Rexroth IndraDrive C Drive Controllers HCS02.1 ... - Bosch Rexroth

Rexroth IndraDrive Commissioning and Parameterization 7-5
DOK-INDRV*-FU*********-IB01-EN-P
• all factory-specific settings (can only be changed via master
password)
• P3: When changing from P2 → P3 only the parameters that can be
changed in phase 2 (see above) are checked.
In phase 3 the following parameters can be changed:
• parameters for operating mode configuration
• error reaction settings
• motor configuration parameters, holding brake parameters
• encoder configuration parameters
• mechanical transmission elements (gear, feed constant)
• scaling and polarity parameters, position data format, modulo value
• configuration of analog and digital inputs/outputs
• configuration of switch on / switch off sequence of drive enable
(waiting times, ...)
Note: According to SERCOS specification, the parameterization
mode is divided into phases 2 and 3. In phase 3 the limit
values for all scaling-dependent parameters are not yet
known. When these parameters are written in phase 3, the
extreme value check is only carried out during phase switch to
phase 4.
• P4: In phase 4, the so-called operating mode, only the cyclic data can
be changed, the configuration parameters cannot. The switch to the
operating mode always causes a new initialization of all functions
available in the drive.
The supported communication phases, as well as the handling of the
switching between the communication phases (e.g. parameterization and
operating mode) are depending on the master communication that is
used. The control information preset for master communication is
displayed in parameter P-0-4086, Master communication status.
• SERCOS interface
For SERCOS devices all 5 communication phases (as well as
phase –1 → baud rate scan) are supported. According to SERCOS
specification, switching takes place by setting the communication
phase by the master.
• Field bus interface
For field bus devices only the communication phases 2 to 4 are
supported!
Switching takes place in the freely configurable operating mode
(P-0-4084 = 0xFFFE) by presetting the desired mode via bit 1 in
P-0-4077, Field bus: control word.
Switching can also take place by executing the transition check
commands (see below).
• Parallel/analog interface
For devices with analog or parallel interface only the communication
phases 2 to 4 are supported!
Switching always takes place when the transition check commands
(see below) are executed.
After the controller is switched on it does not automatically go to the
operating mode, but has to be switched to this mode by the master.
This switching of the drive controller to the operating mode is closely
connected to establishing the readiness for operation.