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MPH-02, MPB-02, MPD-02
jogging
P-0-4078
1 1 0 0 x
0
0
15
7
P-0-4077
P-0-4077
Bit 6 or 7 = 1
Bit 13 = 0
Bit 13 = 1
Drive Halt (AH)
P-0-4078
1 1 0 0 x
1
0
15
7
drive in control
P-0-4077
P-0-4077
Bit 1: 0-1 edge
Bit 1: 1-0 edge
C0401
P-0-4078
1 1 0 0 x
x
1
15
7
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-0-4077
Bit 6 or 7 = 1
1
0
P-0-4077
Bit 6 and 7 = 0
0
P-0-4077
Bit 13 = 0
1
0
P-0-4077
0
Bit 13 = 1
1
0
0
P-0-4077
Bit 1: 0-1 edge
C0100 + C0200
communic. phase 3 (P3)
P-0-4078
0 0 0 0 x
15
Fig. 4-17:
Device control in freely configurable mode (status machine of
Rexroth profile type)
homing
P-0-4078
1 1 0 0 x
1
0
1
0
15
7
0
P-0-4077
P-0-4077
Bit 2 = 1
Bit 2 = 0
drive enable (AF)
P-0-4078
1 1 0 0 x
0
0
1
0
15
7
0
11
sec. oper. mode 3
10
sec. oper. mode 2
01
sec. oper. mode 1
00
prim. mode of oper.
P-0-4077
P-0-4077
Bit 15: 1-0 edge
Bit 13 and 15:
0-1 edge
best possible
deceleration
(cf. P-0-0119)
drive ready (Ab)
P-0-4078
1 0 0 0 x
1
0
1
0
15
7
0
power
power
ON
OFF
ready for oper. (bb)
P-0-4078
0 1 0 0 x
1
0
1
0
15
7
0
C0400
C0200
(S-0-0128)
(P-0-4023)
1
0
0
1
C0400 (P-0-4023)
7
0
C0100
(P-0-0127)
communic. phase 2 (P2)
P-0-4078
0 0 0 0 x
1
0
0
0
15
7
0
booting process
Master Communication
WARNING
P-0-4078
1 1 0 1 x
x
0
15
7
error situation
(e.g. F8060)
Fxxx
P-0-4078
1 1 1 0 x
1
0
15
7
error reaction
(depending on error class
and parameterization)
P-0-4077
Bit 5: 0-1 edge
C0500 (S-0-0099)
If mains contactor off
and DC bus uncharged!
P-0-4077
Bit 1: 1-0 edge
drive possibly might automatically
progress to operating mode
(cf. P-0-4086, Bit 2)
DC000014v01_en.fh7
4-27
x
x
0
1
0
0
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