Bosch Rexroth IndraDrive MPH-02 Functional Description page 522

Firmware for drive controllers

Table of Contents

Drive Functions

DSP_MPH02.lib

MXMotion.lib

• Functions for scaling:

• MX_fDINT_AccTo_REAL

• MX_fDINT_DistTo_REAL

• MX_fDINT_VelTo_REAL

• MX_fREAL_AccTo_DINT

• MX_fREAL_DistTo_DINT

• MX_fREAL_VelTo_DINT

List of global variables "Direct access variable for idents":

• Direct variables (e.g.):

• DV_P_0_0009 (*Error_number*)

• DV_P_0_0038 (*Torquegenerating_current_command_value*)

• DV_P_0_0039 (*Fluxgenerating_current_command_value*)

• IDN addressing (e.g.):

• FP_P_0_0008 (*Activation_Estop_function*)

• FP_P_0_0009 (*Error_number*)

• FP_P_0_0019 (*Initial_position_value*)

• Axis addressing (e.g.):

• Axis1: AXIS_REF

The DSP-MPH02.lib library contains globally defined real-time variables

and a control block:

• list "RTCR_VariablenIdents"

• list "RTCW_VariablenIdents"

• MX_SynchronControl

The MXMotion.lib library contains IEC blocks according to PLC-Open.

• MX_MoveAbsolute

• MX_MoveRelative

• MX_MoveAdditive

• MX_MoveVelocity

• MX_MoveVelocityOL (for open-loop)

MPH-02, MPB-02, MPD-02

DOK-INDRV*-MP*-02VRS**-FK01-EN-P