Bosch Rexroth IndraMotion MLD Series Applications Manual page 97

DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
Element name Data type
Axis_Error BIT
Axis status (PLCopen state machine)
Errorstop BIT
Stopping BIT
Homing BIT
DiscreteMotion BIT
ContinuousMotion BIT
SynchronizedMotion BIT
StandStill BIT
Disabled BIT
PreSetMode BIT
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Direction Parameter in MLD master Parameter in axis
Act. value P-0-166x.13
Act. value -
Act. value -
Act. value -
Act. value -
Act. value -
Act. value -
Act. value -
Act. value -
Act. value -
Element name
Data type
Direction
Parameter in MLD master The master contains a diagnostic parameter for
Parameter in axis
Tab. 5-2: Structure of AxisData
Configurable contents
The following elements can be assigned to different axis parameters by con‐
figuring them accordingly. The AxisData dialog is used for configuration (see
also "5-2: Structure of AxisData").
● Configurable command value bits
It is possible to command up to four freely configurable parameter bits
for each real axis with the elements "wUserCmdDataBitA_q" to "wU‐
serCmdDataBitD_q".
● Configurable command values
It is possible to command up to four freely configurable parameter bits
for each real axis with the elements "dwUserCmdDataA_q" to "dwU‐
serCmdDataD_q".
● Configurable actual value bits
It is possible to read in up to four freely configurable parameter bits from
each real axis with the elements "wUserActualDataBitA_i" to "wUserAc‐
tualDataBitD_i".
● Configurable actual values
Bosch Rexroth AG
MLD communication interfaces and data channels
S-0-0135 (bit13=1)
-
-
-
-
-
-
-
-
-
IEC name of the data element. This is the name
used to address the structure element in the pro‐
gram
IEC data type of the data element
Command values are written by the user and
transmitted by the system
this element. This parameter displays the value
but is not writable
Source or target parameter on the respective axis.
A fixed parameter can be contained here. The pa‐
rameter can be set for the configurable elements.
For the other elements, there is no parameter on
the axis.
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Significance
Drive error, error in
class 1 diagnostics
PLCopen status: Error‐
stop
PLCopen status: Stopping
PLCopen status: Homing
PLCopen status: Discre‐
teMotion
PLCopen status: Continu‐
ousMotion
PLCopen status: Syn‐
chronizedMotion
PLCopen Status: Stand‐
Still
PLCopen status: Disabled
PLCopen status: PreSet‐
Mode