Bosch Rexroth IndraDrive MPH-02 Functional Description page 77

Firmware for drive controllers

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MPH-02, MPB-02, MPD-02

Bit 7,6: "01" ® jog +

"10" ® jog -

Bit 1: 1-0 edge

Drive Halt (AH)

P-0-4051 negated

drive in control

check of all drive parameterizations

(plausibility, validity), encoder initialization,

calculation of conversion factors, ...

input of all writeable parameters

except for configuration parameters for

master communication

initializing PLL

check of master communication

configuration (timing, configuration lists, ...)

input of all writeable parameters

incl. configuration parameters for

master communication (e.g. profile selection)

self test, hardware initialization, parameter

initialization, motor initialization

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

Interaction of control and status bits (status machine):

P-0-4068, Bit 7,6

"01" ® jog +

P-0-4068, Bit 7,6

"10" ® jog -

Bit 2: 0-1 edge

Bit 1: 1-0 edge

Bit 1: 0-1 edge

Bit 0: 0-1 edge

communic. phase 3 (P3)

Device control in I/O mode (status machine of I/O mode)

Bit 2: 1-0 edge

drive enable (AF)

positioning block mode

Bit 0: 1-0 edge

Bit 0 and 1:

best possible

deceleration

(cf. P-0-0119)

drive ready (Ab)

ready for oper. (bb)

communic. phase 2 (P2)

booting process

Master Communication

error situation

(e.g. F8060)

error reaction

(depending on error class

and parameterization)

Bit 5: 0-1 edge

C0500 (S-0-0099)

If mains contactor off

and DC bus uncharged!

drive possibly might automatically

progress to operating mode

(cf. P-0-4086, Bit 2)

DC000013v01_en.fh7

Bosch Rexroth IndraDrive MPH-02 Functional Description page 77

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