1-2
System Overview
MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Organization of the Firmware
For application-specific definition of drive functionality the firmware
functions are divided into different "functional packages". There are a
generally available basic package
and various
additional functional
packages
(e.g. drive-integrated safety technology, IndraMotion MLD-S)
that can be optionally activated.
Note:
The scope of functions of the functional packages and their
possible combinations are described in the section "Functional
Packages" in the same chapter.
Terms, Basic Principles
Parameters
Communication between master and drive takes place, with a few
exceptions, by means of parameters.
Parameters are used for:
•
determining the configuration
•
parameterizing the control loop
•
triggering and controlling drive functions and commands
•
transmitting command values and actual values (according to
requirements, cyclically or acyclically)
All operating data are mapped to parameters!
The operating data stored in parameters can be identified by means of
the IDN. They can be read and transferred, if required. The user write
access to parameters depends on the properties of the respective
parameter and the current communication phase. Specific parameter
values (operating data) are checked for validity by the drive firmware.
Data Storage and Parameter Handling
Several non-volatile data memories are available in an IndraDrive device:
•
in the controller
•
in the motor encoder (depending on motor type)
•
as a MultiMediaCard (MMC), optional
In addition, a volatile data memory (working memory) is available in the
controller.
Condition as supplied of the Rexroth drive components:
•
The controller memory contains the drive firmware and the controller-
specific parameter values.
•
The motor encoder memory contains the encoder-specific and,
depending on the motor type, the motor-specific parameter values.
•
The MMC contains the drive firmware and the basic parameter sets.
The application-specific parameter values are stored in the controller. Due
to the limited number of writing cycles of non-volatile storage media,
application-specific parameter values can be stored in the working
memory (volatile memory), too.
Data Memory
Condition As Supplied
Storing the Application-Specific
Parameter Values
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
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Pneumatic
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Electrical
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Mechanical
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426-5480
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