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Bosch Rexroth AG
MLD communication interfaces and data channels
5.3
sercos I/O
Configuring the sercos I/O
●
"P-0-1820, CCD: Command value data container 1.0 2Byte" to
"P-0-1829, CCD: Command value data container 1.9 2Byte"
●
"P-0-1830, CCD: Command value data container 2.0 2Byte" to
"P-0-1839, CCD: Command value data container 2.9 2Byte"
●
"P-0-1840, CCD: Command value data container 3.0 2Byte" to
"P-0-1849, CCD: Command value data container 3.9 2Byte"
●
"P-0-1850, CCD: Command value data container 4.0 2Byte" to
"P-0-1859, CCD: Command value data container 4.9 2Byte"
●
"P-0-1860, CCD: Actual value data container 1.0 2Byte" to "P-0-1869,
CCD: Actual value data container 1.9 2Byte"
●
"P-0-1870, CCD: Actual value data container 2.0 2Byte" to "P-0-1879,
CCD: Actual value data container 2.9 2Byte"
●
"P-0-1880, CCD: Actual value data container 3.0 2Byte" to "P-0-1889,
CCD: Actual value data container 3.9 2Byte"
●
"P-0-1890, CCD: Actual value data container 4.0 2Byte" to "P-0-1899,
CCD: Actual value data container 4.9 2Byte"
The following parameters are automatically read from the axes and stored in
the "AxisData" structure:
●
S-0-0040, Velocity feedback value
●
S-0-0084, Torque/force feedback value
●
S-0-0144, Signal status word
●
S-0-0386, Active position feedback value
●
S-0-0135/P-0-0115 (see "wDriveStatus_i")
●
S-0-1045, sercos III: Device Status (S-Dev)
●
P-0-0089, Status word synchronization modes
The configuration and use of sercos I/O modules is completely supported by
a sercos III master integrated in IndraMotion MLD-2G, i.e., the nodes (I/O
modules) are both configured and automatically integrated in the process im‐
ages of the inputs/outputs. This leads to fundamental changes in comparison
to use with MLD-1G.
The integrated sercos III master is a component used in all control systems,
i.e., the IndraMotion MLD-2G control system generally supports all "Inline
Block I/O" and "Inline Modular I/O" supported by the MLC and MTX systems.
However, differences can arise due to the "Big Endian" data format.
The number of configurable I/Os currently supported by the drive
has to be taken into consideration. The drive supports a maxi‐
mum of 4 bus couplers with up to 63 modules. The number is ac‐
cordingly restricted in IndraWorks MLD.
The sercos III master (MLD master) integrated in IndraMotion MLD-2G com‐
plements the CCD master implemented in the drive system. While the I/O
modules are configured via the MLD master, the CCD master includes all no‐
des in the CCD ring.
The configuration via the CCD master only includes the addressing of the bus
couplers. The sercos I/O modules and the function of the sercos I/O modules
are configured independently of the CCD master in dialogs made available by
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
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