4-28
Master Communication
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Exemplary Configurations
All of the following examples of configuration are referring to the freely
configurable mode (
P-0-4084 = 0xFFFE
). This mode provides the highest
degree of flexibility and the highest number of possibilities to use the
available drive functions of the field bus master communication.
Velocity Control
•
"Velocity control with filter and ramp" must have been set as the
primary mode of operation in parameter S-0-0032 (see also "Velocity
Control" in chapter "Operating Modes").
•
Via the field bus the content of parameter
S-0-0036, Velocity
command value
is cyclically transmitted in the command value data
channel and the contents of
S-0-0040, Velocity feedback value
,
S-0-0051, Position feedback 1 value
and
S-0-0390, Diagnostic
message number
are cyclically transmitted in the actual value data
channel.
•
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 = 6 bytes
In the real-time channel of the field bus the velocity 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-0-0036, Velocity command value
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:
Parameter
Format
P-0-4078, Field bus status word
u16 (1 word)
S-0-0040, Velocity feedback value
i32 (2 words)
S-0-0051, Position feedback 1 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-0-0036 (H)
S-0-0036 (L)
slave
→
master P-0-4078
S-0-0040 (H)
S-0-0040 (L) S-0-0051 (H) S-0-0051 (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
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of
CMA/Flodyne/Hydradyne
▪
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Control
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▪
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