Bosch Rexroth IndraDrive MPH-02 Functional Description page 101

MPH-02, MPB-02, MPD-02
Object Definition
Generating Law for
Object Index
Generating Law for
Object Sub-Index
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Object Directory for PROFIBUS-DP (ProfiDrive)
For PROFIBUS-DP there wasn't any object directory defined. Acyclic
access to drive parameters is only possible via the parameter channel.
In order to make acyclic parameter access as easy as possible (without
SIS telegrams), objects were assigned to drive parameters.
The data of an object are accessed via:
• index
• sub-index
• index = 0x2000 + IDN (S-0-XXXX)
• index = 0x3000 + IDN (P-0-XXXX)
Example 1: accessing data of S-0-0051
• index = 0x2000 + IDN (S-0-0051) = 0x2000 + 51 = 0x2033
• sub-index = 7, since access to data desired
Example 2: accessing data of P-0-0051
• index = 0x3000 + IDN (P-0-0051) = 0x3000 + 51 = 0x3033
• sub-index = 7, since access to data desired
Structure of Control Word in Parameter Channel
The control word is sent from the master to the slave. Its width is 16 bits
and the individual bits have the following significance:
15 14 13
res G L
res: reserved (always 0)
G: no basic setting
L: load bit
T: toggle bit
FL: length of user data in fragment (4 bits)
GL: length of data still to be transmitted including the data in the current
fragment (8 bits)
Fig. 4-23: Structure of control word in parameter channel
Structure of Status Word in Parameter Channel
The control word is sent from the slave to the master. Its width is 16 bits
and the individual bits have the following significance:
15 14 13
res F L
res: reserved (always 0)
F: error
L: load bit
T: toggle bit
FL: length of user data in fragment (4 bits)
GL: length of data still to be transmitted including the data in the current
fragment (8 bits)
Fig. 4-24: Structure of status word in parameter channel
Configuration of the Parameter Channel
The parameter channel is made up of:
• control word/ status word
• user data
Master Communication
S-parameters
P-parameters
12 11 ... 8
T FL
12 11 ... 8
T FL
4-47
7 ... 0
GL
7 ... 0
GL