Bosch Rexroth IndraMotion MLD Series, Руководство по применению, Страница: 101 / 270

● Once the higher-level drive function has been terminated, the motion
function block remains in the "CommandAborted" state
● Once the higher-level drive function has been terminated, the last com‐
manded operation mode becomes active again, unless a new operation
mode was activated in the meantime:
–
"DiscreteMotion" operation modes no longer move to the last target
position
– "ContinuousMotion" and "SynchronizedMotion" operation modes
follow the command value input again
● wSignalStatus_i
The actual value "wSignalStatus_i" corresponds to parameter
"S-0-0144, Signal status word" of the specified axis.
● wSyncStatus_i
The actual value "wSyncStatus" corresponds to parameter "P-0-0089,
Status word synchronization modes" of the specified axis. The parame‐
ter provides important status information regarding the execution of the
synchronization modes (synchronous motion function blocks, such as
"MC_GearIn", "MC_CamIn", "MB_GearInPos", "MB_MotionProfile", etc.).
● dwPLCopenStatus
The bits of the axis status information "dwPLCopenStatus" represent the
status of the "state machine" according to PLCopen (see figure " 5-11:
Motion state diagram "). Only one bit displaying the current status can be
active at a time. The individual bits are available as fixed status bits in
the "AxisData" structure (see " 5-2: Structure of AxisData ").
● dwDiagNumber_i
The actual value "dwDiagNumber_i" corresponds to parameter
"S-0-0390, Diagnostic message number" of the specified axis. This pa‐
rameter provides the current diagnostic drive message.
● dwDeviceStatus_i
The actual value "dwDeviveStatus_i" contains the essential information
from parameter "S-0-1045, sercos III: Device Status (S-Dev)"
Fixed state bits Some important axis states, as well as all PLCopen states, are available as
BOOL values (see " 5-2: Structure of AxisData ").
Data in "AxisData" structure
Information on using the "AxisData" structure
If an error reaction programmed by the user was triggered by an
F4 communication error, the "AxisData" structure may not be
used.
Motion task in synchronism with master communication: The
command values of the "AxisData" structure are written, even if
the motion task in synchronism with master communication has
not been completely processed within the NC cycle. In this case,
the command values can be inconsistent.
Motion task in synchronism with CCD: The command values of
the "AxisData" structure are written, even if the motion task in
synchronism with CCD has not been completely processed within
the CCD cycle. In this case, the command values can be incon‐
sistent.
DOK-INDRV*-MLD3-**VRS*-AP02-EN-P Bosch Rexroth AG 99/267
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
MLD communication interfaces and data channels
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01