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DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
Fixed actual values
Axis status information
Bit
wDriveStatus_i
2-0
Not used
3
Status of command value processing
4
Not used
5
sercos III
Status of control encoder
5
Not sercos III master communication
Command status change bit
7/6
Not used
10-8
Operation mode
11
Not used
12
Not used
13
Drive errors
15/14
Ready for operation
00: Drive not ready for power on, since internal
checks incomplete
01: Ready for power on
10: Control and power sections ready for operation,
torque-free
11: In operation, with torque
LSA Control S.L. www.lsa-control.com comercial@lsa-control.com (+34) 960 62 43 01
Program:
TYPE
SM_TYPES :
STRUCT
REAL_ :REAL;
(* REAL (32 bits) *)
DINT_ :DINT;
(* DINT (32 bits)
UDINT_ :UDINT;
(* UDINT (32 bits) *)
UINT_ :UINT;
(* USINT (16 bits) *)
INT_ :INT;
(* SINT (16 bits) *)
END_STRUCT
END_TYPE
Fixed contents
The "AxisData" structure contains some important axis data as REAL values
in scaled form.
●
"rActualPosition_i" corresponds to the current actual position value
●
"rActualVelocity_i" corresponds to the actual velocity value
●
"rActualTorqueForce_i" corresponds to the actual torque/force value
●
wDriveStatus_i
The actual value "wDriveStatus_i" contains the essential information
from parameter "S-0-0135, Drive status word" or parameter "P-0-0115,
Device control: Status word".
The following table shows the available bits.
Tab. 5-3:
Structure of "wDriveStatus_i"
Bosch Rexroth AG
MLD communication interfaces and data channels
*)
S-0-0135 /P-0-0115
Control information for service channel
Status of command value processing
--
sercos III
Status of control encoder
Not sercos III master communication
Command status change bit
Real-time status bits 1 and 2
Actual operation mode
000: Primary operation mode active
001: Secondary operation mode 1 active
010: Secondary operation mode 2 active, etc.
--
--
Drive error, error in class 1 diagnostics
Ready for operation
00: Drive not ready for power on, since internal
checks incomplete
01: Ready for power on
10: Control and power sections ready for operation,
torque-free
11: In operation, with torque
97/267
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