●
Access to cyclically configurable parameters only
●
No access to parameters of remote axes
●
Direct variables cannot be triggers for a PLC event task
●
Bit access impossible (e.g.,
DV_Axis[AXIS_1].P_0_0115.3
)
Pertinent parameters
The following parameters are used in conjunction with access via direct varia‐
bles:
●
S-0-0187, List of configurable data in the AT
●
S-0-0188, List of configurable data in the MDT
Function
Available direct values
All cyclically configurable parameters (cf. "S-0-0187, List of configurable data
in the AT" and "S-0-0188, List of configurable data in the MDT") already exist
as global direct variables in the "Base" library.
Important information
Note the following when accessing via direct variables:
●
You cannot define your own direct variables
●
List parameters cannot be addressed with direct variables
●
Errors are not processed when accessing via direct variables, so this
access requires a certain knowledge of the associated parameters (e.g.,
limit values, etc.)
Parameter channel
Brief description
The parameter channel allows acyclic read and write access to all S- and P-
parameters of the drive.
The parameters are directly accessed, i.e., the duration of a read
or write process is very short for the local axis.
Access to parameters of remote axes is possible and uses the
CCD service channel in sercos III. As a result, the function blocks
have to be called several times in the service channel and signal
"Done" when the transmission is over.
Accessing via function or function
block
There are several ways to access parameters.
●
Features of accessing parameters via a function:
–
Faster than a function block
–
No instances
–
No error check
–
No access to remote axes
●
Features of accessing parameters via a function block:
–
Transmission with error check
–
Instance required
–
Action takes place at rising "Execute" edge
–
Access to "Rexroth Inline" I/O modules possible (sercos III)
Parameter channel features
The parameter channel has the following features:
●
The blocks and functions for processing the parameters are contained in
the "MX_PLCopen" library.
DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Bosch Rexroth AG
105/267
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
MLD communication interfaces and data channels
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01