Bosch Rexroth IndraDrive MPH-02 Functional Description page 105

MPH-02, MPB-02, MPD-02
Request Parameter
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Parameter Exchange via DPV1 Services
The parameter exchange described below is executed via DPV1 telegram
frame. The following sequence is run:
MASTER
parameter
request
parameter
response
The individual parameters are accessed with the services "request
parameter" or "change parameter".
Note: Multiple parameter requests are not supported!
ProfiDrive parameter request via DPV1
request request reference
header 1 to 255
axis
0
parameter attribute
address 16 = value
parameter number
sub-index
ProfiDrive parameter response
response request ref. mirrored
header 1 to 255
axis mirrored
1
parameter format
value(s) 65 = bytes
66 = word
67 = double word
value(s) or error value
...
Master Communication
Write.req + data
Write.res (+)
Read.req
Read.res (-)
Read.req
Read.res (+) + data
request ID
1 = request parameter
number of parameters
1
number of elements
1
response ID
1 = positive acknowledgment
129 = negative acknowledgm.
number of parameters
1
number of values
1 to 10
4-51
SLAVE
parameter
request
parameter
response