0 1 1 0/1 2 2 70h 06h - - - - - -
Fig. 4-28: Non-fragmented writing with error message
The control unit reads the operating data of parameter S-0-0016. It is a
list of words. In the example below it contains 40 (28h), 51 (33h),
53 (36h), 84 (54h), 95 (5F), 130 (82h) and 131 (83h). First the list pointer
(sub-index 10) is set to zero.
Parameter mapping:
•
index = 2010h
•
sub-index = 11h
→
17
→
7 elements
Control word/status word User data
Res G/F L T FL GL B2 B3 B4 B5 B6 B7 B8 B9
M
→
S
0 1 1 1/0 8 8 20h 10h 00h 0Ah 00h 00h 00h 00h
S
→
M
0 0 1 1/0 0 0 - - - - - - - -
M
→
S
0 1 1 0/1 4 4 20h 10h 00h 11h - - - -
S
→
M
0 0 0 0/1 8 14 00h 28h 00h 33h 00h 36h 00h 54h
M
→
S
0 1 1 1/0 0 6 - - - - - - - -
S
→
M
0 0 1 1/0 6 6 00h 5Fh 00h 82h 00h 83h - -
Fig. 4-29: Fragmented reading
Non-Fragmented Writing without
Error
Non-Fragmented Writing with
Error Message
Fragmented Reading
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