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4-28
Master Communication
Exemplary Configurations
Features/Settings
Structure of Real-Time Channel
Master → Slave
Structure of Real-Time Channel
Slave → Master
Data direction Word1
master → slave P-0-4077
slave → master P-0-4078
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
P-0-4077, Field bus: control word
S-0-0036, Velocity command value
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
P-0-4078, Field bus status word
S-0-0040, Velocity feedback value
S-0-0051, Position feedback 1 value
S-0-0390, Diagnostic message number
Content and Order of Data in Real-Time Channel:
Word2
Word3
S-0-0036 (H)
S-0-0036 (L)
S-0-0040 (H)
S-0-0040 (L) S-0-0051 (H) S-0-0051 (L) S-0-0390 (H) S-0-0390 (L)
Format
u16 (1 word)
i32 (2 words)
Format
u16 (1 word)
i32 (2 words)
i32 (2 words)
u32 (2 words)
Word4
Word5
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
MPH-02, MPB-02, MPD-02
Word6
Word7
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