MPH-02, MPB-02, MPD-02
Master Communication
4-29
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Drive-Internal Interpolation
•
"Drive-internal interpolation, encoder 1, lagless" must have been set
as the primary mode of operation in parameter S-0-0032 (see also
"Drive-Internal Interpolation" in chapter "Operating Modes").
•
Via the field bus, the contents of the parameters
S-0-0258, Target
position
and
S-0-0259,
Positioning Velocity
, as well as
S-0-0051,
Position feedback 1 value
and
S-0-0040, Velocity feedback value
are cyclically transmitted.
→
The configuration of P-0-4081 or P-0-4080 has to be adjusted
accordingly!
•
The Rexroth-specific definitions for the field bus control and status
words are applying (also see section "Freely Configurable Mode
(Rexroth Profile Type)"). Some bits in the parameters
P-0-4077, Field
bus: control word
and
P-0-4078, Field bus: status word
are
irrelevant with this configuration (or operating mode).
•
The length of the cyclic data channel has been defined with:
•
P-0-4082 = 12 bytes
•
P-0-4071 = 10 bytes
Note:
To use the functional expansion (switching absolute/relative)
of the "drive-internal interpolation" mode it is necessary to
configure
S-0-0282, Positioning command value
instead of
S-0-0258, Target position
in the list parameter P-0-4081.
In the real-time channel of the field bus the positioning block data
configured in
P-0-4081, Field bus: config. list of cyclic command
value data ch.
are transmitted from master to drive:
Parameters
Format
P-0-4077, Field bus: control word
u16 (1 word)
S-0-0258, Target position
i32 (2 words)
S-0-0259, Positioning Velocity
i32 (2 words)
In the real-time channel of the field bus the data configured in
P-0-4080,
Field bus: config. list of cyclic actual value data ch.
are transmitted
from drive to master:
Parameters
Format
P-0-4078, Field bus: status word
u16 (1 word)
S-0-0051, Position feedback 1 value
i32 (2 words)
S-0-0040, Velocity feedback value
i32 (2 words)
S-0-0390, Diagnostic message
number
u32 (2 words)
Content and Order of Data in Real-Time Channel:
Data direction
Word1
Word2
Word3
Word4
Word5
Word6
Word7
master
→
slave P-0-4077
S-0-0258 (H)
S-0-0258 (L)
S-0-0259 (H)
S-0-0259 (L)
slave
→
master 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)
Features/Settings
Structure of Real-Time Channel
Master
→
Slave
Structure of Real-Time Channel
Slave
→
Master
Courtesy
of
CMA/Flodyne/Hydradyne
▪
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Control
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426-5480
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