5-26
Commissioning and Parameterization
Rexroth IndraMotion MLD
DOK-IM*MLD-F*STEP**V**-KB01-EN-P
Accessing parameters via direct variables provides the following
advantages
:
•
rapid parameter access
•
no instances required
•
simple and clearly structured programming in PLC
Accessing parameters via direct variables implies the following
restrictions
:
•
access to cyclically configurable parameters only
•
no access to parameters of remote axes
•
direct variables cannot be triggers for a PLC event task
•
direct variables are invisible for debuggers (as no memory reserved)
•
bit access impossible (e.g. "DV_P_0_0115.3")
Parameter Channel
The parameter channel allows acyclically accessing (reading and writing)
all S- and P-parameters of the drive.
Note:
The parameters are directly accessed, i.e. the duration of a
reading or writing process is very short for the local axis.
Access to parameters of remote axes is possible and uses the
service channel of CCD in SERCOS III. The result is that the
function blocks have to be called several times and signal
"Done" when transmission is over.
Several possibilities are provided for access to parameters.
Features of access to parameters via function:
•
faster than function block
•
no
instances
•
no error control
•
no access to remote axes
Features of access to parameters via function block:
•
transmission with error control
•
instance
required
•
action takes place at rising "Execute" edge
•
access also to remote axes
The parameter channel has the following features:
•
The blocks and functions for processing the parameters are contained
in the following libraries:
•
target "IndraDrive MPH02": "Base_MPH02.lib"
•
target "IndraDrive MP03": "Base_MP03.lib"
•
as of target "IndraDrive MP04": "MX_Base.lib"
Note:
Independent of the target, the term "Base library" will be used
in the following paragraphs.
Access via Function or Function
Block
Features of Parameter Channel
