Bosch Rexroth IndraDrive MPH-02 Functional Description page 58

4-4
Master Communication
Command Change Bit
• 0xF: error, command execution impossible
• 0x5: command execution interrupted
• 0x3: command correctly executed
For master-side detection of a change of the command acknowledgment
by the drive the "command change bit" (KA bit) is available in S-0-0135,
Drive status word.
• The bit is set by the drive when the command acknowledgment
changes from the "in process" (0x7) status to the "error, command
execution impossible" (0xF) or "command correctly executed" (0x3)
status.
• The bit is cleared when the master clears the input (0x0).
data of
command
command
parameter
started
3
(= input)
0
data status of
command
7
parameter
(= acknow-
3
ledgment)
0
approx. 2 ms
command
change bit
in drive status
1
word
0
Fig. 4-4: Input, acknowledgment and command change bit in the case of
correct execution
data of
command
command
parameter
started
3
(= input)
0
0xF
data status of
command
7
parameter
(= acknow-
3
ledgment)
0
approx. 2 ms
command
change bit
in drive status
1
word
0
Fig. 4-5: Input, acknowledgment and command change bit in the case of
incorrect execution
MPH-02, MPB-02, MPD-02
command
cleared
command
processed
command completed
without error
approx. 2 ms
command
cleared
command
processed
approx. 2 ms
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
t
command cleared
t
t
DK000024v01_en.fh7
t
command completed
with error
command cleared
t
t
DK000025v01_en.fh7