Bosch Rexroth IndraDrive MPH-02 Functional Description page 58

Firmware for drive controllers

Table of Contents

Master Communication

Command Change Bit

• 0xF: error, command execution impossible

• 0x5: command execution interrupted

• 0x3: command correctly executed

For master-side detection of a change of the command acknowledgment

by the drive the "command change bit" (KA bit) is available in S-0-0135,

Drive status word.

• The bit is set by the drive when the command acknowledgment

changes from the "in process" (0x7) status to the "error, command

execution impossible" (0xF) or "command correctly executed" (0x3)

• The bit is cleared when the master clears the input (0x0).

data status of

approx. 2 ms

in drive status

Input, acknowledgment and command change bit in the case of

correct execution

data status of

approx. 2 ms

in drive status

Input, acknowledgment and command change bit in the case of

incorrect execution

MPH-02, MPB-02, MPD-02

command completed

without error

approx. 2 ms

approx. 2 ms

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

command cleared

DK000024v01_en.fh7

command completed

command cleared

DK000025v01_en.fh7