Bosch Rexroth IndraMotion MLD Series Applications Manual page 96

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MLD communication interfaces and data channels
Element name Data type
dwUserActualDataD_i SM_TYPES Act. value
Axis status information (normally accessed via status bits or axis status [PLCopen state machine])
wDriveStatus_i WORD
wDriveExtStatus_i WORD
wSignalStatus_i WORD
wSyncStatus_i WORD
dwDeviceStatus_i DWORD
dwPLCopenStatus_i DWORD
dwDiagNumber_i DWORD
Fixed actual values
rActualPosition_i REAL
rActualVelocity_i REAL
rActualTorqueForce_i REAL
Fixed state bits
Axis_CamTab_0 BIT
Axis_CamTab_1 BIT
Axis_CamTab_2 BIT
Axis_CamSwitching BIT
Axis_CmdValueReached BIT
Axis_Standstill BIT
Axis_InSynchron BIT
Axis_Homed BIT
Axis_Inbb BIT
Axis_InAb BIT
Axis_Power BIT
Axis_FollowingCommand BIT
Axis_Interrupted BIT
Axis_Warning BIT
Direction Parameter in MLD master Parameter in axis
32-bit source parameter:
P-0-180x
16-bit source parameter:
P-0-189x
Act. value P-0-166x
Act. value -
Act. value P-0-171x
Act. value P-0-181x
Act. value P-0-1630.x.2
Act. value -
Act. value P-0-170x
Act. value P-0-167x
Act. value P-0-168x
Act. value P-0-169x
Act. value P-0-181x.0
Act. value P-0-181x.1
Act. value P-0-181x.2
Act. value P-0-181x.5
Act. value P-0-171x.0
Act. value P-0-171x.1
Act. value P-0-181x.8
Act. value P-0-171x.2
Act. value P-0-166x, bit (!15 & 14)
Act. value P-0-166x, bit (15 & !14)
Act. value P-0-166x, bit (15 & 14)
Act. value P-0-166x, bit 3=1
Act. value P-0-166x (bit15=1 &
bit14=1 & bit13=0 &
bit3=0) and
P-0-165x (bit13=1)
Act. value P-0-166x.12
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
(configurable)
S-0-0135
-
S-0-0144
P-0-0089
S-0-1045
-
S-0-0390
S-0-0386
S-0-0040
S-0-0084
P-0-0089.0
P-0-0089.1
P-0-0089.2
P-0-0089.5
P-0-0115.12
S-0-0331.0
P-0-0089.8
S-0-0403.0
S-0-0135 (bit 15 | bit 14 )
S-0-0135 (bit15=1)
S-0-0135 (bit15=1 &
bit14=1)
S-0-0135 (bit 3=1)
S-0-0135 (bit15=1 &
bit14=1 & bit13=0 &
bit3=0) and
S-0-0134 (bit13=1)
S-0-0135.12
Significance
Actual value for free use
Axis status - the bits are
individually available
Axis status - the bits are
individually available
Signal status - the bits are
individually available
Synch status - the bits are
individually available
Device status - the bits
are individually available
PLCopen-based status -
the bits are individually
available
Diagnostic message num‐
ber
Active actual position val‐
ue
Velocity feedback value
Torque/force feedback
value
Active cam shaft bit#0
Active cam shaft bit#1
Active cam shaft bit#2
Status distance switching
Command value reached
Standstill message
Slave axis has been
synchronized
Status of actual position
value reference encoder
Control section ready for
operation
Control and power sec‐
tions ready for operation
Drive with torque
Drive follows command
value input by MLD
Motion commanding was
interrupted by higher-level
drive function
Class 2 diagnostics
change bit - warning