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

7-116 Commissioning and Parameterization Rexroth IndraDrive
Features of "I/O Mode
Positioning"
Features of "I/O Mode Preset
Velocity"
Features
Real-Time Channel
Note: The respective default settings are activated by selecting the
profile type and subsequent action "load default
communication parameters" (see also P-0-4090 and
S-0-0262).
Specific features of "I/O mode positioning":
• The drive is operated in "positioning block mode, lagless, encoder 1"
(see also "Positioning Block Mode" in chapter "Operating Modes").
• In this operating mode, 64 programmable positioning blocks can be
selected and started via 6 bits (in the 16 bit wide control word).
• The jog function can be activated in P-0-4068, Field bus: control
word IO. "Drive-controlled positioning" was set as the 1st secondary
operating mode (see also "Drive-Controlled Positioning" in chapter
"Operating Modes").
Specific features of "I/O mode preset velocity":
• The drive is operated in the "velocity control" mode (see also "Velocity
Control" in chapter "Operating Modes").
• In this operating mode you can, for example, select and start
5 programmable fixed velocity command values (in the 16 bit wide
control word) and operate the ramp generator function.
Freely Configurable Mode (Rexroth Profile Type)
To use the extensive and numerous functions of a Rexroth drive with field
bus interface it is necessary, in addition to the I/O modes, to define
another profile, the freely configurable mode. This implies the use of a
specific control and status word (P-0-4077, Field bus: control word and
P-0-4078, Field bus: status word).
• The structure (content) of the real-time data channel must be defined
via the configuration parameters P-0-4080 and P-0-4081. No profiledependent
settings and checks are carried out!
• In this profile type it is the Rexroth-specific definitions for the field bus
control and status words which apply. Some bits in the parameters
P-0-4077, Field bus: control word and P-0-4078, Field bus: status
word can only be used in conjunction with certain operating modes.
• This profile type allows using the entire drive functionalities (e.g.
velocity synchronization, drive-controlled positioning, ...).
• The primary mode of operation and the secondary operating modes
can be freely determined in the parameters S-0-0032, S-0-0033 etc.
• The operating mode "drive-controlled positioning" is set as default
setting with the command values S-0-0282, S-0-0259 and 2x S-0-0000
and the actual values S-0-0386, S-0-0040, S-0-0390 (see also below
"Exemplary Configurations: Drive-Controlled Positioning").
Note: The parameter P-0-4077, Field bus control word or
P-0-4078, Field bus status word must always be contained
in the 1 st place in the configuration parameters P-0-4080 and
P-0-4081.
In the real-time channel of the field bus the data configured in P-0-4081,
Field bus: config. list of cyclic command value data ch. and
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