Bosch PIN8 N1 Guía para resolver problemas descargar pdf (Pagina 82)

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101

4-28 Master Communication MPH-02, MPB-02, MPD-02

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

Exemplary Configurations

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 Format

P-0-4077, Field bus: control word

u16 (1 word)

S-0-0036, Velocity command value

i32 (2 words)

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 Format

P-0-4078, Field bus status word

u16 (1 word)

S-0-0040, Velocity feedback value

i32 (2 words)

S-0-0051, Position feedback 1 value

i32 (2 words)

S-0-0390, Diagnostic message number

u32 (2 words)

Content and Order of Data in Real-Time Channel:

Data direction Word1 Word2 Word3 Word4 Word5 Word6 Word7

master → slave

P-0-4077 S-0-0036 (H) S-0-0036 (L)

slave → master

P-0-4078 S-0-0040 (H) S-0-0040 (L) S-0-0051 (H) S-0-0051 (L) S-0-0390 (H) S-0-0390 (L)

Features/Settings

Structure of Real-Time Channel

Master → Slave

Structure of Real-Time Channel

Slave → Master

1 2 ... 77 78 79 80 81 82 83 84 85 86 87 ... 727 728

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Bosch PIN8 N1 Guía para resolver problemas Pagina 82

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