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

Rexroth IndraDrive Commissioning and Parameterization 7-115
Status Machine
Abbreviations
General Features
DOK-INDRV*-FU*********-IB01-EN-P
By selecting a profile type, the commissioning of field bus drives becomes
very easy for the user. The advantage of the profile selection is that all
important basic settings for the desired drive function are thereby made
automatically in the drive. As the profile types are defined independently
of the bus, the transfer of applications from one field bus to the other is
also facilitated.
A status (e.g. Drive Halt, drive error, ...) represents a specific internal and
external behavior. The status can be exited by defined events (e.g. drive
commands, switching of operating modes, ...). Corresponding status
transitions are assigned to the events. The interaction of control and
status bits or the status transitions are called status machine.
i16: 16-bit variable with sign (1 word) in Intel format
i32: 32-bit variable with sign (2 words) in Intel format
u16: 16-bit variable without sign (1 word) in Intel format
u32: 32-bit variable without sign (2 words) in Intel format
ZKL1: class 1 diagnostics
ZKL2: class 2 diagnostics
I/O Mode (Positioning and Preset Velocity)
We distinguish the following variants of the profile type "I/O mode":
• I/O mode positioning (functionality similar to parallel interface)
• I/O mode preset velocity
(e.g. for open-loop applications)
The I/O mode has the following features:
• optional parameter channel can be activated, if required, via P-0-4083,
Field bus: length of parameter channel (max. 8 words)
(default: P-0-4083 = 0 → without parameter channel)
• 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)
Data direction Word1 Format
master --> slave P-0-4068, Field bus: control
word IO
u16 (1 word)
slave --> master S-0-0144, Signal status word u16 (1 word)
• freely expandable real-time channel by configuration of real-time data:
• Master → slave (drive)
configuration of P-0-4081, Field bus: config. list of cyclic
command value data ch.
• Slave (drive) → master
configuration of P-0-4080, Field bus: config. list of cyclic actual
value data ch.
• freely configurable field bus status word (cf. S-0-0144)
• Relationship between profile type selection and operating mode which
takes effect:
• In the I/O modes there is a determined relationship between profile
type and predefined primary mode of operation (S-0-0032).
• The freely configurable mode allows free selection of the
operating modes (S-0-0032, S-0-0033, …).