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MPH-02, MPB-02, MPD-02
I/O Mode
Features
Structure of Real-Time Channel
Master Å Slave
Structure of Real-Time Channel
Slave → Master
Content of Data in Real-Time
Channel
Field Bus Control Word in I/O
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
• P-0-4083, Field bus: length of parameter channel
• P-0-4084, Field bus: profile type
Brief Description
• The drive is operated in "positioning block mode without lag error with
encoder 1" (see also "Positioning Block Mode" in chapter "Operating
Modes").
• In this operating mode, 64 programmable positioning blocks can be
selected and started via 6 bits (in the 16 bit wide control word).
• The jog function can be activated in P-0-4068, Field bus: control
word IO. As the 1
positioning" was set (see also "Drive-Controlled Positioning" in chapter
"Operating Modes").
• For PROFIBUS-DP it is possible to activate an optional parameter
channel with P-0-4083, Field bus: length of parameter channel (a
maximum of 6 words). (default: P-0-4083 = 0 → without parameter
channel)
• In the I/O mode each real-time channel consists of at least one word
(16 bits), the field bus control word (P-0-4068) and the signal status
word (S-0-0144).
In the real-time channel of the field bus the data configured in P-0-4081,
Field bus: config. list of cyclic command value data ch. are
transmitted from master to drive.
Parameters
P-0-4068, Field bus: control word IO
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.
Parameters
S-0-0144, Signal status word
Data direction
master → slave
slave → master
Status Machine in I/O Mode
Note:
The content of parameter P-0-4068, Field bus: control word
IO
(P-0-4084 = 0xFF82).
The bits in parameter P-0-4068, Field bus: control word IO are fixed by
Mode
Bosch Rexroth and cannot be changed by the user. If additional control
bits should be required, the parameter S-0-0145, Signal control word
has to be configured accordingly and transmitted to the real-time channel
of the field bus.
st
secondary operating mode, "drive-controlled
Word1
P-0-4068
S-0-0144
is
only
relevant
for
Master Communication
Format
u16 (1 word)
Format
u16 (1 word)
profile
type
"I/O
mode"
4-21
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