Dpv1 Parameter Communication (Profidrive) - Bosch Rexroth IndraDrive MPH-02 Functional Description

4-50
Master Communication
Fragmented Writing
Control word/status word
Res G/F
0 1
M → S
S → M 0 0
0 1
M → S
0 0
S → M
M → S 0 1
0 0
0 1
0 0
0 1
S → M 0 0
Requesting the Next Fragment

DPV1 Parameter Communication (ProfiDrive)

DP Master Class-1
DP Master Class-2
The control unit writes data to parameter P-0-4006. It is a list of double
words. In the example below it is to contain 100 (64h), 200 (C8h),
300 (12Ch), 400 (190h), 500 (1F4) and 600 (258h). First the list pointer
(sub-index 10) is set to zero.
Parameter mapping:
• index
= 3FA6h
• sub-index = 10h → 16 → 6 elements
length: 4-byte header + (6 * 4 bytes of data) = 28 bytes
L T FL GL
1 0/1 8 8
1 0/1 0 0
0 1/0 8 28
1 1/0 0 20
0 0/1 8 20
1 0/1 0 12
0 1/0 8 12
1 1/0 0 4
1 0/1 4 4
1 0/1 0 0
Fig. 4-30: Fragmented writing
For requesting the next fragment of a fragmented transmission it is
necessary to calculate GL with the data received from the control
word/status word:
GL: length of data still to be transmitted including the data in the current
fragment (8 bits)
FL: length of user data in fragment (4 bits)
Fig. 4-31: GL calculation
Overview of Acyclic Communication
An acyclic communication relationship of type MSAC_C1 to a DP master
class-1 (MSAC_C1) is supported. The following DP services are available
for this communication relationship:
• DDLM_Read (MSAC1_Read)
• DDLM_Write (MSAC1_Write)
A maximum of five acyclic communication relationships of type MSAC_C2
to a DP master class-2 (MSAC_C2) are supported. The following DP
services are available for this communication relationship:
• DDLM_Initiate (MSAC2_Initiate)
• DDLM_Abort (MSAC2_Abort)
• DDLM_Read (MSAC2_Read)
• DDLM_Write (MSAC2_Write)
User data
B2 B3 B4 B5
3Fh A6h 00h 0Ah
- - - -
3Fh A6h 00h 10h
- - - -
00h 00h 00h C8h
- - - -
00h 00h 01h 90h
- - - -
00h 00h 02h 58h
- - - -
=
GL GL -
transmit receive
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
MPH-02, MPB-02, MPD-02
B6 B7 B8 B9
00h 00h 00h 00h
- - -
00h 00h 00h 64h
- - -
00h 00h 01h 2Ch
- - -
00h 00h 01h F4h
- - -
- - -
- - -
FL
receive
-
-
-
-
-
-